Railway crossing control system, method and apparatus, and storage medium

Abstract

The present invention relates to the technical field of rail transit. Disclosed are a railway crossing control system, method and apparatus, and a storage medium. The system comprises: a speed measurement and distance measurement device, which is used for acquiring the real-time speed of a train and the real-time distance from the train to a crossing on the basis of the real-time signal strength and the real-time signal strength change rate of a detection signal; and a central device, which is used for determining a target crossing closure notification position by means of a pre-trained train operation state prediction model on the basis of the real-time speed of the train and the real-time distance from the train to the crossing, generating crossing closure information and sending the crossing closure information to a crossing device, and generating a train movement permission and sending the train movement permission to an onboard device. In the technical solution of the present embodiment, a crossing closure notification position is determined on the basis of the real-time speed of a train and the real-time distance from the train to a crossing, such that a crossing closure occasion can be automatically determined on the basis of the real-time running speed of the train, the distance from the crossing closure notification position to the crossing can be shortened, the crossing closure occasion is delayed, and the transportation efficiency on a railway side and a road side can be improved.

Description

Railway crossing control system, method, device and storage medium TECHNICAL FIELD

[0001] The present application relates to the field of rail transit, and in particular to a railway crossing control system, method, device and storage medium. BACKGROUND

[0002] A level crossing refers to a level intersection with a pavement width of 2.5 meters or more on a railway and directly penetrating a road. The level crossing is an indispensable part of the entire railway network and is the only area in the entire traffic network where there is a conflict of road and railway rights. The two types of traffic participants at the crossing have distinct characteristics. The railway traffic is organized strictly, and the display of the allowed and prohibited signals during train operation is clear and strictly enforced. The behavior characteristics of road traffic participants (pedestrians, non-motor vehicles, motor vehicles, etc.) are highly dispersed, and pedestrians are relatively less constrained by traffic signals. Therefore, the running scenarios of the section and station containing the crossing are more complex, and more interference factors need to be considered.

[0003] Currently, the existing railway crossing control method generally calculates the crossing closure notification position of the train approaching the level crossing according to the formula in the appendix of the Technical Conditions for Railway Station Crossing Signal Equipment (GB 10493-2018) or the Technical Conditions for Railway Section Crossing Signal Equipment (GB 10494-2018). The position is generally a fixed value and does not change according to the train speed. However, in the prior art, the real-time speed of the approaching train is not considered, resulting in a longer length of the crossing closure notification position from the crossing and an earlier crossing closure timing, which greatly affects the transportation efficiency of the railway side and the road side. Therefore, it is necessary to propose a new railway crossing control system and method to solve the above problems. SUMMARY

[0004] The present application provides a railway crossing control system, method, device and storage medium, which can automatically determine the crossing closure timing according to the real-time running speed of the train after the train approaches, shorten the length of the crossing closure notification position from the crossing, and delay the crossing closure timing. While ensuring the safety of train operation and the safety of people and vehicles on the road side, the transportation efficiency of the railway side and the road side can be improved.

[0005] According to an aspect of the present application, a railway crossing control system is provided, comprising a speed and distance measuring device and a center device.

[0006] The speed and distance measuring device is arranged on both sides of the railway line from the fixed crossing closing notification position to the crossing, is used for applying a detection signal to the track, and acquires real-time speed and real-time distance of the train from the crossing according to real-time signal strength and real-time signal strength change rate of the detection signal, and sends the real-time speed and the real-time distance of the train to the central device;

[0007] The central device is used for determining a target crossing closing notification position according to the real-time speed and the real-time distance of the train by using a pre-trained train running state prediction model, and generating and sending crossing closing information to the crossing device when the train reaches the target crossing closing notification position, so that the crossing device closes the crossing, and generating and sending a train permission to the on-board device after the crossing is closed, so that the on-board device controls the train to pass through the crossing based on the train permission.

