Automatic shunting control system, method and equipment based on active collision avoidance and medium

Abstract

The invention relates to an automatic shunting control system, method and equipment based on active collision avoidance and a medium. The system comprises a plurality of sensors, an obstacle detection module, a train operation monitoring device and an automatic driving device. The sensor is used for sensing object information on a train running route. And the obstacle detection module is used for determining whether an obstacle exists on a train running route or not and obstacle information based on the object information sensed by the plurality of sensors, and generating obstacle early warning information. The train operation monitoring device is used for responding to a shunting driving permission instruction indicating that departure is allowed, generating a protection curve based on the line data information and sending the protection curve to the automatic driving device. And the automatic driving device plans a running speed curve based on the line data information, the protection curve and the current position and the target position of the train, responds to the obstacle early warning information and executes an active obstacle avoidance strategy.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic control technology, and particularly to an automatic shunting control system, method, device, and medium based on active anti-collision. Background Art

[0002] The shunting operation at the station is an important part of the railway transportation process and a key link to implement the train formation plan, train operation diagram, accelerate the turnover of vehicles, and complete the transportation production tasks. A large number of shunting operations are carried out at the station every day. However, due to the complex layout of the yard tracks and numerous speed limit conditions, etc., the shunting operations at freight stations in China currently rely mainly on manual operation, and the automation level is relatively low.

[0003] The shunting operation scenario within the locomotive depot is complex. When manually detecting the safety of the route, the labor intensity of the operators is high, and problems such as distraction, unclear vision at night or in bad weather conditions are likely to occur. In addition, the shunting locomotive is designed to travel back and forth, which means that the driver's cab is facing away from the traveling direction for some time. At this time, the line of sight of the operator is partially blocked. When there are personnel or obstacles near the route, there are safety risks. According to statistics, currently, the shunting operation accidents account for 60%-70% of the total accidents in the railway system. Therefore, strengthening the safety of shunting operations is of great significance for stabilizing railway safety production. Summary of the Invention

[0004] The present disclosure provides an automatic shunting control system, method, device, and medium based on active anti-collision to solve the problems of high shunting safety risks and low automation level.

[0005] In a first aspect, the present disclosure provides an automatic shunting control system based on active anti-collision, including: a plurality of sensors, an obstacle detection module, a train operation monitoring device, a ground dispatching device, and an automatic driving device; Wherein, the sensors are configured to sense the object information on the train operation route. The obstacle detection module is connected to the sensors. Based on the object information sensed by the plurality of sensors, it determines whether there are obstacles on the train operation route and the obstacle information, generates an obstacle warning message, and sends the obstacle warning message and the obstacle information to the automatic driving device. The obstacle information includes the obstacle type, the distance between the obstacle and the train, and the moving speed of the obstacle. The train operation monitoring device determines the line data information of the operation route based on the route track number of the train, generates a protection curve and sends it to the automatic driving device. The line data information includes speed limit information, the current position of the train, and basic line data information such as gradient, curve, and signal machine; The automatic driving device is connected to the obstacle detection module and the train operation monitoring device, and is configured to, in response to a shunting operation permission instruction indicating permission to depart and determine that there are no obstacles on the train operation route, plan an operating speed curve based on the line data information, the current position and the current operating state of the train, and control the train to operate at the planned operating speed; in response to the obstacle warning information, execute an active obstacle avoidance strategy based on the obstacle information.

[0006] In a second aspect, the present disclosure provides an automatic shunting control method based on active anti-collision, including: Using multiple sensors to sense object information on the train operation route; Based on the object information sensed by multiple sensors, determine whether there are obstacles on the train operation route and the obstacle information, and generate obstacle warning information, where the obstacle information includes the obstacle type, the distance between the obstacle and the train, and the moving speed of the obstacle; Based on the approach track number of the train, determine the line data information of the operation route and generate a protection curve based on the line data information, where the line data information includes speed limit information, the current position of the train, and basic line data information such as gradients, curves, and signal lights; In response to a shunting operation permission instruction indicating permission to depart and determine that there are no obstacles on the train operation route, plan an operating speed curve based on the line data information, the current position and the current operating state of the train, and control the train to operate at the planned operating speed; in response to the obstacle warning information, execute an active obstacle avoidance strategy based on the obstacle information.

