Control method and system for intelligent rail multi-marshalling train

Abstract

The invention relates to the technical field of intelligent rail traffic, and discloses a control method and system for an intelligent rail multi-marshalling train. Setting the following working modes of the full-axle steering controller: a standby mode, a manual mode, an automatic mode, a retreating mode, a fault mode and a maintenance mode; secondly, determining a mode conversion condition table and generating a working mode conversion relation table; then, acquiring internal information and external information of the system; then, whether the full-axis steering controller meets a mode conversion condition or not is judged; and finally, if yes, selecting the converted working mode based on the working mode conversion relation table, and performing steering control based on the selected target mode. The steering control of the intelligent rail multi-marshalling train is realized based on the conversion of different working modes of the full-axle steering controller, so that the control efficiency of the intelligent rail multi-marshalling train is improved, and the safety of the intelligent rail multi-marshalling train system is enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent rail transit, and particularly relates to a control method and system for an intelligent rail multi - formation train. Background Art

[0002] Existing intelligent rail multi - formation trains belong to an urban rail transit system that does not rely on physical rails. The vehicles are equipped with rubber tires and use virtual track technology, which only requires limited modification of the existing road to operate (the virtual track can be defined by marking visual guiding lines or installing magnetic nails on the road). The operator can flexibly adjust the formation number of the train according to the passenger flow changes to meet the transportation needs at different times. Different from ordinary cars and trailers, all axles of the intelligent rail train are equipped with independent steering devices, so it can effectively reduce the turning radius and enable the multi - formation train to have good passability when facing extremely curved road conditions. In order to travel along the "virtual track" preset on the road, sensors and a control system need to be equipped to adjust the steering angles of each axle in real time to ensure that the formations of the train can move coordinately during the turning process, so that the train running track can accurately follow the virtual track while maintaining the stability of the vehicle body. In the steering control system of the multi - formation train, the most core device is the steering controller, usually called the full - axle steering controller.

[0003] The full - axle steering controller can calculate the steering angles of each axle of the train in real time based on various sensor data, send steering commands to the actuator, and supervise the execution process of steering. Steering control needs to face multiple application scenarios. When the control system performs steering in different scenarios, there are differences in the response to input, the tasks executed, and the interaction with external devices. Summary of the Invention

[0004] Aiming at the above problems, the purpose of the present invention is to provide a control method for an intelligent rail multi - formation train, including: Based on the application scenarios of the full - axle steering controller of the intelligent rail multi - formation train, set the following working modes of the full - axle steering controller: standby mode, manual mode, automatic mode, reverse mode, fault mode, and maintenance mode; Determine the mode conversion condition table, and based on the mode conversion condition table, determine the conversion conditions between different working modes, and generate a working mode conversion relationship table; Obtain the internal information and external information of the system; Based on the obtained internal information and external information of the system and the conversion condition table, judge whether the full - axle steering controller meets the mode conversion conditions; If the mode conversion conditions are met, select the converted working mode based on the working mode conversion relationship table, and perform steering control based on the selected working mode.

[0005] Furthermore, the application scenarios of the full-axle steering controller for the multi-formation intelligent rail train include operation preparation scenarios, manual driving scenarios, self-guided driving scenarios, autonomous driving scenarios, reverse driving scenarios, fault scenarios, maintenance scenarios, and rescue scenarios. Among them, A standby mode is set corresponding to the operation preparation scenario; A manual mode is set corresponding to the manual driving scenario; An automatic mode is set corresponding to the self-guided driving scenario or the autonomous driving scenario; A reverse mode is set corresponding to the reverse driving scenario; A fault mode is set corresponding to the fault scenario; A maintenance mode is set corresponding to the rescue scenario or the maintenance scenario.

