Train control method, system, device, equipment, medium and program product

Abstract

The embodiment of the invention provides a train control method, system, device and equipment, a medium and a program product. The method comprises the steps that a target axle counting section where a target train is located currently is determined; in response to a turn-back request sent by the target train at the current stop point location, a forward route is matched for the target train according to the planned running direction of the target train and the target axle counting section, the forward route is used for controlling the target train to enter an automatic running mode, and the current stop point location is located in the target axle counting section; determining an updated locking direction of the target axle counting section based on the forward route, and matching a reverse route for the target train according to the updated locking direction; and controlling the target train to change the end in the automatic operation mode, and operating according to the reverse route. By matching the forward route and matching the reverse route based on the forward route, end-changing operation of the train in the automatic operation mode can be guaranteed, and end-changing turn-back of the train at any point position and end-changing turn-back of the train at any point position in the automatic operation mode are achieved.

Description

Technical Field

[0001] The embodiments of this specification relate to the technical field of rail transit, and particularly to a train control method, system, device, equipment, medium and program product. Background Art

[0002] During the operation of a train, due to actual operation requirements or the occurrence of special situations such as disasters, there may be a need for end-changing and turning back. Currently, the implementation method of train turning back often involves arranging a turning-back route for the train, calculating the corresponding turning-back point, and controlling the train to perform end-changing and turning back when it runs to the turning-back point.

[0003] However, based on this turning-back method, the train must be controlled to continue moving forward to the specified turning-back point before it can turn back, which cannot ensure that the train can stay away from the disaster situation in time, resulting in the inability to better ensure the safety of the train and personnel. Summary of the Invention

[0004] In view of this, the embodiments of this specification provide a train control method. One or more embodiments of this specification also relate to a train control system, a train control device, a computing device, a computer-readable storage medium, and a computer program product to solve the technical defects existing in the prior art.

[0005] According to the first aspect of the embodiments of this specification, a train control method is provided, which is applied to a control end and includes: Determine the target axle counter section where the target train is currently located; In response to a turning-back request sent by the target train at the current stop position, match a forward route for the target train according to the planned running direction of the target train and the target axle counter section, where the forward route is used to control the target train to enter the automatic operation mode, and the current stop position is within the target axle counter section; Based on the forward route, determine the updated blocking direction of the target axle counter section, and match a reverse route for the target train according to the updated blocking direction; Control the target train to change ends in the automatic operation mode and run according to the reverse route.

[0006] According to the second aspect of the embodiments of this specification, a train control system is provided, including a control end and a target train; The control end is configured to determine the target axle counter section where the target train is currently located; The target train is configured to send a turning-back request to the control end at the current stop position, where the current stop position is within the target axle counter section; The control terminal is further configured to, in response to a reverse request sent by the target train at the current stop position, match a forward route for the target train according to the planned running direction of the target train and the target axle counter section, where the forward route is used to control the target train to enter the automatic operation mode; determine the updated locking direction of the target axle counter section based on the forward route, and match a reverse route for the target train according to the updated locking direction; control the target train to change ends in the automatic operation mode and run according to the reverse route.

[0007] According to the third aspect of the embodiments of the present specification, a train control device is provided, which is configured in a control terminal and includes: A first determination module, configured to determine the target axle counter section where the target train is currently located; A matching module, configured to, in response to a reverse request sent by the target train at the current stop position, match a forward route for the target train according to the planned running direction of the target train and the target axle counter section, where the forward route is used to control the target train to enter the automatic operation mode, and the current stop position is within the target axle counter section; A second determination module, configured to determine the updated locking direction of the target axle counter section based on the forward route, and match a reverse route for the target train according to the updated locking direction; A control module, configured to control the target train to change ends in the automatic operation mode and run according to the reverse route.

[0008] According to the fourth aspect of the embodiments of the present specification, a computing device is provided, including: A memory and a processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the above train control method are implemented.

[0009] According to the fifth aspect of the embodiments of the present specification, a computer-readable storage medium is provided, which stores computer-executable instructions. When the instructions are executed by a processor, the steps of the above train control method are implemented.

[0010] According to the sixth aspect of the embodiments of the present specification, a computer program product is provided, including a computer program / instructions. When the computer program / instructions are executed by a processor, the steps of the above train control method are implemented.

[0011] One embodiment of this specification realizes determining the target axle counter section where the target train is currently located; in response to the reverse request sent by the target train at the current stop point, according to the planned running direction of the target train and the target axle counter section, a forward route is matched for the target train, where the forward route is used to control the target train to enter the automatic operation mode, and the current stop point is within the target axle counter section; based on the forward route, the updated locking direction of the target axle counter section is determined, and according to the updated locking direction, a reverse route is matched for the target train; the target train is controlled to change ends in the automatic operation mode and run according to the reverse route.

[0012] In this way, by determining the target axle counter section where the target train is currently located, it is possible to, in the case of receiving the reverse request sent by the target train at the current stop point, match a forward route for the target train according to the planned running direction of the target train and the target axle counter section, so as to ensure that the target train can enter the automatic operation mode at the current stop point; by determining the reverse route corresponding to the target train, it is possible to control the target train to change ends in the automatic operation mode and run according to the reverse route, so as to ensure that at the current stop point, the target train can change ends and run in the reverse direction in the automatic operation mode, realize the target train changing ends and reversing at any point, and realize the target train changing ends and reversing in the automatic operation mode at any point, improve the flexibility and timeliness of the reversing operation, and ensure the safety of the train and personnel. Description of the Drawings

[0013] Figure 1 is an architecture diagram of a train control system provided by one embodiment of this specification; Figure 2 is another architecture diagram of a train control system provided by one embodiment of this specification; Figure 3 is a flowchart of a train control method provided by one embodiment of this specification; Figure 4 is a processing process flowchart of a train control method provided by one embodiment of this specification; Figure 5 is a schematic diagram of the reversing process of a train control method provided by one embodiment of this specification; Figure 6 is a schematic structural diagram of a train control device provided by one embodiment of this specification; Figure 7 is a structural block diagram of a computing device provided by one embodiment of this specification. Detailed Embodiments

[0014] Numerous specific details are set forth in the following description in order to provide a thorough understanding of this specification. However, this specification can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the connotation of this specification. Therefore, this specification is not limited by the specific implementations disclosed below.

[0015] The terms used in one or more embodiments of this specification are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of this specification. The singular forms "a", "the", and "said" used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0016] It should be understood that although the terms first, second, etc. may be used in one or more embodiments of this specification to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of this specification, 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 "when" or "while" or "in response to determining".

[0017] In addition, 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 for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data that have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of the relevant data need to comply with the relevant laws, regulations, and standards of the relevant countries and regions, and corresponding operation entrances are provided for the user to select to authorize or reject.

[0018] First, the noun terms involved in one or more embodiments of this specification are explained.

[0019] Line Controller (LC): It is mainly responsible for calculating the movement authorization for the communication trains within its control range based on the position information reported by the communication trains, the routes arranged by the interlocking, and the track occupancy / idle information provided by the trackside equipment, and ensuring the safe operation of the communication trains within its control area.

[0020] Zone Controller (ZC): It is a device used to control and monitor the operation of trains within a specific area. By communicating with trackside devices (such as signal lights, switch machines, etc.) and on-vehicle devices on the train (such as ATP / ATO systems, etc.), it realizes the control and monitoring of train operation.

[0021] Computer Interlocking (CI): Briefly referred to as interlocking, it means that in order to ensure train operation safety, through technical means, a relationship of mutual connection and mutual restriction is established among signals, turnouts, and routes under certain conditions and procedures. This relationship can exist in vehicle depots, yards, and main lines, etc., and is used to control the determined routes of trains and the entry and exit of route changes, preventing the establishment of routes that will cause conflicts between locomotives and vehicles.

[0022] Movement Authority (MA): It refers to the permission for a train to enter or pass through a specific track area in a specified direction.

