Automatic driving ground verification method, device and equipment based on moving block

Abstract

The invention relates to an automatic driving ground verification method and device based on moving block, computer equipment, a computer readable storage medium and a computer program product, and can be applied to the technical field of automatic driving. The method comprises the steps that an automatic driving ground verification environment based on fixed blocking is acquired, and a ground verification environment based on moving blocking is constructed; a data interaction link is established between the automatic driving ground verification environment based on the fixed blocking and the ground verification environment based on the moving blocking, and a combined system corresponding to the automatic driving ground verification environment based on the fixed blocking and the ground verification environment based on the moving blocking is obtained; a braking right switching device is additionally arranged in the combined system, and a target combined system is obtained; and carrying out moving block-based automatic driving ground verification processing on the target joint system to obtain a moving block-based automatic driving ground verification result. By adopting the method, the efficiency of automatic driving ground verification based on moving block can be improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a ground verification method, apparatus, computer equipment, computer-readable storage medium, and computer program product for autonomous driving based on moving block. Background Technology

[0002] With the development of automatic driving technology, automatic driving systems based on LKJ (fixed block) have been tested and applied on multiple heavy-haul railway lines. Moving block systems, as a more advanced train control technology, are beginning to be used on heavy-haul railway lines. How to efficiently conduct ground verification of automatic driving based on moving block has gradually become an important research direction.

[0003] Traditional technologies typically involve reconstructing a ground-based autonomous driving verification environment based on moving block systems. However, this approach requires extensive system development, resulting in low efficiency for ground-based autonomous driving verification. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for autonomous driving ground verification based on moving block, which can improve the efficiency of ground verification of autonomous driving based on moving block.

[0005] Firstly, this application provides a ground verification method for autonomous driving based on moving block systems. The method includes:

[0006] Obtain a ground verification environment for autonomous driving based on fixed block closure, and construct a ground verification environment based on moving block closure;

[0007] A data interaction link is established between the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment to obtain a joint system corresponding to the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment.

[0008] A braking control switching device is added to the combined system to obtain the target combined system; the braking control switching device is used to switch the braking control between the fixed block and the moving block.

[0009] The target joint system is subjected to autonomous driving ground verification processing based on the moving block, and the autonomous driving ground verification results based on the moving block are obtained.

[0010] In one embodiment, the fixed block-based autonomous driving ground verification environment includes fixed block equipment, autonomous driving device, locomotive simulation unit, and fixed block supporting information.

[0011] The ground verification environment based on moving block includes moving block equipment, test fixtures, and moving block supporting information.

[0012] In one embodiment, establishing a data interaction link between the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment to obtain a joint system corresponding to the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment includes:

[0013] A data interaction link is established between the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment to obtain a basic joint system corresponding to the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment.

[0014] According to the preset vehicle wiring method, the automatic driving device and the moving block device in the basic integrated system are wired and connected to obtain the basic integrated system after the wiring connection is completed, which is the integrated system.

[0015] In one embodiment, the addition of a braking power switching device to the joint system to obtain the target joint system includes:

[0016] The braking control switching device is added to the combined system, and the braking control switching device is connected to the fixed block equipment and the moving block equipment respectively according to the preset vehicle wiring method to obtain the combined system after the wiring connection is completed, which is the target combined system.

[0017] In one embodiment, the step of performing autonomous driving ground verification processing on the target joint system based on the moving block to obtain autonomous driving ground verification results based on the moving block includes:

[0018] Braking power switching device in the target combined system is used to switch braking power between the fixed block and the moving block to obtain braking power switching information of the target combined system.

[0019] Based on the braking right switching information, the target joint system is subjected to autonomous driving simulation processing based on the moving block to obtain autonomous driving simulation data based on the moving block.

[0020] Based on the autonomous driving simulation data, generate autonomous driving ground verification results based on the moving block system.

[0021] In one embodiment, the braking control switching device in the target combined system performs braking control switching between the fixed block and the moving block to obtain braking control switching information of the target combined system, including:

[0022] Based on the train operation status information, the non-stop switching operation from the fixed block to the moving block is performed through the braking power switching device;

[0023] Based on the non-stop switching operation, the braking control switching information is generated.

[0024] Secondly, this application also provides a ground verification device for autonomous driving based on moving block systems. The device includes:

[0025] The environment acquisition module is used to acquire the ground verification environment for autonomous driving based on fixed block and to construct the ground verification environment based on moving block.

[0026] The link establishment module is used to establish a data interaction link between the fixed block-based autonomous driving ground verification environment and the moving block-based ground verification environment to obtain a joint system corresponding to the fixed block-based autonomous driving ground verification environment and the moving block-based ground verification environment.

