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

Abstract

The application discloses a method and device for determining the position of a preceding vehicle in a heavy-haul group train, an equipment and a medium. The vehicle-mounted radio station receives the position reference information of the preceding vehicle sent by the adjacent preceding vehicle in the heavy-haul group train, and sends the position reference information of the preceding vehicle to the vehicle-mounted train automatic protection equipment. The position reference information of the preceding vehicle includes the current reference transponder group number of the preceding vehicle, the distance between the rear end of the minimum safety distance and the reference transponder group of the preceding vehicle, the relative direction between the tail of the vehicle and the reference transponder group of the preceding vehicle, and the direction through the reference transponder group of the preceding vehicle. The vehicle-mounted train automatic protection equipment judges whether the reference transponder group number of the preceding vehicle exists in the transponder group list cached in the vehicle. If yes, the position coordinates of the rear end of the minimum safety distance of the preceding vehicle in the coordinate system of the vehicle are determined according to 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 vehicle. The position of the preceding vehicle in the coordinate system of the following vehicle in the heavy-haul group train is determined.

Description

Technical Field

[0001] This application relates to heavy-haul group train technology, and more particularly to a method, apparatus, equipment, and medium for determining the position of the leading car in a heavy-haul group train. Background Technology

[0002] Heavy-haul train group operation does not rely on the expansion of long stations or the purchase of more powerful locomotives. It achieves high transport capacity through high density, has a short transformation cycle, and can significantly improve the departure capacity and train tracking capability of large technical work stations.

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

[0004] This application provides a method, apparatus, equipment, and medium for determining the position of the leading car in a heavy-haul train group, so as to determine the position of the leading car in the coordinate system of the following cars in the heavy-haul train group.

[0005] In a first aspect, embodiments of this application provide a method for determining the position of the leading car in a heavy-haul train group, applied to the following car between two adjacent cars in a heavy-haul train group. The method for determining the position of the leading car in a heavy-haul train group includes:

[0006] The train receives the preceding vehicle position reference information sent by the adjacent preceding vehicle in the heavy-load group via the onboard radio, and sends 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 of the train and the preceding vehicle reference transponder group at the minimum safe distance, the relative direction between the rear of the train and the preceding vehicle reference transponder group, and the direction of passing the preceding vehicle reference transponder group.

[0007] The onboard automatic protection equipment determines whether the reference transponder group number of the preceding vehicle exists in the transponder group list cached in this vehicle;

[0008] If so, then based on the position reference information of the preceding vehicle and the position coordinates of the preceding vehicle's reference transponder group in the vehicle's coordinate system, determine the position coordinates of the preceding vehicle's minimum safe distance rear end in the vehicle's coordinate system.

[0009] Secondly, embodiments of this application also provide a device for determining the position of the leading car in a heavy-haul train group, which is disposed on the rear car of two adjacent cars in a heavy-haul train group. The device for determining the position of the leading car in a heavy-haul train group includes:

[0010] The preceding vehicle position reference information acquisition module is used to receive the preceding vehicle position reference information sent by the adjacent preceding vehicle in the heavy-load group train via the on-board radio, and send 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 safe distance and the preceding vehicle reference transponder group, the relative direction between the rear of the vehicle and the preceding vehicle reference transponder group, and the direction of passing the preceding vehicle reference transponder group;

[0011] The preceding vehicle reference transponder group number determination module is used by the on-board automatic protection equipment to determine whether the preceding vehicle reference transponder group number exists in the transponder group list cached in the current vehicle.

[0012] The coordinate transformation module is used to determine the position coordinates of the front vehicle's minimum safe distance rear end in the vehicle's coordinate system, based on the front vehicle's position reference information and the position coordinates of the front vehicle's reference transponder group in the vehicle's coordinate system.

[0013] Thirdly, embodiments of this application also provide an electronic device, which includes:

[0014] One or more processors;

[0015] 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 of the methods for determining the position of the leading train in a heavy-load group train as provided in the embodiments of this application.

[0017] Fourthly, embodiments of this application also provide a storage medium including computer-executable instructions, which, when executed by a computer processor, are used to perform any of the methods for determining the position of the leading train in a heavy-load group train as provided in embodiments of this application.