[0006] Furthermore, the mode conversion condition table includes some or all of the following multiple conversion conditions: Condition 1: The train is in a stopped state; Condition 2: The steering actuator is already in a ready state; Condition 3: The driver's cab is activated; Condition 4: The driver's cab is closed; Condition 5: The direction handle at the driving end is forward; Condition 6: The direction handle at the driving end is backward; Condition 7: The direction handle at the driving end is in the middle position; Condition 8: The manual driving signal is valid; Condition 9: The self-guided driving signal is valid or the autonomous driving signal is valid; Condition 10: Receive the instruction to enter the maintenance mode sent by the maintenance tool; Condition 11: Receive the instruction to exit the maintenance mode sent by the maintenance tool; Condition 12: The drive-by-wire enable of the steering is turned on; Condition 13: The drive-by-wire enable of the steering is turned off; Condition 14: The system detects that a fault affecting steering safety has occurred; Condition 15: The fault affecting steering safety disappears, and the system restarts after a power-off reset; Condition 16: The system restarts after a power-off reset.

[0007] Further, the faults affecting steering safety include abnormal train attitude, abnormal trajectory tracking effectiveness, abnormal real-time communication data, the full-axle steering controller detecting its own abnormal state, abnormal device states in the steering actuator, the automatic driving device, the vehicle network device, the positioning and speed measurement device, the vehicle angle sensor, and the articulated angle sensor, or the full-axle steering controller failing to establish communication with the steering actuator, the automatic driving device, the vehicle network device, the positioning and speed measurement device, the vehicle angle sensor, or the articulated angle sensor.

[0008] Further, the conversion conditions between different working modes include one or more conversion conditions in the conversion condition table.

[0009] Further, the internal information includes some or all of the system's own working state, the abnormalities detected by the system, and the faults affecting steering safety detected by the system; The external information includes some or all of the working state of the steering actuator, the switch state of the driver's cab, the state of the driving end direction handle, the train driving mode signal, the instructions from the maintenance tool, the driving-by-wire enabling state, the real-time angles of each wheel, the included angle between adjacent formations, the trajectory of the driver's driving axis position, the train speed, the train acceleration, and the train yaw angular velocity.

[0010] Further, based on the acquired system internal information, external information, and the conversion condition table, determining whether the full-axle steering controller meets the mode conversion conditions includes, extracting the conversion conditions from the acquired system internal information and external information; judging whether the extracted conversion conditions meet the conversion conditions required for any other working mode except the original working mode based on the conversion condition table; If it is satisfied, select the converted working mode based on the working mode conversion relationship table and perform the preparatory actions before the new mode conversion.

[0011] If it is not satisfied, maintain the original working mode unchanged.

[0012] Further, selecting the converted working mode based on the working mode conversion relationship table, and performing steering control based on the selected working mode includes, If the acquired system internal information and external information meet the conversion conditions of the manual mode, turn off the driving-by-wire enabling; Switch to the manual mode; Responsible for the steering control of all other following axles except the driver's driving axle according to the track following, and supervise the train steering state.

[0013] Further, selecting the converted working mode based on the working mode conversion relationship table, and performing steering control based on the selected working mode includes, If the internal system information and external information obtained meet the conversion conditions for the automatic mode, turn on the drive-by-wire steering enable; Switch to the automatic mode; Receive and translate the steering instructions of the autonomous driving system; Responsible for the steering control of all following axles according to the track and supervise the train steering state.

[0014] Furthermore, selecting the converted working mode based on the working mode conversion relation table, and performing steering control based on the selected working mode includes, If the internal system information and external information obtained meet the conversion conditions for the fault mode, directly switch to the fault mode; Lock the steering angles of the wheels of all following axles; Send a braking request to the vehicle network device and report the fault information.

[0015] Furthermore, selecting the converted working mode based on the working mode conversion relation table, and performing steering control based on the selected working mode includes, If the internal system information and external information obtained meet the conversion conditions for the reverse mode, turn off the drive-by-wire steering enable; Switch to the reverse mode; The driver manually controls the steering of the drive axle; The full-axle steering controller is responsible for calculating the steering angles of all other following axles to ensure that the train reverse trajectory follows the original forward trajectory during reverse movement.

