Method, device and equipment for determining position of front train in heavy-load group train and medium

Abstract

The invention discloses a method, device and equipment for determining the position of a front train in a heavy-load group train and a medium. Front train position reference information sent by an adjacent front train in the heavy-load group train is received through a vehicle-mounted radio station, and the front train position reference information is sent to vehicle-mounted train automatic protection equipment; the front vehicle position reference information comprises the number of a front vehicle reference transponder group currently passed by the front vehicle, the distance between the rear end of the minimum safety distance and the front vehicle reference transponder group, the relative direction of the tail of the vehicle and the front vehicle reference transponder group and the direction of passing through the front vehicle reference transponder group; the vehicle-mounted automatic train protection equipment judges whether the reference transponder group number of the front train exists in a transponder group list cached by the vehicle or not; if yes, according to the front vehicle position reference information and the position coordinates of the front vehicle reference transponder group in the vehicle coordinate system, the position coordinates of the front vehicle minimum safety distance rear end in the vehicle coordinate system are determined. According to the embodiment of the invention, the position of the front train in the heavy-load group train under the coordinate system of the rear train is determined.

Description

Technical Field

[0001] Embodiments of the present application relate to heavy-load group train technology, and more particularly to a method, apparatus, device, and medium for determining the position of a leading vehicle in a heavy-load group train. Background Art

[0002] The group operation of heavy-load trains does not rely on the expansion of large stations or the purchase of larger horsepower locomotives. It relies on high density to achieve high transportation capacity, has a short transformation cycle, and can greatly improve the departure capacity and train tracking capabilities of large technical operation stations.

[0003] However, in the prior art, in the field of heavy-load group train control, there is currently no corresponding processing method for the on-board equipment of the group following vehicle to confirm the position of the leading vehicle. Summary of the Invention

[0004] The present application provides a method, apparatus, device and medium for determining the position of a leading vehicle in a heavy-load group train, so as to determine the position of the leading vehicle in the heavy-load group train in the coordinate system of the following vehicle.

[0005] In a first aspect, an embodiment of the present application provides a method for determining the position of a leading vehicle in a heavy-load group train, which is applied to a trailing vehicle of two adjacent vehicles in a heavy-load group train. The method for determining the position of a leading vehicle in a heavy-load group train includes:

[0006] Receive the preceding vehicle position reference information sent by the adjacent preceding vehicle in the heavy-load group train through the onboard radio, and send the preceding vehicle position reference information to the onboard train automatic protection equipment; the preceding vehicle position reference information includes the preceding vehicle reference transponder group number that the preceding vehicle is currently passing, the distance between the rear end of the minimum safety distance and the preceding vehicle reference transponder group, the relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group, and the direction of passing through the preceding vehicle reference transponder group;

[0007] The onboard automatic train protection equipment determines whether the preceding vehicle's reference balise group number exists in the balise group list cached by the vehicle;

[0008] If so, the position coordinates of the front vehicle's minimum safety distance rear end in the own vehicle's coordinate system are determined based on the front vehicle's position reference information and the position coordinates of the front vehicle's reference transponder group in the own vehicle's coordinate system.

[0009] In a second aspect, an embodiment of the present application further provides a device for determining the position of a leading vehicle in a heavy-load group train, which is configured as a rear vehicle between two adjacent vehicles in the heavy-load group train. The device for determining the position of a leading vehicle in the heavy-load group train includes:

[0010] The leading vehicle position reference information acquisition module is used to receive the leading vehicle position reference information sent by the adjacent leading vehicle in the heavy-load group train through the on-board radio, and send the leading vehicle position reference information to the on-board train automatic protection equipment; the leading vehicle position reference information includes the number of the leading vehicle reference transponder group currently passed by the leading vehicle, the distance between the rear end of the minimum safety distance and the leading vehicle reference transponder group, the relative direction between the rear end of the vehicle and the leading vehicle reference transponder group, and the direction of passing through the leading vehicle reference transponder group;

[0011] The preceding vehicle reference transponder group number judgment module is used by the onboard automatic train protection equipment to judge whether the preceding vehicle reference transponder group number exists in the transponder group list cached by the vehicle;

[0012] The coordinate conversion module is used to determine the position coordinates of the rear end of the minimum safety distance of the preceding vehicle in the own vehicle coordinate system according to the preceding vehicle position reference information and the position coordinates of the preceding vehicle reference transponder group in the own vehicle coordinate system.

[0013] In a third aspect, an embodiment of the present application further provides an electronic device, the electronic device comprising:

[0014] one or more processors;

[0015] a storage device for storing one or more programs;

[0016] When one or more programs are executed by one or more processors, the one or more processors implement any one of the methods for determining the position of the leading vehicle in a heavy-load group train provided in the embodiments of the present application.

[0017] In a fourth aspect, an embodiment of the present application further provides a storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to execute any method for determining the position of a leading vehicle in a heavy-load group train as provided in an embodiment of the present application.