[0027] A braking switching module is used to add a braking power switching device to the combined system to obtain the target combined system; the braking power switching device is used to switch the braking power between the fixed block and the moving block.

[0028] The verification processing module is used to perform autonomous driving ground verification processing on the target joint system based on the moving block, and obtain the autonomous driving ground verification result based on the moving block.

[0029] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0030] Obtain a ground verification environment for autonomous driving based on fixed block closure, and construct a ground verification environment based on moving block closure;

[0031] A data interaction link is established between the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment to obtain a joint system corresponding to the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment.

[0032] A braking control switching device is added to the combined system to obtain the target combined system; the braking control switching device is used to switch the braking control between the fixed block and the moving block.

[0033] The target joint system is subjected to autonomous driving ground verification processing based on the moving block, and the autonomous driving ground verification results based on the moving block are obtained.

[0034] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0035] Obtain a ground verification environment for autonomous driving based on fixed block closure, and construct a ground verification environment based on moving block closure;

[0036] A data interaction link is established between the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment to obtain a joint system corresponding to the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment.

[0037] A braking control switching device is added to the combined system to obtain the target combined system; the braking control switching device is used to switch the braking control between the fixed block and the moving block.

[0038] The target joint system is subjected to autonomous driving ground verification processing based on the moving block, and the autonomous driving ground verification results based on the moving block are obtained.

[0039] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0040] Obtain a ground verification environment for autonomous driving based on fixed block closure, and construct a ground verification environment based on moving block closure;

[0041] A data interaction link is established between the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment to obtain a joint system corresponding to the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment.

[0042] A braking control switching device is added to the combined system to obtain the target combined system; the braking control switching device is used to switch the braking control between the fixed block and the moving block.

[0043] The target joint system is subjected to autonomous driving ground verification processing based on the moving block, and the autonomous driving ground verification results based on the moving block are obtained.

[0044] The aforementioned method, apparatus, computer equipment, computer-readable storage medium, and computer program product for autonomous driving ground verification based on moving block closures acquire an autonomous driving ground verification environment based on fixed block closures and construct a ground verification environment based on moving block closures. A data interaction link is established between the autonomous driving ground verification environment based on fixed block closures and the ground verification environment based on moving block closures to obtain a joint system corresponding to the two environments. A braking right-of-way switching device is added to the joint system to obtain a target joint system. The braking right-of-way switching device is used to switch braking right-of-way between the fixed block closures and the moving block closures. The target joint system undergoes autonomous driving ground verification processing based on moving block closures to obtain autonomous driving ground verification results based on moving block closures. This scheme integrates the verification capabilities of two different block systems by acquiring a ground verification environment for autonomous driving based on fixed block and constructing a ground verification environment based on moving block, avoiding the redundant investment of building separate verification environments and reducing the construction cost and time of the verification system. By establishing a data interaction link between the fixed-block and moving-block autonomous driving ground verification environments, a joint system is obtained, enabling collaborative work and data sharing between the two verification environments, which improves the coordination of the verification process and the efficiency of data utilization. By adding a braking right-of-way switching device to the joint system, a target joint system is obtained, realizing the flexible switching function of braking right-of-way between fixed and moving block, which facilitates the rapid switching of different verification modes on the same verification platform. By performing moving-block-based autonomous driving ground verification processing on the target joint system, an integrated verification operation process is achieved, which simplifies the verification operation steps and reduces the verification time, thereby improving the efficiency of moving-block-based autonomous driving ground verification. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart illustrating a ground verification method for autonomous driving based on moving block in one embodiment.

[0047] Figure 2This is a flowchart illustrating the steps for determining the joint system in one embodiment;

[0048] Figure 3 This is a system framework diagram of a ground verification method for autonomous driving based on moving block in one embodiment;

[0049] Figure 4 This is a structural block diagram of an autonomous driving ground verification device based on moving block in one embodiment;

[0050] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0053] In one exemplary embodiment, such as Figure 1 As shown, a ground verification method for autonomous driving based on moving block is provided. This embodiment illustrates the method by applying it to a terminal. It is understood that this method can also be applied to a server, or to a system including both a terminal and a server, and is implemented through interaction between the terminal and the server. The terminal can be, but is not limited to, various personal computers, laptops, smartphones, tablets, etc.; the server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. In this embodiment, the method includes the following steps:

[0054] Step S101: Obtain the ground verification environment for autonomous driving based on fixed block and construct the ground verification environment based on moving block.