[0016] Furthermore, selecting the converted working mode based on the working mode conversion relation table, and performing steering control based on the selected working mode includes, If the internal system information and external information obtained meet the conversion conditions for the maintenance mode, turn on the drive-by-wire steering enable; Switch to the maintenance mode; The maintenance personnel set the steering angles of individual axles through manual operation; Support the inspection of the system or local status and functional testing, and support the maintenance personnel to perform running parameter calibration, system configuration data modification, and software version upgrade.

[0017] Furthermore, it also includes that the full-axle steering controller defaults to the standby mode after the train is powered on, performs the power-on inspection function, and establishes communications with the steering actuator, autonomous driving device, vehicle network device, positioning and speed measurement device, vehicle angle sensor, and articulated angle sensor.

[0018] Furthermore, the train steering state includes the train steering attitude, track tracking effectiveness, and communication data real-time performance.

[0019] Another object of the present invention is to provide a control system for an intelligent rail multi - formation train, including, a setting module configured to set the following working modes of the full - axle steering controller based on the application scenarios of the full - axle steering controller of the intelligent rail multi - formation train: standby mode, manual mode, automatic mode, reverse mode, fault mode, and maintenance mode; a generation module configured to determine a mode conversion condition table, and determine the conversion conditions between different working modes based on the mode conversion condition table, and generate a working mode conversion relationship table; an acquisition module configured to acquire internal system information and external information; a judgment module configured to judge whether the full - axle steering controller meets the mode conversion conditions based on the acquired internal system information, external information, and the conversion condition table; an execution module configured to, if the mode conversion conditions are met, select the converted working mode based on the working mode conversion relationship table, and perform steering control based on the selected working mode.

[0020] The control method of the present invention realizes the conversion between multiple working modes based on the mode conversion condition table. In addition, the steering control of the intelligent rail multi - formation train is realized based on different working modes of the full - axle steering controller, which improves the control efficiency of the intelligent rail multi - formation train and enhances the safety of the intelligent rail multi - formation train system.

[0021] Other features and advantages of the present invention will be described in the following description of the specification, and will be partially obvious from the specification, or understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures pointed out in the specification, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 shows a schematic flowchart of a control method for an intelligent rail multi - formation train in an embodiment of the present invention; Figure 2 shows another schematic flowchart of a control method for an intelligent rail multi - formation train in an embodiment of the present invention; Figure 3 shows a schematic structural diagram of a control system for an intelligent rail multi - formation train in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0025] As Figure 1 shown, a control method for a multi - formation train of intelligent rail is introduced in the embodiments of the present invention. The control method includes: First, based on the application scenarios of the full - axle steering controller of the multi - formation train of intelligent rail, set the following working modes of the full - axle steering controller: standby mode (SB), manual mode (DR), automatic mode (AM), reverse mode (RV), fault mode (SF), and maintenance mode (MT); Second, determine the mode conversion condition table, and based on the mode conversion condition table, determine the conversion conditions between different working modes to generate a working mode conversion relationship table; Then, obtain system internal and external information; Then, based on the obtained system internal information, external information, and the conversion condition table, determine whether the full - axle steering controller meets the mode conversion conditions; Finally, if the mode conversion conditions are met, select the converted working mode based on the working mode conversion relationship table, and perform steering control based on the selected working mode. The above - mentioned control method realizes the conversion between multiple working modes based on the mode conversion condition table. In addition, the steering control of the multi - formation train of intelligent rail is realized based on different working modes of the full - axle steering controller, which improves the control efficiency of the multi - formation train of intelligent rail and enhances the safety of the multi - formation train system of intelligent rail.