[0018] The present application receives the leading vehicle position reference information sent by the adjacent leading vehicle in a heavy-load group train through an onboard radio, and sends the leading vehicle position reference information to the onboard train automatic protection equipment; the leading vehicle position reference information includes the leading vehicle reference transponder group number that the leading vehicle is currently passing, the distance between the rear end of the minimum safety distance and the leading vehicle reference transponder group, the relative direction between the rear end of the vehicle and the leading vehicle reference transponder group, and the direction of passing the leading vehicle reference transponder group; the onboard train automatic protection equipment determines whether the leading vehicle reference transponder group number exists in the transponder group list cached by the vehicle; if so, the position coordinates of the rear end of the minimum safety distance of the leading vehicle in the vehicle coordinate system are determined based on the leading vehicle position reference information and the position coordinates of the leading vehicle reference transponder group in the vehicle coordinate system, so that the position of the leading vehicle in the vehicle coordinate system can be confirmed in real time through the onboard equipment through communication between the two vehicles. The implementation is simple and time-effective, and the safe operation of the following vehicles of the two adjacent vehicles in the heavy-load group train is guaranteed. The present application solves the problem that there is no corresponding processing method for confirming the leading vehicle position by the onboard equipment of the group following vehicle in the field of heavy-load group train control, and achieves the effect of determining the position of the leading vehicle in the heavy-load group train in the following vehicle coordinate system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a flow chart of a method for determining the position of a leading vehicle in a heavy-load group train in the first embodiment of the present application;

[0020] Figure 2a This is a flow chart of a method for determining the position of a leading vehicle in a heavy-load group train in the second embodiment of the present application;

[0021] Figure 2b This is a schematic diagram of a direction in which the relative direction between the rear end of a vehicle and the reference transponder group of a preceding vehicle is positive, and the direction of passing through the reference transponder group of the preceding vehicle is positive in the second embodiment of the present application;

[0022] Figure 2c This is a schematic diagram of a direction in which the rear end of a vehicle and the reference transponder group of a preceding vehicle are in opposite directions, and the direction of passing through the reference transponder group of the preceding vehicle is in opposite directions in the second embodiment of the present application;

[0023] Figure 2d This is a schematic diagram of a direction in which the relative direction between the rear end of a vehicle and the reference transponder group of a preceding vehicle is in a forward direction, and the direction of passing through the reference transponder group of the preceding vehicle is in a reverse direction in the second embodiment of the present application;

[0024] Figure 2e This is a schematic diagram of a direction in which the relative direction of the rear end of a vehicle and the reference transponder group of the preceding vehicle is in the opposite direction, and the direction of passing through the reference transponder group of the preceding vehicle is in the forward direction in the second embodiment of the present application;

[0025] Figure 3 This is a schematic structural diagram of a device for determining the position of a leading vehicle in a heavy-load group train in the third embodiment of the present application;

[0026] Figure 4 This is a structural diagram of an electronic device in Example 4 of the present application. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0028] It should be noted that the terms "first" and "second" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Example 1

[0030] Figure 1 This is a flowchart of a method for determining the position of a leading vehicle in a heavy-loaded group train provided in Example 1 of the present application. This embodiment is applicable to situations where a rear vehicle in a heavy-loaded group train determines the position coordinates of the leading vehicle in its own vehicle coordinate system. The method can be executed by a leading vehicle position determination device in a heavy-loaded group train. The device can be implemented using software and / or hardware and is specifically configured in the rear vehicle between two adjacent vehicles in the heavy-loaded group train.

[0031] See also Figure 1 The method for determining the position of the leading vehicle in a heavy-load group train shown is applied to the trailing vehicle of two adjacent vehicles in a heavy-load group train, and specifically includes the following steps:

[0032] S110. Receive the preceding vehicle position reference information sent by the adjacent preceding vehicle in the heavy-load group train via the onboard radio, and send the preceding vehicle position reference information to the onboard train automatic protection equipment.

[0033] Two adjacent trains in a heavily loaded train group communicate via onboard radios. When the onboard radio of the trailing train establishes inter-train communication with the onboard radio of the leading train, the leading train transmits its position reference information to the trailing train. This position reference information can be information about the reference transponder group currently passed by the leading train, acquired by the leading train during travel, in its own vehicle coordinates. This information is then transmitted to the trailing train, allowing the trailing train to determine its position within its own vehicle coordinates based on the leading train's position reference information.

[0034] The preceding vehicle position reference information includes the preceding vehicle reference transponder group number that the preceding vehicle is currently passing, the distance between the rear end of the minimum safety distance and the preceding vehicle reference transponder group, the relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group, and the direction of passing through the preceding vehicle reference transponder group.

[0035] The preceding vehicle reference transponder group may be the transponder group used by the preceding vehicle to determine preceding vehicle position reference information. The preceding vehicle reference transponder group number currently passed by the preceding vehicle may be a number uniquely identifying the transponder group. The minimum safe distance rear end distance from the preceding vehicle reference transponder group may be the minimum safe distance rear end distance from the preceding vehicle reference transponder group determined by the preceding vehicle in the host vehicle's coordinate system.

[0036] The direction of passing through the preceding vehicle's reference transponder group can be the relative direction of the vehicle's running direction determined based on a predetermined transponder group direction and the predetermined transponder group direction, and is used to determine the preceding vehicle's position coordinates in the following vehicle's reference system. The transponder group includes two transponders, which are numbered and have a preset passing direction. For example, the two transponders in the transponder group are numbered 0 and 1, respectively. If the forward direction is predefined as from 0 to 1, then when the train passes through the two transponders in the order from 0 to 1, the train's direction of passing through the preceding vehicle's reference transponder group is determined to be forward; and when the train passes through the two transponders in the order from 1 to 0, the train's direction of passing through the preceding vehicle's reference transponder group is determined to be reverse.