[0007] In a third aspect, the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory, and the processor executes the computer program to implement the steps of the above method.

[0008] In a fourth aspect, the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented. The automatic shunting control method and system based on active anti-collision provided by the present disclosure, by combining an automatic driving device and an obstacle detection device, realize the automatic shunting safety technology based on active anti-collision, solve problems such as the current shunting operation relying entirely on the visual inspection of operating personnel and having safety risks, improve the safety of shunting operations, and realize the automatic shunting technology. Description of the Drawings

[0009] In the following, the present disclosure will be described in more detail based on embodiments and with reference to the drawings: Figure 1 It is a block diagram of the composition of the automatic shunting control system based on active anti-collision in the embodiment of the present disclosure; Figure 2Schematic diagram of the train obstacle detection architecture in the embodiments of the present disclosure; Figure 3 Schematic flow chart of the automatic shunting control method based on active anti-collision in the embodiments of the present disclosure; Figure 4 Control flow chart of the automatic shunting based on active anti-collision in the embodiments of the present disclosure. Detailed implementation manners

[0010] In order to enable those skilled in the art of the present technology to better understand the technical solutions of the present disclosure, and to fully understand how the present disclosure applies technical means to solve technical problems and the implementation process of achieving corresponding technical effects and implement accordingly, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The embodiments of the present disclosure and each feature in the embodiments can be combined with each other on the premise of not conflicting, and the formed technical solutions are all within the protection scope of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present disclosure.

[0011] It should be noted that the terms "first", "second", etc. in the description and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these process, method, product or device.

[0012] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0013] In the related art, the shunting operation scenario within the locomotive depot is complex. When manually detecting the safety of the route, the labor intensity of the operating personnel is high, and problems such as distraction, unclear vision at night or under bad weather conditions are likely to occur. In addition, the shunting locomotive is designed to travel back and forth, which means that the driver's cab is facing away from the traveling direction for some time. At this time, the line of sight of the operating personnel will be partially blocked, and there is a safety risk when there are personnel or obstacles near the route. According to statistics, currently, shunting operation accidents account for 60%-70% of the total accidents in the railway system. Therefore, strengthening the safety of shunting operations is of great significance to the stable production of railway safety.

[0014] Based on this, the present application proposes an automatic shunting control system based on active anti-collision. By combining an automatic driving device and an obstacle detection device, the automatic shunting safety technology based on active anti-collision is realized, solving problems such as the current shunting operation relying entirely on the visual inspection of operating personnel with safety risks, improving the safety of shunting operations, and realizing the automatic shunting technology.

[0015] The technical solution of the present application will be described in detail below with reference to the drawings and specific embodiments.

[0016] As Figure 1 shown, in some embodiments of the present application, an automatic shunting control system based on active anti-collision is provided, including: a plurality of sensors (sensor 1... sensor N, N is a positive integer greater than 1), an obstacle detection module (ADAS) 200, a train operation monitoring device 300, and an automatic driving device (ATO) 400.

[0017] Among them, the sensors are configured to sense the object information on the running route of the train 100. The obstacle detection module (ADAS) 200 is connected to the sensors and determines whether there are obstacles on the running route of the train 100 and the obstacle information based on the object information sensed by the plurality of sensors. The obstacle information includes the type of obstacle, the distance between the obstacle and the train 100, and the moving speed of the obstacle. The train operation monitoring device 300 determines the line data information of the running route based on the route track number of the train 100, and generates a protection curve based on the line data information and sends it to the automatic driving device (ATO) 400. The line data information includes speed limit information, the current position of the train, and basic line data information such as gradients, curves, and signal lights.

[0018] The automatic driving device (ATO) 400 is connected to the obstacle detection module (ADAS) 200 and the train operation monitoring device 300, and is configured to respond to a shunting train operation permission instruction indicating permission to depart and determine that there are no obstacles on the running route of the train 100, plan a running speed curve based on the line data information, the current position of the train 100, and the current running state, and control the train to run at the planned speed.

