Train tracking method and device and electronic equipment

Abstract

The invention provides a train tracking method and device and electronic equipment, and belongs to the technical field of rail traffic control, and the train tracking method comprises the steps: obtaining line data determined based on block partition information of each block partition and turnout information of each turnout in response to a train tracking instruction; determining a block partition where the train is currently located, and receiving a current turnout opening value sent by the computer interlocking subsystem; and performing path search in the line data based on the current turnout opening direction value by taking the current block partition of the train as a starting point to obtain a train tracking result. Through a data structure and an algorithm of a software level, the current state of the multi-opening-direction turnout can be accurately analyzed, and the unique advancing path can be determined. The problem that a software system adapts to the multi-opening-direction turnout is fundamentally solved, and therefore reliable operation of the CBTC system under the complex station yard condition is ensured on the premise that the hardware cost and the operation and maintenance complexity are not increased.

Description

Technical Field

[0001] This invention relates to the field of rail transit control technology, and in particular to a train tracking method, device, and electronic equipment. Background Technology

[0002] With the rapid development of urban rail transit, Communication Based Train Control (CBTC) systems and Fully Automatic Operation (FAO) systems have been widely used in subway lines both domestically and internationally. CBTC systems utilize wireless communication-based moving block tracking technology, offering advantages such as short train intervals and high operational efficiency. FAO systems, on the other hand, add many fully automated operation scenarios to the CBTC system, such as train hibernation and wake-up, Remote Restricted Driving Mode (RRM), automatic car washing, and rain / snow mode for different sections. The deep integration of CBTC and FAO technologies has laid a solid foundation for achieving interconnected transportation technologies, enabling trains of different lines or systems to operate across lines seamlessly, significantly improving the flexibility of network operation and overall transportation efficiency. Currently, many cities across China have already achieved interconnection and interoperability between multiple manufacturers' rail transit systems.

[0003] In the general key technical specifications for interconnected signaling systems, multi-directional turnouts are divided into multiple double turnouts by adding relay interface data acquisition, thereby enabling train tracking. However, adding relay interface data acquisition requires adding relays, which increases the manufacturing cost for turnout equipment manufacturers and the operation and maintenance cost for operating units. Summary of the Invention

[0004] This invention provides a train tracking method, device, and electronic device to address the shortcomings of existing technologies where multi-directional turnouts are divided into multiple double turnouts by adding relay interfaces for data acquisition. This increases both the manufacturing costs for turnout equipment manufacturers and the operation and maintenance costs for operating units. The invention enables train tracking without the need for additional relays, thereby reducing both manufacturing and operation and maintenance costs for operating units.

[0005] This invention provides a train tracking method, comprising the following steps.

[0006] In response to a train tracking command, the system acquires track data determined based on the block section information of each block section and the turnout information of each turnout. The block section information includes the block section number, the link information of the block section, and the block section attribute information. The turnout information includes the turnout number, the turnout attribute, the number of turnout directions, and the turnout link information. Determine the current block section where the train is located, and receive the current turnout orientation value sent by the computer interlocking subsystem; Starting from the block section where the train is currently located, a path search is performed on the line data based on the current turnout orientation value to obtain the train tracking result.

[0007] According to a train tracking method provided by the present invention, the step of performing a path search in the track data based on the current turnout orientation value, starting from the current block section where the train is currently located, to obtain the train tracking result includes: Receive route information sent by the computer interlocking subsystem; Determine the travel path to be searched, wherein the travel path to be searched is the travel path established and locked for the train based on the route information in the route data; Starting from the block section where the train is currently located, a path search is performed on the path to be searched based on the current turnout orientation value to obtain the train tracking result.

[0008] According to a train tracking method provided by the present invention, the train tracking method further includes: Receive section locking information sent by the computer interlocking subsystem; The process of using the current block section where the train is located as the starting point, and performing a path search on the target travel path based on the current turnout orientation value, to obtain the train tracking result includes: The section locking information is matched with the locking information corresponding to the first block partition, where the first block partition is the block partition in the route information. Based on the successful consistency verification between the section locking information and the locking information corresponding to the first block section, the train is currently located in the block section as the starting point, and a path search is performed on the search path based on the current turnout opening value to obtain the train tracking result. If the consistency check between the section locking information and the locking information corresponding to the first block section fails, a reminder message is output.

[0009] According to a train tracking method provided by the present invention, the train tracking method further includes: Based on the train tracking results, the target block section and target turnout along the train's route are determined; Based on the section locking information, a movement authorization is generated for the target block section and the target turnout; Send the aforementioned mobility authorization to the train.

[0010] According to a train tracking method provided by the present invention, the train tracking method further includes: Based on the aforementioned turnout attributes, determine the turnout type for each turnout; Based on the fact that the turnout type is a double turnout and the current turnout opening value is greater than 2, the current turnout opening value is processed for packet loss or biased towards the safe side. Based on the fact that the turnout type is a multi-directional turnout, and the current turnout direction value is greater than the number of turnout directions, the current turnout direction value is processed for packet loss or biased towards the safe side.

