Manual train arrival method and device based on BLS over-estimation localization update, and medium

Abstract

A manual train arrival method based on a BLS over-estimation localization update. The method comprises: by means of beacon information collected by a BLS antenna, calculating train-end over-estimated location information, which ensures the safety of a train; and after an over-estimated train head location reaches a service stopping point, delaying for a set time, and then determining the arrival of the train, wherein the BLS refers to a train backup localization system. Compared with the prior art, the method has the advantages of accurately obtaining a train-end location on the basis of a beacon location, etc. Further provided are a manual train arrival device based on a BLS over-estimation localization update, and a medium.

Description

Manual vehicle arrival method, equipment and medium based on BLS over-estimated positioning update Technical Field

[0001] The present invention relates to a train signal control system, and in particular to a manual train arrival method, device and medium based on BLS over-estimation positioning update. Background Art

[0002] The Train Autonomous Operation System (TACS) refers to a signaling system that enables autonomous resource management and active interval protection based on the train's operation plan and real-time location. The Wayside Train Control Subsystem (WTC) is the backup subsystem for TACS system train control. When the onboard control subsystem (CC) fails or is disconnected, the train will switch to WTC control mode, which will ensure the safe operation of the train in manual driving mode. In WTC control mode, the WTC will receive tasks from the ATS, and the manually driven train will move the train according to the tasks. During the execution of the task, the timely and accurate judgment of whether the train has arrived at the station is related to the occupation and release of line resources, which directly affects the operating efficiency in the WTC control mode.

[0003] The current WTC train control mode determines train arrival by uniformly discarding the currently executing task 240 seconds after receiving a task from the ATS. This method ignores the distance between stations and train speed, leading to significant errors in arrival judgment and significantly reducing operational efficiency under the WTC control mode. This design is unscientific and inconsistent with the efficient and flexible nature of the TACS system.

[0004] After searching, Chinese patent publication number CN104554350A discloses a beacon detection method for train positioning, which specifically discloses the following steps: setting a beacon window state machine, the state machine is initially in the first state; when the train passes through the first beacon window after running, the state machine switches state, the train antenna reads the first beacon and establishes the train position, and the state machine switches state after the train leaves the first beacon window; the train continuously updates the position during operation, searches and determines whether the antenna is within a certain beacon window; when within a certain window, the state machine switches to the second state and marks the beacon as the expected beacon; if the expected beacon is detected within the window, the train position is updated through the expected beacon; after the train leaves the window of the expected beacon, it switches to the first state and continues to detect other subsequent beacons. However, this existing patent does not involve how to achieve accurate arrival of manual vehicles at different station spacings and different speeds.

[0005] Summary of the Invention

[0006] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a method, device and medium for manual vehicle arrival based on BLS over-estimation positioning update.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] According to the first aspect of the present invention, a method for artificial vehicle arrival based on BLS over-estimated positioning update is provided. The method calculates the vehicle-end over-estimated position information to ensure train safety through the beacon information collected by the BLS antenna, and after reaching the mission end position through the over-estimated vehicle head position, the train arrival is judged after a set time delay, wherein BLS is the train backup positioning system.

[0009] As a preferred technical solution, the method specifically includes the following steps:

[0010] Step S1: A manually driven train in the WTC control mode receives an operation task from the ATS and starts running according to the task direction. WTC is the trackside train control subsystem.

[0011] Step S2: The BLS antenna placed in the middle of the train collects beacons on the line below in real time and names the collected beacons B1;

[0012] Step S3: Based on the collected beacon B1, the coordinate position of the B1 beacon is obtained. The search range referenceZone is obtained by intersecting the task execution path and the train's worst-case reachable position path. The next beacon is searched forward in the train's running direction. If the adjacent beacon B2 is found, step S4 is executed; otherwise, the referenceZone boundary is used as the estimated vehicle-end position NovMaTEP, and step S5 is executed.

[0013] Step S4: Obtain the coordinate position based on the adjacent beacon B2 and search forward along the train's running direction. If the search length reaches the "maximum BLS antenna to vehicle end distance", the position of the "maximum BLS antenna to vehicle end distance" in front of the adjacent beacon is used as the NovMaTEP, and step S5 is executed; if the referenceZone boundary is found in advance, the boundary position is used as the NovMaTEP, and step S5 is executed;

[0014] Step S5, determine whether the position of NovMaTEP has reached the SSP of the task, if it has, execute step S7, if not, return to step S2;

[0015] Step S6, continuing to maintain the train mission being executed for a period of time;

[0016] Step S7: After the task is kept for the set time, the WTC drops the currently executing task, the task is completed, and the train arrives at the station.