[0019] The obstacle detection module (ADAS) 200 is also configured to generate obstacle warning information in response to determining that there is an obstacle on the running route during the operation of the train 100, and send the obstacle warning information and the obstacle information to the automatic train operation device (ATO) 400.

[0020] The automatic train operation device (ATO) 400 is also configured to execute an active obstacle avoidance strategy based on the obstacle information in response to the obstacle warning information and the route blocking information.

[0021] Thus, by setting multiple sensors to real-time sense the comprehensive object information on the running route of the train 100, the obstacle detection module (ADAS) 200 automatically determines the obstacle information on the running route of the train 100 based on the object information sensed by the multiple sensors, which can effectively monitor the obstacles on the running route of the train 100 and avoid the problem of missing obstacles due to occlusion. And the obstacle information can include the type, moving speed and distance from the train 100 of the obstacle, so that an effective active obstacle avoidance strategy can be executed according to this information, improving the safety of shunting operations. In addition, the shunting operation and obstacle avoidance are realized through the automatic train operation device (ATO) 400, realizing automatic shunting operation. At the same time, the system is simple and convenient for maintenance.

[0022] The technical solution of this application completes the safety protection on the train running route through the linkage of obstacle detection, ground dispatching, operation monitoring and automatic driving, can achieve active anti-collision, and effectively avoids safety accidents such as colliding with obstacles, crossing the station boundary, and squeezing the switch during the operation process, thus strengthening the safety of shunting operations within the section.

[0023] As Figure 2 shown, the multiple sensors can include lidar and a high-definition road condition camera module. The high-definition road condition camera module can include a long-focus camera and a wide-angle camera.

[0024] The lidar scans the objects in the environment by emitting laser light, collects the returned laser point cloud data, thus forming a three-dimensional space. Through point cloud segmentation and clustering algorithms, it detects the object information in front of the train (including coordinates, dimensions, etc. relative to the lidar), and sends it to the obstacle detection module (ADAS) 200.

[0025] The high-definition road condition camera module can include a long-focus camera and a wide-angle camera, meeting the requirements of distance and coverage angle. By collecting the road condition video information in front of the train through the high-definition camera, it uses machine vision detection algorithms to detect the object information such as the track, train 100, pedestrians, etc. in front of the train, and sends the information such as the type, size, and coordinates relative to the camera of the object to the obstacle detection module (ADAS) 200.

[0026] The obstacle detection module (ADAS) 200 collects the object information sensed by the sensors, and obtains the obstacle information in front of the train through algorithms such as point cloud processing algorithms, deep learning algorithms, and multi-sensor fusion algorithms, including information such as the distance, moving speed, and type of the obstacle, and sends the obstacle information to the automatic train operation device (ATO) 400.

[0027] Obstacles can include objects such as trains 100 and pedestrians.

[0028] The obstacle detection module (ADAS) 200 can also output an alarm category to the automatic train operation device (ATO) 400 according to the obstacle alarm threshold. The alarm category can include, for example, a moving train 100 approaching in front and a pedestrian invading the track. The obstacle alarm threshold can be set according to actual needs. For example, for the alarm category of the train 100, the obstacle alarm threshold can be the difference threshold between the running speed of the train 100 in front and the running speed of this train 100. For a pedestrian invading the track, the obstacle alarm threshold can be the distance threshold between the pedestrian and this train 100.

[0029] It can be understood that the lidar can also directly send the collected lidar point cloud data to the obstacle detection module (ADAS) 200, and the telephoto lens and wide-angle lens can also directly send the collected images to the obstacle detection module (ADAS) 200. The obstacle detection module (ADAS) 200 performs object detection based on the lidar point cloud data and images, respectively obtains the object information in front of the train detected by each sensor, and then obtains the obstacle information in front of the train through algorithms such as point cloud processing algorithms, deep learning algorithms, and multi-sensor fusion algorithms.

[0030] It should be noted that the multiple sensors are not limited to including lidar and high-definition road condition camera modules, and can also include other sensors, such as a ground over-the-horizon system.

[0031] The multiple sensors and the obstacle detection module (ADAS) 200 can be communicatively connected by wired or wireless means. In some embodiments, the multiple sensors and the obstacle detection module (ADAS) 200 can be communicatively connected by a wireless local area network WLAN.