[0023] Vehicle On Board Computer (VOBC): It is an electronic system installed inside the vehicle and is responsible for controlling and monitoring the operation status of the vehicle.

[0024] CTC level: It refers to the level at which the ATP application software obtains the movement authority of the LC through wireless communication and controls the train operation.

[0025] CTC-CM mode: Also known as the train automatic protection mode, it is a manual driving mode under the supervision of ATP. In this mode, ATP gives speed codes for recommended speed, alarm speed, and emergency braking speed, and the driver only needs to drive the train according to the given speed codes. In this mode, ATP is responsible for ensuring train operation safety, and the rest of the operations such as door opening and closing operations, traction and braking are all manually operated by the driver.

[0026] CTC-AM mode: Also known as the train automatic driving mode, it means that when ATP ensures the safety of train operation and ATP collects the driver's confirmation to allow ATO to start, ATO is started for automatic driving and all functions of automatic protection are realized.

[0027] CTC-FAM mode: Also known as the train fully automatic driving mode, it means that when ATP ensures the safety of train operation, ATO is for automatic driving and all functions of automatic protection are realized.

[0028] In this specification, a train method is provided. This specification also relates to a train control system, a train control device, a computing device, a computer-readable storage medium, and a computer program product, which will be described in detail one by one in the following embodiments.

[0029] See Figure 1 , Figure 1 shows an architecture diagram of a train control system provided according to an embodiment of this specification. The train control system 100 specifically includes a control end 102 and a target train 104.

[0030] Control end 102: Configured to determine the target axle counter section where the target train 104 is currently located.

[0031] Target train 104: Configured to send a reverse request to the control end 102 at the current stop position, where the current stop position is within the target axle counter section.

[0032] Control end 102: Also configured to, in response to the reverse request sent by the target train 104 at the current stop position, match a forward route for the target train 104 according to the planned running direction of the target train 104 and the target axle counter section, where the forward route is used to control the target train 104 to enter the automatic operation mode; determine the updated locking direction of the target axle counter section based on the forward route, and match a reverse route for the target train 104 according to the updated locking direction; control the target train 104 to change ends in the automatic operation mode and run according to the reverse route.

[0033] Optionally, when the control end 102 matches a forward route for the target train 104, it can calculate the forward MA of the target train 104 based on the matched forward route, so that the target train 104 can enter the CTC level. Further, when the target train 104 completes the end-changing operation, the control end 102 can match a reverse route for the target train 104 and calculate the reverse MA, so that the target train 104 can, after changing ends, run in reverse along the reverse route based on the reverse MA.

[0034] Applying this embodiment, through the interaction between the control end and the target train, when receiving the reverse request sent by the target train at the current stop position, it can match a forward route for the target train according to the planned running direction of the target train and the target axle counter section, ensuring that the target train enters the automatic operation mode at the current stop position; it can control the target train to change ends in the automatic operation mode and run according to the reverse route, ensuring that the target train can change ends and run in reverse in the automatic operation mode at the current stop position, realizing the end-changing and reversing of the target train at any position, and realizing the end-changing and reversing of the target train in the automatic operation mode at any position, improving the flexibility and timeliness of the reverse operation and ensuring the safety of trains and personnel.

[0035] See Figure 2 , Figure 2Shows an architecture diagram of another train control system provided according to an embodiment of the present specification. The train control system 200 specifically includes a control terminal 202 and a target train 204. Among them, the control terminal 202 includes a control system 2022 and an interlocking system 2024.

[0036] Target train 204: Configured to send its current position to the control system 2022.

[0037] Control system 2022: Configured to calculate the target axle counter section where the target train 204 is currently located based on the current position and the electronic map data.

[0038] Target train 204: Also configured to send a reverse request to the control system 2022.

[0039] Control system 2022: Also configured to, in response to the reverse request, determine the candidate forward route corresponding to the target train 204 based on the target axle counter section and the planned running direction of the target train; send an approach control instruction for the candidate forward route to the interlocking system 2024.

[0040] Interlocking system 2024: Configured to lock each axle counter section in the candidate forward route in accordance with the planned running direction according to the approach control instruction of the forward route, and feedback the approach information of the candidate forward route to the control system 2022.

[0041] Control system 2022: Also configured to match a forward route for the target train 204 based on the approach information of the candidate forward route, calculate the forward MA; determine the updated locking direction of the target axle counter section based on the forward route, and determine the candidate reverse route corresponding to the target train 204 according to the updated locking direction; send an approach control instruction for the candidate reverse route to the interlocking system 2024.

[0042] Interlocking system 2024: Also configured to, according to the approach control instruction of the candidate reverse route, update the locking state of each axle counter section in the forward route to unlocked, lock each axle counter section in the candidate reverse route in the opposite direction of the updated locking direction, and feedback the approach information of the candidate reverse route to the control system 2022.

[0043] Control system 2022: Also configured to match a reverse route for the target train 204 based on the approach information of the candidate reverse route; control the target train 204 to perform an end-changing operation, and calculate the reverse MA when the target train 204 completes the end-changing operation.

[0044] Applying this embodiment, through the interaction between the control system and the target train, when receiving a reversal request sent by the target train at the current stop position, a forward route can be matched for the target train according to the planned running direction of the target train and the target axle counter section, ensuring that the target train enters the automatic operation mode at the current stop position; through the interaction between the control system and the interlocking system, the interlocking system can be controlled to close the forward route and handle the reverse route, thereby realizing the end change of the train in the automatic operation mode at the current stop position, and further realizing that the train can perform reverse running based on the reverse route matched by the control system, improving the flexibility and timeliness of the reverse operation and ensuring the safety of the train and personnel.

[0045] See Figure 3 , Figure 3 shows a flowchart of a train control method provided according to an embodiment of this specification, which is applied to the control end and specifically includes the following steps.

[0046] Step 302: Determine the target axle counter section where the target train is currently located.

[0047] In practical applications, the control end can determine the target axle counter section where the target train is currently located.

[0048] Specifically, the control end can be used to control and manage trains running within a certain area, and the specific area can be determined according to the requirements in practical applications. Further, the control end can include a control system and an interlocking system.

[0049] Among them, the control system can be understood as LC or ZC, which is used to match routes for trains within the control area and calculate movement authorities. The interlocking system, also known as computer interlocking, is used to implement the function of route handling.

[0050] Optionally, the target train can realize communication and interaction with the control system through the on-board electronic system VOBC configured on it.

[0051] In practical applications, through the mutual cooperation among the control system, the interlocking system, and VOBC, the target train can operate at the CTC level.

[0052] Specifically, the CTC level can include operation modes such as CTC-CM, CTC-AM, and CTC-FAM.

[0053] In one or more alternative embodiments of this specification, for the convenience of clearer explanation, the "automatic operation mode" is uniformly used to refer to each operation mode under the CTC level.

[0054] Specifically, the target train can be understood as any train running within the area managed by the control end.

[0055] Optionally, the area managed by the control end may include at least one route, and each route is separated by a signal. Each route may include at least one axle counter section, and axle counters are configured at both ends of each axle counter section. Further, based on the number of axles of the axle counters at both ends of the axle counter section, it can be determined whether there is a train occupying the current axle counter section.

[0056] Optionally, when the number of axles of the axle counters at both ends of the axle counter section is the same, it is determined that there is no train occupying the axle counter section; when the number of axles of the axle counters at both ends of the axle counter section is different, it is determined that there is a train occupying the axle counter section.

[0057] According to an optional embodiment of this specification, to determine the target axle counter section where the target train is currently located, when a reverse request sent by the target train is received, a corresponding forward route can be matched for the target train based on the target axle counter section and the blocking direction of the target axle counter section.

[0058] According to another optional embodiment of this specification, to determine the target axle counter section where the target train is currently located, it is also possible to implement the tracking process of other trains based on the target axle counter section.

