Train and redundancy positioning method and system thereof, electronic equipment and storage medium

Abstract

The invention relates to the technical field of trains, and discloses a train and a redundancy positioning method and system thereof, electronic equipment and a storage medium. The method comprises the steps that first position information of a head end relative to an initial transponder on a track is determined through a first positioning system, and the first position information is sent to a second positioning system at the tail end; and receiving the first position information sent by the first positioning system through the second positioning system, and determining the second position information of the tail end relative to the initial transponder on the track according to the first position information, the train length of the target train, the train speed of the target train and the communication delay of the target train. According to the redundancy positioning method, the technical problem that positioning cannot be carried out after a head-end system fault occurs in a head-end positioning time difference is solved, available tail-end position information can be provided for the train, the tail-end position can be calculated more fairly and accurately, it is guaranteed that the train can continue to run, subsequent normal operation of the train is not affected, and the service life of the train is prolonged. The train operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of trains, and in particular, to a train redundant positioning method, a train redundant positioning system, an electronic device, a non-transitory computer-readable storage medium, a computer program product, and a train. Background Art

[0002] With the rapid development of rail transit, the rail transit system has experienced a transformation from manual driving to semi-automatic driving and then to fully automatic driving, and the safety and automation level of the rail transit system have been continuously improved. With the continuous popularization and application of the fully automatic driving system, trains with fully automatic driving system functions will gradually become the mainstream in the rail transit industry. A signaling system with fully automatic driving should be highly automated, integrated, and efficient.

[0003] The current train positioning is based on the transponder method. When the train is running on the line, the front-end transponder transmission module (Balise Transfer Module, BTM) periodically detects the transponder, and after receiving and parsing the transponder message, positioning is achieved. When the front-end positioning system fails, the Automatic Train Protection (ATP) positioning is lost, and emergency braking is performed. The vehicle must be taken off the line, which cannot meet the stable and efficient operation requirements. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems in the related art to some extent. For this reason, the first object of the present invention is to propose a train redundant positioning method, which solves the technical problem that in the redundant positioning technology, when positioning the head end and the tail end respectively, due to the time difference between the head and tail positioning, it is impossible to position after a head-end system failure occurs. In the case where the head end has been successfully positioned but the tail end itself has not been successfully positioned, and then a head-end positioning system failure occurs, it can provide an available tail-end position information for the train, ensure that the train can continue to run, make the calculated tail-end position more accurate, will not affect the normal operation of subsequent trains, and in the fault scenario, it is most likely to ensure that the train has available position information, increasing the system availability and improving the train operation efficiency.

[0005] The second object of the present invention is to propose a train redundant positioning system.

[0006] The third object of the present invention is to propose an electronic device.

[0007] The fourth object of the present invention is to propose a non-transitory computer-readable storage medium.

[0008] The fifth object of the present invention is to propose a computer program product.

[0009] The sixth object of the present invention is to provide a train.

[0010] To achieve the above object, an embodiment of the first aspect of the present invention provides a train redundancy positioning method, which is applied to a train redundancy positioning system. The train redundancy positioning system includes a first positioning system disposed at the head end of a target train and a second positioning system disposed at the tail end of the target train; wherein, the head end of the target train is the first carriage of the target train in the current traveling direction, and the tail end of the target train is the last carriage of the target train in the current traveling direction; the method includes: determining, by the first positioning system, first position information of the head end relative to an initial transponder on the track, and sending the first position information to the second positioning system at the tail end; receiving, by the second positioning system, the first position information sent by the first positioning system, and determining, according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train, second position information of the tail end relative to the initial transponder on the track.

[0011] In addition, the train redundancy positioning method according to the above embodiment of the present invention may further have the following additional technical features:

[0012] According to some embodiments of the present invention, before determining, by the first positioning system, the first position information of the head end and sending the first position information to the second positioning system at the tail end, the method further includes: determining that the first positioning system at the head end is free of faults.

[0013] According to some embodiments of the present invention, determining, according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train, second position information of the tail end relative to the initial transponder on the track includes: determining a first timestamp when the first positioning system sends the first position information and a second timestamp when the second positioning system receives the first position information; determining the communication delay of the first position information according to the first timestamp and the second timestamp; determining a position correction distance of the tail end according to the communication delay and the speed of the target train; and determining the second position information of the tail end according to the first position information, the position correction distance, and the length of the target train.