[0008] According to another aspect of the present application, a control method of a railway crossing is provided, which is applied to the control system of the railway crossing according to any one of the embodiments of the present application, and comprises:

[0009] The speed and distance measuring device is arranged on both sides of the railway line from the fixed crossing closing notification position to the crossing, is used for applying a detection signal to the track, and acquires real-time speed and real-time distance of the train from the crossing according to real-time signal strength and real-time signal strength change rate of the detection signal;

[0010] The central device is used for determining a target crossing closing notification position according to the real-time speed and the real-time distance of the train by using a pre-trained train running state prediction model, and generating and sending crossing closing information to the crossing device when the train reaches the target crossing closing notification position, so that the crossing device closes the crossing, and generating and sending a train permission to the on-board device after the crossing is closed, so that the on-board device controls the train to pass through the crossing based on the train permission.

[0011] The central device is used for determining a target crossing closing notification position according to the real-time speed and the real-time distance of the train by using a pre-trained train running state prediction model, and generating and sending crossing closing information to the crossing device when the train reaches the target crossing closing notification position, so that the crossing device closes the crossing, and generating and sending a train permission to the on-board device after the crossing is closed, so that the on-board device controls the train to pass through the crossing based on the train permission.

[0012] According to another aspect of the present application, a control device of a railway crossing is provided, which is applied to the control system of the railway crossing according to any one of the embodiments of the present application, and comprises:

[0013] The speed and distance measuring device is arranged on both sides of the railway line from the fixed crossing closing notification position to the crossing, is used for applying a detection signal to the track, and acquires real-time speed and real-time distance of the train from the crossing according to real-time signal strength and real-time signal strength change rate of the detection signal;

[0014] The crossing closing notification position determining module is configured to determine a target crossing closing notification position based on a pre-trained train running state prediction model according to the real-time speed of the train and the real-time distance of the train from the crossing by the central device, and generate crossing closing information when the train reaches the target crossing closing notification position.

[0015] The train passing control module is configured to generate a train passing permission by the central device when the crossing is successfully closed based on the crossing closing information, so that the on-board device controls the train to pass the crossing based on the train passing permission.

[0016] According to another aspect of the present application, a computer readable storage medium is provided, which stores a computer program for causing a processor to implement the control method of the railway crossing according to any of the embodiments of the present application.

[0017] The technical scheme of the embodiment of the present application applies a detection signal to the track by the speed and distance measuring device arranged on the two sides of the railway line from the crossing closing notification position to the crossing, and acquires the real-time speed of the train and the real-time distance of the train from the crossing according to the real-time signal strength and the real-time signal strength change rate of the detection signal. Then, the target crossing closing notification position is determined based on a pre-trained train running state prediction model according to the real-time speed of the train and the real-time distance of the train from the crossing by the central device, and the crossing closing information is generated when the train reaches the target crossing closing notification position. After the crossing is closed, the train passing permission is generated by the central device, so that the on-board device controls the train to pass the crossing based on the train passing permission. The real-time speed of the train and the real-time distance of the train from the crossing are acquired by the speed and distance measuring device, and the crossing closing notification position is determined based on the real-time speed of the train and the real-time distance of the train from the crossing, so that the crossing closing time can be automatically determined according to the real-time running speed of the train after the train approaches, the length of the crossing closing notification position from the crossing can be shortened, and the crossing closing time can be delayed. The transport efficiency of the railway side and the highway side can be improved while ensuring the safety of train operation and the safety of people and vehicles on the highway side.

[0018] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a structural schematic diagram of a railway crossing control system according to an embodiment of the present application;

[0021] Figure 2 is a structural schematic diagram of another railway crossing control system according to an embodiment of the present application;

[0022] Figure 3 is a flow chart of a railway crossing control method according to an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of a train follow-up operation curve according to an embodiment of the present application;

[0024] Figure 5 is a flow chart of another railway crossing control method according to an embodiment of the present application;

[0025] Figure 6 is a structural schematic diagram of a railway crossing control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the personnel in the art without creative labor should belong to the protection scope of the present application.

[0027] It should be noted that the terms "first", "second", "target" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment One

[0029] Figure 1 is a structural schematic diagram of a railway crossing control system according to an embodiment of the present application, the railway crossing control system 10 can include a speed and distance measuring device 11 and a center device 12;

[0030] The speed and distance measuring device 11 is arranged on both sides of the railway line from the fixed crossing closure notification position to the crossing, used to apply a detection signal to the track, and according to the real-time signal strength and real-time signal strength change rate of the detection signal, to obtain the real-time speed of the train and the real-time distance of the train from the crossing, and to send the real-time speed of the train and the real-time distance of the train from the crossing to the central device 12.