[0032] The obstacle detection module (ADAS) 200 is configured to send the obstacle detection result to the automatic train operation device (ATO) 400. The automatic train operation device (ATO) 400 is configured to send a traction instruction to the network control system (CCU) in response to a shunting movement authority instruction indicating permission to depart and determine that the obstacle detection result indicates that there are no obstacles on the running route of the train 100, so as to realize the traction operation of the train 100.

[0033] The Automatic Train Operation (ATO) device 400 can also send braking instructions to the Network Control System (CCU) and the Brake Control System BCU to decelerate or stop the train 100.

[0034] During the operation of the locomotive within the depot, the Train Operation Monitoring Device 300 can be used to ensure train operation safety and prevent the train 100 from speeding. The Train Operation Monitoring Device 300 is widely applicable to various vehicle speed grades and line conditions and is installed on locomotives or multiple units. The Train Operation Monitoring Device 300 ensures that the train 100 operates within the specified speed limit and prevents speeding by real-time monitoring of the operating status of the train 100, including information such as position and speed.

[0035] The Train Operation Monitoring Device 300 is configured to determine the line data information of the operating route (including speed limit, signal, gradient, curve, special section position, etc.) according to the route track number of the train 100, generate a protection curve and send it to the Automatic Train Operation (ATO) device 400. The protection curve of the train 100 refers to the speed-distance curve calculated according to the braking performance and operating conditions of the train 100 during the operation of the train 100 to ensure the safety of the train 100. This curve represents the maximum allowable operating speed of the train 100 at a certain position. Once the train 100 speeds up, deceleration measures should be taken and the train 100 should be stopped if necessary.

[0036] In some embodiments, under the condition of meeting the speed limit constraint, the Automatic Train Operation (ATO) device 400 is configured to use a certain distance before the closing point of the protection curve as the closing point of the operating speed curve, iteratively calculate the mileage-speed, and obtain the initial operating speed planning curve. The initial operating speed planning curve represents the corresponding relationship between position and speed.

[0037] In some embodiments of the present application, the active obstacle avoidance strategy executed by the Automatic Train Operation (ATO) device 400 in response to the obstacle warning information and the obstacle warning cancellation information based on the obstacle information may include: Planning an obstacle avoidance operating speed curve based on the obstacle information, the current position of the train, the preset position at a preset distance from the obstacle, and the current operating state of the train, and controlling the train to stop at a safe distance in front of the obstacle.

[0038] When receiving the obstacle warning information sent by the Obstacle Detection Module (ADAS) 200, re-plan the operating speed curve, use the safe distance in front of the obstacle as the closing point of the operating speed curve, iteratively calculate the mileage-speed, and obtain the obstacle avoidance operating speed curve, so as to be able to control the train 100 to actively avoid obstacles in front of the train.

[0039] In some embodiments, the Automatic Train Operation (ATO) device 400 is configured to, in response to the obstacle warning cancellation information and the departure instruction input by the user, re-plan a first updated operating speed curve based on the line data information, the current position and the current operating state of the train 100, and control the train to run at the planned speed, thereby ensuring the timeliness of the operating speed curve and enhancing the safety of the automatic shunting of the train 100.

[0040] That is to say, after the obstacle warning affecting train operation safety is cancelled, the shunting staff can determine the re-departure, the Automatic Train Operation (ATO) device re-plans the operating speed curve, and controls the train 100 to depart automatically.

[0041] In some embodiments of the present application, the automatic shunting control system may further include: A ground dispatching device (ATS) 500 connected to the Automatic Train Operation (ATO) device 400, which is configured to send the road closure information on the running route to the Automatic Train Operation (ATO) device 400.

[0042] The Automatic Train Operation (ATO) device 400 is further configured to, in response to the road closure information, plan an operating speed curve based on the road closure information, the current position of the train and the current operating state of the train, and control the train to stop at a safe distance before the road closure.

[0043] The Automatic Train Operation (ATO) device 400 is further configured to, in response to the road closure information and the road closure cancellation information, and based on the line data information, the protection curve, the current position and the target position of the train 100, re-plan a second updated operating speed curve.