[0014] According to some embodiments of the present invention, determining a position correction distance of the tail end according to the communication delay and the speed of the target train includes: multiplying the communication delay by the speed to obtain the position correction distance.

[0015] According to some embodiments of the present invention, determining the second position information of the tail end according to the first position information, the position correction distance, and the length of the target train includes: calculating a difference between the first position information and the sum of the position correction distance and the length of the train to obtain the second position information.

[0016] According to some embodiments of the present invention, the above method further includes: in the case where the second positioning system is free of faults, determining third position information of the tail end through the second positioning system; comparing the second position information with the third position information; in response to the difference between the second position information and the third position information being within a preset range, performing weighted averaging on the second position information and the third position information to obtain real-time position information of the tail end of the target train.

[0017] According to some embodiments of the present invention, the above method further includes: in response to the difference between the second position information and the third position information not being within the preset range, using the second position information as the real-time position information of the tail end of the target train.

[0018] The train redundant positioning method according to an embodiment of the present invention is applied to a train redundant positioning system. The train redundant positioning system includes a first positioning system provided at the head end of a target train and a second positioning system provided at the tail end of the target train; wherein, the head end of the target train is the first carriage of the target train in the current traveling direction, and the tail end of the target train is the last carriage of the target train in the current traveling direction; the above method includes: determining first position information of the head end relative to an initial transponder on the track through the first positioning system, and sending the first position information to the second positioning system at the tail end; receiving, by the second positioning system, the first position information sent by the first positioning system, and determining second position information of the tail end relative to the initial transponder on the track according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train. Thus, the present method solves the technical problem in the redundant positioning technology that when the head end and the tail end are respectively positioned, it is impossible to position after a head end system failure occurs during the time difference between the head and tail positioning. In the case where the head end has been successfully positioned but the tail end itself has not been successfully positioned, and then a head end positioning system failure occurs, it can provide an available tail end position information for the train, ensure that the train can continue to run, make the calculated tail end position more accurate, will not affect the normal operation of subsequent trains, and in a fault scenario, maximize the possibility of ensuring that the train has available position information, increase the system availability, and improve the train operation efficiency.

[0019] The second object of the present invention is to propose a train redundant positioning system, which solves the technical problem in the redundant positioning technology that when the head end and the tail end are respectively positioned, it is impossible to position after a head end system failure occurs during the time difference between the head and tail positioning. In the case where the head end has been successfully positioned but the tail end itself has not been successfully positioned, and then a head end positioning system failure occurs, it can provide an available tail end position information for the train, ensure that the train can continue to run, make the calculated tail end position more accurate, will not affect the normal operation of subsequent trains, and in a fault scenario, maximize the possibility of ensuring that the train has available position information, increase the system availability, and improve the train operation efficiency.

[0020] To achieve the above object, an embodiment of the second aspect of the present invention provides a train redundant positioning system, including a first positioning system disposed at the head end of a target train and a second positioning system disposed at the tail end of the target train; wherein, the head end of the target train is the first carriage of the target train in the current traveling direction, and the tail end of the target train is the last carriage of the target train in the current traveling direction; the first positioning system is configured to determine first position information of the head end relative to an initial transponder on the track and send the first position information to the second positioning system at the tail end; the second positioning system is configured to receive the first position information sent by the first positioning system and determine second position information of the tail end relative to the initial transponder on the track according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train.

[0021] The train redundant positioning system according to an embodiment of the present invention includes a first positioning system disposed at the head end of a target train and a second positioning system disposed at the tail end of the target train; wherein, the head end of the target train is the first carriage of the target train in the current traveling direction, and the tail end of the target train is the last carriage of the target train in the current traveling direction; the first positioning system is configured to determine first position information of the head end relative to an initial transponder on the track and send the first position information to the second positioning system at the tail end; the second positioning system is configured to receive the first position information sent by the first positioning system and determine second position information of the tail end relative to the initial transponder on the track according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train. Thus, the present system solves the technical problem in the redundant positioning technology that when the head end and the tail end are respectively positioned, due to the head end system failure occurring within the time difference between the head and tail positioning, the positioning cannot be performed. In the case where the head end has been successfully positioned but the tail end itself has not been successfully positioned, and later the head end positioning system fails, it can provide an available tail end position information for the train, ensure that the train can continue to run, make the calculated tail end position more accurate, will not affect the normal operation of subsequent trains, and in the fault scenario, maximize the possibility of ensuring that the train has available position information, increase the system availability, and improve the train operation efficiency.