[0059] Further, according to an optional embodiment of this specification, determining the target axle counter section where the target train is currently located may include the following steps: Obtain the current position of the target train; Based on the current position and the electronic map data, calculate the target axle counter section where the target train is currently located.

[0060] Specifically, the current position can be understood as the current position information of the target train, which may include coordinate position, altitude position, longitude and latitude, etc., and can be specifically determined according to actual requirements.

[0061] Optionally, the current position can be achieved through the autonomous positioning of the target train.

[0062] Exemplarily, when the target train crosses two balises, it can determine its position and running direction on the line and send the position and running direction to the control end.

[0063] Optionally, based on the current position and the electronic map data, the target axle counter section where the target train is currently located can be calculated.

[0064] Specifically, the target axle counter section can be understood as the axle counter section where the body of the target train is currently located. The target axle counter section may include one or two.

[0065] Exemplarily, when the target train is running within one axle counter section, there is one target axle counter section; during the process of the target train crossing from one axle counter section to an adjacent axle counter section, there are two target axle counter sections.

[0066] Optionally, calculating the target axle counter section where the target train is currently located based on the current position and the electronic map data may include: Determining the boundary positions of each axle counter section according to the electronic map data, where the boundary positions include the starting position and the ending position; Matching the current position with the boundary positions of each axle counter section to obtain the target axle counter section where the target train is currently located.

[0067] Applying this embodiment, by obtaining the current position of the target train; calculating the target axle counter section where the target train is currently located according to the current position and the electronic map data, it is possible to locate the axle counter section where the train is currently located during the running process on the train line, thereby realizing route matching for the target train and position tracking of each train on the line.

[0068] Step 304: In response to the reverse request sent by the target train at the current stop point, match a forward route for the target train according to the planned running direction of the target train and the target axle counter section, where the forward route is used to control the target train to enter the automatic operation mode, and the current stop point is within the target axle counter section.

[0069] In practical applications, a forward route can be matched for the target train in response to the reverse request sent by the target train at the current stop point.

[0070] Specifically, the current stop point can be understood as the position where the target train currently stops, and the current stop point is within the target axle counter section.

[0071] Exemplarily, the head position of the target train can be used as the current stop point; the current stop point can also be determined based on the body position of the target train. Specifically, it can be determined according to the requirements in practical applications, and this specification does not make any limitation in this regard.

[0072] In an optional embodiment of this specification, the target train can stop running in response to the stop instruction sent by the operation center.

[0073] In another optional embodiment of this specification, the target train can also stop running under the control of the driver.

[0074] Optionally, the target axle counter section can also be understood as the axle counter section where the train stops running.

[0075] Specifically, the reversing request can be understood as a request sent by the target train to the control terminal for the target train to perform a reversing operation with end change from the current stop position.

[0076] It should be noted that since the reversing request is a request for reversing operation with end change from the current stop position, and the current stop position is the position where the train stops running based on the stop instruction during the train operation, rather than a pre-specified stop position, therefore, the reversing request in the embodiments of this specification can also be understood as a reversing request for any position, enabling the train to perform a reversing operation with end change at any position; it can also be understood as an in-situ reversing request for the current stop position, enabling the train to perform an in-situ reversing operation with end change. Therefore, by applying the embodiments of this specification, the timeliness and flexibility of train reversing can be improved, without the need to handle a reversing route for the train and without the need to control the train to continue moving forward to a specified reversing point.

[0077] Specifically, the planned running direction can be understood as the running direction pre-planned for the target train, or can also be understood as the running direction of the target train under normal circumstances.

[0078] Exemplarily, the planned running direction can be obtained according to a pre-established planned running schedule. For example, it can be the up direction or the down direction.

[0079] Specifically, the forward route can be understood as a route that is consistent with the direction of the planned running direction. That is, the direction of the forward route is consistent with the planned running direction of the target train.

[0080] Exemplarily, if the planned running direction is the up direction, then the direction of the forward route should also be the up direction.

[0081] In practical applications, when the control terminal matches a forward route for the target train and calculates the forward movement authority, the target train can enter the CTC level and operate in the automatic operation mode.

[0082] Specifically, the automatic operation mode can be understood as an operation mode under the CTC level.

[0083] In practical applications, if a special situation occurs in front of the running direction of the target train, the operation center can notify the target train to perform a reverse, or the driver can press the reverse button on the target train to achieve the reverse of the target train at any point.

[0084] In an optional embodiment of this specification, when the target train sends a reversing request at the current stop position, it can include: The target train sends a reversing request to the control terminal in response to the reversing instruction sent by the operation center.

[0085] In another alternative embodiment of this specification, when the target train sends a reversing request at the current stop position, it may further include: The target train responds to the triggering operation on the reversing control on the target train and sends a reversing request to the control terminal.

[0086] Optionally, the triggering operation of the reversing control can be achieved by the driver pressing the reversing button on the target train; or it can be triggered by the automatic driving system in response to a preset event or a preset instruction.

[0087] In one or more alternative embodiments of this specification, in response to the reversing request sent by the target train at the current stop position, according to the planned running direction of the target train and the target axle counter section, matching a forward route for the target train may include the following steps: In response to the reversing request sent by the target train at the current stop position, determine a candidate forward route that includes the target axle counter section and whose preset route direction is the same as the planned running direction; When the target train meets the pre-screening conditions for the train and the blocking directions of the axle counter sections in the candidate forward route are the same as the planned running direction, determine the candidate forward route as the forward route; Calculate the forward movement authorization for the target train according to the forward route, where the forward movement authorization is used to control the target train to enter the automatic operation mode.

[0088] Specifically, the preset route direction can be understood as the route direction pre-configured for each route, which may include the up direction or the down direction. Exemplarily, if the planned running direction of the target train is the up direction and the planned running route of the target train includes the route S1 - S2, then the preset route direction of the route S1 - S2 is the up direction. The candidate forward route can be understood as a route that includes the target axle counter section and whose preset route direction is the same as the planned running direction, and the candidate forward route may include at least one axle counter section. The forward route can be understood as a route whose blocking directions of the included axle counter sections are all the same as the planned running direction of the target train, and the forward route may include at least one axle counter section.

[0089] Optionally, when the blocking directions of the axle counter sections in the candidate forward route are also the same as the planned running direction, the candidate forward route can be determined as the forward route matched by the target train.

[0090] Specifically, meeting the pre-screening conditions for a train can be understood as there being no hidden non-communicating vehicles in front of the target train. Non-communicating vehicles can include trains that cannot establish a communication connection with the system, or other objects other than trains. Positive movement authorization can also be referred to as positive MA. Positive movement authorization can ensure that a train moves from the starting end to the ending end of a positive route in the automatic operation mode. In practical applications, when the control end matches a positive route for the target train and calculates the positive MA, the control end can achieve safe train control according to the CTC level, and the target train can enter the automatic operation mode.

[0091] Optionally, determining a candidate positive route that includes the target axle counter section and whose preset route direction is the same as the planned operation direction may include: Determining at least one route that includes the target axle counter section; Determining the route with the preset route direction consistent with the planned operation direction as the candidate positive route.

[0092] In practical applications, there may be at least one route that includes the target axle counter section, and the preset route directions corresponding to different routes may be different. Exemplarily, both the route S1-S2 and the route S3-S4 may include the target axle counter section, but the preset route direction of the route S1-S2 corresponds to the up direction, and the preset route direction of the route S3-S4 corresponds to the down direction. When the planned operation direction is the up direction, the candidate positive route is determined to be the route S1-S2.

[0093] Furthermore, the control system can send a route control instruction for the candidate positive route to the interlocking system based on the determined candidate positive route. This route control instruction is used to instruct the interlocking system to handle the positive route. The interlocking system can respond to the route control instruction for the candidate positive route, handle the positive route for the target train, and update the blocking direction of each axle counter section in the candidate positive route to be consistent with the planned operation direction; then send feedback information indicating that the route handling is completed to the control system. The control system can detect whether the blocking direction of each axle counter section in the positive route handled by the interlocking system is consistent with the planned operation direction. If they are consistent, it matches a positive route for the target train, that is, determines the candidate positive route as the positive route, and calculates the positive movement authorization, so that the target train can enter the CTC level.