[0037] The relative direction of the vehicle's rear end relative to the preceding vehicle's reference transponder group may be the relative direction of the preceding vehicle's rear end relative to a predetermined forward direction of the transponder group. If the vehicle's rear end is in the predetermined forward direction of the transponder group, the relative direction of the vehicle's rear end relative to the preceding vehicle's reference transponder group is determined to be a forward direction; otherwise, the relative direction of the vehicle's rear end relative to the preceding vehicle's reference transponder group is determined to be a reverse direction.

[0038] After the radio obtains the leading vehicle position reference information, it sends the leading vehicle position reference information to the onboard automatic train protection device, so that the onboard automatic train protection device determines the position coordinates of the leading vehicle in the following vehicle coordinate system based on the leading vehicle position reference information.

[0039] S120. The onboard automatic train protection device determines whether there is a reference balise group number of the preceding vehicle in the balise group list cached by the vehicle.

[0040] The transponder group list can be a list including the transponder group numbers that the vehicle has passed and a transponder link table. Among them, the list of transponder group numbers that the vehicle has passed can be used to determine the current position of the vehicle, and the transponder link table can be used to store information about transponder groups related to the transponder group currently passed on the route. For example, the transponder link table can store information about several transponder groups that will be passed after the transponder group currently passed in the direction of travel. After the on-board train automatic protection equipment obtains the reference information of the preceding vehicle position, it first traverses the transponder group list cached by the vehicle to see whether there is the preceding vehicle reference transponder group number, so as to determine the distance between the vehicle and the preceding vehicle reference transponder group based on the position of the vehicle and the position of the preceding vehicle reference transponder group.

[0041] S130: If yes, determine the position coordinates of the minimum safety distance rear end of the preceding vehicle in the own vehicle coordinate system based on the preceding vehicle position reference information and the position coordinates of the preceding vehicle reference transponder group in the own vehicle coordinate system.

[0042] If so, that means the preceding vehicle reference transponder group number exists in the transponder group list cached by this vehicle. When the preceding vehicle reference transponder group number exists in the transponder group list cached by this vehicle, the position coordinates of the preceding vehicle reference transponder group in the coordinate system of this vehicle can be directly obtained from the cached data. Based on the preceding vehicle position reference information, the distance between the front vehicle minimum safety distance rear end and the preceding vehicle reference transponder group can be determined. Based on the position of the preceding vehicle reference transponder group stored in this vehicle's coordinate system, and the distance between the front vehicle minimum safety distance rear end and the preceding vehicle reference transponder group, the position coordinates of the front vehicle minimum safety distance rear end in the coordinate system of this vehicle can be determined.

[0043] In an optional embodiment, after the on-board train automatic protection equipment determines whether there is a preceding vehicle reference transponder group number in the transponder group list cached in the vehicle, it also includes: if not, the historical position coordinates of the rear end of the minimum safety distance of the preceding vehicle with the smallest time difference from the current moment in the cache of the vehicle are used as the current position coordinates of the rear end of the minimum safety distance of the preceding vehicle in the coordinate system of the vehicle.

[0044] If not, that is, the on-board train automatic protection equipment determines that the reference transponder group number of the preceding vehicle does not exist in the transponder group list cached in this vehicle, at this time, it is impossible to determine the current position coordinates of the rear end of the minimum safety distance of the preceding vehicle in this vehicle's coordinate system through the position reference information of the preceding vehicle. Therefore, the historical position coordinates of the rear end of the minimum safety distance of the preceding vehicle in this vehicle's coordinate system with the smallest time difference from the current moment in the cache of this vehicle are used as the current position coordinates of the rear end of the minimum safety distance of the preceding vehicle in this vehicle's coordinate system. In this way, the vehicle control parameters such as the driving permission and curve calculation of the following vehicle determined by the current position coordinates of the rear end of the minimum safety distance of the preceding vehicle in this vehicle's coordinate system can maximize the protection that the following vehicle will not collide with the preceding vehicle.

[0045] If not, the historical position coordinates of the rear end of the minimum safe distance to the preceding vehicle in the vehicle's cache with the smallest time difference from the current moment in the vehicle's coordinate system will be used as the current position coordinates of the rear end of the minimum safe distance to the preceding vehicle in the vehicle's coordinate system to ensure the safety of the train.

[0046] The Heavy-Haul Train Group Control System Technology Research and Application Project is one of the State Energy Group's ten key scientific and technological research projects for 2022. It aims to significantly increase transportation capacity by implementing self-coordinated control technology between unit trains to achieve grouped train operation, thereby exploring a new path for capacity expansion with "low cost, short cycle, and high safety." Heavy-haul train group operation does not rely on the expansion of large and large stations or the purchase of higher-horsepower locomotives. It achieves high capacity through high density and a short transformation cycle. This can significantly increase the dispatching capacity and train tracking capabilities of large technical operation stations, further breaking through transportation bottlenecks and opening up new directions for railway capacity expansion and transformation. Furthermore, the operation of unit trains in groups can reduce the difficulty of train control, improve the safety quality of train operation, and completely eliminate the significant safety risks posed by 20,000-ton combined trains, achieving high-quality, orderly, and safe operations.