[0044] Thus, after receiving the information that the forward route is in a prohibited state sent by the ground dispatching system, the locomotive is controlled to apply the brakes and stop immediately. Thereby, active avoidance can be performed according to the road closure information, and after the road closure is cancelled, the operating speed curve is re-planned again to ensure the timeliness of the operating speed curve and enhance the safety of the automatic shunting of the train 100.

[0045] In some embodiments, the Automatic Train Operation (ATO) device 400 is further configured to, in response to the road closure cancellation information and the departure instruction input by the user, re-plan a second updated operating speed curve based on the line data information, the current position and the current operating state of the train 100, and control the train to run at the planned speed.

[0046] That is to say, after the forward route is opened, the shunting staff can determine the re-departure, the Automatic Train Operation (ATO) device re-plans the operating speed curve, and controls the train 100 to depart automatically.

[0047] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the automatic car wash scenario.

[0048] The automatic car wash control system based on active anti-collision requires the cooperation of an automatic train operation device (ATO) 400, a ground dispatching device (ATS) 500, an obstacle detection module (ADAS) 200, a train operation monitoring device 300, a car washer 600, and a car wash garage door 700. The ground dispatching device 500 provides key information such as the route track number and shunting type, and at the same time realizes the information interaction between the automatic train operation device 400, the car washer 600, and the car wash garage door 700. The train operation monitoring device 300 provides line data information. The obstacle detection module 200 is responsible for monitoring the road conditions in front of the locomotive operation and providing obstacle warning information and obstacle information. Under the protection of the train operation monitoring device 300, the running speed curve of the train 100 is planned, the locomotive is controlled to run to the designated position, and a signal to enter the car wash area is sent to the ground dispatching device. The car washer 600 is the execution device for realizing the car wash work, completes the car wash work according to the output signal, and feeds back the car wash completion signal. The car wash garage door 700 ensures the safe entry and exit of the locomotive from the car wash garage through the interaction with it.

[0049] In the scenario of automatic car wash, the shunting operation type includes car wash. The shunting movement authority instruction indicating permission to depart includes the receipt instruction for the car wash garage door 700 to be opened and locked.

[0050] When the car washer 600 is ready, it sends a "consent to car wash" signal to the ground dispatching device (ATS) 500. The ground dispatching device (ATS) 500 is configured to, in response to the consent to car wash signal sent by the car washer 600, send a request instruction to open the car wash garage door 700 to the car washer 600, and receive the receipt instruction for the car wash garage door 700 to be opened and locked from the car washer 600.

[0051] The ground dispatching device (ATS) 500 is also configured to determine the route track number of the train 100 to be washed and send the route track number to the automatic train operation device (ATO) 400. The automatic train operation device (ATO) 400 sends the route track number to the train operation monitoring device 300, and after confirming that there is no obstacle warning information within the safe distance ahead, plans the running speed curve according to the line data information fed back by the train operation monitoring device 300.

[0052] The train operation monitoring device 300 can pre-store all the track line data and special section data within the section in advance. When the train 100 performs shunting operations, the train operation monitoring device 300 can obtain the longitude and latitude coordinate information of the train 100 (i.e., the current position of the train 100) in real time through satellite positioning technology. The train operation monitoring device 300 determines the protection curve based on the received train position information and the speed limit information of the special section and outputs it to the automatic driving device 400. The automatic driving device 400 plans the train operation speed curve under the protection of the train operation monitoring device 300 and outputs traction / braking instructions to control the safe and stable operation of the train 100.

[0053] After detecting that an obstacle affecting train operation safety invades ahead of the train, it sends an obstacle warning message to the automatic driving device 400, plans an obstacle avoidance operation speed curve, and controls the train 100 to stop at a certain distance in front of the obstacle (usually 20 meters). After the warning of the obstacle affecting train operation safety is lifted, the shunting staff can determine the re-departure. Starting from the current position of the train 100, a first updated operation speed curve is re-planned, and the train 100 is controlled to depart automatically.

[0054] After receiving the road closure information indicating that the approaching route ahead is in a prohibited state, it can control the train 100 to apply the brakes and stop immediately. After the road closure of the approaching route is lifted, the shunting staff can determine the re-departure. Starting from the current position of the train 100, a second updated operation speed curve is re-planned, and the train 100 is controlled to depart automatically.