[0011] According to a train tracking method provided by the present invention, the train tracking method further includes: Receive the target block section number sent by the Automatic Train Monitoring System (ATMS); A control command containing the target block section number is sent to the train so that the train can travel through the block section corresponding to the target block section number at the speed limit corresponding to the target block section number.

[0012] According to a train tracking method provided by the present invention, the link information of the block section includes: left-side link object information and right-side link object information; The information of the left-side link object and the information of the right-side link object both include the following information: Link object encoding, link object type, link object direction.

[0013] According to a train tracking method provided by the present invention, the turnout link information includes: The block section number corresponding to the block section before the turnout and the turnout direction value corresponding to the block section after the turnout.

[0014] The present invention also provides a train tracking device, comprising the following modules: The acquisition module is used to respond to train tracking instructions to acquire line data determined based on the block section information of each block section and the turnout information of each turnout. The block section information includes the block section number, the link information of the block section and the block section attribute information. The turnout information includes the turnout number, the turnout attribute, the number of turnout directions and the turnout link information. The determination module is used to determine the current block section of the train and receive the current turnout orientation value sent by the computer interlocking subsystem; The search module is used to perform a path search in the line data based on the current turnout orientation value, starting from the current block section where the train is currently located, to obtain the train tracking result.

[0015] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the train tracking methods described above.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the train tracking method as described above.

[0017] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the train tracking methods described above.

[0018] This invention provides a train tracking method, device, and electronic equipment that, through software-level data structures and algorithms, can accurately analyze the current state of multi-directional turnouts and determine a unique travel path. This not only simplifies data interaction between systems but also fundamentally solves the problem of adapting software systems to multi-directional turnouts, improving the accuracy of train tracking and the versatility of the system. Thus, without increasing hardware costs or operational complexity, it ensures the reliable operation of the CBTC system under complex station conditions. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the station scenario in the relevant technical solution.

[0021] Figure 2 This is a schematic diagram of the turnout in the relevant technical solution.

[0022] Figure 3 This is one of the flowcharts illustrating the train tracking method provided by the present invention.

[0023] Figure 4 This invention provides a schematic diagram of the process of starting from the current block section where the train is located, performing path search in the line data based on the current turnout orientation value, and obtaining the train tracking result.

[0024] Figure 5 This is the second flowchart of the train tracking method provided by the present invention.

[0025] Figure 6This is a schematic diagram of the double-directional turnout and corresponding track data provided by the present invention.

[0026] Figure 7 This is a schematic diagram of the multi-directional turnouts and corresponding track data provided by the present invention.

[0027] Figure 8 This is the third flowchart of the train tracking method provided by the present invention.

[0028] Figure 9 This is a schematic diagram of the train tracking device provided by the present invention.

[0029] Figure 10 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0030] Figure label: 901: Acquisition module; 902: Determination module; 903: Search module; 1010: Processor; 1020: Communication interface; 1030: Memory; 1040: Communication bus. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0032] In a station scenario of an actual operating line, such as Figure 1 As shown, turnout axle count DG-001 includes a multi-directional turnout SW4-001 (four-directional turnout). This station scenario includes both up and down lines. For the down line, it will pass through tracks numbered 1408G-A, 1408G-B, 1408G-C, and 1408G-D in sequence. For the up line, it will pass through block sections numbered WC-001 and WC-002 in sequence before passing through the multi-directional turnout SW4-001. It is linked to block sections numbered WC-003, WC-004, WC-005, and WC-006. In this station scenario, control is achieved using signal lights numbered STSIG-XX-001, STSIG-XX-002, STSIG-XX-003, STSIG-XX-004, STSIG-XX-005, STSIG-SX-002, STSIG-SX-003, and STSIG-SX-004.

[0033] In this station scenario, the Computer Based Interlocking (CI) subsystem collects five turnout states: 1st position, 2nd position, 3rd position, 4th position, and four open. All other states are illegal.

[0034] In the general key technical specifications for interconnected signaling systems, the aforementioned multi-directional turnout SW4-001 is divided into multiple double turnouts by adding relay interface acquisition, in order to adapt to the information transmission between the CBTC system CI and the Zone Controller (ZC) interface.

[0035] like Figure 2 As shown, at this time, CI collects three turnouts (double-open-SW-001 / double-open-SW-002 / double-open-SW-003). ZC uses the status and route locking information of the three double-open turnouts to realize functions such as internal movement authority (MA) calculation and section tracking calculation, thereby realizing train movement block tracking under CBTC control technology.

[0036] However, adding relay interface acquisition methods requires adding relays, which increases the manufacturing costs for turnout equipment manufacturers and the operation and maintenance costs for operating units.

[0037] This invention provides a train tracking method, the execution entity of which can be a ground device in a communication-based train control (CBTC) system, such as a zone controller (ZC), or other ground control devices, servers, or computing clusters with similar functions. The following description will use a zone controller as the execution entity.