[0047] The onboard automatic train protection system (ATS) of heavy-haul group trains is a core subsystem of the heavy-haul group train control system. The system's safety and reliability are directly linked to the train's operational safety. The ATS communicates wirelessly with ground control equipment, the ATS of the train immediately preceding it, and the ATS of the train immediately following it, enabling multi-train group control. The lead and following trains in the group employ different control strategies, enabling real-time dynamic calculation of group train driving permissions and curves based on the group's status. The lead train generates a control curve based on driving permission information from the ground control system, track circuit information, line data, and train parameters. The following train calculates the control curve based on the position and speed of the preceding train, the position of the preceding train's rear end during emergency braking, and other information. Based on the control curve, it monitors train speed and issues braking commands in real time to ensure safe train operation. Because the following train's control methods, such as driving permission and curve calculation, rely on the minimum rear end position of the preceding train, the following train must transform the position of the minimum safe distance rear end of the preceding train into its own coordinate system to control its movement.

[0048] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data comply with relevant laws, regulations and standards in the relevant regions.

[0049] The technical solution of this embodiment is to receive the leading vehicle position reference information sent by the adjacent leading vehicle in the heavy-load group train through the on-board radio, and send the leading vehicle position reference information to the on-board train automatic protection equipment; the leading vehicle position reference information includes the leading vehicle reference transponder group number that the leading vehicle is currently passing, the distance between the rear end of the minimum safety distance and the leading vehicle reference transponder group, the relative direction between the rear end of the vehicle and the leading vehicle reference transponder group, and the direction of passing through the leading vehicle reference transponder group; the on-board train automatic protection equipment determines whether the leading vehicle reference transponder group number exists in the transponder group list cached in this vehicle; if so, the position coordinates of the rear end of the minimum safety distance of the leading vehicle in the coordinate system of this vehicle are determined based on the leading vehicle position reference information and the position coordinates of the leading vehicle reference transponder group in the coordinate system of this vehicle, so that the position of the leading vehicle in the coordinate system of this vehicle can be confirmed in real time through the on-board equipment through communication between the two vehicles, which is simple to implement and highly timely, and ensures the safe operation of the rear vehicles of the two adjacent vehicles in the heavy-load group train. The present invention solves the problem that there is no corresponding processing method for confirming the position of the leading vehicle by the on-board equipment of the group following vehicle in the field of heavy-load group train control, and achieves the effect of determining the position of the leading vehicle in the heavy-load group train in the coordinate system of the following vehicle.

[0050] Example 2

[0051] Figure 2a This is a flow chart of a method for determining the position of a leading vehicle in a heavy-load group train provided in Example 2 of the present application. The technical solution of this embodiment is further refined on the basis of the above technical solution.

[0052] Further, "If so, then determine the position coordinates of the rear end of the minimum safe distance of the preceding vehicle in the coordinate system of the own vehicle based on the position reference information of the preceding vehicle and the position coordinates of the reference transponder group of the preceding vehicle in the coordinate system of the own vehicle" is refined to: "If so, then obtain the reference position coordinates corresponding to the reference transponder group number of the preceding vehicle in the coordinate system of the own vehicle; determine the target conversion formula based on the relative direction between the rear end of the vehicle and the reference transponder group of the preceding vehicle and the direction passing through the reference transponder group of the preceding vehicle; input the distance between the rear end of the minimum safe distance and the reference transponder group of the preceding vehicle and the reference position coordinates into the target conversion formula to obtain the position coordinates of the rear end of the minimum safe distance of the preceding vehicle in the coordinate system of the own vehicle" to determine the position coordinates of the rear end of the minimum safe distance of the preceding vehicle in the coordinate system of the own vehicle.

[0053] See also Figure 2a A method for determining the position of a leading vehicle in a heavy-load group train is shown, comprising:

[0054] S210: Receive the preceding vehicle position reference information sent by the adjacent preceding vehicle in the heavy-load group train through the on-board radio, and send the preceding vehicle position reference information to the on-board train automatic protection equipment.

[0055] S220. The onboard automatic train protection device determines whether there is a reference balise group number of the preceding vehicle in the balise group list cached by the vehicle.

[0056] S230: If yes, obtain the reference position coordinates corresponding to the preceding vehicle reference transponder group number in the own vehicle coordinate system.

[0057] If so, the reference position coordinates corresponding to the preceding vehicle reference transponder group number in the own vehicle coordinate system can be obtained from the locally stored transponder link table.

[0058] S240: Determine a target conversion formula according to the relative direction between the rear end of the vehicle and the reference transponder group of the preceding vehicle and the direction of passing through the reference transponder group of the preceding vehicle.

[0059] The target conversion formula can be a formula that converts the minimum safety distance rear end to the vehicle coordinate system based on the distance between the minimum safety distance rear end and the reference transponder group of the preceding vehicle, and the reference position coordinates corresponding to the preceding vehicle reference transponder group number in the vehicle coordinate system.