[0094] Optionally, the pre-screening conditions for a train can also be understood as head screening conditions. The ways to achieve train pre-screening may include: Detecting the distance between the train head and the front end of the target axle counter section, and detecting the occupancy status of the next axle counter section after the train head; If the distance between the train head and the front end of the target axle counter section is less than the preset distance, and the occupancy status of the next axle counter section is idle, it is determined that the target train passes the pre-screening of the train, that is, it meets the pre-screening conditions of the train.

[0095] In practical applications, if the distance between the train head and the front end of the target axle counter section is less than the preset distance, and the occupancy status of the next axle counter section after the train head is idle, it can ensure that there are no undetected obstacles or hidden trains in front of the train, and can ensure the safety of train operation.

[0096] In the actual implementation process, in addition to detecting whether the target train meets the pre-screening conditions of the train and whether the locking directions of the axle counter sections in the candidate forward route meet the expectations, other detections can also be performed on the target train and / or each axle counter section, such as detecting whether the communication status of the target train is normal, whether the equipment status is normal, whether the target train is in a stationary state, etc., which can be specifically determined according to the requirements in practical applications.

[0097] Applying this embodiment, by responding to the reverse request sent by the target train at the current stop point, a candidate forward route including the target axle counter section and with the preset route direction the same as the planned operation direction is determined; when the target train meets the pre-screening conditions of the train and the locking directions of the axle counter sections in the candidate forward route are the same as the planned operation direction, the candidate forward route is determined as the forward route; according to the forward route, the forward movement authorization of the target train is calculated, which can ensure that the train enters the CTC level while ensuring operation safety at the current stop point, so as to ensure that the target train can perform end-changing reverse at any reverse point in the automatic operation mode, which is beneficial to improving the train operation safety.

[0098] It should be noted that when the control system determines the candidate forward route based on the planned operation direction and the position of the target axle counter section, the locking directions of the axle counter sections in the candidate forward route have not been determined yet, and at this time, the safety of train operation cannot be ensured; therefore, it is necessary to determine the candidate forward route as the forward route only when the locking directions of the axle counter sections in the candidate forward route are the same as the planned operation direction.

[0099] In an optional embodiment of this specification, before determining the candidate forward route as the forward route when the target train meets the pre-screening conditions of the train and the locking directions of the axle counter sections in the candidate forward route are the same as the planned operation direction, the following steps may further be included: Control each axle counter section in the candidate forward route to lock in the same direction as the planned operation direction.

[0100] In the actual implementation process, based on the determination of the candidate forward route, the control system can send a route control instruction for the candidate forward route to the interlocking system, where the route control instruction is used to instruct the interlocking system to lock each axle counter section in the candidate forward route in the same direction as the planned operation direction.

[0101] The interlocking system can respond to the route control instruction for the candidate forward route, lock each axle counter section in the candidate forward route in the same direction as the planned operation direction, and send feedback information to the control system. Based on the received feedback information, the control system can further detect whether the target train meets the pre-screening conditions for the train and whether the locking direction of each axle counter section in the candidate forward route is the same as the planned operation direction, and match a forward route for the target train when the detection results meet the expectations.

[0102] Applying this embodiment, by controlling each axle counter section in the candidate forward route to be locked in the same direction as the planned operation direction before determining the candidate forward route as the forward route, it can ensure that the locking direction of each axle counter section in the candidate forward route is consistent with the planned operation direction, so as to successfully match a forward route for the target train subsequently and improve the success rate of the target train entering the automatic operation mode.

[0103] In practical applications, when the control end receives a reverse request sent by the target train, it can verify the reverse request and further process the reverse request when the verification passes.

[0104] According to an optional embodiment of this specification, verifying the reverse request may include: Checking whether the fields of the reverse request conform to the preset field values.

[0105] Exemplarily, the reverse request may include a default field value and a preset field value, where the default field value indicates that the target train does not need to perform a reverse; the preset field value may indicate that the target train needs to perform a reverse. The default field value may be 0xFF; the preset field value may be 0x55.

[0106] It should be noted that the field values of the reverse request can be specifically set according to actual needs, and this specification does not make any limitations on this.

[0107] Step 306: Determine the updated locking direction of the target axle counter section based on the forward route, and match a reverse route for the target train according to the updated locking direction.

[0108] In practical applications, when ensuring that the target train enters the automatic operation mode, the updated locking direction of the target axle counter section can be determined based on the forward route, and a reverse route can be matched for the target train according to the updated locking direction.

[0109] Specifically, the updated locking direction can be understood as the locking direction of the target axle counter section after matching the forward route for the target train. The updated locking direction is the same as the planned running direction and the route direction of the forward route. That is, if both the planned running direction and the route direction of the forward route are the upward direction, the updated locking direction is also the upward direction. The locking direction refers to a way of restricting and managing the running direction of trains in the interlocking system. Suppose a train is to run in the upward direction, then the locking states of each axle counter section that the train is planned to pass through should be locked, and the locking direction should be the upward direction to ensure the normal and safe operation of the train according to the plan. The reverse route can be understood as a route opposite to the updated locking direction, that is, the route direction of the reverse route is opposite to the planned running direction of the target train. Exemplarily, if the planned running direction of the target train is the upward direction, the updated locking direction is also the upward direction, and the direction of the reverse route is the downward direction. The reverse route can include at least one axle counter section.

[0110] In practical applications, running according to the reverse route can keep the target train away from the location where an emergency occurs when an emergency occurs at the front end of the planned running direction.

[0111] According to an optional embodiment of this specification, determining the updated locking direction of the target axle counter section based on the forward route and matching the reverse route for the target train according to the updated locking direction may include the following steps: Determine a candidate reverse route that includes the target axle counter section and whose preset route direction is opposite to the updated locking direction; When the target train meets the post-screening conditions for trains and the locking directions of the axle counter sections within the candidate reverse route are opposite to the updated locking direction, determine the candidate reverse route as the reverse route.

[0112] Specifically, the updated locking direction can be understood as the direction in which the interlocking system controls the locking for the target axle counter section, which is consistent with the planned running direction and the forward route direction. The candidate reverse route can be understood as a route that includes the target axle counter section and whose preset route direction is opposite to the updated locking direction. The candidate reverse route can include at least one axle counter section.

[0113] Exemplarily, both route S1 - S2 and route S3 - S4 include the target axle counter section. Among them, route S1 - S2 is the forward route matched by the target train and corresponds to the upward direction; route S3 - S4 corresponds to the downward direction. Then, the candidate reverse route can be determined as route S3 - S4.

[0114] Optionally, according to the position of the target axle counter section, a candidate reverse route that includes the target axle counter section and whose preset route direction is opposite to the updated locking direction can be determined from the electronic map.

[0115] In practical applications, in addition to the electronic map, candidate reverse routes can also be determined from other data structures such as route configuration tables that store the association relationship between axle counting sections and routes.

[0116] Specifically, meeting the train rear screening condition may include: there are no hidden non - communicating vehicles behind the target train.

[0117] Optionally, the train rear screening condition can also be understood as the tail screening condition, and the implementation method of train rear screening can include: Detect the distance between the train's tail and the end of the target axle counting section, and detect the occupancy status of the axle counting section immediately before the train's tail; If the distance between the train's tail and the end of the target axle counting section is less than the preset distance, and the occupancy status of the previous axle counting section is idle, then the train meets the train rear screening condition, which can ensure that there are no undetected obstacles or hidden trains behind the train and can guarantee the safety of train operation.

[0118] It should be noted that in this embodiment, the front and rear are relative to the train running direction. Before the train running direction, that is, the direction the train is about to run to, is the front; after the train running direction, that is, the direction the train runs away from, is the rear. The above only gives optional examples for realizing train front screening and rear screening and does not limit this specification.