[0022] To achieve the above object, an embodiment of the third aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above-mentioned train redundant positioning method is implemented.

[0023] The electronic device according to the embodiment of the present invention solves the technical problem in the redundant positioning technology that when the head end and the tail end are respectively positioned, if a head end system failure occurs during the time difference between the head and tail positioning, positioning cannot be performed. In the case where the head end has been successfully positioned but the tail end itself has not been successfully positioned, and then a head end positioning system failure occurs, it can provide a usable tail end position information for the train, ensure that the train can continue to run, make the calculated tail end position more accurate, will not affect the normal operation of subsequent trains, and in the fault scenario, it can ensure that the train has usable position information as much as possible, increasing the system availability and improving the train operation efficiency by executing the above-mentioned train redundant positioning method.

[0024] To achieve the above object, an embodiment of the fourth aspect of the present invention proposes a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned train redundant positioning method is implemented.

[0025] The non-transitory computer-readable storage medium according to the embodiment of the present invention solves the technical problem in the redundant positioning technology that when the head end and the tail end are respectively positioned, if a head end system failure occurs during the time difference between the head and tail positioning, positioning cannot be performed. In the case where the head end has been successfully positioned but the tail end itself has not been successfully positioned, and then a head end positioning system failure occurs, it can provide a usable tail end position information for the train, ensure that the train can continue to run, make the calculated tail end position more accurate, will not affect the normal operation of subsequent trains, and in the fault scenario, it can ensure that the train has usable position information as much as possible, increasing the system availability and improving the train operation efficiency by executing the above-mentioned train redundant positioning method.

[0026] To achieve the above object, an embodiment of the fifth aspect of the present invention proposes a computer program product, including a computer program, characterized in that when the computer program is executed by a processor, the above-mentioned train redundant positioning method is implemented.

[0027] The computer program product according to the embodiment of the present invention solves the technical problem in the redundant positioning technology that when the head end and the tail end are respectively positioned, if a head end system failure occurs during the time difference between the head and tail positioning, positioning cannot be performed. In the case where the head end has been successfully positioned but the tail end itself has not been successfully positioned, and then a head end positioning system failure occurs, it can provide a usable tail end position information for the train, ensure that the train can continue to run, make the calculated tail end position more accurate, will not affect the normal operation of subsequent trains, and in the fault scenario, it can ensure that the train has usable position information as much as possible, increasing the system availability and improving the train operation efficiency by executing the above-mentioned train redundant positioning method.

[0028] To achieve the above object, an embodiment of the sixth aspect of the present invention proposes a train, including the above-mentioned train redundant positioning system.

[0029] The train according to the embodiment of the present invention solves the technical problem in the redundant positioning technology that when positioning the head end and the tail end separately, it is impossible to position after a head end system failure occurs during the time difference between the head and tail positioning. In the case where the head end has been successfully positioned but the tail end itself has not been successfully positioned, and later a head end positioning system failure occurs, it can provide a usable tail end position information for the train, ensure that the train can continue to operate, make the calculated tail end position more accurate, will not affect the normal operation of subsequent trains, and in the case of a failure scenario, maximize the possibility of ensuring that the train has available position information, increase the system availability, and improve the train operation efficiency.

[0030] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a flowchart of a train redundant positioning method according to some embodiments of the present invention;

[0032] Figure 2 It is a flowchart of a train redundant positioning method according to other embodiments of the present invention;

[0033] Figure 3 It is a block diagram of an electronic device according to some embodiments of the present invention;

[0034] Figure 4 It is a block diagram of a train according to some embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] To make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0036] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should have the ordinary meanings understood by those of ordinary skill in the field to which the present invention belongs. The "first", "second", and similar terms used in the embodiments of the present invention do not indicate any order, quantity, or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or items appearing before this word cover the elements or items listed after this word and their equivalents, without excluding other elements or items. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0037] As described in the background art section, in the related art, a head - end and a tail - end positioning system are used to locate the position of a train respectively, and the error between the positions located by the head - end and the tail - end positioning systems is calculated. When the error is less than a certain value, if the head - end positioning system fails, the tail - end positioning system is used to locate the position of the train. Through the head - tail positioning redundancy, when one - end positioning system fails, the position information of the other end is used to ensure the normal operation of the train.