[0038] The following is combined Figures 3 to 10 The present invention describes a train tracking method, apparatus, and electronic device.

[0039] Figure 3 This is one of the flowcharts illustrating the train tracking method provided by the present invention, such as... Figure 3 As shown, the method includes the following: Step 301: In response to the train tracking command, obtain the track data determined based on the block section information of each block section and the turnout information of each turnout.

[0040] The block section information includes the block section number, the block section link information, and the block section attribute information. The turnout information includes the turnout number, the turnout attribute, the number of turnout directions, and the turnout link information.

[0041] In some embodiments, the area controller is triggered in response to a train tracking instruction, for example, when it is necessary to calculate a Movement Authority (MA) or perform location tracking for a train on the line. In this case, the area controller first retrieves the line data that has been pre-configured and stored in its internal storage medium (such as a hard drive or memory).

[0042] Track data can be understood as an electronic map describing the physical and logical layout of the track, forming the basic topological relationships for train tracking calculations. This electronic map consists of several basic data objects, one of which is the block section. The block section information corresponding to each block section includes at least: the block section number, serving as a unique identifier for that section within the entire track; the block section's link information, indicating which track element (which could be another block section or a turnout) each end of the block section is connected to; and the block section's attribute information, such as the section's length, gradient, curve radius, etc. This information is crucial for subsequent speed calculations and control.

[0043] Another key object in the track data is the turnout. The turnout information corresponding to each turnout includes at least: a turnout number, serving as a unique identifier for the turnout; turnout attributes, which can be used to identify the type of turnout, for example, it can be set to a specific value or flag to distinguish whether the turnout is a regular double-direction turnout or a multi-direction turnout with three or more directions; and the number of turnout directions, which explicitly records the total number of selectable directions for this turnout. For example, for a double-direction turnout, this value is 2. Figure 1 The four-way turnout shown has a value of 4; and the turnout link information describes which block sections each turnout's front (point) and rear (rear) ends are connected to. By associating the link information contained in all block section information and turnout information, the area controller constructs a complete topology consistent with the physical lines at the software level.

[0044] Step 302: Determine the current block section where the train is located, and receive the current turnout orientation value sent by the computer interlocking subsystem.

[0045] In this step, to determine the path, the area controller receives the current turnout orientation value from the Computer Based Interlocking (CI) subsystem in real time. This current turnout orientation value is a true value that directly reflects the physical position of the turnout, not a virtual state converted by hardware circuitry. For example, for a four-way turnout SW4-001, when it is in the third position, the CI system sends the value representing 3 to the area controller.

[0046] Step 303: Starting from the current block section where the train is located, perform a path search in the track data based on the current turnout direction value to obtain the train tracking result.

[0047] In this embodiment, after acquiring complete line data and constructing the line topology, the area controller needs to determine the starting point for train tracking. This starting point is the current location of the train. Specifically, the area controller can determine the current block section of the train through the train position report sent by the Vehicle On-board Controller (VOBC).

[0048] Having determined the train's position as the starting point and obtained the crucial information determining the route—namely, the current turnout orientation—the area controller can use the train's current block section as the starting point and perform a route search within the topology formed by the loaded track data. Specifically, when the route search extends from a block section to a turnout, the area controller receives the turnout's current turnout orientation value and, based on this value, selects the uniquely correct link from among the turnout's multiple possible links, pointing to the block section downstream of that turnout. This link then becomes the next node in the route search.

[0049] By linking the block sections with the turnouts and making decisions based on the real-time turnout orientation values, and continuously extending forward, an ordered sequence consisting of a series of block section numbers and turnout numbers can be obtained. This sequence is the train tracking result, which accurately describes the geometry of the possible path ahead of the train.

[0050] This embodiment pre-constructs line data containing block section information and turnout information, forming a line topology model that can be directly parsed by software. During train tracking, this method uses the unconverted actual turnout direction values ​​received directly from the computer interlocking subsystem as a dynamic decision parameter, directly applied to the traversal (i.e., path search) of the static line topology model. This data processing method allows the area controller to accurately parse the current state of multiple turnouts and determine a unique travel path solely through software-level data structures and algorithms, without relying on additional hardware conversion circuits. This not only simplifies data interaction between systems but also fundamentally solves the problem of software system adaptation to multiple turnouts, improving the accuracy of train tracking and the system's versatility. Thus, without increasing hardware costs or operational complexity, it ensures the reliable operation of the CBTC system under complex station conditions.

[0051] In some embodiments, such as Figure 4 As shown, starting from the current block section where the train is located, a path search is performed in the track data based on the current turnout orientation value to obtain the train tracking result, including: Step 401: Receive route information sent by the computer interlocking subsystem.

[0052] Route information, in particular, is a permission message generated and sent to the area controller by the computer interlocking subsystem (CI) after confirming that all switches on a path from the origin to the destination have been turned to the correct position and locked, and all relevant signals have been opened. This information is essentially a safety commitment from the interlocking system to a path, defining a route that will not change within a specific timeframe and is safe for trains to travel.