[0026] Specifically, the application scenarios of the full-axle steering controller for multi-formation intelligent rail trains include operation preparation scenarios, manual driving scenarios, self-guided driving scenarios, automatic driving scenarios, reverse driving scenarios, fault scenarios, maintenance scenarios, and rescue scenarios. Among them, operation preparation scenarios: The intelligent rail train is powered on and initialized in the parking garage, charging position, or maintenance site, and the status checks and function tests of each system are completed to ensure that each system can work properly and meet the conditions for going online for operation. Manual driving scenario: The train is driven manually by the driver on the road, stops, departs, and picks up and drops off passengers at the designated stations on time according to the transportation plan. During the driving process, the driver is responsible for driving safety, and the train traction and braking are achieved by the driver operating the traction / braking pedal, and the train guidance is controlled by the driver operating the steering wheel. Self-guided driving scenario: The driver and the automatic driving system share the driving tasks. The train traction and braking are still achieved by the driver operating the traction / braking pedal, and the train guidance is controlled by the automatic driving system, reaching the driving automation level of GOA1 (Grade of Automation in Driving). The driver and the automatic driving system are jointly responsible for driving safety, and the automatic driving system is responsible for identifying the virtual track on the road and realizing path navigation by controlling the steering wheel to turn. Automatic driving scenario: The automatic driving system undertakes the driving tasks, and the train start, acceleration, deceleration, stop, and train guidance are all controlled by the automatic driving system. Other driving operations such as opening / closing the door control are the responsibility of the driver, reaching the driving automation level of GOA2. Although the train operation is mainly automatically controlled by the system equipment, the driver still needs to continuously monitor the running status of the train and perform manual intervention when necessary to handle emergencies. Fault scenario: The intelligent rail train has a serious fault during the running process and loses the ability to drive safely, and emergency measures need to be taken to stop the train as soon as possible to ensure the safety of the driver, passengers, pedestrians, and vehicles on the public road. Rescue scenario: The intelligent rail train stops on the operating line due to a serious fault and needs to be transferred to a specific place with the help of external forces (such as being towed by a rescue vehicle or transported by a flatbed truck, etc.). Maintenance scenario: The intelligent rail train is tested, repaired, and maintained in the maintenance site to facilitate the timely discovery and handling of faults, eliminate potential safety hazards, improve the vehicle performance, and extend the service life.

[0027] In the embodiments of the present invention, a standby mode is correspondingly set based on the operation preparation scenario; a manual mode is correspondingly set based on the manual driving scenario; an automatic mode is correspondingly set based on the self-guided driving scenario and the automatic driving scenario; a reverse mode is correspondingly set based on the reverse driving scenario; an execution fault mode is correspondingly set based on the fault scenario; a maintenance mode is correspondingly set based on the rescue scenario and the maintenance scenario.

[0028] In the embodiments of the present invention, the mode conversion condition table includes one or more of the following conversion conditions. Exemplarily, it includes one or more of the following 16 conversion conditions. The condition content of the 16 conversion conditions included in the mode conversion condition table is shown in Table 1: Table 1 Condition Content of Mode Conversion

[0029] The conversion conditions between different modes include one or more conversion conditions in the conversion condition table. After determining the mode conversion condition table, the conversion conditions between different modes are determined based on the mode conversion condition table, and a working mode conversion relationship table is generated, as shown in Table 2. Table 2 Working Mode Conversion Relationship Table

[0030] Explanation 1: "<n" and "<(n)" mean that condition n must be satisfied to trigger the conversion of the working mode in this column to the mode pointed by the arrow "<". Explanation 2: n, m mean that condition n and condition m hold simultaneously. Explanation 3: n | m means that condition n holds or condition m holds. Explanation 4: n # means that condition n holds after the preparation action is completed. Explanation 5: —— means that the working mode conversion is not allowed. Explanation 6: X means that the conversion between the same working modes is invalid.

[0031] It should be noted that: the faults affecting steering safety include abnormal train attitude, abnormal trajectory tracking effectiveness, abnormal communication data real-time performance, the whole-axis steering controller detecting its own abnormal state, abnormal device states in the steering actuator, autonomous driving device, vehicle network device, positioning and speed measurement device, vehicle angle sensor, and articulated angle sensor, or communication failures between the whole-axis steering controller and the steering actuator, autonomous driving device, vehicle network device, positioning and speed measurement device, vehicle angle sensor, or articulated angle sensor, etc., including some or all of them, but not limited to this. Other faults or abnormalities affecting the safety of the intelligent rail multi - formation train are applicable to the present invention. Further, turning on or off the drive - by - wire enable is automatically executed by the system, which is equivalent to the preparation action before mode conversion, and immediately switches to the new mode after the preparation action is completed.