[0017] As a preferred technical solution, the operation task issued by the ATS in step S1 includes the operation range of the train from the starting station to the terminal station, and defines the task end position SSP in the task, which is the locomotive reference position when the train stops at the platform.

[0018] As a preferred technical solution, in step S2, the BLS antenna provides the WTC with corresponding train ID information and train location information through the collected beacon information.

[0019] As a preferred technical solution, the BLS is arranged on the train and cooperates with the WTC to complete the operation of the train.

[0020] As a preferred technical solution, the task execution path in step S3 is the path that the train needs to move in the task issued by the ATS.

[0021] As a preferred technical solution, the worst-case achievable position path of the train in step S3 is a achievable path calculated by the train in real time according to the train speed and quality status.

[0022] As a preferred technical solution, the over-estimated vehicle end position NovMaTEPP in step S3 is used to ensure that the vehicle front will not exceed this position in the worst case.

[0023] As a preferred technical solution, the specific implementation process of step S3 is as follows:

[0024] Step S3.1, obtain the search range referenceZone by the intersection of the task execution path and the train's worst-case reachable location path;

[0025] Step S3.2, obtaining the positions of all beacons along the entire line as the search stop condition;

[0026] Step S3.3: Start searching forward with the location of beacon B1 detected by the BLS antenna as the search starting point and the train running direction as the search direction;

[0027] Step S3.4, determine whether the location coordinates of the beacon are found. If so, the search ends, the adjacent beacon B2 at the location is found, and step S4 is executed; if the referenceZone boundary is found, the search ends, the referenceZone boundary is used as NovMaTEP, and step S5 is executed.

[0028] As a preferred technical solution, the maximum distance from the BLS antenna to the vehicle end in step S4 is the maximum distance from the BLS antenna deployed in the middle of the train to the two ends of the vehicle.

[0029] As a preferred technical solution, the specific implementation process of step S4 is as follows:

[0030] Step S4.1, obtain the search range referenceZone by the intersection of the task execution path and the train's worst-case reachable position path;

[0031] Step S4.2, using the search length "maximum BLS antenna to vehicle end distance" as the search stop condition;

[0032] Step S4.3: Start searching forward with the position of adjacent beacon B2 as the search starting point and the train running direction as the search direction;

[0033] Step S4.4, determine whether the search length reaches the "maximum BLS antenna to vehicle end distance". If it reaches it, the search ends, and the "maximum BLS antenna to vehicle end distance" position in front of the adjacent beacon is used as NovMaTEP, and step S5 is executed; if it does not reach it, the boundary position is used as NovMaTEP, the search ends, and step S5 is executed.

[0034] As a preferred technical solution, a delay time is set in step S6 to continue to maintain the task.

[0035] As a preferred technical solution, the delay time is determined according to the beacon arrangement, train length and train speed to ensure that the train can reach the SSP.

[0036] As a preferred technical solution, the delay time is 20s.

[0037] According to a second aspect of the present invention, an electronic device is provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the method when executing the program.

[0038] According to a third aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method described above is implemented.

[0039] Compared with the prior art, the present invention has the following advantages:

[0040] 1) This invention designs an over-estimation positioning method. By using the beacons collected by the BLS antenna, the over-estimation position information of the vehicle end is calculated to ensure the safety of the train. The vehicle end position of the train can be accurately obtained based on the beacon position.

[0041] 2) This method uses beacons collected by the train's BLS antenna to calculate the vehicle-side over-estimated position information in real time. It determines the train's arrival 20 seconds after the over-estimated locomotive position reaches the mission endpoint. This method maintains a time of 240 seconds compared to the original solution, enabling accurate arrival of manual vehicles at different station distances and speeds, thereby improving mission execution efficiency.

[0042] 3) The present invention can release line resources in a timely manner by accurately judging the arrival of trains, thereby improving the operating efficiency under the WTC train control mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a schematic diagram of the overestimation positioning of the train head;

[0044] Figure 2 is a schematic diagram of the train locomotive arriving at the station after overestimation positioning;

[0045] Figure 3 is a flow chart of the WTC manual vehicle arrival method;

[0046] Figure 4 is a flow chart of the vehicle head over-estimation positioning and beacon search;

[0047] FIG5 is a flowchart of searching NovMaTEP through adjacent beacons. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0049] The present invention provides a method for manually arriving at a station based on BLS over-estimation positioning update, which specifically includes the following steps:

[0050] Step S1: The manually driven train in the WTC control mode receives the operation task issued by the ATS, and the train starts running according to the task direction.