[0018] This application receives the preceding vehicle position reference information sent by the adjacent preceding vehicle in a heavy-haul train group via an onboard radio and transmits this information to the onboard automatic train protection equipment. The preceding vehicle position reference information includes the preceding vehicle reference transponder group number currently being passed, the distance between the minimum safe distance rear end and the preceding vehicle reference transponder group, the relative direction between the rear of the train and the preceding vehicle reference transponder group, and the direction of passing the preceding vehicle reference transponder group. The onboard automatic train protection equipment determines whether the preceding vehicle reference transponder group number exists in the transponder group list cached in the train. If so, it determines the position coordinates of the preceding vehicle's minimum safe distance rear end in the train's coordinate system based on the preceding vehicle position reference information and the position coordinates of the preceding vehicle reference transponder group in the train's coordinate system. This allows for real-time confirmation of the preceding vehicle's position in the train's coordinate system through communication between the two trains, simplifying the process, improving timeliness, and ensuring the safe operation of the following vehicles in a heavy-haul train group. This solves the problem in the field of heavy-haul train group control where no corresponding method has been proposed for confirming the position of the preceding vehicle using onboard equipment in a following train group, achieving the effect of determining the position of the preceding vehicle in the coordinate system of the following vehicles in a heavy-haul train group. Attached Figure Description

[0019] Figure 1 This is a flowchart of a method for determining the position of the leading car in a heavy-haul train group according to Embodiment 1 of this application;

[0020] Figure 2a This is a flowchart of a method for determining the position of the lead car in a heavy-haul train group according to Embodiment 2 of this application;

[0021] Figure 2b This is a schematic diagram of a direction in which the rear of a vehicle is in a positive direction relative to the reference transponder group of the preceding vehicle, and the direction through the reference transponder group of the preceding vehicle is also positive, according to Embodiment 2 of this application.

[0022] Figure 2c This is a schematic diagram of a vehicle rear end and a reference transponder group of the preceding vehicle in opposite directions, and the direction of passing through the reference transponder group of the preceding vehicle is also opposite.

[0023] Figure 2d This is a schematic diagram of a vehicle rear end facing forward relative to the reference transponder group of the preceding vehicle, and passing through the reference transponder group of the preceding vehicle in the opposite direction, according to Embodiment 2 of this application.

[0024] Figure 2e This is a schematic diagram of a direction in Embodiment 2 of this application, in which the relative direction between the rear of the vehicle and the reference transponder group of the preceding vehicle is opposite, and the direction through the reference transponder group of the preceding vehicle is positive.

[0025] Figure 3 This is a schematic diagram of the structure of a leading vehicle position determination device in a heavy-haul group train according to Embodiment 3 of this application;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device according to Embodiment 4 of this application. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first" and "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1 This is a flowchart of a method for determining the position of the preceding car in a heavy-haul group train according to Embodiment 1 of this application. This embodiment can be applied to the situation where the following car in a heavy-haul group train determines the position coordinates of the preceding car in its own coordinate system. This method can be executed by a device for determining the position of the preceding car in a heavy-haul group train. This device can be implemented in software and / or hardware and is specifically configured in the following cars of two adjacent cars in a heavy-haul group train.

[0031] See Figure 1 The method for determining the position of the leading car in a heavy-haul train group, as shown, is applied to the following cars between two adjacent cars in a heavy-haul train group, and specifically includes the following steps:

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

[0033] In heavy-haul train groups, two adjacent trains communicate via onboard radios. Once the onboard communication radio of the following train establishes communication with the onboard communication radio of the preceding train, the preceding train sends its position reference information to the following train. This position reference information can be relevant information about the reference transponder groups currently being passed by the preceding train in its own coordinate system, obtained during its journey. This information is sent to the following train so that it can determine the position of the preceding train in its own coordinate system based on the preceding 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 of the vehicle with the minimum safe distance and the preceding vehicle reference transponder group, the relative direction between the rear of the vehicle and the preceding vehicle reference transponder group, and the direction of passing the preceding vehicle reference transponder group.

[0035] The preceding vehicle reference transponder group can be used to determine the position reference information of the preceding vehicle. The preceding vehicle reference transponder group number currently being passed by the preceding vehicle can be a unique identifier for the transponder group. The distance between the minimum safe distance rear end and the preceding vehicle reference transponder group can be the distance between the minimum safe distance rear end and the preceding vehicle reference transponder group determined by the preceding vehicle in its own coordinate system.