[0119] Applying this embodiment, by determining the candidate reverse route including the target axle counting section according to the updated blocking direction of the target axle counting section, it is possible to pre - determine the corresponding candidate reverse route for the target train to turn back at the current stop point, thus facilitating subsequent matching of the reverse route for the target train, enabling the train to turn back at any turning point, and improving the safety during the reverse operation of the train.

[0120] It should be noted that when the control system determines the candidate reverse route based on the updated blocking direction and the position of the target axle counting section, the blocking directions of the axle counting sections in the candidate reverse route have not been determined yet, and at this time, the safety of train operation cannot be guaranteed; therefore, it is necessary to determine the candidate reverse route as the reverse route only when the blocking directions of the axle counting sections in the candidate reverse route are opposite to the updated blocking direction.

[0121] According to an optional embodiment of this specification, before determining the candidate reverse route as the reverse route when the target train meets the train rear screening condition and the blocking directions of the axle counting sections in the candidate reverse route are opposite to the updated blocking direction, the following steps may further be included: Control the blocking status of the axle counting sections in the forward route to be updated to unblocked, and control the axle counting sections in the candidate reverse route to be blocked in the direction opposite to the updated blocking direction.

[0122] In the actual implementation process, based on determining the candidate reverse route, the control system can send a route control instruction for the candidate reverse route to the interlocking system. Among them, the route control instruction is used to instruct the interlocking system to update the locking state of each axle counter section in the forward route to unlocked, and lock each axle counter section in the candidate reverse route in the direction opposite to the updated locking direction.

[0123] The interlocking system can respond to the route control instruction for the candidate reverse route and first update the locking state of each axle counter section in the forward route to unlocked. The reason for performing this step first is that the axle counter sections included in the candidate reverse route may overlap with those included in the forward route. To be able to normally lock each axle counter section in the candidate reverse route and avoid conflicts, it is necessary to first update the locking state of each axle counter section in the forward route to unlocked. Further, when the locking state of each axle counter section in the forward route is updated to unlocked, the interlocking system can update the locking state of each axle counter section in the candidate reverse route to locked, update the locking direction to the direction opposite to the updated locking direction, and send feedback information to the control system.

[0124] Exemplarily, if the updated locking direction is the upward direction, the locking direction of each axle counter section in the candidate reverse route is updated to the downward direction. Since the target axle counter section is in the candidate reverse route, the locking direction of the updated target axle counter section should also be the downward direction.

[0125] Based on receiving the feedback information, the control system can further detect whether the target train meets the train post-screening conditions and whether the locking direction of each axle counter section in the candidate reverse route is opposite to the updated locking direction, and match a reverse route for the target train when the detection results meet the expectations.

[0126] In practical applications, when the route is locked, the signal lights at both ends of the route can light up synchronously; when the route is unlocked, the signal lights at both ends of the route can remain extinguished. Exemplarily, when updating each axle counter section in the forward route to unlocked, the signal lights at both ends of the forward route can be turned off synchronously.

[0127] Applying this embodiment, by controlling each axle counter section in the forward route to be updated to unlocked and controlling each axle counter section in the candidate reverse route to be locked in the direction opposite to the updated locking direction before determining that the candidate reverse route is the reverse route, it can be ensured that the locking direction of each axle counter section in the candidate reverse route is opposite to the planned running direction, so that a reverse route can be successfully matched for the target train subsequently and the success rate of the target train entering the automatic operation mode can be improved.

[0128] Optionally, the number of reverse routes can be determined according to the requirements in the actual application, and may include one or more. It should be noted that in the case where there are multiple reverse routes, in order to ensure the train operation safety during the reverse train operation, each reverse route needs to pass a pre-set verification step before the reverse route can be opened.

[0129] According to another optional embodiment of this specification, matching a reverse route for the target train may also include the following steps: Determine the reverse route including the target axle counter section according to the direction opposite to the planned running direction of the target train.

[0130] Step 308: Control the target train to change ends in the automatic operation mode and run according to the reverse route.

[0131] In actual application, when the reverse route is determined, the target train can be controlled to change ends in the automatic operation mode and run according to the reverse route.

[0132] According to an optional embodiment of this specification, before controlling the target train to change ends in the automatic operation mode, the following steps may further be included: Perform a legality verification on the target train, where the legality verification includes checking whether the current level of the target train conforms to the level corresponding to the automatic operation mode and checking whether the target train has come to a complete stop.

[0133] Optionally, the legality verification may include checking whether the current level of the target train conforms to the level corresponding to the automatic operation mode, checking whether the target train has come to a complete stop, and may further include checking whether the field value of the reverse request conforms to the preset field value, checking whether the target train meets the train pre-screening conditions and the train post-screening conditions, etc.

[0134] Specifically, the preset field value may indicate that the target train needs to perform a reverse operation.

[0135] Exemplarily, the reverse request may include a default field value and a preset field value, where the default field value indicates that the target train does not need to perform a reverse operation; the preset field value may indicate that the target train needs to perform a reverse operation. The default field value may be 0xFF; the preset field value may be 0x55.

[0136] It should be noted that the field value of the reverse request can be specifically set according to the actual requirements, and this specification does not make any limitation thereto.

[0137] Exemplarily, the target train passing the legality verification may include: The current level of the target train is the CTC level, the target train has come to a complete stop, the field value of the reverse request sent by the target train meets the preset field value (such as 0x55), and the target train has met the pre-screening conditions and post-screening conditions for the train.

[0138] Applying this embodiment, by performing a legality check on the target train, it is possible to ensure that the train maintains the CTC level at the current stopping point, that is, at any reverse point, and to ensure the safety of train operation during the reverse process.

[0139] According to an optional embodiment of this specification, controlling the target train to change ends in the automatic operation mode and running according to the reverse route may include the following steps: Control the target train to perform an end-changing operation, and calculate the reverse movement authorization of the target train based on the reverse route, where the reverse movement authorization is used to control the target train to run according to the reverse route in the automatic operation mode.

[0140] Specifically, the end-changing operation can be understood as an operation of changing from one end of the train to the other end to control the continued operation of the train. The reverse movement authorization can control the train to run from the starting position of the reverse route to the end of the reverse route in the automatic operation mode, and the reverse movement authorization can also be referred to as the reverse MA.

[0141] In the actual implementation process, the reverse movement authorization corresponding to the reverse route can be directly calculated on the basis of matching the reverse route for the target train; or the reverse movement authorization corresponding to the reverse route can be calculated when the train performs the end-changing operation and completes the end-changing. When the train performs the end-changing operation and completes the end-changing, calculating the reverse movement authorization corresponding to the reverse route can ensure higher safety, avoid the train moving before the end-changing is completed, and avoid safety hazards such as running conflicts.

[0142] Optionally, after determining the candidate reverse route, controlling each axle counter section in the forward route to be updated to unlocked and controlling each axle counter section in the candidate reverse route to be locked in the opposite direction of the updated locking direction, an end-changing instruction can also be sent to the target train first; when the target train completes the end-changing, based on the locking direction of each axle counter section in the candidate reverse route, match the reverse route for the target train and calculate the corresponding reverse movement authorization.

[0143] Applying this embodiment, by controlling the target train to perform an end-changing operation, it is possible to achieve changing the train to the opposite end of the planned running direction to continue running at any position; by calculating the reverse movement authorization of the target train based on the reverse route, it is possible to support the train to run in the opposite direction of the planned running direction in the automatic operation mode, so as to achieve the reverse of the train at any point in the automatic operation mode.

[0144] According to an optional embodiment of the present specification, controlling the target train to perform a terminal change operation and calculating the reverse movement authorization of the target train based on the reverse route may include the following steps: Send a terminal change command to the target train; Upon receiving a confirmation message returned by the target train based on the end-change instruction, a reverse movement authorization of the target train is calculated based on the reverse route, wherein the confirmation message is used to indicate that the target train has completed the end-change operation.