[0051] The operation task issued by the ATS in step S1 includes the operation range of the train from the starting station to the terminal station. The task defines the task end position SSP (Service Stopping Point), which is the locomotive reference position when the train stops at the platform.

[0052] Step S2: The BLS antenna placed in the middle of the train collects beacons on the line below in real time. The collected beacons are named B1.

[0053] In step S2, the BLS is the train's backup positioning system. The BLS antenna primarily collects beacon information. The BLS uses this collected beacon information to provide the WTC with the corresponding train ID and location information, enabling downgraded train tracking. The BLS is deployed on the train and collaborates with the WTC to ensure train operation.

[0054] Step S3: Based on the collected beacon B1, obtain the coordinate position of beacon B1. Obtain the search range referenceZone by intersecting the task execution path and the train's worst-case reachable position path. Search forward in the train's direction of travel for the next beacon until the adjacent beacon B2 is found, and proceed to step S4. If no beacon is found, use the referenceZone boundary as the estimated vehicle-end position NovMaTEP and proceed to step S5.

[0055] In step S3, the task execution path is the path that the train needs to move in the task issued by the ATS; the train's worst-case achievable position path is the achievable path calculated by the train in real time based on the train's speed, mass and other conditions; NovMaTEP is the estimated vehicle end position (Non-vital Majoring Train End Position), which can ensure that the vehicle head will not exceed this point in the worst case.

[0056] The implementation details of step S3 are as follows:

[0057] Step S3.1, obtain the search range referenceZone by the intersection of the task execution path and the train's worst-case reachable location path;

[0058] Step S3.2, obtaining the positions of all beacons along the entire line as the search stop condition;

[0059] Step S3.3: Start searching forward with the location of beacon B1 detected by the BLS antenna as the search starting point and the train running direction as the search direction;

[0060] Step S3.4, determine whether the location coordinates of the beacon are found. If so, the search ends, and the adjacent beacon B2 at the location is found, and step S4 is executed; if the referenceZone boundary is found, the search ends, the referenceZone boundary is used as NovMaTEP, and step S5 is executed;

[0061] Step S4: Obtain the coordinate position based on the adjacent beacon B2 and search forward along the train's running direction. If the search length reaches the "maximum BLS antenna to vehicle end distance", the position of the "maximum BLS antenna to vehicle end distance" in front of the adjacent beacon is used as the NovMaTEP; if the referenceZone boundary is found in advance, the boundary position is used as the NovMaTEP;

[0062] In step S4, the maximum BLS antenna to vehicle end distance is the maximum distance between the BLS antenna deployed in the middle of the train and the two ends of the train;

[0063] The implementation details of step S4 are as follows:

[0064] Step S4.1, obtain the search range referenceZone by the intersection of the task execution path and the train's worst-case reachable position path;

[0065] Step S4.2, using the search length "maximum BLS antenna to vehicle end distance" as the search stop condition;

[0066] Step S4.3: Start searching forward with the position of adjacent beacon B2 as the search starting point and the train running direction as the search direction;

[0067] Step S4.4: Determine whether the search length reaches the "maximum BLS antenna to vehicle distance". If so, the search ends, and the position of the "maximum BLS antenna to vehicle distance" in front of the adjacent beacon is used as NovMaTEP, and step S5 is executed; if not, the boundary position is used as NovMaTEP, the search ends, and step S5 is executed;

[0068] Step S5, determine whether the position of NovMaTEP has reached the SSP of the task, if it has, execute step S7, if not, continue to execute step S2;

[0069] Step S6: NovMaTEP has reached SSP and continues to execute the train task for 20 seconds.

[0070] In step S6, NovMaTEP is the over-estimated positioning of the train head. When NovMaTEP arrives at SSP, the actual train head has not arrived yet, so it is necessary to set a 20s delay and continue the task for a period of time. Taking into account the beacon layout, train length and train speed, the train can be guaranteed to arrive at SSP within 20s.

[0071] Step S7: After the task is kept for 20 seconds, WTC drops the currently executing task, the task is completed, and the train arrives at the station.

[0072] The following is a detailed description with reference to the accompanying drawings:

[0073] Figure 1 is a schematic diagram of the over-estimation positioning of the train head. As shown in the figure, beacon B1 is collected by the BLS antenna arranged on the running train. Beacon B2 is the first beacon adjacent to B1 in the direction of the train's movement. Through B2, the maximum distance from the BLS antenna to the vehicle end is searched forward to find a coordinate position, which is the NovMaTEP. When searching for NovMaTEP through beacons, it is limited to a search range referenceZone. The calculation of this range is shown in the figure. It is obtained by the intersection of the task execution path and the train's worst-case reachable position path. If the referenceZone boundary is searched when searching for NovMaTEP, the boundary point is used as NovMaTEP. As shown in the figure, the train's worst-case reachable position path is the envelope of the train's movement, that is, the train's actual running position will never exceed this range.