[0032] In the embodiments of the present invention, by setting the conversion condition table and the working mode conversion relationship table, the application scenarios faced by the working modes of the intelligent rail multi - formation train are more extensive, realizing the automatic switching between different scenario functions of the system and improving the control efficiency.

[0033] In the embodiments of the present invention, the whole - axis steering controller is the carrier and implementer of the control method. Thus, as Figure 2 shown, the whole - axis steering controller software can automatically implement the steering control function for various driving scenarios according to different working modes. The specific process includes, First, obtain the internal information and external information of the system. Among them, the internal information includes some or all of the working state of the system itself and the abnormal or fault states detected by the system; the external information includes some or all of the working state of the steering actuator, the switch state of the driver's cab, the state of the driving end direction handle, the train driving mode signal, the instructions from the maintenance tool, the drive-by-wire enable state, the real-time angles of each wheel, the included angle between adjacent carriages, the position trajectory of the driver's driving axis, the train speed, the train acceleration, the train yaw angular velocity and other train motion state information; but not limited to this, other internal information or external information is also applicable to the embodiments of the present invention. Thus, the internal information and external information of the system include the information related to the mode conversion conditions and some vehicle attitude information required for calculating the train steering angle.

[0034] Secondly, based on the obtained internal information and external information of the system and the conversion condition table, judge whether the mode conversion conditions are met. If they are met, select the converted working mode based on the working mode conversion relationship table; if not, keep the original working mode unchanged. Specifically, extract the conversion conditions from the obtained internal information and external information of the system; judge whether the extracted conversion conditions meet the conversion conditions required for any other working mode except the original working mode based on the conversion condition table. Among them, if they are met, select the converted working mode based on the working mode conversion relationship table and perform the preparation actions before the new mode conversion. If not, keep the original working mode unchanged. When judging whether mode conversion is required, first judge whether the conversion conditions of the new mode are met. If they are met, select the new mode and perform the conversion preparation actions; if all the new mode conditions are not met, stay in the original mode without conversion. By setting the working mode and the mode conversion conditions, the conversion conditions between each mode are made mutually exclusive, avoiding the situation of conversion conflicts and improving the reliability and safety of the working mode conversion.

[0035] Then, if the mode conversion condition is met, select the converted working mode based on the working mode conversion relation table, and perform steering control based on the selected working mode. Specifically, the full-axle steering controller defaults to the standby mode (SB) after the train is powered on, performs the power-on inspection function, and establishes communications with the steering actuator, the automatic driving device, the vehicle network device, the positioning and speed measurement device, the vehicle angle sensor, and the articulation angle sensor. Further, after the communication connection is completed, report the ready state to the vehicle network device and wait for further driver operation instructions or automatic driving commands. If the full-axle steering controller detects that its own state or the states of other devices / systems (such as the steering actuator, the automatic driving device, the vehicle network device, the positioning and speed measurement device, the vehicle angle sensor, and the articulation angle sensor) are abnormal, or fails to establish communication with other devices / systems, it should actively send a braking request to the vehicle network device to avoid danger when the train is on the road and report the specific fault information to facilitate the driver or maintenance personnel to troubleshoot the fault. Since the standby mode is used for the standby stage before operation and does not perform the train steering task, only the current angles of all wheels need to be kept unchanged, so the full-axle steering controller does not bear safety responsibilities.

[0036] If the conversion condition for the manual mode (DR) is met, first, turn off the drive-by-wire enable, second, switch to the manual mode, and then, the full-axle steering controller is responsible for steering control of all following axles except the driver's drive axle according to the track following, and supervising the train steering state. The train steering state includes the train steering attitude, the effectiveness of track tracking, the real-time performance of communication data, etc. If faults affecting steering safety occur, such as abnormal train attitude (e.g., wheel angle exceeding the limit, excessive angle between carriages), abnormal effectiveness of track tracking (e.g., track deviation exceeding the limit), and abnormal real-time performance of communication data (e.g., critical data acquisition communication timeout), the fault mode should be immediately entered.