[0053] Step 402: Determine the travel path to be searched. The travel path to be searched is the travel path established and locked for the train based on the route information in the line data.

[0054] In this step, upon receiving the route information, the area controller determines a searchable travel path from the complete line data loaded in its memory, based on the list of line elements included in the route information. This searchable travel path can be understood as a safe subset of the complete line topology, which corresponds exactly to the physical travel path that the computer interlocking subsystem has already established and locked for the train.

[0055] Step 403: Starting from the current block section where the train is located, perform a path search in the path to be searched based on the current turnout orientation value to obtain the train tracking result.

[0056] In this step, the area controller performs a path search. The path search is no longer conducted across the vast topology of the entire line data, but is confined to this newly determined, smaller, and safer path to be searched. When a turnout is encountered during the search, the area controller still uses the received current turnout orientation value to decide the path direction. However, since the search range is now defined by the route information, this naturally constitutes an additional layer of safety verification.

[0057] In this embodiment, a path to be searched is pre-determined by introducing route information, thus strongly coupling the path search process with the safety logic of the interlocking system. This data processing method transforms path search from a purely geometric topological traversal into a well-guided computational process within the safety domain defined by the interlocking system. This not only significantly reduces the search space and improves the algorithm's execution efficiency, but more importantly, it uses route information as a hard constraint on the path search, ensuring that the final train tracking result always lies on a path confirmed as safe by the interlocking system, thereby significantly enhancing the inherent safety and reliability of the entire train tracking method.

[0058] In some embodiments, the train tracking method further includes: Receive section locking information sent by the computer interlocking subsystem; Starting from the current block section where the train is located, a path search is performed on the target travel path based on the current turnout orientation value to obtain the train tracking results, including: The section blocking information is consistent with the blocking information corresponding to the first blocking section. The first blocking section is the blocking section in the route information. Based on the consistency verification between the section locking information and the locking information corresponding to the first block section, starting from the current block section where the train is located, a path search is performed on the path to be searched based on the current turnout opening value to obtain the train tracking result. If the consistency check between the section locking information and the locking information corresponding to the first block section fails, an alert message will be output.

[0059] In this embodiment, after the area controller receives the route information sent by the computer interlocking subsystem, it does not immediately perform a path search. Instead, it first executes a preliminary safety verification step. This step begins when the area controller receives section locking information from the computer interlocking subsystem. This section locking information is data generated by the computer interlocking subsystem based on the real-time status of all physical sections along the entire line, reflecting whether each block section is currently locked or unlocked. It represents the actual locking status of the line section at the physical level and is a direct feedback of the route locking command execution result. It can be understood as the occupancy status of each block section, i.e., occupied or idle. An occupancy status indicates that there are trains, vehicles, or other obstacles in the section, or that the section is locked and unavailable for other reasons.

[0060] Upon receiving the segment locking information, the area controller performs a consistency check. The core of this check is comparing the segment locking information with the locking information corresponding to the first block section. Specifically, the area controller iterates through the list of all first block section numbers contained in the route information. For each block section number in the list, the area controller searches for the corresponding locking status in the received segment locking information. Then, it compares the found actual locking status with the locking status required by the route information.

[0061] If all first block sections in the route information are locked in the section locking information, the consistency check passes. This indicates that the locking command issued by the computer interlocking subsystem has been correctly executed by the physical equipment, and the entire search path is safe and reliable. At this point, the area controller can confidently execute subsequent steps, namely, starting from the current block section where the train is located, and based on the current turnout orientation value, performing a path search within the already safe-checked search path to ultimately obtain the train tracking result.

[0062] Conversely, if during the verification process, it is found that any of the first block sections required in the route information is not actually locked in the segment locking information, or its status cannot be found, then the consistency verification fails. In this case, the area controller will immediately stop subsequent path searches and output an alert message. This alert message can take various forms; for example, the area controller can generate an alarm log to record detailed information about this verification failure (such as time, route number, inconsistent block section number, etc.).

[0063] In some embodiments, if the consistency verification between the section locking information and the locking information corresponding to the first block section fails, an alarm event is reported to the Automatic Train Supervision (ATS) system, and the faulty section is highlighted on the dispatch center's interface to remind the dispatcher to intervene manually. In addition, the area controller itself will also perform safety-oriented processing, such as refusing to generate movement authorization for trains entering the route, so as to fundamentally prevent trains from entering a dangerous path that is not fully locked.

[0064] In this embodiment, by introducing section locking information before path searching and performing consistency verification with route information, it is ensured that the basic data used for path searching (i.e., the path to be searched) is not only logically planned but also physically safe and reliable. This approach transforms potential risks of inconsistencies between physical states and system perception caused by equipment failures or communication anomalies into a data inconsistency problem that can be detected and addressed in advance. This allows for the identification and isolation of dangers before the train actually enters the relevant area, significantly improving the reliability and safety of the entire train tracking process.

[0065] In some embodiments, such as Figure 5 As shown, train tracking methods also include: Step 501: Based on the train tracking results, determine the target block section and target turnout along the train's route.