[0074] Figure 2 is a schematic diagram of the train head's over-estimation positioning at the station. As shown in the figure, when NovMaTEP just arrives at or just passes the SSP, the actual train has not arrived yet. At this moment, the arrival countdown is triggered with a delay of 20 seconds. Considering the beacon layout, train length and train speed, the train can be guaranteed to arrive at the SSP within 20 seconds.

[0075] Figure 3 is a flow chart of the WTC manual vehicle arrival method, with the following specific steps:

[0076] Step (1): The manually driven train in the WTC control mode receives the operation task issued by the ATS, and the train starts running according to the task direction.

[0077] Step (2), the BLS antenna placed in the middle of the train collects beacons on the line below in real time, and the collected beacons are named B1;

[0078] Step (3): Based on the collected beacon B1, obtain the coordinate position of the B1 beacon. Obtain the search range referenceZone by intersecting the task execution path and the train's worst-case reachable position path. With the train's running direction as the search direction, search forward for the next beacon until the adjacent beacon B2 is found, and execute step S4. If no beacon is found, use the referenceZone boundary as the estimated vehicle-end position NovMaTEP and execute step S5.

[0079] Step (4): Obtain the coordinate position based on the adjacent beacon B2 and search forward along the train running direction. If the search length reaches the "maximum BLS antenna to vehicle end distance", the position of the "maximum BLS antenna to vehicle end distance" in front of the adjacent beacon is used as the NovMaTEP; if the referenceZone boundary is found in advance, the boundary position is used as the NovMaTEP;

[0080] Step (5), determine whether the position of NovMaTEP has reached the SSP of the task, if it has, execute step S7, if not, continue to execute step S2;

[0081] In step (6), NovMaTEP has reached SSP and continues to execute the train task for 20 seconds;

[0082] In step (7), after the task is kept for 20 seconds, WTC drops the currently executing task, the task execution is completed, and the train arrives at the station.

[0083] Figure 4 is a flow chart of the vehicle head over-estimation positioning and beacon search, the specific steps are:

[0084] Step (1), obtain the search range referenceZone by the intersection of the task execution path and the train's worst-case reachable position path;

[0085] Step (2), obtaining the positions of all beacons along the entire line as the search stop condition;

[0086] Step (3): starting the search from the location of beacon B1 detected by the BLS antenna and the direction of the train's movement.

[0087] Step (4) determines whether the location coordinates of the beacon are found. If so, the search ends and the adjacent beacon B2 at the location is found. If the referenceZone boundary is found, the search ends and the referenceZone boundary is used as NovMaTEP.

[0088] Figure 5 is a flowchart of searching NovMaTEP through adjacent beacons. The specific steps are:

[0089] Step (1), obtain the search range referenceZone by the intersection of the task execution path and the train's worst-case reachable position path;

[0090] Step (2), using the search length "maximum BLS antenna to vehicle end distance" as the search stop condition;

[0091] Step (3): Start searching forward with the position of the adjacent beacon B2 as the search starting point and the train running direction as the search direction;

[0092] Step (4) determines whether the search length reaches the "maximum BLS antenna to vehicle end distance". If so, the search ends and the position of the "maximum BLS antenna to vehicle end distance" in front of the adjacent beacon is used as NovMaTEP; if not, the boundary position is used as NovMaTEP and the search ends.

[0093] The above is an introduction to a method embodiment. The following further illustrates the solution of the present invention through an electronic device and a storage medium embodiment.

[0094] An embodiment of the present invention further provides an electronic device including a central processing unit (CPU), which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) or computer program instructions loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The CPU, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0095] Many components in a device are connected to the I / O interface, including: input units, such as a keyboard and mouse; output units, such as various types of displays and speakers; storage units, such as magnetic disks and optical disks; and communication units, such as network cards, modems, and wireless communication transceivers. The communication unit allows the device to exchange information / data with other devices via computer networks such as the Internet and / or various telecommunication networks.

[0096] The processing unit performs the various methods and processes described above, such as the inventive method. For example, in some embodiments, the inventive method can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed on the device via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by the CPU, one or more steps of the inventive method described above can be performed. Alternatively, in other embodiments, the CPU can be configured to perform the inventive method by any other appropriate means (e.g., by means of firmware).