[0036] The direction of the preceding vehicle's reference transponder group can be the relative direction between the vehicle's running direction, determined according to a pre-set transponder group direction, and the pre-set direction of the transponder group. This is used to determine the position coordinates of the preceding vehicle in the reference frame of the following vehicle. The transponder group consists of two transponders, which are numbered and have a preset passing direction. For example, if the two transponders in the transponder group are numbered 0 and 1 respectively, and if 0 to 1 is predefined as positive, then when the train passes the two transponders in the order from 0 to 1, the direction of the train passing the preceding vehicle's reference transponder group is determined to be positive; if the train passes the two transponders in the order from 1 to 0, the direction of the train passing the preceding vehicle's reference transponder group is determined to be negative.

[0037] The relative direction between the rear of the vehicle and the reference transponder group of the preceding vehicle can be determined based on the positive relative direction between the rear of the vehicle and the preset transponder group. If the rear of the vehicle is in the positive direction of the preset transponder group, the relative direction between the rear of the vehicle and the reference transponder group of the preceding vehicle is determined to be positive; otherwise, the relative direction between the rear of the vehicle and the reference transponder group of the preceding vehicle is determined to be negative.

[0038] After the radio obtains the reference information of the preceding vehicle's position, it sends the reference information to the onboard automatic protection equipment so that the onboard automatic protection equipment can determine the position coordinates of the preceding vehicle in the following vehicle's coordinate system based on the reference information.

[0039] S120. The on-board automatic protection equipment determines whether the reference transponder group number of the preceding vehicle exists in the transponder group list cached in this vehicle.

[0040] The transponder group list can be a list including the transponder group numbers that the train has already passed and a transponder link table. The list of transponder group numbers that the train has already passed is used to determine the train's current position, while the transponder link table stores information about transponder groups along the current route that are related to the transponder group passed so far. For example, the transponder link table can store information about several transponder groups to be passed after the currently passed transponder group in the direction of travel. After obtaining the reference information of the preceding train's position, the on-board automatic train protection equipment first checks the train's cached transponder group list to see if there is a reference transponder group number for the preceding train. Based on the current position of the train and the position of the reference transponder group for the preceding train, it determines the distance between the train and the reference transponder group for the preceding train.

[0041] S130. If so, then based on the position reference information of the preceding vehicle and the position coordinates of the preceding vehicle reference transponder group in the vehicle coordinate system, determine the position coordinates of the preceding vehicle's minimum safe distance rear end in the vehicle coordinate system.

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

[0043] In an optional embodiment, after the on-board train automatic protection device determines whether there is a preceding vehicle reference transponder group number in the transponder group list in the vehicle buffer, it further includes: if not, taking the historical position coordinates of the preceding vehicle minimum safe distance back end with the smallest time difference from the current time in the vehicle buffer in the vehicle coordinate system as the current position coordinates of the preceding vehicle minimum safe distance back end in the vehicle coordinate system.

[0044] If not, meaning the onboard automatic protection equipment determines that the reference transponder group number of the preceding vehicle does not exist in the transponder group list in the current vehicle's buffer, then the current position coordinates of the preceding vehicle's minimum safe distance backend determined by the preceding vehicle's position reference information in the current vehicle's coordinate system cannot be used. Therefore, the historical position coordinates of the preceding vehicle's minimum safe distance backend with the smallest time difference from the current time in the current vehicle's buffer in the current vehicle's coordinate system are used as the current position coordinates of the preceding vehicle's minimum safe distance backend in the current 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 preceding vehicle's minimum safe distance backend in the current vehicle's coordinate system can ensure that the following vehicle will not collide with the preceding vehicle to the greatest extent.

[0045] If the condition is not met, the historical position coordinates of the train with the smallest time difference from the current time in the current train's cache, representing the minimum safe distance from the preceding train, will be used as the current position coordinates of the train with the smallest safe distance from the preceding train in the current train's coordinate system, thus ensuring the train's safe operation.

[0046] The research and application project on heavy-haul train group control system technology aims to significantly improve transport capacity by studying self-cooperative control technology among unit trains to achieve train group operation, thereby exploring a new path for capacity enhancement that is "low-cost, short-cycle, and highly safe." Heavy-haul train group operation does not rely on the expansion of long and long stations and does not require the purchase of higher-horsepower locomotives. It achieves high transport capacity through high density, has a short transformation cycle, and can significantly improve the departure capacity and train tracking capabilities of large technical work stations, further breaking through transport capacity bottlenecks and expanding new directions for railway capacity expansion and transformation. Simultaneously, through unit train group operation, it can also reduce the difficulty of train operation, improve the quality of train operation safety, completely eliminate the significant safety risks brought by 20,000-ton long and long combined trains, and achieve high-quality and orderly safe operation.