[0055] Step S102: Establish a data interaction link between the ground verification environment for autonomous driving based on fixed block and the ground verification environment based on moving block, and obtain a joint system corresponding to the ground verification environment for autonomous driving based on fixed block and the ground verification environment based on moving block.

[0056] Step S103: Add a braking control switching device to the combined system to obtain the target combined system; the braking control switching device is used to switch the braking control between the fixed block and the moving block.

[0057] Step S104: Perform ground verification processing for autonomous driving based on moving block on the target joint system to obtain the ground verification results for autonomous driving based on moving block.

[0058] Moving block can be a railway signal control method that uses continuous tracking of train position and speed information to dynamically calculate the safe distance between trains. For example, moving block can use wireless communication technology to achieve real-time data exchange between trains and the ground control center, thereby achieving more efficient train operation control.

[0059] Among them, the autonomous driving ground verification method can be a technical method for testing and verifying the train automatic driving system in a ground environment. It verifies the function and performance of the automatic driving system by simulating the actual operating environment. For example, the autonomous driving ground verification method can realize the ground simulation verification of automatic driving of single-machine, general load, 10,000-ton and 20,000-ton trains based on LKJ by building a verification environment that includes physical automatic driving device (ATO), physical LKJ device, locomotive simulation unit, etc.

[0060] Fixed block signaling can be a traditional railway signal control method, which divides the railway line into block sections of fixed length, and only one train is allowed to run in each section. For example, fixed block signaling can be a signal control system based on LKJ.

[0061] Among them, the ground verification environment for automatic driving based on fixed block signaling can be a ground verification platform for train automatic driving system using fixed block signaling control technology. For example, the ground verification environment for automatic driving based on fixed block signaling can be a verification environment that includes physical automatic driving device (ATO), physical LKJ device, locomotive simulation unit, etc., which can realize ground simulation verification of automatic driving of single locomotive, general load, 10,000-ton and 20,000-ton trains based on LKJ.

[0062] Among them, the ground verification environment based on moving block can be a system ground verification platform that adopts moving block signal control technology. For example, the ground verification environment based on moving block can be an environment that includes the physical moving block on-board equipment (ATP), test fixtures, and simulation software.

[0063] Among them, the data interaction link can be a connection channel for data transmission and communication between different systems or devices. For example, the data interaction link can be a simulation data interaction link established between the ground verification environment of the LKJ-based autonomous driving system and the ground verification environment of the moving block system.

[0064] The joint system can be an integrated system consisting of a fixed-block autonomous driving ground verification environment and a moving-block ground verification environment connected by a data interaction link.

[0065] Among them, the braking power switching device can be a physical device used to switch braking power between different braking control systems. It can realize the switching of braking power between fixed block and moving block. For example, the braking power switching device can be a physical device that is wired according to the vehicle wiring, which can realize the automatic switching function between the moving block system and LKJ, thereby realizing the simulation of non-stop switching between LKJ-based automatic driving and moving block-based automatic driving.

[0066] Among them, the switching of braking authority can be the process of transferring braking control authority between two different signal control systems, namely fixed block and moving block.

[0067] Among them, the target joint system can be a complete verification system formed by adding a braking power switching device on the basis of the joint system. For example, the target joint system can be a comprehensive verification platform that can simultaneously meet the ground verification requirements of autonomous driving based on LKJ, autonomous driving based on moving block, and the ground verification requirements of the moving block system itself.

[0068] Among them, the ground verification process of autonomous driving based on moving block can be a verification test process for the moving block autonomous driving system executed in the target joint system. For example, the ground verification process of autonomous driving based on moving block can realize the interaction data simulation and verification between the moving block system and the autonomous driving system and the autonomous driving line operation simulation through the target joint system.

[0069] Among them, the ground verification results of autonomous driving based on moving block can be the verification test results obtained through the ground verification processing of autonomous driving based on moving block. For example, the ground verification results of autonomous driving based on moving block can be the results of functional verification of the moving block system and the autonomous driving system and the results of autonomous driving line operation simulation.