[0037] If the conversion condition for the automatic mode (AM) is met, first, turn on the drive-by-wire enable, second, switch to the automatic mode, and then, the full-axle steering controller is responsible for steering control of all following axles of the train according to the track following, receiving, translating the steering instructions from the automatic driving system and sending them to the steering actuator to achieve steering control of the drive axle and supervising the train steering attitude; in the automatic mode, the full-axle steering controller should actively supervise the safety of train steering. The automatic driving system bears the steering safety responsibility of the drive axle, and the full-axle steering controller bears the steering safety responsibility of the train following axles and only bears the responsibility of execution and supervision for the steering of the drive axle.

[0038] If the conversion conditions for the Reverse Mode (RV) are met, the Reverse Mode is oriented towards reverse driving requirements. For example, when a train needs to pass through a narrow section, it may not be able to pass through in one go due to the initial attitude of the train, and it is necessary to reverse to adjust the attitude of the train (mainly the attitude of the first car) and then pass through again. Thus, first, disable the drive-by-wire enable, second, switch to the Reverse Mode, and then the steering of the drive axle is manually controlled by the driver. The all-axle steering controller is responsible for calculating the steering angles of all other axles to ensure that the reverse track of the train (except for the drive axle track) follows the original forward track during reverse movement. The driver assumes the safety responsibility for the steering of the drive axle, and the all-axle steering controller assumes the safety responsibility for the steering of other axles.

[0039] If the conversion conditions for the Fault Mode (SF) are met, first, directly switch to the Fault Mode, and then the all-axle steering controller sends commands to the steering actuators to lock the steering angles of the wheels of all following axles, while sending a braking request to the vehicle network equipment and reporting detailed fault information; to prompt the driver to take emergency measures to quickly stop the train, thus ensuring the driving safety during system failures. After the train stops, if the all-axle steering control detects that all faults have been cleared, the system should be allowed to switch out of the Fault Mode and return to the standby mode.

[0040] If the conversion conditions for the Maintenance Mode (MT) are met, first, enable the drive-by-wire enable, second, switch to the Maintenance Mode, and then, when the train or system has a serious fault and cannot achieve automatic steering, the Maintenance Mode can be enabled. Maintenance personnel can set the steering angles of individual axles manually to support the transfer of the train from the fault location, such as assisting the train to climb onto a flatbed truck or drive out of extreme road conditions. In addition, the Maintenance Mode should also support detailed inspections and functional tests of the system or local states, which helps maintenance personnel quickly find problems, accurately locate them, and troubleshoot. In addition, the Maintenance Mode should also support maintenance personnel to perform daily maintenance operations such as running parameter calibration, system configuration data modification, and software version upgrade. The Maintenance Mode belongs to the non-operation mode, and the all-axle steering controller does not assume the safety responsibility for steering.

[0041] As Figure 3As shown in the figure, in the embodiment of the present invention, a control system for a multi - formation train with intelligent tracks capable of executing the above - mentioned method is also introduced. The control system includes a setting module, a generating module, an obtaining module, a judging module, and an executing module. The setting module is used to set the following working modes of the full - axle steering controller based on the application scenarios of the full - axle steering controller of the multi - formation train with intelligent tracks: standby mode, manual mode, automatic mode, reverse mode, fault mode, and maintenance mode. The generating module is used to determine a mode conversion condition table, and based on the mode conversion condition table, determine the conversion conditions between different working modes, and generate a working mode conversion relationship table. The obtaining module is used to obtain system internal information and external information. The judging module is used to judge whether the full - axle steering controller meets the mode conversion conditions based on the obtained system internal information, external information, and the conversion condition table. The executing module is used to, if the mode conversion conditions are met, select the converted working mode based on the working mode conversion relationship table, and perform steering control based on the selected working mode.

[0042] The above - mentioned control system realizes the conversion between multiple working modes based on the mode conversion condition table. In addition, the steering control of the multi - formation train with intelligent tracks is realized based on different working modes of the full - axle steering controller, which improves the control efficiency of the multi - formation train with intelligent tracks and enhances the safety of the multi - formation train with intelligent tracks system.