[0047] The on-board automatic train protection system (ATPS) of heavy-haul group trains is a core subsystem of the heavy-haul group train operation control system. The system's safety and reliability are directly related to the train's operational safety. The APS communicates with ground control equipment, the APS of the preceding train, and the APS of the following train via a wireless network, enabling multi-train group control. The lead train and following trains in the group employ different control strategies, allowing for real-time dynamic calculation of train movement permits and curves based on the group's status. The lead train generates a control curve based on movement permit information, track circuit information, line data, and train parameters from the ground control equipment. Following trains calculate their control curves based on the position and speed of their preceding train, as well as the emergency braking stop rear-end protection position of the preceding train. They monitor train speed and output braking commands in real-time based on the control curves, ensuring safe train operation. Because the following trains' movement permits and curve calculations require the minimum rear-end position information of the preceding train, the following trains need to convert the minimum safe distance rear-end position of the preceding train to their own coordinate system to control the train's movement.

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

[0049] The technical solution of this embodiment receives the preceding vehicle position reference information sent by the adjacent preceding vehicle in a heavy-load train group via an onboard radio, and sends the preceding vehicle position reference information to the onboard automatic train protection equipment. The preceding vehicle position reference information includes the preceding vehicle reference transponder group number currently being passed by the preceding vehicle, the distance between the minimum safe distance rear end and the preceding vehicle reference transponder group, the relative direction between the rear of the train and the preceding vehicle reference transponder group, and the direction of passing the preceding vehicle reference transponder group. The onboard automatic train protection equipment determines whether the preceding vehicle reference transponder group number exists in the transponder group list cached in the train. If so, it determines the position coordinates of the preceding vehicle's minimum safe distance rear end in the train's coordinate system based on the preceding vehicle position reference information and the position coordinates of the preceding vehicle reference transponder group in the train's coordinate system. This enables real-time confirmation of the preceding vehicle's position in the train's coordinate system through communication between the two trains and the onboard equipment. It is simple to implement, highly timely, and ensures the safe operation of the following vehicles of adjacent trains in a heavy-load train group. This solves the problem that there is currently no corresponding processing method for confirming the position of the preceding train by the on-board equipment of the following train in the field of heavy-haul group train control, and achieves the effect of determining the position of the preceding train in the coordinate system of the following train in a heavy-haul group train.

[0050] Example 2

[0051] Figure 2a This is a flowchart of a method for determining the position of the leading car in a heavy-haul train group, provided in Embodiment 2 of this application. The technical solution of this embodiment is further refined based on the above technical solution.

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

[0053] See Figure 2a The method for determining the position of the leading car in a heavy-haul train group, as shown, includes:

[0054] S210: Receive the position reference information of the adjacent train in the heavy-load group via the onboard radio, and send the position reference information of the adjacent train to the onboard automatic train protection equipment.

[0055] S220: The on-board automatic protection equipment determines whether the reference transponder group number of the preceding vehicle exists in the transponder group list cached in this vehicle.

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

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

[0058] S240. Determine the target conversion formula based on the relative direction between the rear 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 safe distance back end to the current vehicle coordinate system based on the distance between the minimum safe distance back end and the reference transponder group of the preceding vehicle, and the reference position coordinates corresponding to the reference transponder group number of the preceding vehicle in the current vehicle coordinate system.

[0060] Based on the relative direction between the rear of the vehicle and the reference transponder group of the preceding vehicle, the direction of the rear of the vehicle relative to the reference transponder group can be determined; based on the direction of passing through the reference transponder group of the preceding vehicle, the direction of movement of the preceding vehicle relative to the reference transponder group can be determined. Based on the relative direction between the rear 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, the relative positional relationship between the reference position coordinates and the rear end of the minimum safe distance can be determined. Then, based on the relative positional relationship and the reference position coordinates, the target transformation formula for transforming the rear end of the minimum safe distance to the rear vehicle coordinate system can be determined.