[0066] Specifically, the train tracking result is essentially an ordered list containing several block section numbers and turnout numbers, which precisely depicts the track topology from the train's current position along the route direction. Therefore, the process of determining the target block section and target turnout is to parse this ordered list and extract all block sections and turnouts located ahead of the train and on the path sequence.

[0067] Step 502: Based on the section locking information, generate movement authorizations for the target block section and the target turnout.

[0068] In this step, the area controller checks the segment locking information corresponding to each block section one by one along the previously determined target block section sequence. This checking process continues until the first block section in the sequence is found to be occupied. The endpoint of the movement authorization is then set before the occupied block section, taking into account the train's braking performance and reserving sufficient safety clearance. In this way, a movement authorization containing both the correct path and a safe endpoint is constructed within the area controller. In addition to path and endpoint information, the data packet of this movement authorization may also contain control information such as speed limits extracted from the attribute information of each target block section.

[0069] Step 503: Send a mobility authorization to the train.

[0070] In some embodiments, the area controller sends encapsulated mobile authorization data packets to the onboard controller of the corresponding train on the line via its wireless communication interface, such as using the vehicle-to-ground wireless communication network in the CBTC system, for execution by the Automatic Train Protection (ATP) subsystem.

[0071] In this embodiment, by comparing the path sequence determined by the train tracking results with the track occupancy status reflected by the section locking information one by one, this method can accurately calculate a safe destination for the moving block. This ensures that the final moving block is not only correct in path selection but also absolutely safe in terms of travel distance, thus transforming a passive tracking result into an active and safely executable train control command. This realizes the core function of moving block and ensures the safety and efficiency of train operation.

[0072] In some embodiments, the train tracking method further includes: Based on the turnout attributes, determine the turnout type of each turnout; Based on the fact that the turnout type is a double turnout and the current turnout opening value is greater than 2, the current turnout opening value is either processed for packet loss or processed to the safe side. Based on the fact that the turnout type is a multi-directional turnout and the current turnout direction value is greater than the number of turnout directions, the current turnout direction value is either processed for packet loss or processed to the safe side.

[0073] In this embodiment, based on the turnout attributes, the area controller determines that the turnout being processed is a double turnout. According to industry standards, the legal opening values ​​for double turnouts are typically 1 (representing the normal position) and 2 (representing the reverse position). Therefore, the area controller compares the received current turnout opening value with the preset legal maximum value of 2. If the received value is found to be greater than 2 (for example, an abnormal value of 3 is received), this is clearly an illogical and incorrect turnout state. In this case, the area controller will either perform packet loss processing or biased safety processing on the abnormal current turnout opening value.

[0074] Packet loss handling can be understood as the area controller directly ignoring the message containing the erroneous turnout status sent by the current CI, waiting for the next normal message update. This is suitable for transient failure scenarios such as system communication fluctuations. On the other hand, a more conservative safety strategy involves the area controller marking the turnout and its associated block section as having an unknown or faulty status, refusing to generate any new movement authorizations in that area, and simultaneously sending an alarm message to the superior Automatic Train Supervision (ATS) system until the turnout status returns to normal.

[0075] Based on turnout attributes, the area controller determines that the turnout being processed is a multi-directional turnout. For multi-directional turnouts, the legal range of possible directions is determined by their physical structure. This information can be obtained by the area controller by reading the number of turnout directions contained in the turnout information. For example, Figure 1 The four-way turnout SW4-001 shown has a turnout direction count of 4 recorded in its turnout information. Therefore, the area controller compares the received current turnout direction value with the turnout direction count obtained from the turnout information. If the received value is greater than the turnout direction count (e.g., a value of 5 for a four-way turnout), it also means an illegal turnout status has been received. In this case, the area controller will also adopt a packet loss handling or safety-biased handling strategy similar to that used in Branch 1 to ensure system security.

[0076] In this embodiment, the received dynamic turnout status data is cross-validated with the static physical capability data of the turnouts stored in the track data. This data processing method can effectively identify and intercept illegal turnout status data caused by communication interference, interface errors, or interlocking equipment failures before the core algorithm of path search is executed. By performing preset packet loss or safety-biased processing on these illegal data, erroneous data can be prevented from being used in subsequent path calculation and movement authorization generation, thereby avoiding potential security risks and greatly enhancing the reliability and security of the entire train tracking method.

[0077] In some embodiments, the train tracking method further includes: Receive the target block section number sent by the Automatic Train Monitoring System (ATMS); Send a control command containing the target block section number to the train so that the train can travel through the block section corresponding to the target block section number at the speed limit corresponding to the target block section number.

[0078] In this embodiment, after receiving the target block section number, the area controller uses the number as an index or key to quickly locate the unique block section object corresponding to that number in its internally stored line data. Then, the area controller updates or adds the speed limit information (e.g., 40 km / h) attached to the instruction to the block section attribute information of the block section object.