[0055] The automatic train operation (ATO) device 400 is also configured to send a "Entering the car wash area" signal to the ground dispatching device (ATS) 500 in response to running to the target position within the car wash. The ground dispatching device (ATS) 500 can, in response to the "Entering the car wash area" signal, send a "Start car wash" instruction to the car wash machine 600. The start car wash instruction can include the type of the train 100.

[0056] The car wash machine 600 completes the cleaning work of the train 100 according to the type of the train 100. During the car wash process, the automatic train operation (ATO) device 400 controls the train 100 to move slowly at a speed of 2 - 3 km / h. After the train 100 runs out of the car wash, it sends a "Has left the car wash" signal to the ground dispatching device (ATS) 500. The ground dispatching device (ATS) 500 can, in response to the "Has left the car wash" signal, send a "Request to close the car wash door 700" to the car wash.

[0057] The car wash can, in response to the "Request to close the car wash door 700", close the car wash door 700.

[0058] Thus, it is possible to automatically control the shunting to the car wash garage, and complete the safe car washing work through the linkage of obstacle detection, ground dispatching, operation monitoring and automatic driving.

[0059] As Figure 3 shown, in some embodiments according to the present application, there is also provided an automatic shunting control method based on active anti-collision, including: Step S301, using multiple sensors to sense the object information on the running route of the train 100; Step S302, based on the object information sensed by the multiple sensors, determining whether there is an obstacle on the running route of the train 100 and the obstacle information, generating an obstacle warning message and sending it to the automatic train operation device (ATO) 400, the obstacle information including the obstacle type, the distance between the obstacle and the train 100, and the moving speed of the obstacle; Step S303, based on the route track number of the train 100, determining the line data information of the running route and generating a protection curve based on the line data information, the shunting movement authority instruction including the shunting operation type, the line data information including speed limit information, the current position of the train, and basic line data information such as gradients, curves, and signal lights; Step S304, in response to the shunting movement authority instruction indicating permission to depart and determining that there is no obstacle on the running route of the train 100, planning a running speed curve based on the line data information, the protection curve, the current position and the target position of the train 100, and controlling the train to run according to the planned running curve; Step S305, in response to the obstacle warning message, executing an active obstacle avoidance strategy based on the obstacle information.

[0060] Thus, by setting multiple sensors to sense the comprehensive object information on the running route of the train 100 in real time, and automatically determining the obstacle information on the running route of the train 100 based on the object information sensed by the multiple sensors, it is possible to effectively monitor the obstacles on the running route of the train 100 and avoid the problem of missing obstacles due to occlusion. And the obstacle information can include the type, moving speed and distance from the train 100 of the obstacle, so that an effective active obstacle avoidance strategy can be executed according to this information, improving the safety of the shunting operation. In addition, through automatic shunting and obstacle avoidance execution, automatic shunting operation is realized.

[0061] In an exemplary embodiment, as Figure 4 shown, the system determines whether a shunting movement authority instruction is received. In the case of receiving the shunting movement authority instruction, the automatic shunting control method based on active anti-collision in this embodiment includes: In response to receiving a shunting driving permission instruction, determining whether there is an obstacle on the running path of the train 100 and the obstacle information based on the object information sensed by the multiple sensors, the obstacle information including the obstacle type, the distance between the obstacle and the train 100, and the moving speed of the obstacle; In response to determining that the shunting permission instruction indicates that departure is not allowed, and / or determining that there is an obstacle on the running path of the train 100, departure is not allowed; In response to determining that the shunting permission instruction indicates that departure is allowed, and determining that there is no obstacle on the running path of the train 100, departure is allowed; In response to receiving a departure confirmation sent by a user through a display screen, a running speed curve is planned based on line data information, a protection curve, a current position and a target position of the train 100; Outputting traction / braking instructions to control the train 100 to run smoothly based on the running speed curve; During operation, in response to receiving obstacle warning information, an obstacle avoidance operation speed curve is planned with a preset position having a preset distance from the obstacle as an end point; Outputting traction / braking instructions to control the train 100 to run smoothly based on the obstacle avoidance running speed curve; In response to receiving the obstacle warning release information, replanning the first updated running speed curve with the current position of the train 100 as the starting point and the target position as the end point; if the obstacle warning release information is not received, running to the preset position in front of the obstacle, outputting a braking command, and controlling the train 100 to stop and wait; In response to receiving a departure confirmation sent by the user through the display, outputting a traction / braking instruction, and controlling the train 100 to run smoothly based on the first updated running speed curve; In response to receiving the road ban information, a braking command is output to control the train 100 to stop and wait; In response to receiving the road ban release information, replanning a second updated running speed curve with the current position of the train 100 as the starting point and the target position as the end point; In response to receiving the departure confirmation sent by the user through the display, a traction / braking instruction is output, and the train 100 is controlled to run smoothly based on the second updated running speed curve.