[0061] In one optional embodiment, the target conversion formula is determined based on the relative direction between the rear 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. This includes: if the relative direction between the rear 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 are the same, then the target conversion formula is determined to be the distance between the rear end of the minimum safe 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 safe distance and the reference transponder group of the preceding vehicle.

[0062] In one optional embodiment, the relative direction of the rear of the vehicle to the reference transponder group of the preceding vehicle and the direction of passing through the reference transponder group of the preceding vehicle are the same, including: the direction in which the preceding vehicle passes through the reference transponder group of the preceding vehicle is positive and the rear of the preceding vehicle is on the positive side of the reference transponder group of the preceding vehicle, and the direction in which the preceding vehicle passes through the reference transponder group of the preceding vehicle is negative and the rear of the preceding vehicle is on the negative side of the reference transponder group of the preceding vehicle.

[0063] If the relative direction between the rear of the vehicle and the reference transponder group of the preceding vehicle is the same as the direction of passing through the reference transponder group of the preceding vehicle, then the minimum safe rear distance between the following vehicle and the preceding vehicle is the distance between the following vehicle and the reference position coordinates plus the distance between the minimum safe distance rear end and the reference transponder group of the preceding vehicle. Therefore, the target transformation formula is that the position coordinate of the minimum safe distance rear end of the preceding vehicle in the vehicle's coordinate system 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 coordinates. The target transformation formula can be shown below:

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

[0065] Where Pos(Front_Min_End) is the position coordinate of the rear end of the minimum safe distance of the preceding vehicle in the vehicle's coordinate system, Pos(LRBG) is the reference position coordinate, and d2 is the distance between the rear end of the minimum safe distance and the reference transponder group of the preceding vehicle.

[0066] like Figure 2b This is a directional diagram where the relative direction between the rear of the vehicle and the reference transponder group of the vehicle in front is positive, and the direction passing through the reference transponder group of the vehicle in front is also positive; for example... Figure 2c This diagram illustrates the opposite direction of the rear of the vehicle to the reference transponder group of the preceding vehicle, and also the opposite direction of passing through the reference transponder group of the preceding vehicle. In the diagram, d2 represents the minimum safe distance between the rear of the vehicle and the reference transponder group of the preceding vehicle. Transponders are represented by triangles, with the numbers 0 and 1 within the triangles indicating their numbers. The sequence of passing transponders 0 and 1 is pre-defined as positive. Two triangles represent transponder groups, and the numbers below each transponder group are their group numbers.

[0067] Otherwise, that is, the relative direction between the rear of the vehicle and the reference transponder group of the vehicle in front is different from the direction of passing through the reference transponder group of the vehicle in front.

[0068] In one optional embodiment, the relative direction of the rear of the vehicle to the reference transponder group of the preceding vehicle and the direction of passing through the reference transponder group of the preceding vehicle are different, including: the direction in which the preceding vehicle passes through the reference transponder group of the preceding vehicle is in the opposite direction and the rear of the preceding vehicle is on the positive side of the reference transponder group of the preceding vehicle, and the direction in which the preceding vehicle passes through the reference transponder group of the preceding vehicle is in the positive direction and the rear of the preceding vehicle is on the opposite side of the reference transponder group of the preceding vehicle.

[0069] If the relative direction between the rear of the vehicle and the reference transponder group of the preceding vehicle is different from the direction of passing through the reference transponder group of the preceding vehicle, then the minimum safe rear distance between the following vehicle and the preceding vehicle is the distance between the following vehicle and the reference position coordinates minus the distance between the minimum safe distance rear and the reference transponder group of the preceding vehicle. Therefore, the target transformation formula is: the position coordinate of the minimum safe distance rear of the preceding vehicle in its own coordinate system is equal to the reference position coordinates minus the distance between the minimum safe distance rear and the reference transponder group of the preceding vehicle. The target transformation formula can be shown below:

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

[0071] like Figure 2d This diagram illustrates the direction in which the rear of the vehicle is relative to the reference transponder group of the preceding vehicle, with the direction passing through the reference transponder group of the preceding vehicle being the opposite direction; for example... Figure 2e This is a directional diagram where the rear of the vehicle is in the opposite direction to the reference transponder group of the preceding vehicle, 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 of the train and the reference transponder group of the preceding train is the same as the direction of passing through the reference transponder group of the preceding train, then the target conversion formula is determined as the distance between the rear of the train at the minimum safe 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 of the train at the minimum safe distance and the reference transponder group of the preceding train. Based on the relative direction between the rear of the train and the reference transponder group of the preceding train and the direction of passing through the reference transponder group of the preceding train, two cases are considered to determine the target conversion formula, taking into account various situations during train operation to ensure the accuracy of the target conversion formula.