[0079] When a train is about to enter a target block section, the area controller, during the route search and movement authorization generation process, reads the updated speed limit attribute from the block section object. At this point, the area controller sends a control command to the train containing the target block section number. In one implementation, this control command is integrated into the movement authorization (MA) sent to the train. That is, the generated movement authorization not only includes the authorized train's destination but also a detailed speed profile that clearly indicates the maximum allowed speed within the physical segment corresponding to the target block section number, which is the preset speed limit.

[0080] After receiving the movement authorization containing speed limit information, the onboard controller of the train will parse it, and the Automatic Train Protection (ATP) subsystem will control the train's operation according to the speed curve to ensure that the train smoothly decelerates to the speed limit value before reaching the target block section and strictly adheres to the speed limit when passing through the section.

[0081] In some embodiments, the link information of the occluded partition includes: left link object information and right link object information; The information for both the left-side and right-side link objects includes the following: Link object encoding, link object type, link object direction.

[0082] In some embodiments, the link object type is an enumeration type, specifically, 1 represents a no-turnout block section (i.e., a no-turnout block section), 2 represents a turnout block section (i.e., a turnout block section), and 3 represents a turnout object.

[0083] In some embodiments, when the linking object is a turnout, if the linking object direction is 1, it means that the link is from the front of the turnout to the back of the turnout; if the linking object direction is 2, it means that the link is from the back of the turnout to the front of the turnout. When the linking object is a block section, the linking object direction takes the invalid value 0xFF.

[0084] In some embodiments, turnout link information includes: The block section number corresponding to the block section before the turnout and the turnout direction value corresponding to the block section after the turnout.

[0085] In some embodiments, the turnout orientation value corresponding to the block section located after the turnout is represented by a block section array after the turnout, which stores the turnout orientation and takes values ​​[1, n]. To better accommodate ordinary double-direction turnouts, when the turnout is a double-direction turnout, orientation 1 indicates the fixed orientation and 2 indicates the reverse orientation; when the turnout is a multi-direction turnout, the turnout orientation n indicates the turnout orientation n position; the turnout four-direction value sending field bit is all 1, for example: the turnout status occupies 4 bits in the interface protocol, then the turnout orientation value is 1~14, 15 (0xF) indicates the turnout four-direction status.

[0086] In some embodiments, such as Figure 6 As shown, the double-direction turnouts and their corresponding track data are represented as follows: Specifically, the turnout object P01 includes a three-section section: the pre-turnout (no-turnout block) block section WC-Block-01, the post-turnout positioning block section DC-Block-02 (turnout block), and the post-turnout reversal block section DC-Block-01 (turnout block).

[0087] The line data for each section is as follows: The left-end link object of WC-Block-01 is turnout P01, and the link direction value is 1, indicating from the front of the turnout to the back of the turnout; the right-end link object is the turnout-free block section WC-Block-02, and the link direction value is 0xFF.

[0088] The left-end link object of DC-Block-01 is the non-branch block section WC-Block-03, and the link direction value is 0xFF; the right-end link object is the turnout P01, and the link direction value is 2, indicating from the back of the turnout to the front of the turnout.

[0089] The left-end link object of DC-Block-02 is the non-branch block section WC-Block-04, with the link direction value being 0xFF; the right-end link object is the turnout P01, with the link direction value being 2, indicating a direction from the back of the turnout to the front of the turnout.

[0090] Based on this, upon receiving the current turnout orientation value sent by the computer interlocking subsystem, the previous or next section can be known based on the aforementioned track data.

[0091] For example: When CI sends the turnout P01 to ZC with a reverse opening direction, when section WC-Block-02 performs section tracking calculation or train movement authorization calculation, it will calculate according to the current route status, section locking status, and the opening direction of turnout P01, based on the section link relationship (i.e., line data). Finally, the turnout object P01 can be found on the left side of WC-Block-02, and section DC-Block-01 can be found according to the link relationship from before the turnout to after the turnout and the opening direction (reverse position) of the turnout. Similarly, the object on the right side of WC-Block-03 is DC-Block-01. The search continues to the right from DC-Block-01 to find turnout P01. The link direction value is 2, which means searching from after the turnout to before the turnout. The unique section WC-Block-01 before the turnout can be found. The above process realizes the section dynamic search calculation function.

[0092] In some embodiments, such as Figure 7 As shown, the multi-directional turnouts and their corresponding track data are represented as follows: Specifically, the turnout object P01 includes the pre-turnout (no turnout block) block section WC-Block-01, the post-turnout positioning block sections DC-Block-01, DC-Block-02, DC-Block-03 and DC-Block-04, and also has block sections numbered WC-Block-02, WC-Block-03, WC-Block-04, WC-Block-05 and WC-Block-06.

[0093] When the turnout P01 direction sent by CI to ZC is 3 bits, if the block section WC-Block-02 performs section tracking calculation or train movement authorization calculation, it will calculate according to the current route status, section locking status, and the turnout P01 direction, based on the section link relationship (i.e., line data). Finally, the turnout object P01 can be found on the left side of WC-Block-02, and the section DC-Block-03 can be found according to the link relationship from front to back and the turnout direction (3 bits). Similarly, the object on the right side of WC-Block-05 is DC-Block-03. The turnout P01 can be found by continuing to search to the right from DC-Block-03. The link direction value is 2, which means that the unique front section WC-Block-01 can be found by searching from back to front of the turnout.