[0062] According to some embodiments of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the above method.

[0063] According to some embodiments of the present application, a computer-readable storage medium is further provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0064] In some embodiments of the present application, a computer program product is further provided, including a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0065] The processor may include, but is not limited to, for example, one or more processors or microprocessors, etc. Each processor may be implemented by an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components, and is used to execute the method in the above embodiments.

[0066] The computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof. The computer-readable storage medium may include, but is not limited to, for example, a random access memory (RAM), a read-only memory (ROM), a flash memory, an EPROM memory, an EEPROM memory, a register, a computer storage medium (such as a hard disk, a floppy disk, a solid state drive, a removable disk, a CD-ROM, a DVD-ROM, a Blu-ray disc, etc.).

[0067] The computer-readable storage medium may also store at least one computer-executable program, and the computer-executable program is, for example, a computer-readable instruction. The computer-readable storage medium includes, but is not limited to, for example, volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache, etc. The computer-readable storage medium may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. For example, the non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device runs the computer-readable instructions stored on the computer-readable storage medium, the various methods described above may be performed.

[0068] In addition, the computer device may further include (but is not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (such as a keyboard, a mouse, a speaker, etc.).

[0069] The processor can communicate with external devices via a wired or wireless network through the I / O bus.

[0070] In one embodiment, the at least one computer-executable instruction can also be compiled into or constitute a software product / computer program product, and when one or more computer-executable instructions are run by a processor, they perform the various functions and / or method steps in the embodiments described in this technology.

[0071] In the embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of this disclosure. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0072] It should be noted that in this disclosure, the terms "include", "comprise", or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article, or device. Without further limitation, an element limited by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or device including the element.

[0073] Although the disclosed embodiments are as above, the above content is only an embodiment adopted for the convenience of understanding this disclosure and is not used to limit this disclosure. Any person skilled in the art within the technical field to which this disclosure pertains can make any modifications and changes in the form of implementation and details without departing from the spirit and scope disclosed in this disclosure. However, the scope of patent protection of this disclosure shall still be subject to the scope defined by the appended claims.

Claims

1. An automatic shunting control system based on active anti-collision, characterized in that, Including: Multiple sensors configured to sense object information on the train operation route; An obstacle detection module connected to the sensors, which determines whether there is an obstacle on the train operation route and obstacle information based on the object information sensed by the multiple sensors, generates obstacle warning information, and sends the obstacle warning information and the obstacle information to the automatic driving device, where the obstacle information includes the obstacle type, the distance between the obstacle and the train, and the moving speed of the obstacle; A train operation monitoring device that determines the line data information of the operation route based on the route track number of the train, generates a protection curve based on the line data information, and sends it to the automatic driving device, where the line data information includes speed limit information, signal aspect, and basic line data information such as ramps and curves; The automatic driving device connected to the obstacle detection module and the train operation monitoring device is configured to, in response to a shunting train operation permission instruction indicating permission to depart and determine that there is no obstacle on the train operation route, plan an operating speed curve based on the line data information, the current position and the current operating state of the train, and control the train to run at the planned operating speed; A ground dispatching device connected to the automatic driving device is configured to send the shunting train operation permission instruction and the route blocking information on the operation route to the automatic driving device; The automatic driving device is further configured to, in response to the obstacle warning information and the route blocking information, execute an active obstacle avoidance strategy based on the obstacle information.