[0060] The direction of the vehicle's rear end relative to the preceding vehicle's reference transponder group can be determined based on the relative orientation of the vehicle's rear end. The direction of the preceding vehicle's movement relative to the reference transponder group can be determined based on the direction of the preceding vehicle's movement through the preceding vehicle's reference transponder group. Based on the relative orientation of the vehicle's rear end to the preceding vehicle's reference transponder group and the direction of the preceding vehicle's movement through the preceding vehicle's reference transponder group, the relative positional relationship between the reference position coordinates and the minimum safe distance rear end can be determined. Furthermore, based on this relative positional relationship and the reference position coordinates, a target conversion formula is determined to convert the minimum safe distance rear end into the following vehicle's coordinate system.

[0061] In an optional embodiment, a target conversion formula is determined based on the relative direction between the rear end of the vehicle and the reference transponder group of the preceding vehicle and the direction passing through the reference transponder group of the preceding vehicle, including: if the relative direction between the rear end of the vehicle and the reference transponder group of the preceding vehicle and the direction passing through the reference transponder group of the preceding vehicle are the same, then the target conversion formula is determined to be the distance between the rear end of the minimum safety distance and the reference transponder group of the preceding vehicle plus the reference position coordinates; otherwise, the target conversion formula is determined to be the reference position coordinates minus the distance between the rear end of the minimum safety distance and the reference transponder group of the preceding vehicle.

[0062] In an optional embodiment, the relative direction of the rear end of the vehicle to the preceding vehicle reference transponder group and the direction of passing through the preceding vehicle reference transponder group are the same, including: the direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is forward, and the rear end of the preceding vehicle is in the forward side direction of the preceding vehicle reference transponder group, and, the direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is reverse, and the rear end of the preceding vehicle is in the reverse side direction of the preceding vehicle reference transponder group.

[0063] If the relative direction between the rear end of the vehicle and the reference transponder group of the preceding vehicle is the same as the direction through the reference transponder group of the preceding vehicle, then the minimum safe rear end distance between the following vehicle and the preceding vehicle is the distance between the following vehicle and the reference position coordinate plus the distance between the minimum safe distance rear end and the reference transponder group of the preceding vehicle. Therefore, the target conversion formula is that the position coordinate of the minimum safe distance rear end of the preceding vehicle in the coordinate system of the own vehicle is equal to the distance between the minimum safe distance rear end and the reference transponder group of the preceding vehicle plus the reference position coordinate. The target conversion formula can be shown as follows:

[0064] Pos(Front_Min_End)=Pos(LRBG1)+d2;

[0065] Among them, Pos(Front_Min_End) is the position coordinate of the rear end of the minimum safety distance of the front vehicle in the coordinate system of this vehicle, Pos(LRBG) is the reference position coordinate, and d2 is the distance between the rear end of the minimum safety distance and the reference transponder group of the front vehicle.

[0066] like Figure 2b The diagram is a direction diagram in which the relative direction between the rear end of the vehicle and the reference transponder group of the preceding vehicle is positive, and the direction passing through the reference transponder group of the preceding vehicle is positive; Figure 2c This diagram illustrates a vehicle's rear end facing the opposite direction from the preceding vehicle's reference transponder group, while simultaneously passing through the preceding vehicle's reference transponder group in the opposite direction. In the diagram, d2 represents the minimum safe distance between the rear end and the preceding vehicle's reference transponder group. Transponders are represented by triangles, with the numbers 0 and 1 within the triangles representing their numbers. Passing transponders 0 and 1 in the order 0 to 1 is pre-set as forward. Two triangles represent transponder groups, and the numbers below each are the transponder group numbers.

[0067] Otherwise, that is, the relative direction of the vehicle rear end to the preceding vehicle reference transponder group and the direction passing through the preceding vehicle reference transponder group are different.

[0068] In an optional embodiment, the relative direction of the rear end of the vehicle and the preceding vehicle reference transponder group is different from the direction of passing the preceding vehicle reference transponder group, including: the direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is reverse, and the rear end of the preceding vehicle is in the forward side direction of the preceding vehicle reference transponder group, and the direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is forward, and the rear end of the preceding vehicle is in the reverse side direction of the preceding vehicle reference transponder group.

[0069] If the relative direction between the rear end of the vehicle and the reference transponder group of the preceding vehicle is different from the direction of passing the reference transponder group of the preceding vehicle, the minimum safe rear end distance between the following vehicle and the preceding vehicle is the distance between the following vehicle and the reference position coordinate minus the distance between the minimum safe distance rear end and the reference transponder group of the preceding vehicle. Therefore, the target conversion formula is that the position coordinate of the minimum safe distance rear end of the preceding vehicle in the coordinate system of the own vehicle is equal to the reference position coordinate minus the distance between the minimum safe distance rear end and the reference transponder group of the preceding vehicle. The target conversion formula can be shown as follows:

[0070] Pos(Front_Min_End)=Pos(LRBG)-d2;

[0071] like Figure 2d The diagram shows that the relative direction between the rear end of the vehicle and the reference transponder group of the preceding vehicle is in the forward direction, while the direction of passing through the reference transponder group of the preceding vehicle is in the reverse direction; Figure 2e This is a schematic diagram of a direction in which the relative direction between the rear end of the vehicle and the reference transponder group of the preceding vehicle is in the opposite direction, and the direction of passing through the reference transponder group of the preceding vehicle is in the forward direction.