[0145] Specifically, the end-change instruction can be understood as an instruction to control the target train to perform an end-change operation. The confirmation message can be understood as a message returned to the control end after the target train performs an end-change operation based on the end-change instruction; it is used to indicate that the target train has executed the end-change operation and completed the end-change. In other words, the confirmation message indicates that the train can immediately run in the reverse route.

[0146] Optionally, the end change instruction may be sent from the control end to the target train; specifically, from the control system in the control end to the target train.

[0147] In practical applications, the control system can calculate the reverse movement authorization upon receiving a confirmation message returned by the target train based on the end change instruction.

[0148] In an optional embodiment of the present specification, the reverse route matched by the control system may include one or two. In this way, when the disaster spreads, the train can be rescued and moved away from the accident site as soon as possible while ensuring the safety of each train in the route. If it is necessary to continue to run a longer distance in the reverse direction, the operator can consider opening more reverse routes or taking other measures.

[0149] By applying this embodiment, by sending a change-end instruction to the target train when the interlocking system has processed the reverse route, the target train can be controlled to change ends in the current stop point in the automatic operation mode, thereby enabling the target train to change ends in the automatic operation mode at any point; by calculating the reverse movement authorization of the target train when receiving a confirmation message returned by the target train based on the change-end instruction, the target train can be controlled to perform a turnaround operation in accordance with the reverse movement authorization after the target train changes ends, thereby enabling the target train to turn around in the automatic operation mode at any point, improving the timeliness and flexibility of the train's turnaround, and being able to promptly control the train to stay away from the accident site to ensure the safety of the train and personnel.

[0150] Since the target train needs to change ends and reverse at the target axle counter section, in order to avoid conflicts in the locked states of each axle counter section in the route and to avoid interference or conflicts among the trains in the route, according to an optional embodiment of this specification, before controlling the target train to change ends in the automatic operation mode and run according to the reverse route, the following steps may further be included: Determine at least one to-be-processed forward route that overlaps with the reverse route; Judge whether there are other trains except the target train in each to-be-processed forward route; If so, send a reverse command to the other trains, where the reverse command is used to control the other trains to send a reverse request to the control end when they stop stably.

[0151] Specifically, the to-be-processed forward route can be understood as a forward route whose included axle counter sections overlap with those of the reverse route.

[0152] Exemplarily, assume that the forward route S1 - S2 includes axle counter sections 1 - 3; the forward route S2 - S5 includes axle counter sections 4 - 5; and the reverse route S3 - S4 includes axle counter sections 1 - 4. Then, since there are overlapping axle counter sections 1 - 3 between the forward route S1 - S2 and the reverse route S3 - S4, and overlapping axle counter section 4 between the forward route S2 - S5 and the reverse route S3 - S4, therefore, the to-be-processed forward routes include the forward route S1 - S2 and the forward route S2 - S5.

[0153] In practical applications, before the control system controls the interlocking system to close the forward route and handle the reverse route, it may also determine each to-be-processed forward route that overlaps with the reverse route; judge whether there are other trains except the target train in each to-be-processed forward route; if not, it may directly control the interlocking system to close the forward route and handle the reverse route; if so, it is necessary to send a reverse command to the other trains.

[0154] Specifically, the reverse command is used to control the other trains to send a reverse request to the control end when they stop stably.

[0155] Optionally, in the case where each of the other trains in the to-be-processed forward route sends a reverse request to the control end, it is also necessary to implement the end-changing and reversing operations of each of the other trains at the stop position according to the processing logic of steps 304 - 308 above.

[0156] Applying this embodiment, by determining at least one to-be-processed forward route that overlaps with the reverse route; when other trains except the target train are included in each to-be-processed forward route, sending a reverse command to the other trains can control the other trains in the to-be-processed route to also perform end-changing and reversing, avoid conflicts in the locked state of the axle-counting section, and avoid conflicts among trains during operation, thus ensuring train operation safety.

[0157] An embodiment of this specification provides a train control method, which is applied to a control end. It determines the target axle-counting section where the target train is currently located; in response to a reverse request sent by the target train at the current stop point, according to the planned running direction of the target train and the target axle-counting section, it matches a forward route for the target train, where the forward route is used to control the target train to enter the automatic operation mode, and the current stop point is within the target axle-counting section; based on the forward route, it determines the updated locking direction of the target axle-counting section, and according to the updated locking direction, it matches a reverse route for the target train; it controls the target train to change ends in the automatic operation mode and run according to the reverse route.

[0158] In this way, by determining the target axle-counting section where the target train is currently located, when receiving a reverse request sent by the target train at the current stop point, it can match a forward route for the target train according to the planned running direction of the target train and the target axle-counting section, thereby ensuring that the target train can enter the automatic operation mode at the current stop point; by determining the reverse route corresponding to the target train, it can control the target train to change ends in the automatic operation mode and run according to the reverse route, thereby ensuring that at the current stop point, the target train can change ends and run in the reverse direction in the automatic operation mode, realizing end-changing and reversing of the target train at any point, and realizing end-changing and reversing of the target train at any point in the automatic operation mode, improving the flexibility and timeliness of the reversing operation, and ensuring the safety of trains and personnel.

[0159] The following combines the attached Figures 4 - 5 , taking the application of the train control method provided in this specification for reversing at any point as an example, to further illustrate the train control method. Among them, Figure 4 shows the processing procedure flowchart of a train control method provided by an embodiment of this specification, which specifically includes the following steps.

[0160] Step 402: When the train stops stably, the operation center sends a reversing command at any point to the train, or the driver presses the reversing button at any point; the train sends a reversing request at any point to the LC.

[0161] As Figure 5 shown, Figure 5The figure shows a schematic diagram of the reverse process of a train control method provided by an embodiment of this specification. Assume that under normal circumstances, the train runs in the planned running direction, that is, the upward direction; at this time, a disaster or special situation occurs in front of the current running direction of the train (that is, the upward direction), for example, a fire occurs in axle counter section 5, then the train is controlled to stop running, and the position where the train stops stably is within axle counter section 1.

[0162] In Figure 5 In the example scenario, the routes in the upward direction include S1 - S2, S2 - S5; the routes in the downward direction include S3 - S4. Under normal circumstances, the original plan of the train is to run in the upward direction, and the forward routes handled by the interlocking include S1 - S2, S2 - S5, then the blocking directions of axle counter sections 1 - 5 are all in the upward direction. The forward routes matched by the LC for the train include S1 - S2, S2 - S5, and the calculated MA can support the train to move to axle counter section 5. After the train stops, the body of the train is within axle counter section 1.

[0163] Step 404: The LC receives the position information sent by the train, and based on the position information and the electronic map data, calculates the target axle counter section where the train is currently located; in the case where the LC receives an arbitrary - point reverse request sent by the train, based on the target axle counter section, it matches a forward route for the train and calculates the forward MA.

[0164] Continuing with the above example, as Figure 5 shown, the target axle counter section where the train is currently located is axle counter section 1. Further, based on the planned running direction of the train and the blocking direction of axle counter section 1, a forward route S1 - S2, S2 - S5 is matched for the train, and the forward MA is calculated. The forward MA supports the train to run to axle counter section 5.

[0165] It should be noted that in the case of matching a forward route for the train and calculating the forward MA, the train can enter the CTC level to ensure that the train can achieve end - changing reverse at an arbitrary point at the CTC level.

[0166] Step 406: Verify whether the train maintains the CTC level, whether the front - and - rear screening is completed, whether it stops stably, and whether the field value of the arbitrary - point reverse request is a preset field value.

[0167] Specifically, the arbitrary - point reverse request can include a default field value and a preset field value. Among them, the default field value indicates that the train does not need to perform a reverse; the preset field value indicates that the train needs to perform a reverse. The default field value can be 0xFF; the preset field value can be 0x55.