[0097] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0098] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. Such program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0099] In the context of the present invention, machine-readable medium can be a tangible medium that can contain or store a program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0100] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A method for manual vehicle arrival based on BLS over-estimation positioning update, characterized in that: This method calculates the over-estimated position information of the vehicle end to ensure the safety of the train through the beacon information collected by the BLS antenna, and after the over-estimated vehicle head position reaches the mission end position, it delays the set time and then judges the arrival of the train, where BLS is the train backup positioning system.

2. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 1, characterized in that: The method specifically comprises the following steps: Step S1, the manually driven train in the WTC control mode receives the operation task issued by the ATS, and the train starts to run according to the task direction, wherein WTC is the trackside train control subsystem; Step S2, the BLS antenna arranged in the middle of the train collects beacons on the line below in real time, and names the collected beacons B1; Step S3, according to the collected beacon B1, obtain the coordinate position of the B1 beacon, obtain the search range referenceZone through the intersection of the task execution path and the train's worst-case reachable position path, and use the train running direction as the search direction to search forward for the next beacon. If the adjacent beacon B2 is found, execute step S4; otherwise, use the referenceZone boundary as the over-estimated vehicle end position NovMaTEP, and execute step S5; Step S4, obtain the coordinate position according to the adjacent beacon B2, search forward along the train running direction, if the search length reaches the "maximum BLS antenna to vehicle end distance", take the "maximum BLS antenna to vehicle end distance" position in front of the adjacent beacon as NovMateP, and execute step S5; if the referenceZone boundary is searched in advance, take the boundary position as NovMateP, and execute step S5; Step S5, determine whether the position of NovMaTEP has reached the SSP of the task, if it has, execute step S7, if not, return to step S2; Step S6, continuing to maintain the train mission being executed for a period of time; Step S7, after the task is kept for a set time, WTC discards the currently executing task, the task is completed, and the train arrives at the station.

3. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 2 is characterized in that: The operation task issued by the ATS in step S1 includes the operation range of the train from the departure station to the terminal station, and defines the task end position SSP in the task, which is the locomotive reference position when the train stops at the platform.

4. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 2 is characterized in that: In step S2, the BLS antenna provides the WTC with corresponding train ID information and train location information through the collected beacon information.

5. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 2, characterized in that: The BLS is arranged on the train and cooperates with the WTC to complete the operation of the train.

6. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 2, characterized in that: The task execution path in step S3 is the path that the train needs to move in the task issued by the ATS.

7. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 2, characterized in that: The worst-case achievable position path of the train in step S3 is a achievable path calculated by the train in real time according to the train speed and quality status.

8. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 2, characterized in that: The over-estimated vehicle end position NovMaTEPP in step S3 is used to ensure that the vehicle head will not exceed this position in the worst case.

9. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 2, characterized in that: The specific implementation process of step S3 is as follows: Step S3.1, obtaining the search range referenceZone through the intersection of the task execution path and the train's worst-case reachable location path; Step S3.2, obtaining the positions of all beacons along the entire line as a search stop condition; Step S3.3, starting the search forward with the location of beacon B1 collected by the BLS antenna as the search starting point and the train running direction as the search direction; Step S3.4, determine whether the location coordinates of the beacon are searched. If so, the search ends, find the adjacent beacon B2 at the location, and execute step S4; if the referenceZone boundary is searched, the search ends, the referenceZone boundary is used as NovMaTEP, and execute step S5.

10. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 2, characterized in that: The maximum BLS antenna to vehicle end distance in step S4 is the maximum distance between the BLS antenna deployed in the middle of the train and the two ends of the vehicle.

11. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 2, characterized in that: The specific implementation process of step S4 is as follows: Step S4.1: Obtain the search range by the intersection of the task execution path and the train’s worst-case reachable position path. referenceZone; Step S4.2, using the search length "maximum BLS antenna to vehicle end distance" as the search stop condition; Step S4.3, starting forward search with the position of the adjacent beacon B2 as the search starting point and the train running direction as the search direction; Step S4.4, determine whether the search length reaches the "maximum BLS antenna to vehicle end distance". If it reaches it, the search ends, and the "maximum BLS antenna to vehicle end distance" position in front of the adjacent beacon is used as NovMaTEP, and step S5 is executed; if it does not reach it, the boundary position is used as NovMaTEP, the search ends, and step S5 is executed.

12. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 2, characterized in that: In step S6, a delay time is set to continue to maintain the task.

13. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 12, characterized in that: The delay time is determined according to the beacon arrangement, train length and train speed to ensure that the train can reach the SSP.

14. The method for artificial vehicle arrival based on BLS over-estimation positioning update according to claim 12, characterized in that: The delay time is 20s.

15. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the program, the method according to any one of claims 1 to 14 is implemented.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

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