[0070] Optionally, the terminal acquires a fixed-block automated driving ground verification environment including a physical automatic driving unit (ATO), a physical LKJ device, and a locomotive simulation unit. This fixed-block automated driving ground verification environment can realize ground simulation verification of automatic driving for single-unit, general-load, 10,000-ton, and 20,000-ton trains based on LKJ. Simultaneously, the terminal constructs a moving-block ground verification environment including physical moving-block on-board equipment (ATP), test fixtures, and simulation software. The terminal establishes a simulation data interaction link between the fixed-block automated driving ground verification environment and the moving-block ground verification environment to achieve data interaction between the two test environments, thereby obtaining a joint system corresponding to both the fixed-block automated driving ground verification environment and the moving-block ground verification environment. The terminal adds a physical braking power switching device to the joint system, which is wired according to the loading wiring. This braking power switching device is used to realize the automatic switching function between the moving-block system and the LKJ, thereby realizing the switching of braking power between fixed-block and moving-block systems, resulting in the target joint system. The terminal performs ground verification processing of the target joint system based on moving block, realizes the interactive data simulation and verification between the moving block system and the autonomous driving system and the autonomous driving line operation simulation, and obtains the ground verification results of autonomous driving based on moving block.

[0071] In the aforementioned method for autonomous driving ground verification based on moving block, an autonomous driving ground verification environment based on fixed block is obtained, and a ground verification environment based on moving block is constructed. A data interaction link is established between the autonomous driving ground verification environment based on fixed block and the ground verification environment based on moving block to obtain a joint system corresponding to the autonomous driving ground verification environment based on fixed block and the ground verification environment based on moving block. A braking right switching device is added to the joint system to obtain a target joint system. The braking right switching device is used to switch braking right between fixed block and moving block. The target joint system is subjected to autonomous driving ground verification processing based on moving block to obtain the autonomous driving ground verification result based on moving block. This scheme integrates the verification capabilities of two different block systems by acquiring a ground verification environment for autonomous driving based on fixed block and constructing a ground verification environment based on moving block, avoiding the redundant investment of building separate verification environments and reducing the construction cost and time of the verification system. By establishing a data interaction link between the fixed-block and moving-block autonomous driving ground verification environments, a joint system is obtained, enabling collaborative work and data sharing between the two verification environments, which improves the coordination of the verification process and the efficiency of data utilization. By adding a braking right-of-way switching device to the joint system, a target joint system is obtained, realizing the flexible switching function of braking right-of-way between fixed and moving block, which facilitates the rapid switching of different verification modes on the same verification platform. By performing moving-block-based autonomous driving ground verification processing on the target joint system, an integrated verification operation process is achieved, which simplifies the verification operation steps and reduces the verification time, thereby improving the efficiency of moving-block-based autonomous driving ground verification.

[0072] In one exemplary embodiment, the ground verification environment for automated driving based on fixed block includes fixed block equipment, automated driving device, locomotive simulation unit, and fixed block supporting information; the ground verification environment based on moving block includes moving block equipment, test fixtures, and moving block supporting information.

[0073] Among them, the fixed block equipment can be railway signal control equipment based on fixed block technology, such as a physical LKJ device.

[0074] Among them, the automatic driving device can be a device that realizes automatic operation control of the train, such as an automatic driving device (ATO).

[0075] The locomotive simulation unit can be a simulation device used to simulate the locomotive's operating status and control functions. For example, the locomotive simulation unit can be a device that simulates the locomotive's network control, braking control, and wireless multiple-connection synchronization control functions, and obtains locomotive status information.

[0076] Among them, the fixed block system supporting information can be software and data information used in conjunction with the fixed block system. For example, the fixed block system supporting information can be supporting software based on LKJ.

[0077] Among them, moving block equipment can be railway signal control equipment based on moving block technology, such as moving block equipment can be the physical moving block on-board equipment (ATP).

[0078] Among them, the test fixture can be an auxiliary device used to cooperate with the moving block system for testing and verification. For example, the test fixture can be a test device used in conjunction with the moving block on-board equipment (ATP).

[0079] Among them, the moving block information can be the software and data information used in conjunction with the moving block system, such as the moving block supporting software and simulation software.

[0080] The technical solution provided in this embodiment clarifies the components of the ground verification environment for automated driving based on fixed block closures, including fixed block closure equipment, automated driving devices, locomotive simulation units, and fixed block closure supporting information. This clarifies the components of the verification environment and facilitates the determination of a complete fixed block automated driving verification system. Furthermore, by clarifying that the ground verification environment based on moving block closures includes moving block closure equipment, test fixtures, and moving block closure supporting information, the component components of the moving block closure verification environment are clarified. This facilitates the construction of a complete moving block closure verification system and thus helps ensure the integrity and independence of the two verification environments.

[0081] In one exemplary embodiment, reference is made to Figure 2 A data interaction link is established between the fixed-block autonomous driving ground verification environment and the moving-block ground verification environment to obtain a joint system corresponding to the fixed-block autonomous driving ground verification environment and the moving-block ground verification environment, including:

[0082] Step S201: Establish a data interaction link between the ground verification environment for autonomous driving based on fixed block and the ground verification environment based on moving block, and obtain the basic joint system corresponding to the ground verification environment for autonomous driving based on fixed block and the ground verification environment based on moving block.