[0038] In the process of implementing the present invention, the applicant found that the head - end and the tail - end positioning systems can respectively locate the position of the train. When the head - end has been located, the tail - end still needs to be located again, and the positioning needs to meet certain conditions (the BTM antenna continuously receives two balises along the running direction of the train), resulting in the tail - end having no position information for a period of time. If the head - end has a positioning failure at this time, the train will lose its position. However, the current detection methods for train positioning system failures cannot switch to the tail - end in time before the head - end positioning system fails and the head - end loses its position. The tail - end only uses its own located position as the tail - end position. Because of the single input used, it is easy to cause a large position error at the tail - end.

[0039] The following describes a train redundant positioning method, a train redundant positioning system, an electronic device, a storage medium, a computer program product, and a train proposed in the embodiments of the present invention with reference to the drawings.

[0040] The train redundant positioning system includes a first positioning system provided at the head - end of the target train and a second positioning system provided at the tail - end of the target train. The positioning system is used to obtain the position of the train. Among them, the head - end of the target train is the first carriage of the target train in the current traveling direction, and the tail - end of the target train is the last carriage of the target train in the current traveling direction.

[0041] Among them, the first positioning system and the second positioning system can be a Balise Transmission Module (BTM) positioning system. The BTM is responsible for delivering energy to the balise antenna, activating the ground balise, and then receiving and processing the information fed back by the balise antenna.

[0042] Reference Figure 1 , is a flowchart of a train redundant positioning method according to some embodiments of the present invention.

[0043] As Figure 1 shown, the train redundant positioning method according to the embodiments of the present invention may include the following steps:

[0044] S101, determine the first position information of the head - end relative to the initial balise on the track through the first positioning system, and send the first position information to the second positioning system at the tail - end.

[0045] Specifically, the first position information of the head end relative to the initial balise on the track (such as the position of the head end, whether the positioning system is effective, etc.) can be obtained through the first positioning system set at the head end of the target train. Herein, the initial balise refers to a high-speed data transmission device that can wirelessly send data packets. After obtaining the first position information, the first position information is sent to the second positioning system at the tail end. There is an interaction channel between the train protection systems at both ends of the train. Information interaction can be carried out using the interaction channel, and time synchronization between the head and tail ends and tail-end positioning are completed using the interaction information. Optionally, the positioning information is interacted through a communication cable.

[0046] Wherein, the train further includes an ATP system. The ATP system is a safety system that enables the train to comply with and monitor speed limits and signals. The on-board ATP sends information such as the train position to the Zone Controller (ZC), and calculates the recommended speed of the train based on information such as the movement authority sent by the ZC, the status of the trackside equipment ahead, and the temporary speed limit, to assist the train operation. It provides assistance and supervision for train operation safety and train driving (driver or automatic equipment driving), preventing collisions caused by opposing train operations; preventing passengers from being in danger due to abnormal door opening, train reverse, etc.; preventing the train from being in danger or causing damage to the line due to exceeding the speed limit or command speed. The line controller mainly calculates the movement authority for the communication trains within its control range based on the position information reported by the communication trains, the routes arranged by the interlocking, and the track occupancy / idle information provided by the trackside equipment, to ensure the safe operation of the communication trains within its control area.

[0047] It should be explained that when the train runs in the reverse direction, the head end of the target train is used as the tail end, and the tail end of the target train is used as the head end.

[0048] In some embodiments of the present invention, before determining the first position information of the head end through the first positioning system and sending the first position information to the second positioning system at the tail end, the method further includes: determining that the first positioning system at the head end has no fault.

[0049] Specifically, if the first positioning system at the head end fails before the first positioning system determines the first position information of the head end, then the first positioning system at the head end will not be able to work properly, that is, it will not be able to determine the first position information of the head end at the beginning, and thus it will not be possible to send the first position information to the second positioning system at the tail end. Therefore, fault detection for the first positioning system at the head end is crucial in train redundant positioning, which can ensure the accuracy and reliability of the positioning system.