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

[0074] Input the distance and reference position coordinates between the minimum safe distance rear end and the reference transponder group of the preceding vehicle into the target transformation formula, and the output is the position coordinates of the minimum safe distance rear end of the preceding vehicle in the vehicle's coordinate system.

[0075] The technical solution of this embodiment obtains the reference position coordinates of the preceding vehicle's reference transponder group number in the vehicle's coordinate system if the condition is met; determines the target conversion formula based on the relative direction between the rear of the vehicle and the preceding vehicle's reference transponder group and the direction of passing through the preceding vehicle's reference transponder group; inputs the distance between the minimum safe distance rear end and the preceding vehicle's reference transponder group and the reference position coordinates into the target conversion formula to obtain the position coordinates of the preceding vehicle's minimum safe distance rear end in the vehicle's coordinate system, quickly determining the position coordinates of the minimum safe distance rear end in the following vehicle, ensuring that the following vehicle can determine the position of the preceding vehicle's minimum safe distance rear end in real time, providing real-time and accurate data for train driving control, avoiding vehicle collisions between adjacent vehicles, and ensuring the operational safety of adjacent vehicles in heavy-load group trains.

[0076] Example 3

[0077] Figure 3The diagram shown is a schematic representation of a device for determining the position of the preceding car in a heavy-haul train according to Embodiment 3 of this application. This embodiment is applicable to situations where a following car in a heavy-haul train determines the position coordinates of the preceding car in its own coordinate system. The device is configured on the following car of two adjacent cars in a heavy-haul train. The specific structure of this device for determining the position of the preceding car in a heavy-haul train is as follows:

[0078] The preceding vehicle position reference information acquisition module 310 is used to receive the preceding vehicle position reference information sent by the adjacent preceding vehicle in the heavy-load group train via the on-board radio, and send 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 safe distance and the preceding vehicle reference transponder group, the relative direction between the rear of the vehicle and the preceding vehicle reference transponder group, and the direction of passing the preceding vehicle reference transponder group.

[0079] The preceding vehicle reference transponder group number determination module 320 is used by the on-board automatic protection equipment to determine whether the preceding vehicle reference transponder group number exists in the transponder group list cached in the current vehicle.

[0080] The coordinate transformation module 330 is used to determine the position coordinates of the rear end of the minimum safe distance of the preceding vehicle in the vehicle coordinate system based on the position reference information of the preceding vehicle and the position coordinates of the preceding vehicle reference transponder group in the vehicle coordinate system.

[0081] The technical solution of this embodiment receives the preceding vehicle position reference information sent by the adjacent preceding vehicle in a heavy-load train group via an onboard radio, and sends the preceding vehicle position reference information to the onboard automatic train protection equipment. The preceding vehicle position reference information includes the preceding vehicle reference transponder group number currently being passed by the preceding vehicle, the distance between the minimum safe distance rear end and the preceding vehicle reference transponder group, the relative direction between the rear of the train and the preceding vehicle reference transponder group, and the direction of passing the preceding vehicle reference transponder group. The onboard automatic train protection equipment determines whether the preceding vehicle reference transponder group number exists in the transponder group list cached in the train. If so, it determines the position coordinates of the preceding vehicle's minimum safe distance rear end in the train's coordinate system based on the preceding vehicle position reference information and the position coordinates of the preceding vehicle reference transponder group in the train's coordinate system. This enables real-time confirmation of the preceding vehicle's position in the train's coordinate system through communication between the two trains and the onboard equipment. It is simple to implement, highly timely, and ensures the safe operation of the following vehicles of adjacent trains in a heavy-load train group. This solves the problem that there is currently no corresponding processing method for confirming the position of the preceding train by the on-board equipment of the following train in the field of heavy-haul group train control, and achieves the effect of determining the position of the preceding train in the coordinate system of the following train in a heavy-haul group train.

[0082] Optional, coordinate transformation module 330 includes:

[0083] The reference position coordinate acquisition unit is used to acquire the reference position coordinates corresponding to the front vehicle reference transponder group number in the vehicle coordinate system if the condition is met.