[0083] Step S202: According to the preset vehicle wiring method, the automatic driving device and moving block equipment in the basic joint system are wired and connected to obtain the basic joint system after the wiring connection is completed, which is used as the joint system.

[0084] The basic joint system can be a preliminary joint system formed by establishing a data interaction link between a ground verification environment for autonomous driving based on fixed block and a ground verification environment based on moving block.

[0085] The preset loading wiring method can be a wiring connection between equipment according to the actual cable connection method when loading the train.

[0086] Among them, wiring connection processing can be the process of physically connecting the equipment according to the preset vehicle wiring method. For example, wiring connection processing can be the process of wiring between the autonomous driving device and the moving block equipment according to the vehicle wiring to realize the data interaction between the physical devices.

[0087] Among them, the basic integrated system after the wiring connection process is completed can be a system after the wiring connection process between the automatic driving device and the moving block equipment is completed on the basis of the basic integrated system.

[0088] Optionally, the terminal establishes a data interaction link between the fixed-block automated driving ground verification environment and the moving-block ground verification environment. By configuring network communication protocols and data interface standards, it realizes the simulation data interaction link between the two test environments, obtaining a basic joint system corresponding to the fixed-block automated driving ground verification environment and the moving-block ground verification environment. According to the preset onboard wiring method and the actual train loading cable connection standards and interface specifications, the terminal performs physical cable connections and signal interface configurations for the automated driving devices and moving-block equipment in the basic joint system. Direct data interaction and signal transmission between the physical devices are achieved through dedicated data cables and communication interfaces, resulting in the basic joint system after wiring connection processing, which serves as the joint system.

[0089] The technical solution provided in this embodiment achieves a physical connection consistent with the actual train loading method by wiring and connecting the automatic driving device and moving block equipment in the basic joint system according to the preset loading wiring method. This helps to improve the reliability of the verification results, thereby improving the accuracy of the joint system verification.

[0090] In an exemplary embodiment, a braking power switching device is added to the combined system to obtain a target combined system. This includes: adding a braking power switching device to the combined system, and according to a preset vehicle wiring method, connecting the braking power switching device with the fixed block equipment and the moving block equipment respectively through wiring connection processing to obtain a combined system after the wiring connection processing is completed, which is the target combined system.

[0091] Optionally, the terminal adds a braking right switching device to the combined system. This braking right switching device is a physical braking right switching device used to realize the automatic switching function between the moving block system and the physical LKJ device, ensuring non-stop switching simulation between automatic driving based on moving block and automatic driving based on fixed block. According to the preset onboard wiring method, and in accordance with the wiring standards and interface specifications when the train is loaded, the terminal physically connects the braking right switching device to the fixed block equipment and moving block equipment in the combined system. Through dedicated control cables and signal interfaces, direct control signal transmission and braking right switching control between the braking right switching device and the physical LKJ device and the physical moving block onboard equipment (ATP) are realized, resulting in the combined system after the wiring connection is completed, which serves as the target combined system.

[0092] The technical solution provided in this embodiment connects the braking power switching device with the fixed block equipment and the moving block equipment respectively according to the preset vehicle wiring method. This realizes the physical connection and control signal transmission between the braking power switching device and the two sets of block equipment, which is conducive to the flexible switching of braking power between the fixed block equipment and the moving block equipment, thereby improving the braking control flexibility and safety of the target combined system.

[0093] In an exemplary embodiment, performing autonomous driving ground verification processing based on moving block based on the target joint system to obtain autonomous driving ground verification results based on moving block includes: switching braking rights between fixed block and moving block using a braking rights switching device in the target joint system to obtain braking rights switching information of the target joint system; performing autonomous driving simulation processing based on moving block based on the braking rights switching information to obtain autonomous driving simulation data based on moving block; and generating autonomous driving ground verification results based on moving block based on the autonomous driving simulation data.

[0094] Among them, the braking right switching information can be related information such as the switching status, switching timing and switching result generated by the braking right switching device during the switching of braking right between the fixed block and the moving block.

[0095] Among them, the autonomous driving simulation processing based on moving block can be the processing of autonomous driving operation simulation of the target joint system in moving block mode according to the braking right switching information. For example, the autonomous driving simulation processing based on moving block can be the processing of autonomous driving operation simulation using moving block on-board equipment (ATP), test fixtures and simulation software.

[0096] Among them, the automatic driving simulation data based on moving block can be simulation operation data obtained through automatic driving simulation processing based on moving block. For example, the automatic driving simulation data based on moving block can be simulation operation data that includes train operation status, braking control commands, moving block signal data, etc.