[0050] When the first positioning system at the head end is free of faults, the first position information of the head end is determined by the first positioning system and sent to the second positioning system at the tail end. Or, even if the first positioning system at the head end is initially free of faults and then has faults, the first positioning system has completed the task of determining the first position information of the head end and sending the first position information to the second positioning system at the tail end before the faults occur.

[0051] S102, receive the first position information sent by the first positioning system through the second positioning system, and determine the second position information of the tail end relative to the initial transponder on the track according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train.

[0052] Specifically, after the first position information is sent to the second positioning system at the tail end, the second positioning system will receive the first position information sent by the first positioning system. The length of the target train can be obtained from the factory settings of the train, and the speed of the target train can be obtained through the speed sensor set on the target train. The second position information of the tail end relative to the initial transponder on the track is determined according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train. For example, by subtracting the difference between the communication delay and the speed of the target train from the first position information, the second position information (such as the position of the tail end, which transponder has been passed, etc.) can be calculated. Thus, after the positioning system at the head end is successfully positioned, when the positioning system at the head end has faults subsequently, an available position information of the tail end can be provided for the train to ensure that the train can continue to run.

[0053] In some embodiments of the present invention, determining the second position information of the tail end relative to the initial transponder on the track according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train includes: determining the first timestamp when the first positioning system sends the first position information and the second timestamp when the second positioning system receives the first position information; determining the communication delay of the first position information according to the first timestamp and the second timestamp; determining the position correction distance of the tail end according to the communication delay and the speed of the target train; determining the second position information of the tail end according to the first position information, the position correction distance, and the length of the target train.

[0054] Further, in some embodiments of the present invention, determining the position correction distance of the tail end according to the communication delay and the speed of the target train includes: multiplying the communication delay by the speed to obtain the position correction distance.

[0055] Specifically, when sending the first position information to the second positioning system at the tail end, record the current time node as the first timestamp, where the first timestamp records the time node when the first positioning system sends the first position information to the second positioning system. When the second positioning system receives the first position information, record the current time node as the second timestamp, where the second timestamp records the time node when the second positioning system receives the first position information sent by the first positioning system. After obtaining the first timestamp and the second timestamp, determine the communication delay of the first position information according to the difference between the first timestamp and the second timestamp. After obtaining the communication delay, multiply the communication delay by the vehicle speed detected by the speed sensor set on the train to calculate the position correction distance. Determine the second position information at the tail end according to the first position information, the position correction distance, and the vehicle length of the target train. The communication delay refers to the situation that the time when the second positioning system receives the first position information sent by the first positioning system is later than the time when the first positioning system sends the first position information to the second positioning system due to reasons such as outdated or resource-insufficient servers, routers, hubs, switches, and other abnormal network hardware.

[0056] In some embodiments of the present invention, determining the second position information at the tail end according to the first position information, the position correction distance, and the vehicle length of the target train includes: calculating the difference between the first position information and the sum of the position correction distance and the vehicle length to obtain the second position information.

[0057] Specifically, if the train is traveling in the positive direction, then the second position information = the first position information - the position correction distance - the vehicle length; if the train is traveling in the reverse direction, then the second position information = the first position information + the position correction distance + the vehicle length.

[0058] In summary, in specific implementation, the first positioning system at the head end first determines its first position information relative to the initial transponder on the track. Further, determine the first timestamp T1 when the first positioning system sends the first position information and the second timestamp T2 when the second positioning system receives this information. The communication delay ΔT can be obtained by calculating the difference between T2 and T1, that is, ΔT = T2 - T1. Further, calculate the distance that the train moves on the track due to the communication delay according to the vehicle speed V of the train and the communication delay ΔT, that is, the position correction distance ΔD. Multiply the vehicle speed by the communication delay, that is, ΔD = V * ΔT. Finally, combine the first position information P1, the position correction distance ΔD, and the vehicle length L of the train to calculate the second position information P2 at the tail end. If the train is traveling in the positive direction, then P2 = P1 - ΔD - L; if the train is traveling in the reverse direction, then P2 = P1 + ΔD + L.

[0059] In some embodiments of the present invention, the above method further includes: when the second positioning system is free of faults, determining third position information of the tail end through the second positioning system; comparing the second position information with the third position information; in response to the difference between the second position information and the third position information being within a preset range, performing weighted averaging on the second position information and the third position information to obtain real-time position information of the tail end of the target train.