[0043] Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for an intelligent rail multi - formation train, characterized in that, including, Based on the application scenarios of the full-axle steering controller of the intelligent rail multi - formation train, the following working modes of the full-axle steering controller are set: standby mode, manual mode, automatic mode, reverse mode, fault mode, and maintenance mode; Determine the mode conversion condition table, and based on the mode conversion condition table, determine the conversion conditions between different working modes, and generate a working mode conversion relationship table; Obtain the internal information and external information of the system; Based on the obtained internal information and external information of the system and the conversion condition table, judge whether the full-axle steering controller meets the mode conversion conditions; If the mode conversion conditions are met, select the converted working mode based on the working mode conversion relationship table, and perform steering control based on the selected working mode.

2. The control method for an intelligent rail multi - formation train according to claim 1, wherein, The application scenarios of the full-axle steering controller of the intelligent rail multi - formation train include operation preparation scenario, manual driving scenario, self - guided driving scenario, automatic driving scenario, reverse driving scenario, fault scenario, maintenance scenario, and rescue scenario. Among them, Set the standby mode corresponding to the operation preparation scenario; Set the manual mode corresponding to the manual driving scenario; Set the automatic mode corresponding to the self - guided driving scenario or the automatic driving scenario; Set the reverse mode corresponding to the reverse driving scenario; Set the fault mode corresponding to the fault scenario; Set the maintenance mode corresponding to the rescue scenario or the maintenance scenario.

3. The control method for an intelligent rail multi - formation train according to claim 1, characterized in that, The mode conversion condition table includes some or all of the following multiple conversion conditions: Condition 1: The train is in a stationary state; Condition 2: The steering actuator is already in a ready state; Condition 3: The driver's cab is activated; Condition 4: The driver's cab is closed; Condition 5: The driving - end direction handle is in the forward position; Condition 6: The driving - end direction handle is in the backward position; Condition 7: The driving - end direction handle is in the middle position; Condition 8: The manual driving signal is valid; Condition 9: The self - guided driving signal is valid or the automatic driving signal is valid; Condition 10: Receive the instruction to enter the maintenance mode sent by the maintenance tool; Condition 11: Receive the instruction to exit the maintenance mode sent by the maintenance tool; Condition 12: The driving axis by - wire enable is turned on; Condition 13: The driving axis by - wire enable is turned off; Condition 14: The system detects that a fault affecting steering safety has occurred; Condition 15: The fault affecting steering safety disappears, and the system restarts after a power - off reset; Condition 16: The system restarts after a power - off reset.

4. The control method for an intelligent rail multi - formation train according to claim 3, wherein, The faults affecting steering safety include abnormal train attitude, abnormal trajectory tracking effectiveness, abnormal communication data real - time performance, the full - axle steering controller detects its own abnormal state, there are abnormal device states in the steering actuator, automatic driving equipment, vehicle network equipment, positioning and speed - measuring equipment, vehicle angle sensor, and articulated angle sensor, or the full - axle steering controller fails to establish communication with the steering actuator, automatic driving equipment, vehicle network equipment, positioning and speed - measuring equipment, vehicle angle sensor, or articulated angle sensor.

5. The control method for an intelligent rail multi - formation train according to claim 4, wherein, The conversion conditions between different working modes include one or more conversion conditions in the conversion condition table.

6. The control method for the intelligent rail multi - formation train according to claim 5, wherein The internal information includes some or all of the system's own working state, the abnormalities detected by the system, and the faults affecting steering safety detected by the system; External information includes some or all of the working state of the steering actuator, the switch state of the driver's cab, the state of the driving end direction handle, the train driving mode signal, the instruction from the maintenance tool, the driving-by-wire enabling state, the real-time angle of each wheel, the included angle between adjacent train formations, the position trajectory of the driver's driving axis, the train speed, the train acceleration, and the train yaw angular velocity.