[0097] Optionally, the terminal, through the braking right-of-way switching device in the target combined system, performs braking right-of-way switching operations between fixed block and moving block according to a preset switching strategy and timing control signal. This achieves automatic switching between the moving block system and the physical LKJ device, recording relevant information such as the switching status, switching timing, and switching result during the braking right-of-way switching process to obtain the braking right-of-way switching information of the target combined system. Based on the braking right-of-way switching information, the terminal utilizes the physical moving block on-board equipment (ATP), testing fixtures, and simulation software in the target combined system, along with supporting software based on moving block, to perform moving block-based automatic driving simulation processing on the target combined system. This simulates the automatic driving operation process of the train in moving block mode, acquiring moving block-based automatic driving simulation data including train operating status, braking control commands, and moving block signal data. Based on the moving block-based automatic driving simulation data, the terminal generates moving block-based automatic driving ground verification results through data analysis and verification evaluation algorithms.

[0098] The technical solution provided in this embodiment performs autonomous driving simulation processing on the target joint system based on moving block according to the braking right switching information, and generates autonomous driving ground verification results based on moving block. This realizes a complete simulation verification process, which is conducive to obtaining reliable verification analysis results, thereby improving the accuracy and effectiveness of autonomous driving ground verification based on moving block.

[0099] In an exemplary embodiment, braking rights are switched between fixed block and moving block using a braking rights switching device in the target combined system to obtain braking rights switching information of the target combined system. This includes: performing a non-stop switching operation from fixed block to moving block using the braking rights switching device based on train operation status information; and generating braking rights switching information based on the non-stop switching operation.

[0100] Among them, train operation status information can be various parameters and data that indicate the current operation status of the train. For example, train operation status information can include operation parameter information such as train position, speed, and braking status.

[0101] Among them, the non-stop switching operation from fixed block to moving block can be the operation process of transferring the braking authority from fixed block control to moving block control without stopping the train during operation.

[0102] Optionally, the terminal acquires train operation status information including operating parameters such as train position, speed, and braking status, and monitors the current train operation status and control requirements in real time. When the train operation status meets the braking right switching conditions, the terminal executes a non-stop switching operation from fixed block to moving block through the braking right switching device. During train operation without stopping, the braking right control is transferred from the physical LKJ device to the moving block on-board equipment (ATP), realizing the automatic switching function between LKJ-based automatic driving and moving block-based automatic driving non-stop switching simulation. Based on the execution process and results of the non-stop switching operation from fixed block to moving block, the terminal records relevant data such as the switching trigger conditions, switching execution sequence, and switching completion status, generating braking right switching information.

[0103] The technical solution provided in this embodiment realizes intelligent braking right switching control based on the real-time operation status of the train by performing a non-stop switching operation from fixed block to moving block according to the train operation status information, which is beneficial to improving the accuracy of braking right switching; by generating braking right switching information according to the non-stop switching operation, the switching process is fully recorded and the status is monitored, which is beneficial to improving the reliability of braking right switching operation and the accuracy of verification analysis.

[0104] The following application example illustrates the ground verification method for autonomous driving based on moving block provided in this application. This application example uses the method applied to a terminal for illustration.

[0105] Currently, automatic driving systems based on LKJ (Fixed Block Signaling) have been tested and applied on multiple heavy-haul railway lines. The basic components of the LKJ-based automatic driving ground verification system and method are: an LKJ signal simulation unit to acquire basic line data, protection speed data, and signal status; a locomotive simulation unit to simulate locomotive network control, braking control, and wireless multiple-unit synchronization control functions, acquiring locomotive status information; a train simulation unit to calculate and acquire train operation status information based on the basic information of the train's operating line and control commands; and an intelligent driving unit to send control commands to the locomotive simulation unit after combining the calculations from each component to conduct full-scenario simulation of automatic locomotive operation.

[0106] The autonomous driving system based on moving block mainly addresses the following issues:

[0107] Based on the existing LKJ-based autonomous driving ground verification system, we will realize autonomous driving ground verification based on moving block.

[0108] By establishing a data interaction link between the LKJ-based autonomous driving ground verification system and the moving block ground verification system, data interaction between the moving block and autonomous driving systems and the linkage between the two verification systems can be realized.

[0109] By adding a physical braking control switching device and wiring according to the vehicle wiring, it is possible to realize the simulation of non-stop switching between LKJ-based autonomous driving and moving block-based autonomous driving on the ground.