[0072] If the relative direction between the rear end of the train and the reference transponder group of the preceding train is the same as the direction of passing the reference transponder group of the preceding train, the target conversion formula is determined as the distance between the rear end of the minimum safety distance and the reference transponder group of the preceding train plus the reference position coordinates; otherwise, the target conversion formula is determined as the reference position coordinates minus the distance between the rear end of the minimum safety distance and the reference transponder group of the preceding train. According to the relative direction between the rear end of the train and the reference transponder group of the preceding train and the direction of passing the reference transponder group of the preceding train, the target conversion formula is determined in two cases, taking into account various situations during train travel to ensure the accuracy of the target conversion formula.

[0073] S250: Input the distance between the minimum safety distance rear end and the reference transponder group of the preceding vehicle and the reference position coordinates into a target conversion formula to obtain the position coordinates of the minimum safety distance rear end of the preceding vehicle in the own vehicle coordinate system.

[0074] The distance and reference position coordinates between the rear end of the minimum safety distance and the reference transponder group of the preceding vehicle are input into the target conversion formula, and the output is the position coordinates of the rear end of the minimum safety distance of the preceding vehicle in the coordinate system of the own vehicle.

[0075] The technical solution of this embodiment is as follows: if yes, then obtain the reference position coordinates corresponding to the reference transponder group number of the preceding vehicle in the coordinate system of this vehicle; determine the target conversion formula according to the relative direction between the rear end of the vehicle and the reference transponder group of the preceding vehicle and the direction passing through the reference transponder group of the preceding vehicle; input the distance and the reference position coordinates of the rear end of the minimum safe distance and the reference transponder group of the preceding vehicle into the target conversion formula, obtain the position coordinates of the rear end of the minimum safe distance of the preceding vehicle in the coordinate system of this vehicle, quickly determine the position coordinates of the rear end of the minimum safe distance in the following vehicle, ensure that the following vehicle can determine the position of the rear end of the minimum safe distance of the preceding vehicle in real time, provide real-time and accurate data for train driving control, avoid vehicle collision between two adjacent vehicles, and ensure the operation safety of two adjacent vehicles in a heavy-load group train.

[0076] Example 3

[0077] Figure 3FIG. 1 is a schematic diagram of a structure of a device for determining the position of a leading vehicle in a heavy-load group train, provided in a third embodiment of the present application. This embodiment is applicable to a situation where a trailing vehicle in a heavy-load group train determines the position coordinates of the leading vehicle in its own vehicle coordinate system. The device is configured to be located between two adjacent vehicles in the heavy-load group train. The specific structure of the device for determining the position of the leading vehicle in the heavy-load group train is as follows:

[0078] The leading vehicle position reference information acquisition module 310 is configured to receive the leading vehicle position reference information transmitted by the adjacent leading vehicle in the heavy-load group train via the onboard radio, and transmit the leading vehicle position reference information to the onboard train automatic protection device; the leading vehicle position reference information includes the number of the leading vehicle reference transponder group currently passed by the leading vehicle, the distance between the rear end of the minimum safety distance and the leading vehicle reference transponder group, the relative direction between the rear end of the vehicle and the leading vehicle reference transponder group, and the direction of passing through the leading vehicle reference transponder group;

[0079] The preceding vehicle reference transponder group number determination module 320 is used for the onboard automatic train protection device to determine whether the preceding vehicle reference transponder group number exists in the transponder group list cached by the vehicle;

[0080] The coordinate conversion module 330 is configured to determine the position coordinates of the rear end of the minimum safety distance of the preceding vehicle in the own vehicle coordinate system according to the preceding vehicle position reference information and the position coordinates of the preceding vehicle reference transponder group in the own vehicle coordinate system.

[0081] The technical solution of this embodiment is to receive the leading vehicle position reference information sent by the adjacent leading vehicle in the heavy-load group train through the on-board radio, and send the leading vehicle position reference information to the on-board train automatic protection equipment; the leading vehicle position reference information includes the leading vehicle reference transponder group number that the leading vehicle is currently passing, the distance between the rear end of the minimum safety distance and the leading vehicle reference transponder group, the relative direction between the rear end of the vehicle and the leading vehicle reference transponder group, and the direction of passing through the leading vehicle reference transponder group; the on-board train automatic protection equipment determines whether the leading vehicle reference transponder group number exists in the transponder group list cached in this vehicle; if so, the position coordinates of the rear end of the minimum safety distance of the leading vehicle in the coordinate system of this vehicle are determined based on the leading vehicle position reference information and the position coordinates of the leading vehicle reference transponder group in the coordinate system of this vehicle, so that the position of the leading vehicle in the coordinate system of this vehicle can be confirmed in real time through the on-board equipment through communication between the two vehicles, which is simple to implement and highly timely, and ensures the safe operation of the rear vehicles of the two adjacent vehicles in the heavy-load group train. The present invention solves the problem that there is no corresponding processing method for confirming the position of the leading vehicle by the on-board equipment of the group following vehicle in the field of heavy-load group train control, and achieves the effect of determining the position of the leading vehicle in the heavy-load group train in the coordinate system of the following vehicle.