7. The control method for an intelligent rail multi - formation train according to claim 6, wherein, Based on the acquired internal information, external information of the system, and the conversion condition table, determining whether the full-axle steering controller meets the mode conversion conditions includes extracting conversion conditions from the acquired internal information and external information of the system; judging whether the extracted conversion conditions meet the conversion conditions required for any other working mode except the original working mode based on the conversion condition table; if satisfied, select the converted working mode based on the working mode conversion relationship table, and perform the preparatory actions before the new mode conversion; if not satisfied, maintain the original working mode unchanged.

8. The control method for the intelligent rail multi - formation train according to claim 7, wherein Selecting the converted working mode based on the working mode conversion relationship table, and performing steering control based on the selected working mode includes if the acquired internal information and external information of the system meet the conversion conditions of the manual mode, turn off the driving-by-wire enabling; switch to the manual mode; Responsible for steering control of all other follower axles except the driver's driving axle according to the track following, and supervising the train steering state.

9. The control method for an intelligent rail multi - formation train according to claim 7, wherein Selecting the converted working mode based on the working mode conversion relationship table, and performing steering control based on the selected working mode includes if the acquired internal information and external information of the system meet the conversion conditions of the automatic mode, turn on the driving-by-wire enabling; switch to the automatic mode; Receive and translate the steering instructions of the automatic driving system; Responsible for steering control of all follower axles according to the track following and supervising the train steering state.

10. The control method for the intelligent rail multi - formation train according to claim 7, characterized in that, Selecting the converted working mode based on the working mode conversion relationship table, and performing steering control based on the selected working mode includes if the acquired internal information and external information of the system meet the conversion conditions of the fault mode, directly switch to the fault mode; lock the steering angles of the wheels of all follower axles; Send a braking request to the vehicle network device and report the fault information.

11. The control method for an intelligent rail multi - formation train according to claim 7, characterized in that, Selecting the converted working mode based on the working mode conversion relationship table, and performing steering control based on the selected working mode includes if the acquired internal information and external information of the system meet the conversion conditions of the reverse mode, turn off the driving-by-wire enabling; switch to the reverse mode; The driver manually controls the steering of the driving axle; The full-axle steering controller is responsible for calculating the steering angles of all other follower axles to ensure that the train reverse trajectory follows the original forward trajectory during the reverse movement.

12. The control method for an intelligent rail multi - formation train according to claim 7, wherein, Selecting the converted working mode based on the working mode conversion relationship table, and performing steering control based on the selected working mode includes if the acquired internal information and external information of the system meet the conversion conditions of the maintenance mode, turn on the driving-by-wire enabling; switch to the maintenance mode; The maintenance personnel set the steering angles of individual axles manually; Support the inspection of the system or local state and functional testing, and support the maintenance personnel to perform running parameter calibration, system configuration data modification, and software version upgrade.

13. The control method for an intelligent rail multi - formation train according to claim 1, wherein It also includes that the full-axle steering controller defaults to the standby mode after the train is powered on, performs the power-on inspection function, and establishes communications with the steering actuator, the automatic driving device, the vehicle network device, the positioning and speed measurement device, the vehicle angle sensor, and the articulated angle sensor.

14. The control method for an intelligent rail multi - formation train according to claim 8 or 9, characterized in that, The train steering state includes the train steering attitude, the effectiveness of trajectory tracking, and the real-time nature of communication data.

15. A control system for an intelligent rail multi - formation train, characterized in that, Including, a setting module, configured to set the following working modes of the full-axle steering controller based on the application scenario of the intelligent rail multi-formation train full-axle steering controller: standby mode, manual mode, automatic mode, reverse mode, fault mode, and maintenance mode; a generating module, configured to determine a mode conversion condition table, and determine the conversion conditions between different working modes based on the mode conversion condition table, and generate a working mode conversion relationship table; an obtaining module, configured to obtain internal system information and external information; a judging module, configured to judge whether the full-axle steering controller meets the mode conversion conditions based on the obtained internal system information and external information and the conversion condition table; an executing module, configured to, if the mode conversion conditions are met, select the converted working mode based on the working mode conversion relationship table, and perform steering control based on the selected working mode.

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