[0060] Specifically, when both the first positioning system and the second positioning system are free of faults, the third position information of the tail end relative to the initial transponder on the track can be obtained through the second positioning system provided at the tail end of the target train, the second position information is compared with the third position information, and the difference between the second position information and the third position information is calculated. The difference between the second position information and the third position information is judged. When the difference between the second position information and the third position information is within the preset range, it indicates that the positioning systems at both the head and the tail of the train are normal at this time. The second position information and the third position information are weighted averaged to obtain real-time position information of the tail end of the target train. The tail end can increase the weight of the tail end position data by weighting and averaging the calculated tail end position and the position self-located by the tail end itself, making the calculation of the tail end position more fair and accurate, more flexibly handling the importance of different position information, and making the calculation result more in line with the actual situation during the train operation. At the same time, using the weighted average in the process of calculating the train tail end position at the tail end can adjust the weight according to needs, making the calculation result more in line with specific requirements.

[0061] In some embodiments of the present invention, the above method further includes: in response to the difference between the second position information and the third position information not being within the preset range, using the second position information as the real-time position information of the tail end of the target train.

[0062] Specifically, when the difference between the second position information and the third position information is not within the preset range, it indicates that at least one of the positioning systems at the head and the tail of the train is faulty at this time. At this time, the second position information is used as the real-time position information of the tail end of the target train.

[0063] As a specific example, as Figure 2 shown, the train redundant positioning method of the present invention may include the following steps:

[0064] S201, determining that the first positioning system at the head end is free of faults.

[0065] S202, determining first position information of the head end relative to the initial transponder on the track through the first positioning system, and sending the first position information to the second positioning system at the tail end.

[0066] S203, receive the first position information sent by the first positioning system through the second positioning system, and determine the second position information of the tail end relative to the initial transponder on the track according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train.

[0067] S204, when the second positioning system has no fault, determine the third position information of the tail end through the second positioning system.

[0068] S205, compare the second position information with the third position information.

[0069] S206, determine whether the difference between the second position information and the third position information is within a preset range. If so, execute step S207; if not, execute step S208.

[0070] S207, perform weighted averaging on the second position information and the third position information to obtain the real-time position information of the tail end of the target train.

[0071] S208, use the second position information as the real-time position information of the tail end of the target train.

[0072] Thus, based on the successful positioning of the front end of the train, the present invention transmits the position of the front end of the train to the tail end as a redundant backup. Then, when the front-end positioning system fails, the position of the tail end can be used in a timely manner to continue running. When the train has a valid position to run, the train will not be downgraded due to anomalies, and at the same time, it will not affect the normal operation of subsequent trains. Among them, downgrading refers to the selection and implementation of corresponding operation behaviors for different situations such as train failures and large passenger flows. The downgraded operation mode belongs to the abnormal operation mode, including train failure mode, entry and exit exemption mode, time exemption mode, date exemption mode, over-trip exemption mode, and emergency release mode.

[0073] In summary, the train redundant positioning method according to the embodiments of the present invention is applied to a train redundant positioning system. The train redundant positioning system includes a first positioning system disposed at the head end of the target train and a second positioning system disposed at the tail end of the target train. Wherein, the head end of the target train is the first carriage of the target train in the current traveling direction, and the tail end of the target train is the last carriage of the target train in the current traveling direction. The above method includes: determining, by the first positioning system, first position information of the head end relative to the initial transponder on the track, and sending the first position information to the second positioning system at the tail end; receiving, by the second positioning system, the first position information sent by the first positioning system, and determining, according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train, second position information of the tail end relative to the initial transponder on the track. Thus, the present method solves the technical problem in the redundant positioning technology that when the head end and the tail end are respectively positioned, the tail end cannot be positioned after a head end system failure occurs during the time difference between the head end and the tail end positioning. In the case where the head end has been successfully positioned but the tail end itself has not been successfully positioned, and then a head end positioning system failure occurs, a usable tail end position information can be provided for the train, ensuring that the train can continue to operate, making the calculated tail end position more accurate, not affecting the normal operation of subsequent trains, and in the case of a failure scenario, maximizing the possibility of ensuring that the train has available position information, increasing the system availability, and improving the train operation efficiency.

[0074] It should be noted that the method of the embodiments of the present invention can be executed by a single device, such as a computer or a server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In such a distributed scenario, one of the multiple devices can only execute one or more steps of the method of the embodiments of the present invention, and these multiple devices will interact with each other to complete the above method.