[0084] The target conversion formula determination unit is used to determine the target conversion formula based on the relative direction between the rear 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;

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

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

[0087] The subunit is used to determine the target conversion formula as the distance between the rear end of the vehicle and the reference transponder group of the preceding vehicle plus the reference position coordinates 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 of passing through the reference transponder group of the preceding vehicle.

[0088] The sub-unit is used otherwise to determine that the target conversion formula is the reference position coordinates minus the distance between the minimum safe distance rear end and the reference transponder group of the preceding vehicle.

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

[0090] The preceding vehicle passes the preceding vehicle reference transponder group in a positive direction, and the rear of the preceding vehicle is on the positive side of the preceding vehicle reference transponder group; and the preceding vehicle passes the preceding vehicle reference transponder group in a negative direction, and the rear of the preceding vehicle is on the negative side of the preceding vehicle reference transponder group.

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

[0092] The preceding vehicle passes the preceding vehicle reference transponder group in the opposite direction, and the rear of the preceding vehicle is on the positive side of the preceding vehicle reference transponder group; and the preceding vehicle passes the preceding vehicle reference transponder group in the positive direction, and the rear of the preceding vehicle is on the negative side of the preceding vehicle reference transponder group.

[0093] Optionally, the device for determining the position of the leading car in a heavy-haul train group also includes:

[0094] The historical position coordinate acquisition module is used, if not, to take the historical position coordinates of the minimum safe distance backend of the preceding vehicle with the smallest time difference from the current time in the vehicle's cache in the vehicle's coordinate system as the current position coordinates of the minimum safe distance backend of the preceding vehicle in the vehicle's coordinate system.

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

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

[0097] Example 4

[0098] Figure 4 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of this application, as shown below. 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 Taking a processor 410 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 Taking the example of a connection between China and Israel via a bus.

[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 preceding train in a heavy-haul train group in this embodiment of the application (e.g., the preceding train position reference information acquisition module 310, the preceding train reference transponder group number determination module 320, and the coordinate transformation module 330). The processor 410 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 420, thereby realizing the aforementioned method for determining the position of the preceding train in a heavy-haul train group.

[0100] The memory 420 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 420 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 420 may further include memory remotely located relative to the processor 410, which can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

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

[0102] Example 5

[0103] This application's fifth embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, these instructions are used to perform a method for determining the position of a preceding train in a heavy-haul train group. The method includes: receiving preceding train position reference information sent by an adjacent preceding train in the heavy-haul train group via an onboard radio, and sending the preceding train position reference information to an onboard automatic train protection device. The preceding train position reference information includes the preceding train reference transponder group number currently being passed by the preceding train, the distance between the minimum safe distance rear end and the preceding train reference transponder group, the relative direction between the rear of the train and the preceding train reference transponder group, and the direction of passing the preceding train reference transponder group. The onboard automatic train protection device determines whether the preceding train reference transponder group number exists in the transponder group list cached in the train. If so, it determines the position coordinates of the preceding train's minimum safe distance rear end in the train's coordinate system based on the preceding train position reference information and the position coordinates of the preceding train reference transponder group in the train's coordinate system. This application embodiment determines the position of the preceding train in the rear train coordinate system within a heavy-haul train group.

[0104] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the method operations described above, but can also perform related operations in the method for determining the position of the leading train in a heavy-load group train provided in any embodiment of this application.

[0105] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this application can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This 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, hard disk, or optical disk, etc., including several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

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

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

Claims

1. A method for determining the position of the leading car in a heavy-haul train group, characterized in that, Applied to the rear cars of two adjacent cars in a heavy-haul train, including: The vehicle receives the preceding vehicle position reference information sent by the adjacent preceding vehicle in the heavy-load group of trains via the onboard radio, and sends 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 safe distance and the preceding vehicle reference transponder group, the relative direction between the rear of the vehicle and the preceding vehicle reference transponder group, and the direction of passing the preceding vehicle reference transponder group. The on-board train automatic protection equipment determines whether the reference transponder group number of the preceding vehicle exists in the transponder group list cached in the current vehicle; the transponder group list includes a list of transponder group numbers that the current vehicle has passed and a transponder link table, the transponder link table stores information on several transponder groups to be passed after the transponder group currently passed in the direction of travel. If so, then based on the preceding vehicle position reference information and the position coordinates of the preceding vehicle reference transponder group in the vehicle coordinate system, determine the position coordinates of the preceding vehicle's minimum safe distance rear end in the vehicle coordinate system.