[0094] In some embodiments, such as Figure 8 As shown, train tracking methods include: Step 801: Define the data structure for multi-directional turnouts and the block data structure for block sections.

[0095] Among them, the multi-directional turnout line data structure is the turnout information in this application, and the block section data structure is the block section information in this application.

[0096] Step 802: Establish data object link relationships.

[0097] The data object linking relationship, also known as the line data in this application, is specifically established by combining the left and right object types and the section linking direction (i.e., the block section linking information in this application) in the data structure with the block sections corresponding to the n positions before and after the multi-directional turnouts to establish the section search relationship.

[0098] Step 803: Store line data.

[0099] Step 804: Define the ZC-CI interface interaction turnout status and define the ZC-AST interface interaction speed limit section.

[0100] Among them, the interface interaction turnout status is also the current turnout opening value in this application.

[0101] For example: The interface interaction turnout status is 4 bits, and the legal status value range is [1,14], which means that the turnout status can have 14 opening directions. When the value is 0xF, it means that the turnout is in a four-way opening state.

[0102] Specifically, regardless of whether it is a double turnout or a multi-directional turnout, information exchange is carried out according to the section before the turnout and multiple sections after the turnout.

[0103] Step 805: Is it a multi-directional turnout? If the result is yes, proceed to step 806; if the result is no, proceed to steps 807 and 808.

[0104] Step 806: Perform multi-branch tree path search and tracing calculations based on the current turnout orientation value.

[0105] Specifically, for ordinary double turnouts (which can be distinguished by turnout attributes), the turnout status 1 bit indicates the position and 2 bits indicate the reverse position. When performing segment and path searches, the multi-way tree path search algorithm can perform search calculations based on the number of opening directions, saving search time and improving system calculation efficiency. For multi-way turnouts, multi-way tree path search calculations can be performed based on the configured number of turnout opening directions, and the internal turnout status and segment link calculations can be set according to the opening direction value.

[0106] Step 807: Determine whether it is a normal double turnout. If the result is yes, proceed to step 809. If the result is no, cancel the response.

[0107] Step 808: Determine whether the current turnout opening value is consistent with the number of turnout opening directions. If the result is yes, proceed to step 806; if the result is no, proceed to step 810.

[0108] Step 809: Check if the current turnout direction value is greater than 2. If the result is yes, proceed to step 806. If the result is no, proceed to step 811.

[0109] Step 810: Packet loss handling or security-oriented handling.

[0110] Step 811: Packet loss handling or security-oriented handling.

[0111] Specifically, between steps 805 and 809, an interface message check is performed. If the turnout status value sent by CI to ZC is greater than the configured number of turnout directions, ZC will perform packet loss or biased safety processing.

[0112] Step 812: Store the block section locking information to complete the block sectioning and achieve train tracking.

[0113] Step 813: Map the segments according to the segment number sent by the ATS interface to complete the temporary speed limit issuance, cancellation and other related functions.

[0114] Specifically, the ground-based ZC maps segments based on the segment numbers sent by the ATS interface, and each segment can be mapped to a unique block section to complete functions such as issuing and canceling temporary speed limits.

[0115] The train tracking device provided by the present invention is described below. The train tracking device described below and the train tracking method described above can be referred to in correspondence.

[0116] In some embodiments, a train tracking device is provided, such as Figure 9 As shown, it includes the following modules: The acquisition module 901 is used to respond to the train tracking command to acquire the line data determined based on the block section information of each block section and the turnout information of each turnout. The block section information includes the block section number, the block section link information and the block section attribute information. The turnout information includes the turnout number, the turnout attribute, the number of turnout directions and the turnout link information. The determination module 902 is used to determine the current block section of the train and receive the current turnout opening value sent by the computer interlocking subsystem; The search module 903 is used to perform a path search in the line data based on the current turnout orientation value, starting from the current block section where the train is currently located, to obtain the train tracking result.

[0117] Figure 10An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 10 As shown, the electronic device may include a processor 1010, a communication interface 1020, a memory 1030, and a communication bus 1040, wherein the processor 1010, the communication interface 1020, and the memory 1030 communicate with each other through the communication bus 1040. The processor 1010 can call logical instructions in the memory 1030 to execute a train tracking method, which includes: in response to a train tracking command, acquiring line data determined based on the block section information of each block section and the turnout information of each turnout, wherein the block section information includes the block section number, the block section link information, and the block section attribute information, and the turnout information includes the turnout number, the turnout attribute, the number of turnout directions, and the turnout link information; determining the block section where the train is currently located, and receiving the current turnout direction value sent by the computer interlocking subsystem; and performing a path search in the line data based on the current turnout direction value, starting from the block section where the train is currently located, to obtain the train tracking result.