[0075] It should be noted that some embodiments of the present invention are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order than in the above embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain implementations, multitasking and parallel processing are also possible or may be advantageous.

[0076] Corresponding to the above embodiments, the present invention further provides a train redundant positioning system, including a first positioning system disposed at the head end of the target train and a second positioning system disposed at the tail end of the target train; wherein, the head end of the target train is the first carriage of the target train in the current traveling direction, and the tail end of the target train is the last carriage of the target train in the current traveling direction; the first positioning system is configured to determine the first position information of the head end relative to the initial transponder on the track and send the first position information to the second positioning system at the tail end; the second positioning system is configured to receive the first position information sent by the first positioning system and determine the second position information of the tail end relative to the initial transponder on the track according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train.

[0077] It should be noted that for the details not disclosed in the train redundant positioning system according to the embodiments of the present invention, please refer to the details disclosed in the train redundant positioning method according to the embodiments of the present invention, and will not be elaborated herein.

[0078] In summary, according to the train redundant positioning system of the embodiments of the present invention, it includes a first positioning system disposed at the head end of the target train and a second positioning system disposed at the tail end of the target train; wherein, the head end of the target train is the first carriage of the target train in the current traveling direction, and the tail end of the target train is the last carriage of the target train in the current traveling direction; the first positioning system is configured to determine the first position information of the head end relative to the initial transponder on the track and send the first position information to the second positioning system at the tail end; the second positioning system is configured to receive the first position information sent by the first positioning system and determine the second position information of the tail end relative to the initial transponder on the track according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train. Thus, the present system solves the technical problem that in the redundant positioning technology, when the head end and the tail end are respectively positioned, due to the system failure of the head end during the time difference between the head and tail positioning, the positioning cannot be performed. In the case where the head end has been successfully positioned but the tail end itself has not been successfully positioned, and later the head end positioning system fails, it can provide an available tail end position information for the train, ensure that the train can continue to run, make the calculated tail end position more accurate, will not affect the normal operation of the subsequent trains, and in the fault scenario, it can ensure that the train has available position information to the greatest extent, increase the system availability, and improve the train operation efficiency.

[0079] The system of the above embodiments is used to implement the corresponding method in any of the foregoing embodiments and has the beneficial effects of the corresponding method embodiments, which will not be elaborated herein.

[0080] Corresponding to the above embodiments, the present invention further provides an electronic device.

[0081] Reference Figure 3, is a block diagram of an electronic device according to some embodiments of the present invention, showing a more specific schematic diagram of the hardware structure of the electronic device provided in this embodiment. The device may include: a processor 310, a memory 320, an input / output interface 330, a communication interface 340, and a bus 350. Among them, the processor 310, the memory 320, the input / output interface 330, and the communication interface 340 are communicatively connected to each other inside the device through the bus 350.

[0082] The processor 310 may be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0083] The memory 320 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 320 may store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 320 and are called and executed by the processor 310.

[0084] The input / output interface 330 is used to connect to an input / output module to implement information input and output. The input / output module may be configured as a component in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Among them, the input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0085] The communication interface 340 is used to connect to a communication module (not shown in the figure) to implement communication interaction between this device and other devices. Among them, the communication module may implement communication in a wired manner (such as USB, network cable, etc.) or in a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0086] The bus 350 includes a path for transmitting information between various components of the device (such as the processor 310, the memory 320, the input / output interface 330, and the communication interface 340).

[0087] It should be noted that although the above device only shows the processor 310, the memory 320, the input / output interface 330, the communication interface 340, and the bus 350, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device may also only include the components necessary to implement the solution of the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0088] The electronic device in the above embodiment is used to implement the corresponding method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0089] Based on the same inventive concept, corresponding to the method in any of the above embodiments, the present invention also provides a non-transitory computer-readable storage medium, and the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the method in any of the foregoing embodiments.

[0090] The above non-transitory computer-readable storage medium may be any available medium or data storage device that a computer can access, including but not limited to magnetic memories (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical memories (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor memories (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NAND FLASH), solid state drives (SSDs), etc.).

[0091] The computer instructions stored in the storage medium in the above embodiment are used to make a computer execute the method in any of the above exemplary method embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0092] Based on the same inventive concept, corresponding to the method in any of the above embodiments, the present invention also provides a computer program product, including a computer program, characterized in that when the computer program is executed by a processor, the above train redundancy positioning method is implemented.