[0168] Step 408: In the case of passing the verification, the LC determines a candidate reverse route including the target axle counter section based on the target axle counter section where the train is currently located and the blocking direction of the target axle counter section, and determines a set of forward routes overlapping with the candidate reverse route.

[0169] As Figure 5 shown, based on the current axle counter section 1 where the train is located and the blocking direction of axle counter section 1, that is, the upward direction, the LC determines the reverse route S3 - S4 including axle counter section 1, and determines the set of forward routes S1 - S2, S2 - S5 overlapping with the reverse route S3 - S4.

[0170] Step 410: The LC detects whether there are other trains in the set of forward routes. If so, it sends an any - point reversal instruction to the other trains. If not, it sends a closing command for the forward route and a handling command for the reverse route to the interlocking.

[0171] As Figure 5 shown, the LC sends a closing command for the forward routes S1 - S2, S2 - S5 and a handling command for the candidate reverse route S3 - S4 to the interlocking. The interlocking receives the commands, closes the forward routes, updates the axle counter sections 1 - 5 to unblocked, turns off the signal lights of signalers S1, S2, and S5. Then it handles the candidate reverse route, updates the axle counter sections 1 - 4 to the blocked state, and the blocking direction is the downward direction.

[0172] It should be noted that if the candidate reverse route handled by the interlocking only includes S3 - S4, the signal light of signaler S3 is turned on. If the candidate reverse route handled by the interlocking also includes the next route in front of S3 - S4, the signal lights of signalers S3 and S4 are turned on. The next route in front of S3 - S4 is the route to the left of signaler S4. To ensure the consistency of the blocking direction of the axle counter section and the safety of train operation, this route also needs to be automatically opened through steps similar to those of S3 - S4.

[0173] Step 412: When the blocking direction of each axle counter section in the candidate reverse route fed back by the interlocking is consistent with the reverse direction of the planned operation direction, send a cab - change instruction to the train.

[0174] As Figure 5 shown, the initial head direction of the train is on the right side, and the head direction after cab - change is on the left side.

[0175] Step 414: When receiving the confirmation message returned by the train based on the cab - change instruction, match a reverse route for the train based on the candidate reverse route and calculate the reverse MA.

[0176] As Figure 5As shown in the figure, when the train completes the end change operation, LC checks whether the locking direction of the axle counting section 1-4 is consistent with the downlink direction corresponding to the reverse route. If consistent, the reverse route S3-S4 is matched for the train and the reverse MA is calculated.

[0177] Optionally, if only one reverse route is matched, the matched reverse route is S3-S4, and the reverse MA supports the train to run from the current position to the leftmost end of the axle counting section 1.

[0178] Optionally, two reverse routes can be matched for the train, which can be determined according to the needs of the actual application, and this manual does not impose any restrictions on this. Assuming that the left side of the reverse route S3-S4 also includes the reverse route S4-S6, the reverse MA supports the train to change ends from the current position to the leftmost end of the reverse route S4-S6.

[0179] By using this embodiment, one or two reverse routes are automatically matched for the train, so that the train can be moved away from the accident site as soon as possible under the premise of ensuring driving safety, so as to avoid the spread of the disaster and delay the train's escape, thereby better ensuring the safety of the train and personnel. In addition, in order to avoid safety hazards such as train conflicts caused by automatically matching more reverse routes, the subsequent reverse routes can be manually considered by the operating company for opening or taking other measures.

[0180] Corresponding to the above method embodiment, this specification also provides a train control device embodiment, which is configured at a control end. Figure 6 FIG. 1 is a schematic diagram showing the structure of a train control device provided by an embodiment of the present specification. Figure 6 As shown, the device comprises: The first determination module 602 is configured to determine the target axle counting section where the target train is currently located.

[0181] Matching module 604: is configured to respond to a turnaround request sent by the target train at the current stop point, and to match a forward route for the target train according to the planned running direction and the target axle counting section of the target train, wherein the forward route is used to control the target train to enter an automatic operation mode, and the current stop point is within the target axle counting section.

[0182] The second determination module 606 is configured to determine the update locking direction of the target axle counting section based on the forward route, and match the reverse route for the target train according to the updated locking direction.

[0183] Control module 608: configured to control the target train to change ends in the automatic operation mode and run according to the reverse route.

[0184] Optionally, the matching module 604 is further configured to: In response to a reverse request sent by a target train at the current stop position, determine a candidate forward route that includes the target axle counter section and whose preset route direction is the same as the planned running direction; When the target train meets the pre-screening conditions for the train and the blocking directions of the axle counter sections in the candidate forward route are the same as the planned running direction, determine the candidate forward route as the forward route; Calculate the forward movement authorization of the target train according to the forward route, where the forward movement authorization is used to control the target train to enter the automatic operation mode.

[0185] Optionally, the matching module 604 is further configured to: Control each axle counter section in the candidate forward route to be blocked in the same direction as the planned running direction.

[0186] Optionally, the second determination module 606 is further configured to: Determine a candidate reverse route that includes the target axle counter section and whose preset route direction is opposite to the updated blocking direction; When the target train meets the post-screening conditions for the train and the blocking directions of the axle counter sections in the candidate reverse route are opposite to the updated blocking direction, determine the candidate reverse route as the reverse route.

[0187] Optionally, the second determination module 606 is further configured to: Control the blocking state of each axle counter section in the forward route to be updated to unblocked, and control each axle counter section in the candidate reverse route to be blocked in the direction opposite to the updated blocking direction.

[0188] Optionally, the train control device may further include a verification module, configured to: Perform a legality verification on the target train, where the legality verification includes checking whether the current level of the target train meets the level corresponding to the automatic operation mode and checking whether the target train has come to a complete stop.

[0189] Optionally, the control module 608 is further configured to: Control the target train to perform an end-changing operation, and calculate the reverse movement authorization of the target train based on the reverse route, where the reverse movement authorization is used to control the target train to run according to the reverse route in the automatic operation mode.

[0190] Optionally, the control module 608 is further configured to: Send an end-changing instruction to the target train; When receiving a confirmation message returned by the target train based on the end-changing instruction, calculate the reverse movement authorization of the target train based on the reverse route, where the confirmation message is used to indicate that the target train has completed the end-changing operation.

[0191] Optionally, the control module 608 is further configured to: Determine at least one to-be-processed forward route that overlaps with the reverse route; Judge whether there are other trains in each to-be-processed forward route except the target train; If so, send a reverse command to the other trains, where the reverse command is used to control the other trains to send a reverse request to the control end when they stop stably.

[0192] Optionally, the first determination module 602 is further configured to: Obtain the current position of the target train; Calculate the target axle counter section where the target train is currently located according to the current position and the electronic map data.

[0193] Applying this embodiment, by determining the target axle counter section where the target train is currently located, when receiving a reverse request sent by the target train at the current stop point, a forward route can be matched for the target train according to the planned running direction of the target train and the target axle counter section, so as to ensure that the target train can enter the automatic operation mode at the current stop point; by determining the reverse route corresponding to the target train, the target train can be controlled to change ends in the automatic operation mode and run according to the reverse route, so as to ensure that at the current stop point, the target train can change ends and run in the reverse direction in the automatic operation mode, realizing the change-end and reverse of the target train at any point, and realizing the change-end and reverse of the target train at any point in the automatic operation mode, improving the flexibility and timeliness of the reverse operation, and ensuring the safety of trains and personnel.

[0194] The above is a schematic solution of a train control device according to this embodiment. It should be noted that the technical solution of this train control device and the technical solution of the above train control method belong to the same concept. For the details not described in detail in the technical solution of the train control device, reference can be made to the description of the technical solution of the above train control method.

[0195] Figure 7 The structural block diagram of a computing device 700 provided according to an embodiment of this specification is shown. The components of the computing device 700 include but are not limited to a memory 710 and a processor 720. The processor 720 is connected to the memory 710 through a bus 730, and a database 750 is used to store data.