[0082] Optionally, the coordinate conversion module 330 includes:

[0083] a reference position coordinate acquiring unit, configured to acquire the reference position coordinate corresponding to the reference transponder group number of the preceding vehicle in the coordinate system of the own vehicle;

[0084] a target conversion formula determining unit, configured to determine a target conversion formula based on a relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group and a direction passing through the preceding vehicle reference transponder group;

[0085] The position coordinate determination unit is used to input the distance between the minimum safety distance rear end and the preceding vehicle reference transponder group and the reference position coordinate into the target conversion formula to obtain the position coordinate of the preceding vehicle minimum safety distance rear end in the own vehicle coordinate system.

[0086] Optionally, the target conversion formula determination unit includes:

[0087] a subunit, configured to determine, if the relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group is the same as the direction of passing through the preceding vehicle reference transponder group, determine the target conversion formula as the distance between the rear end of the minimum safety distance and the preceding vehicle reference transponder group plus the reference position coordinate;

[0088] The subunit is configured to determine, otherwise, that the target conversion formula is the reference position coordinate minus the distance between the minimum safety distance rear end and the preceding vehicle reference transponder group.

[0089] Optionally, the relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group is the same as the direction of passing through the preceding vehicle reference transponder group, including:

[0090] The direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is forward, and the rear end of the preceding vehicle is in the forward side direction of the preceding vehicle reference transponder group; and the direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is reverse, and the rear end of the preceding vehicle is in the reverse side direction of the preceding vehicle reference transponder group.

[0091] Optionally, the relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group is different from the direction of passing through the preceding vehicle reference transponder group, including:

[0092] The direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is reverse, and the rear end of the preceding vehicle is in the forward direction of the preceding vehicle reference transponder group, and the direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is forward, and the rear end of the preceding vehicle is in the reverse direction of the preceding vehicle reference transponder group.

[0093] Optionally, the device for determining the position of the leading vehicle in a heavy-load group train further includes:

[0094] The historical position coordinate acquisition module is used to, if not, use the historical position coordinates of the rear end of the minimum safety distance of the preceding vehicle with the smallest time difference from the current time in the cache of the present vehicle in the coordinate system of the present vehicle as the current position coordinates of the rear end of the minimum safety distance of the preceding vehicle in the coordinate system of the present vehicle.

[0095] The device for determining the position of the leading vehicle in a heavy-loaded group train provided in an embodiment of the present application can execute the method for determining the position of the leading vehicle in a heavy-loaded group train provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects for executing the method for determining the position of the leading vehicle in a heavy-loaded group train.

[0096] According to an embodiment of the present invention, the present invention further provides an electronic device, a readable storage medium and a computer program product.

[0097] Example 4

[0098] Figure 4 This is a structural diagram of an electronic device provided in Example 4 of the present application, such as Figure 4 As shown, the electronic device includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of processors 410 in the electronic device can be one or more. Figure 4 In the figure, a processor 410 is used as an example; the processor 410, memory 420, input device 430 and output device 440 in the electronic device can be connected via a bus or other means. Figure 4 The bus connection is taken as an example.

[0099] The memory 420, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the method for determining the position of the leading vehicle in a heavy-load group train in the embodiments of the present application (e.g., the leading vehicle position reference information acquisition module 310, the leading vehicle reference transponder group number determination module 320, and the coordinate conversion module 330). The processor 410 executes the software programs, instructions, and modules stored in the memory 420 to execute various functional applications and data processing of the electronic device, thereby implementing the above-mentioned method for determining the position of the leading vehicle in a heavy-load group train.

[0100] The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created based on the use of the terminal, etc. In addition, the memory 420 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 420 may further include a memory remotely located relative to the processor 410, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0101] The input device 430 may be used to receive input character information and generate key signal input related to user settings and function control of the electronic device. The output device 440 may include a display device such as a display screen.

[0102] Example 5

[0103] The fifth embodiment of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a method for determining the position of a leading vehicle in a heavy-loaded group train, the method comprising: receiving leading vehicle position reference information sent by an adjacent leading vehicle in the heavy-loaded group train via an onboard radio, and sending the leading vehicle position reference information to an onboard train automatic protection device; the leading vehicle position reference information includes the number of the leading vehicle reference transponder group currently passed by the leading vehicle, the distance between the rear end of the minimum safety distance and the leading vehicle reference transponder group, the relative direction between the rear end of the vehicle and the leading vehicle reference transponder group, and the direction passing through the leading vehicle reference transponder group; the onboard train automatic protection device determines whether the leading vehicle reference transponder group number exists in the transponder group list cached in the vehicle; if so, the position coordinates of the rear end of the minimum safety distance of the leading vehicle in the vehicle coordinate system are determined based on the leading vehicle position reference information and the position coordinates of the leading vehicle reference transponder group in the vehicle coordinate system. The embodiment of the present application determines the position of the leading vehicle in the heavy-loaded group train in the coordinate system of the trailing vehicle.

[0104] Of course, the storage medium containing computer-executable instructions provided in an embodiment of the present application is not limited to the method operations described above, and can also execute related operations in the method for determining the position of the leading vehicle in a heavy-load group train provided in any embodiment of the present application.