[0093] Corresponding to the above embodiment, the present invention also proposes a train.

[0094] Reference Figure 4 , which is a block diagram of a train according to some embodiments of the present invention. The train 400 includes the above train redundancy positioning system.

[0095] In addition, although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this is not a requirement or implication that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. On the contrary, the order of the steps depicted in the flowchart can be changed. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0096] It should be understood that the various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0097] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should have the ordinary meanings understood by those of ordinary skill in the field to which the present invention pertains. The "first", "second", and similar terms used in the embodiments of the present invention do not denote any order, quantity, or importance, but are merely used to distinguish different components. Words such as "comprising" or "including" mean that the elements or items appearing before the word cover the elements or items listed after the word and their equivalents, without excluding other elements or items. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0098] Although the spirit and principles of the present invention have been described with reference to several specific embodiments, it should be understood that the present invention is not limited to the specific embodiments disclosed, and the division of various aspects does not mean that the features in these aspects cannot be combined for benefits. This division is only for convenience of expression. The present invention aims to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the appended claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. A train redundancy positioning method, characterized in that, Applied to a train redundant positioning system, the train redundant positioning system includes a first positioning system disposed at the head end of the target train and a second positioning system disposed at the tail end of the target train; wherein, the head end of the target train is the first carriage of the target train in the current traveling direction, and the tail end of the target train is the last carriage of the target train in the current traveling direction; The method includes: Determine the first position information of the head end relative to the initial transponder on the track through the first positioning system, and send the first position information to the second positioning system at the tail end; Receive the first position information sent by the first positioning system through the second positioning system, and determine the second position information of the tail end relative to the initial transponder on the track according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train.

2. The train redundancy positioning method according to claim 1, characterized in that, Before determining the first position information of the head end through the first positioning system and sending the first position information to the second positioning system at the tail end, the method further includes: Determine that the first positioning system at the head end is free of faults.

3. The train redundancy positioning method according to claim 1, wherein The determining the second position information of the tail end relative to the initial transponder on the track according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train includes: Determine the first timestamp when the first positioning system sends the first position information and the second timestamp when the second positioning system receives the first position information; Determine the communication delay of the first position information according to the first timestamp and the second timestamp; Determine the position correction distance of the tail end according to the communication delay and the speed of the target train; Determine the second position information of the tail end according to the first position information, the position correction distance, and the length of the target train.

4. The train redundancy positioning method according to claim 3, wherein, The determining the position correction distance of the tail end according to the communication delay and the speed of the target train includes: Multiply the communication delay by the speed to obtain the position correction distance.

5. The train redundancy positioning method according to claim 3, wherein The determining the second position information of the tail end according to the first position information, the position correction distance, and the length of the target train includes: Calculate the difference between the first position information and the sum of the position correction distance and the length of the train to obtain the second position information.

6. The train redundancy positioning method according to claim 1, characterized in that The method further includes: When the second positioning system is free of faults, determine the third position information of the tail end through the second positioning system; Compare the second position information with the third position information; In response to the difference between the second position information and the third position information being within a preset range, perform weighted averaging on the second position information and the third position information to obtain the real-time position information of the tail end of the target train.

7. The train redundancy positioning method according to claim 6, wherein The method further includes: In response to the difference between the second position information and the third position information not being within the preset range, use the second position information as the real-time position information of the tail end of the target train.

8. A train redundant positioning system, characterized in that, It includes a first positioning system arranged at the head end of the target train and a second positioning system arranged at the tail end of the target train; wherein, the head end of the target train is the first carriage of the target train in the current traveling direction, and the tail end of the target train is the last carriage of the target train in the current traveling direction; The first positioning system is configured to determine first position information of the head end relative to an initial transponder on the track and send the first position information to the second positioning system at the tail end; The second positioning system is configured to receive the first position information sent by the first positioning system and determine second position information of the tail end relative to the initial transponder on the track according to the first position information, the length of the target train, the speed of the target train, and the communication delay of the target train.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the train redundant positioning method according to any one of claims 1 to 7.

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

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the train redundant positioning method according to any one of claims 1 to 7.

12. A train, characterized in that, It includes the train redundant positioning system according to claim 8.

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