[0110] Ultimately, the simulation and verification of interactive data between the moving block system and the autonomous driving system, as well as the simulation of autonomous driving line operation, will be completed on the ground.

[0111] System framework diagram reference for autonomous driving ground verification method based on moving block. Figure 3 It includes an autonomous driving ground verification environment based on LKJ (fixed block), an autonomous driving ground verification environment based on moving block, and a braking power switching device. The autonomous driving ground verification environment based on LKJ includes a physical automated driving device (ATO), LKJ, a locomotive simulation unit, and supporting software based on LKJ. The autonomous driving ground verification environment based on moving block includes a physical moving block on-board equipment (ATP), moving block supporting software, and test fixtures.

[0112] The process is as follows:

[0113] 1) Establish a data interaction link between the ground verification environment of the LKJ-based autonomous driving system and the ground verification environment of the moving block system, and establish the necessary simulation data interaction link between the two test environments to realize data interaction.

[0114] 2) Wiring is carried out between the autonomous driving system and the physical equipment of the mobile block system according to the vehicle wiring to realize data interaction between the physical equipment.

[0115] 3) Add a physical braking power switching device and wire it according to the vehicle wiring to realize the automatic switching function between the moving block system and LKJ, thereby realizing the simulation of non-stop switching between LKJ-based automatic driving and moving block-based automatic driving.

[0116] For example, by operating heavy-haul automatic driving trains based on LKJ (Local Keyless Entry) and building an LKJ-based automatic driving ground verification environment, including a physical Automatic Train Operation (ATO), a physical LKJ device, and a locomotive simulation unit, ground simulation verification of automatic driving for single-unit, general-load, 10,000-ton, and 20,000-ton trains based on LKJ can be achieved. Simultaneously, for the application verification work related to the moving block system, a moving block system ground verification environment has also been built, including physical moving block on-board equipment (ATP), testing fixtures, and simulation software.

[0117] Based on this, the above methods were used to quickly build a ground verification environment for autonomous driving based on moving block, and to carry out functional development and verification work related to autonomous driving based on moving block. Moreover, it can simultaneously meet the ground verification requirements of autonomous driving based on LKJ, autonomous driving based on moving block, and the moving block system itself.

[0118] The technical solution provided in this application example achieves the following results:

[0119] 1. A ground verification method for autonomous driving based on moving block is based on an autonomous driving ground verification system and a moving block system ground verification environment using LKJ. By adding a braking power switching device, autonomous driving ground verification based on moving block can be realized.

[0120] 2. Based on the mature and widely used LKJ-based autonomous driving ground verification environment and moving block system ground verification environment, autonomous driving ground verification based on moving block can be quickly realized, and the workload of joint debugging and testing of the verification environment can be effectively reduced.

[0121] 3. It can maintain the independence of two ground verification environments, and can simultaneously meet the ground verification needs of autonomous driving based on LKJ, autonomous driving based on moving block, and the moving block system itself.

[0122] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0123] Based on the same inventive concept, this application also provides a moving block-based autonomous driving ground verification device for implementing the above-mentioned moving block-based autonomous driving ground verification method. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the moving block-based autonomous driving ground verification device provided below can be found in the limitations of the moving block-based autonomous driving ground verification method described above, and will not be repeated here.

[0124] In one exemplary embodiment, such as Figure 4 As shown, a ground verification device for autonomous driving based on moving block is provided. The ground verification device 400 for autonomous driving based on moving block may include:

[0125] The environment acquisition module 401 is used to acquire the ground verification environment for autonomous driving based on fixed block and to construct the ground verification environment based on moving block.

[0126] The link establishment module 402 is used to establish a data interaction link between the ground verification environment for autonomous driving based on fixed block and the ground verification environment based on moving block, so as to obtain a joint system corresponding to the ground verification environment for autonomous driving based on fixed block and the ground verification environment based on moving block.

[0127] Braking switching module 403 is used to add a braking power switching device to the combined system to obtain the target combined system; the braking power switching device is used to switch the braking power between fixed block and moving block.

[0128] The verification processing module 404 is used to perform ground verification processing of the target joint system based on moving block autonomous driving to obtain the ground verification results of the moving block autonomous driving system.

[0129] In one exemplary embodiment, the ground verification environment for automated driving based on fixed block includes fixed block equipment, automated driving device, locomotive simulation unit, and fixed block supporting information; the ground verification environment based on moving block includes moving block equipment, test fixtures, and moving block supporting information.

[0130] In an exemplary embodiment, the link establishment module 402 is further configured to establish a data interaction link between the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment to obtain a basic joint system corresponding to the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment; and to perform wiring connection processing on the autonomous driving device and the moving-block device in the basic joint system according to a preset vehicle wiring method to obtain the basic joint system after the wiring connection processing is completed, which serves as the joint system.