[0105] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present application can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling an electronic device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0106] It is worth noting that in the above-mentioned embodiment of the device for determining the position of the leading vehicle in the heavy-load group train, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0107] Note that the above are only preferred embodiments of the present application and the technical principles employed. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present application. The scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for determining the position of a leading vehicle in a heavy-load group train, characterized in that: Applicable to the rear car of two adjacent cars in a heavy-load group train, including: Receiving the preceding vehicle position reference information sent by the adjacent preceding vehicle in the heavy-load group train through the on-board radio, and sending the preceding vehicle position reference information to the on-board train automatic protection equipment; the preceding vehicle position reference information includes the preceding vehicle reference transponder group number that the preceding vehicle is currently passing, the distance between the rear end of the minimum safety distance and the preceding vehicle reference transponder group, the relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group, and the direction of passing through the preceding vehicle reference transponder group; The on-board automatic train protection device determines whether the preceding vehicle reference transponder group number exists in the transponder group list cached by the vehicle; If so, the position coordinates of the rear end of the minimum safety distance of the preceding vehicle in the own vehicle coordinate system are determined according to the preceding vehicle position reference information and the position coordinates of the preceding vehicle reference transponder group in the own vehicle coordinate system.

2. The method according to claim 1, characterized in that If so, determining the position coordinates of the front vehicle minimum safety distance rear end in the own vehicle coordinate system according to the front vehicle position reference information and the position coordinates of the front vehicle reference transponder group in the own vehicle coordinate system, including: If yes, obtain the reference position coordinates corresponding to the preceding vehicle reference transponder group number in the own vehicle coordinate system; determining a target conversion formula according to a relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group and a direction passing through the preceding vehicle reference transponder group; The distance between the minimum safety distance rear end and the preceding vehicle reference transponder group and the reference position coordinates are input into the target conversion formula to obtain the position coordinates of the preceding vehicle minimum safety distance rear end in the own vehicle coordinate system.

3. The method according to claim 2, characterized in that The target conversion formula is determined according to the relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group and the direction passing through the preceding vehicle reference transponder group, including: If the relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group is the same as the direction of passing through the preceding vehicle reference transponder group, determining the target conversion formula as the distance between the minimum safety distance rear end and the preceding vehicle reference transponder group plus the reference position coordinates; Otherwise, the target conversion formula is determined as the reference position coordinate minus the distance between the minimum safety distance rear end and the preceding vehicle reference transponder group.

4. The method according to claim 3, characterized in that The relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group is the same as the direction of passing through the preceding vehicle reference transponder group, including: The direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is forward, and the rear end of the preceding vehicle is in the forward side direction of the preceding vehicle reference transponder group; and the direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is reverse, and the rear end of the preceding vehicle is in the reverse side direction of the preceding vehicle reference transponder group.

5. The method according to claim 3, characterized in that The relative direction between the rear end of the vehicle and the preceding vehicle reference transponder group is different from the direction of passing through the preceding vehicle reference transponder group, including: The direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is reverse, and the rear end of the preceding vehicle is in the forward direction of the preceding vehicle reference transponder group, and the direction in which the preceding vehicle passes through the preceding vehicle reference transponder group is forward, and the rear end of the preceding vehicle is in the reverse direction of the preceding vehicle reference transponder group.

6. The method according to claim 1, characterized in that After the on-board automatic train protection device determines whether the preceding vehicle reference transponder group number exists in the transponder group list cached by the vehicle, the method further includes: If not, the historical position coordinates of the rear end of the minimum safe distance of the preceding vehicle with the smallest time difference from the current time in the cache of the own vehicle in the coordinate system of the own vehicle are used as the current position coordinates of the rear end of the minimum safe distance of the preceding vehicle in the coordinate system of the own vehicle.

7. A device for determining the position of the leading vehicle in a heavy-load group train, characterized in that: The rear car between two adjacent cars in a heavy-load group train includes: A leading vehicle position reference information acquisition module is configured to receive leading vehicle position reference information transmitted by an adjacent leading vehicle in a heavy-load group train via an onboard radio, and transmit the leading vehicle position reference information to an onboard train automatic protection device; the leading vehicle position reference information includes the number of the leading vehicle reference transponder group currently passed by the leading vehicle, the distance between the rear end of the minimum safety distance and the leading vehicle reference transponder group, the relative direction between the rear end of the vehicle and the leading vehicle reference transponder group, and the direction of passing through the leading vehicle reference transponder group; A preceding vehicle reference transponder group number determination module is used by the onboard automatic train protection device to determine whether the preceding vehicle reference transponder group number exists in the transponder group list cached by the vehicle; A coordinate conversion module is used to determine the position coordinates of the rear end of the minimum safety distance of the preceding vehicle in the own vehicle coordinate system based on the preceding vehicle position reference information and the position coordinates of the preceding vehicle reference transponder group in the own vehicle coordinate system.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for determining the position of the leading vehicle in a heavy-load group train according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for determining the position of the leading vehicle in a heavy-load group train as described in any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the method for determining the position of a leading vehicle in a heavy-load group train according to any one of claims 1 to 6.

Images