[0118] Furthermore, the logical instructions in the aforementioned memory 1030 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0119] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the train tracking method provided by the above methods. The method includes: in response to a train tracking command, acquiring track data determined based on the block section information of each block section and the turnout information of each turnout. The block section information includes the block section number, the block section link information, and the block section attribute information. The turnout information includes the turnout number, the turnout attribute, the number of turnout directions, and the turnout link information; determining the block section where the train is currently located, and receiving the current turnout direction value sent by the computer interlocking subsystem; starting from the block section where the train is currently located, performing a path search in the track data based on the current turnout direction value to obtain the train tracking result.

[0120] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the train tracking method provided by the above methods. The method includes: in response to a train tracking command, acquiring track data determined based on block section information and turnout information of each turnout, wherein the block section information includes a block section number, block section link information, and block section attribute information, and the turnout information includes a turnout number, turnout attribute, number of turnout directions, and turnout link information; determining the block section where the train is currently located, and receiving the current turnout direction value sent by the computer interlocking subsystem; and performing a path search in the track data based on the current turnout direction value, starting from the block section where the train is currently located, to obtain the train tracking result.

[0121] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0122] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, 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 ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A train tracking method, characterized in that, include: In response to a train tracking command, the system acquires track data determined based on the block section information of each block section and the turnout information of each turnout. The block section information includes the block section number, the link information of the block section, and the block section attribute information. The turnout information includes the turnout number, the turnout attribute, the number of turnout directions, and the turnout link information. Determine the current block section where the train is located, and receive the current turnout orientation value sent by the computer interlocking subsystem; Starting from the block section where the train is currently located, a path search is performed on the line data based on the current turnout orientation value to obtain the train tracking result.

2. The train tracking method according to claim 1, characterized in that, The process of using the current block section where the train is located as the starting point, and performing a path search in the track data based on the current turnout orientation value to obtain the train tracking result includes: Receive route information sent by the computer interlocking subsystem; Determine the travel path to be searched, wherein the travel path to be searched is the travel path established and locked for the train based on the route information in the route data; Starting from the block section where the train is currently located, a path search is performed on the path to be searched based on the current turnout orientation value to obtain the train tracking result.

3. The train tracking method according to claim 2, characterized in that, The train tracking method also includes: Receive section locking information sent by the computer interlocking subsystem; The process of using the current block section where the train is located as the starting point, and performing a path search on the target travel path based on the current turnout orientation value, to obtain the train tracking result includes: The section locking information is matched with the locking information corresponding to the first block partition, where the first block partition is the block partition in the route information. Based on the successful consistency verification between the section locking information and the locking information corresponding to the first block section, the train is currently located in the block section as the starting point, and a path search is performed on the search path based on the current turnout opening value to obtain the train tracking result. If the consistency check between the section locking information and the locking information corresponding to the first block section fails, a reminder message is output.

4. The train tracking method according to claim 3, characterized in that, The train tracking method also includes: Based on the train tracking results, the target block section and target turnout along the train's route are determined; Based on the section locking information, a movement authorization is generated for the target block section and the target turnout; Send the aforementioned mobility authorization to the train.

5. The train tracking method according to any one of claims 1 to 4, characterized in that, The train tracking method also includes: Based on the aforementioned turnout attributes, determine the turnout type for each turnout; Based on the fact that the turnout type is a double turnout and the current turnout opening value is greater than 2, the current turnout opening value is processed for packet loss or biased towards the safe side. Based on the fact that the turnout type is a multi-directional turnout, and the current turnout direction value is greater than the number of turnout directions, the current turnout direction value is processed for packet loss or biased towards the safe side.

6. The train tracking method according to any one of claims 1 to 4, characterized in that, The train tracking method also includes: Receive the target block section number sent by the Automatic Train Monitoring System (ATMS); A control command containing the target block section number is sent to the train so that the train can travel through the block section corresponding to the target block section number at the speed limit corresponding to the target block section number.

7. The train tracking method according to any one of claims 1 to 4, characterized in that, The link information of the occlusion partition includes: left-side link object information and right-side link object information; The information of the left-side link object and the information of the right-side link object both include the following information: Link object encoding, link object type, link object direction.

8. The train tracking method according to any one of claims 1 to 4, characterized in that, The turnout connection information includes: The block section number corresponding to the block section before the turnout and the turnout direction value corresponding to the block section after the turnout.

9. A train tracking device, characterized in that, include: The acquisition module is used to respond to train tracking instructions to acquire line data determined based on the block section information of each block section and the turnout information of each turnout. The block section information includes the block section number, the link information of the block section and the block section attribute information. The turnout information includes the turnout number, the turnout attribute, the number of turnout directions and the turnout link information. The determination module is used to determine the current block section of the train and receive the current turnout orientation value sent by the computer interlocking subsystem; The search module is used to perform a path search in the line data based on the current turnout orientation value, starting from the current block section where the train is currently located, to obtain the train tracking result.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the train tracking method as described in any one of claims 1 to 8.

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