[0131] In an exemplary embodiment, the braking switching module 403 is further configured to add a braking power switching device to the combined system, and according to a preset vehicle wiring method, to perform wiring connection processing between the braking power switching device and the fixed block equipment and the moving block equipment respectively, to obtain the combined system after the wiring connection processing is completed, which is the target combined system.

[0132] In an exemplary embodiment, the verification processing module 404 is further configured to perform braking power switching between fixed block and moving block through the braking power switching device in the target joint system to obtain braking power switching information of the target joint system; perform automatic driving simulation processing based on moving block on the target joint system according to the braking power switching information to obtain automatic driving simulation data based on moving block; and generate automatic driving ground verification results based on moving block according to the automatic driving simulation data.

[0133] In an exemplary embodiment, the verification processing module 404 is further configured to perform a non-stop switching operation from fixed block to moving block through the braking power switching device based on the train operation status information; and generate braking power switching information based on the non-stop switching operation.

[0134] Each module in the aforementioned ground verification device for autonomous driving based on moving block can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0135] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a ground verification method for autonomous driving based on moving block systems. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0136] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0137] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0138] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above-described method embodiments.

[0139] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0140] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0141] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0142] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A ground verification method for automated driving based on moving block closure, characterized in that, The method includes: Obtain a ground verification environment for autonomous driving based on fixed block closure, and construct a ground verification environment based on moving block closure; A data interaction link is established between the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment to obtain a joint system corresponding to the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment. A braking control switching device is added to the combined system to obtain the target combined system; the braking control switching device is used to switch the braking control between the fixed block and the moving block. The target joint system is subjected to autonomous driving ground verification processing based on the moving block, and the autonomous driving ground verification results based on the moving block are obtained.

2. The method according to claim 1, characterized in that, The ground verification environment for automated driving based on fixed block includes fixed block equipment, automated driving device, locomotive simulation unit and fixed block supporting information; The ground verification environment based on moving block includes moving block equipment, test fixtures, and moving block supporting information.

3. The method according to claim 2, characterized in that, The step of establishing a data interaction link between the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment to obtain a joint system corresponding to the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment includes: A data interaction link is established between the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment to obtain a basic joint system corresponding to the fixed-block-based autonomous driving ground verification environment and the moving-block-based ground verification environment. According to the preset vehicle wiring method, the automatic driving device and the moving block device in the basic integrated system are wired and connected to obtain the basic integrated system after the wiring connection is completed, which is the integrated system.

4. The method according to claim 2, characterized in that, The addition of a braking power switching device to the combined system yields the target combined system, including: The braking control switching device is added to the combined system, and the braking control switching device is connected to the fixed block equipment and the moving block equipment respectively according to the preset vehicle wiring method to obtain the combined system after the wiring connection is completed, which is the target combined system.

5. The method according to claim 1, characterized in that, The step of performing autonomous driving ground verification processing on the target joint system based on the moving block to obtain autonomous driving ground verification results based on the moving block includes: Braking power switching device in the target combined system is used to switch braking power between the fixed block and the moving block to obtain braking power switching information of the target combined system. Based on the braking right switching information, the target joint system is subjected to autonomous driving simulation processing based on the moving block to obtain autonomous driving simulation data based on the moving block. Based on the autonomous driving simulation data, generate autonomous driving ground verification results based on the moving block system.

6. The method according to claim 5, characterized in that, The step of switching braking rights between the fixed block and the moving block using the braking rights switching device in the target combined system to obtain braking rights switching information of the target combined system includes: Based on the train operation status information, the non-stop switching operation from the fixed block to the moving block is performed through the braking power switching device; Based on the non-stop switching operation, the braking control switching information is generated.

7. A ground verification device for automated driving based on moving block, characterized in that, The device includes: The environment acquisition module is used to acquire the ground verification environment for autonomous driving based on fixed block and to construct the ground verification environment based on moving block. The link establishment module is used to establish a data interaction link between the fixed block-based autonomous driving ground verification environment and the moving block-based ground verification environment to obtain a joint system corresponding to the fixed block-based autonomous driving ground verification environment and the moving block-based ground verification environment. A braking switching module is used to add a braking power switching device to the combined system to obtain the target combined system; the braking power switching device is used to switch the braking power between the fixed block and the moving block. The verification processing module is used to perform autonomous driving ground verification processing on the target joint system based on the moving block, and obtain the autonomous driving ground verification result based on the moving block.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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