[0196] The computing device 700 also includes an access device 740, which enables the computing device 700 to communicate via one or more networks 760. Examples of such networks include the Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or a combination of communication networks such as the Internet. The access device 740 may include one or more of any type of wired or wireless network interface (e.g., a network interface card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, or a Near Field Communication (NFC) interface.

[0197] In one embodiment of the present specification, the above components of the computing device 700, as well as Figure 7 other components not shown, may also be connected to each other, for example, via a bus. It should be understood that Figure 7 the block diagram of the computing device shown is for illustrative purposes only and is not a limitation on the scope of the present specification. Those skilled in the art may add or replace other components as needed.

[0198] The computing device 700 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 smartphone), a wearable computing device (e.g., a smartwatch, 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 700 may also be a mobile or stationary server.

[0199] Wherein, the processor 720 is used to execute the following computer-executable instructions, and when the computer-executable instructions are executed by the processor, the steps of the above train control method are implemented.

[0200] The above is a schematic solution of a computing device according to this embodiment. It should be noted that the technical solution of this computing device and the technical solution of the above train control method belong to the same concept. For the details not described in detail in the technical solution of the computing device, reference can be made to the description of the technical solution of the above train control method.

[0201] An embodiment of this specification also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the steps of the above train control method are implemented.

[0202] The above is a schematic solution of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium and the technical solution of the above train control method belong to the same concept. For the details not described in detail in the technical solution of the storage medium, reference can be made to the description of the technical solution of the above train control method.

[0203] An embodiment of this specification also provides a computer program product, including a computer program / instructions. When the computer program / instructions are executed by a processor, the steps of the above train control method are implemented.

[0204] The above is a schematic solution of a computer program product according to this embodiment. It should be noted that the technical solution of this computer program product and the technical solution of the above train control method belong to the same concept. For the details not described in detail in the technical solution of the computer program product, reference can be made to the description of the technical solution of the above train control method.

[0205] The above describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain implementations, multitasking and parallel processing are also possible or may be advantageous.

[0206] The computer instructions include computer program code, which may be in the form of source code, object code, 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 media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memories, read-only memories (ROMs), random access memories (RAMs), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0207] It should be noted that for the foregoing method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of this specification are not limited by the described action sequence, because according to the embodiments of this specification, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the embodiments of this specification.

[0208] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0209] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The alternative embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the embodiments of this specification, so that those skilled in the art can well understand and utilize this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A train control method, characterized in that: Applied to the control end, including: Determine the target axle counting section where the target train is currently located; In response to a turnaround request sent by the target train at the current stop point, a forward route is matched for the target train according to the planned running direction of the target train and the target axle counting section, wherein the forward route is used to control the target train to enter an automatic running mode, and the current stop point is within the target axle counting section; Determining an updated blocking direction of the target axle counting section based on the forward route, and matching a reverse route for the target train according to the updated blocking direction; The target train is controlled to change ends in the automatic operation mode and to run according to the reverse route.

2. The method according to claim 1, characterized in that In response to the turnaround request sent by the target train at the current stop point, matching a forward route for the target train according to the planned running direction of the target train and the target axle counting section includes: In response to a turnaround request sent by the target train at the current stop point, determining a candidate forward route that includes the target axle counting section and has a preset route direction that is the same as the planned running direction; When the target train meets the train pre-screening condition and the locking direction of each axle counting section in the candidate forward route is the same as the planned running direction, determining the candidate forward route as the forward route; A forward movement authorization of the target train is calculated according to the forward route, wherein the forward movement authorization is used to control the target train to enter an automatic operation mode.

3. The method according to claim 2, characterized in that Before determining the candidate forward route as the forward route when the target train meets the train pre-screening condition and the locking direction of each axle counting section in the candidate forward route is the same as the planned running direction, the method further includes: Control each axle counting section in the candidate forward route to be locked in the same direction as the planned running direction.

4. The method according to any one of claims 1 to 3, characterized in that: The step of matching a reverse route for the target train according to the updated blocking direction includes: Determine a candidate reverse route that includes the target axle counting section and has a preset route direction opposite to the update locking direction; When the target train meets the train post-screening condition and the locking direction of each axle counting section in the candidate reverse route is opposite to the updated locking direction, the candidate reverse route is determined to be the reverse route.

5. The method according to claim 4, characterized in that The method further comprises: before determining that the candidate reverse route is the reverse route when the target train meets the train rear screening condition and the locking direction of each axle counting section in the candidate reverse route is opposite to the updated locking direction: The locking state of each axle counting section in the forward route is controlled to be updated to unlocked, and each axle counting section in the candidate reverse route is controlled to be locked in a direction opposite to the updated locking direction.

6. The method according to claim 1, characterized in that Before controlling the target train to change ends in the automatic operation mode, the method further includes: The target train is subjected to a legality check, wherein the legality check includes checking whether the current level of the target train meets the level corresponding to the automatic operation mode, and checking whether the target train is currently stopped.

7. The method according to claim 1, characterized in that The controlling the target train to change ends in the automatic operation mode and to run according to the reverse route includes: The target train is controlled to perform a terminal change operation, and a reverse movement authorization of the target train is calculated based on the reverse route, wherein the reverse movement authorization is used to control the target train to operate according to the reverse route in the automatic operation mode.

8. The method according to claim 7, characterized in that The controlling the target train to perform a terminal change operation and calculating a reverse movement authorization of the target train based on the reverse route includes: Sending a terminal change instruction to the target train; Upon receiving a confirmation message returned by the target train based on the end-change instruction, a reverse movement authorization of the target train is calculated based on the reverse route, wherein the confirmation message is used to indicate that the target train has completed the end-change operation.

9. The method according to claim 1, characterized in that: Before controlling the target train to change ends in the automatic operation mode and run according to the reverse route, the method further includes: determining at least one forward route to be processed that overlaps with the reverse route; Determine whether each forward route to be processed contains other trains except the target train; If so, a turnaround command is sent to the other train, wherein the turnaround command is used to control the other train to send a turnaround request to the control end when the other train stops.

10. The method according to claim 1, characterized in that The step of determining the target axle counting section where the target train is currently located comprises: Obtaining the current position of the target train; The target axle counting section where the target train is currently located is calculated according to the current position and the electronic map data.

11. A train control system, characterized in that: Including the control end and the target train; The control end is configured to determine a target axle counting section where the target train is currently located; The target train is configured to send a turnaround request to the control end at a current stop point, wherein the current stop point is within the target axle counting section; The control end is also configured to respond to a turnaround request sent by the target train at the current stop point, match a forward route for the target train according to the planned running direction of the target train and the target axle counting section, wherein the forward route is used to control the target train to enter an automatic operation mode; determine an updated locking direction of the target axle counting section based on the forward route, and match a reverse route for the target train according to the updated locking direction; control the target train to change ends in the automatic operation mode, and run according to the reverse route.

12. A train control device, characterized in that: Configuration on the control end, including: A first determination module is configured to determine a target axle counting section where the target train is currently located; a matching module, configured to, in response to a turnaround request sent by the target train at a current stop point, match a forward route for the target train according to a planned running direction of the target train and the target axle counting section, wherein the forward route is used to control the target train to enter an automatic running mode, and the current stop point is within the target axle counting section; a second determination module configured to determine an update blocking direction of the target axle counting section based on the forward route, and match a reverse route for the target train according to the updated blocking direction; The control module is configured to control the target train to change ends in the automatic operation mode and run according to the reverse route.

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 train control method according to any one of claims 1 to 10 are implemented.

14. A computer-readable storage medium, characterized in that: It stores a computer program / instruction, which, when executed by a processor, implements the steps of the train control method described in any one of claims 1-10.

15. A computer program product, characterized in that The invention comprises a computer program / instruction, which, when executed by a processor, implements the steps of the train control method according to any one of claims 1 to 10.

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