2. The automatic shunting control system according to claim 1, wherein The active obstacle avoidance strategy includes: Planning an obstacle avoidance operating speed curve based on the obstacle information, the current position of the train, a preset position at a preset distance from the obstacle, and the current operating state of the train, and controlling the train to stop at a safe distance in front of the obstacle; and / or In response to the obstacle warning cancellation information sent by the obstacle detection module and the departure instruction input by the user, re-planning a first updated operating speed curve based on the line data information, the current position and the current operating state of the train, and controlling the train to run at the speed corresponding to the first updated operating speed curve.

3. The automatic shunting control system according to claim 1, wherein Further including: The automatic driving device is further configured to, in response to the route blocking information, plan the operating speed curve based on the route blocking information, the current position of the train, and the current operating state of the train, and control the train to stop at a safe distance in front of the route block; and / or In response to the route block cancellation information and the departure instruction input by the user, re-planning a second updated operating speed curve based on the line data information, the current position and the current operating state of the train, and controlling the train to run at the speed corresponding to the second updated operating speed curve.

4. The automatic shunting control system according to claim 1, wherein The automatic driving device is configured to use a certain distance before the closing point of the protection curve as the closing point of the operating speed curve, and iteratively calculate the corresponding relationship between the mileage and the speed to obtain the operating speed curve.

5. The automatic shunting control system according to claim 1, characterized in that, The automatic shunting control system includes the multiple sensors, and the multiple sensors include lidar, a long-focus camera, and a wide-angle camera; The obstacle detection module is configured to determine whether there is an obstacle on the train operation route and the obstacle information based on the object information sensed by the multiple sensors; The obstacle detection module is configured to generate the obstacle warning information based on the obstacle information, and the obstacle warning information includes an alarm category, a distance between the obstacle and the train, and a moving speed of the obstacle.

6. The automatic shunting control system according to any one of claims 1-5, characterized in that, The shunting operation type includes car washing; the shunting train operation permit instruction indicating permission to depart includes a receipt instruction for the car wash garage door to be opened and locked; The ground dispatching device is configured to send a request instruction to open the car wash garage door to the car washing machine in response to the consent car wash signal sent by the car washing machine, and receive the receipt instruction for the car wash garage door to be opened and locked from the car washing machine; The ground dispatching device is further configured to determine the route track number of the train to be washed and send the route track number to the automatic driving device; The automatic driving device is configured to send the route track number to the train operation monitoring device, and after confirming that there is no obstacle warning information within a safe distance ahead, plan the operating speed curve based on the line data information, the current position of the train, and the operating state sent by the train operation monitoring device.

7. The automatic shunting control system according to claim 6, wherein, The automatic driving device is further configured to send a signal to enter the car wash area to the ground dispatching device in response to running to the target position inside the car wash garage; The ground dispatching device is further configured to send a start car wash instruction to the car washing machine in response to the signal to enter the car wash area, and the start car wash instruction includes the train type.

8. The automatic shunting control system according to claim 7, characterized in that, The ground dispatching device is further configured to send a request to close the car wash garage door to the car wash garage in response to the signal that the automatic driving device has left the car wash garage.

9. An automatic shunting control method based on active anti-collision, characterized in that, including: Sensing object information on the train operation route by using multiple sensors; Based on the object information sensed by the multiple sensors, determining whether there is an obstacle on the train operation route and the obstacle information, where the obstacle information includes the obstacle type, the distance between the obstacle and the train, and the moving speed of the obstacle, and generating the obstacle warning information; Based on the route track number of the train, determining the line data information of the operation route, generating a protection curve based on the line data information and sending it to the automatic driving device, where the line data information includes speed limit information, signal aspect, and basic line data information such as slopes and curves; In response to the shunting train operation permit instruction indicating permission to depart and determining that there is no obstacle on the train operation route, planning the operating speed curve based on the line data information, the current position of the train, and the current operating state, and controlling the train to run at the planned operating speed; in response to the obstacle warning information, executing an active obstacle avoidance strategy based on the obstacle information.

10. An electronic device, characterized in that, including: a memory; at least one processor, where the memory stores a computer program, and the computer program can be executed by the at least one processor to implement the method according to claim 9.

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