2. The method according to claim 1, characterized in that, If so, then based on the preceding vehicle position reference information and the position coordinates of the preceding vehicle reference transponder group in the vehicle coordinate system, the position coordinates of the rear end of the minimum safe distance of the preceding vehicle in the vehicle coordinate system are determined, including: If so, obtain the reference position coordinates corresponding to the preceding vehicle reference transponder group number in the vehicle coordinate system; The target conversion formula is determined based on the relative direction between the rear 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; The distance between the minimum safe distance rear end and the reference transponder group of the preceding vehicle and the reference position coordinates are input into the target transformation formula to obtain the position coordinates of the minimum safe distance rear end of the preceding vehicle in the vehicle coordinate system.

3. The method according to claim 2, characterized in that, The step of determining the target conversion formula based on the relative direction between the rear of the vehicle and the preceding vehicle's reference transponder group and the direction of passing through the preceding vehicle's reference transponder group includes: If the relative direction between the rear of the vehicle and the reference transponder group of the preceding vehicle is the same as the direction of passing through the reference transponder group of the preceding vehicle, then the target conversion formula is determined to be the distance between the rear end of the minimum safe 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 minimum safe distance rear end and the reference transponder group of the preceding vehicle.

4. The method according to claim 3, characterized in that, The relative direction between the rear of the vehicle and the preceding vehicle's reference transponder group is the same as the direction of passing through the preceding vehicle's reference transponder group, including: The preceding vehicle passes the preceding vehicle reference transponder group in a positive direction, and the rear of the preceding vehicle is on the positive side of the preceding vehicle reference transponder group; and the preceding vehicle passes the preceding vehicle reference transponder group in a negative direction, and the rear of the preceding vehicle is on the negative side of the preceding vehicle reference transponder group.

5. The method according to claim 3, characterized in that, The relative direction between the rear of the vehicle and the preceding vehicle's reference transponder group is different from the direction of passing through the preceding vehicle's reference transponder group, including: The preceding vehicle passes the preceding vehicle reference transponder group in the opposite direction, and the rear of the preceding vehicle is on the positive side of the preceding vehicle reference transponder group; and the preceding vehicle passes the preceding vehicle reference transponder group in the positive direction, and the rear of the preceding vehicle is on the negative side of the preceding vehicle reference transponder group.

6. The method according to claim 1, characterized in that, After the on-board automatic protection equipment determines whether the reference transponder group number of the preceding vehicle exists in the transponder group list cached in this vehicle, it further includes: If not, then the historical position coordinates of the minimum safe distance backend of the preceding vehicle with the smallest time difference from the current time in the vehicle's cache in the vehicle's coordinate system will be used as the current position coordinates of the minimum safe distance backend of the preceding vehicle in the vehicle's coordinate system.

7. A device for determining the position of the leading car in a heavy-haul train group, characterized in that, The following cars, configured in adjacent cars of a heavy-haul train group, include: The preceding vehicle position reference information acquisition module is used to receive the preceding vehicle position reference information sent by the adjacent preceding vehicle in a heavy-load group train via an onboard radio, and to 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 through, the distance between the rear of the vehicle with the minimum safe distance and the preceding vehicle reference transponder group, the relative direction between the rear of the vehicle and the preceding vehicle reference transponder group, and the direction of passing through the preceding vehicle reference transponder group. The preceding vehicle reference transponder group number determination module is used by the on-board train automatic protection equipment to determine whether the preceding vehicle reference transponder group number exists in the transponder group list cached in the current vehicle; the transponder group list includes a list of transponder group numbers that the current vehicle has passed and a transponder link table, the transponder link table stores information on several transponder groups to be passed after the transponder group currently passed in the direction of travel. The coordinate transformation module is used to determine the position coordinates of the rear end of the minimum safe distance of the preceding vehicle in the vehicle coordinate system based on the preceding vehicle position reference information and the position coordinates of the preceding vehicle reference transponder group in the 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, characterized in that, When the processor executes the program, it implements the method for determining the position of the leading car in a heavy-load group train as described in any one of claims 1-6.

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

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

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