[0031] Wherein, the fixed crossing closure notification position can be a fixed value determined based on the crossing closure notification position of the prior art. The speed and distance measuring device 11 can be arranged at intervals on both sides of the line from the fixed crossing closure notification position to the crossing. In this embodiment, each speed and distance measuring device 11 arranged at intervals can relay the detection of the passing train to obtain the real-time speed of the train and the real-time distance of the train from the crossing, and can transmit the real-time speed of the train and the real-time distance of the train from the crossing to the central device 12.

[0032] In this embodiment, the speed and distance measuring device 11 can be indirectly connected to the central device 12 through the track circuit and trackside equipment 13, or can be directly connected to the central device 12. When indirectly connected to the central device 12 through the track circuit and trackside equipment 13, the real-time speed of the train and the real-time distance of the train from the crossing can be first sent to the track circuit and trackside equipment 13, and then forwarded to the central device 12 by the track circuit and trackside equipment 13.

[0033] Wherein, the speed and distance measuring device 11 can continuously superimpose a detection signal on the track and collect information such as detection signal voltage and current on the track. Typically, the detection signal can be a constant current frequency signal, and its frequency can be determined by the distance from the fixed crossing closure notification position to the crossing, and other factors such as track circuit type and track configuration can also be considered. For example, the detection signal frequency decays due to track impedance, and the higher the frequency, the faster the decay, while the track impedance is proportional to the distance, so the detection signal frequency can be inversely proportional to the distance from the fixed crossing closure notification position to the crossing.

[0034] It should be noted that when the train approaches the crossing, the impedance value of the track will change, thereby causing the collected signal strength to change, and the relationship is linear. Specifically, the speed and distance measuring terminal device is arranged on the track at the fixed crossing closure notification position, so that the detection range is only from the fixed crossing closure notification position to the crossing. When the train enters the detection area and moves towards the crossing, the impedance of the track decreases due to the low resistance shunt generated by the train wheels (the wheel resistance is very low, and most of the current on the track is diverted, which can be regarded as short-circuiting the track that has been driven); When the train reaches the crossing, the impedance of the track section from the crossing closure notification position to the crossing reaches a minimum; When the train leaves the crossing, the impedance of the track increases continuously, and when it leaves the crossing closure notification position, the impedance of the track reaches a maximum.

[0035] Thus, the impedance value of the track is linearly related to the relative distance of the train from the crossing, and the collected detection signal strength is linearly related to the relative distance of the train from the crossing, so that the distance of the train from the crossing can be obtained according to the collected detection signal strength. Moreover, the change rate of the collected detection signal strength is linearly related to the speed of the train, so that the speed of the train can be obtained according to the change rate of the collected detection signal strength.

[0036] In the embodiment, the corresponding relationship between the signal strength and the distance of the train from the crossing, and the corresponding relationship between the change rate of the signal strength and the speed of the train can be measured in advance and stored in the local. When the real-time signal strength and the real-time change rate of the signal strength of the collected detection signal are obtained, the real-time speed of the train and the real-time distance of the train from the crossing can be determined by searching the stored corresponding relationship.

[0037] The center device 12 is configured to determine a target crossing closing notification position according to the real-time speed of the train and the real-time distance of the train from the crossing by using the pre-trained train running state prediction model, and generate and send crossing closing information to the crossing device 14 when the train reaches the target crossing closing notification position, so that the crossing device 14 closes the crossing, and generates and sends a train operation permission to the on-board device 15 after the crossing is closed, so that the on-board device 15 controls the train to pass through the crossing based on the train operation permission.

[0038] The center device 12 can be a remote train control center device, such as a computer device or a server, or can be a processor module, such as a processor module arranged in the on-board device 15. The type of the center device 12 is not limited in the embodiment, as long as it can realize communication and data processing functions. The train operation permission can be control information allowing the train to continue to run.

[0039] In the embodiment, a neural network model with two or more layers can be established as an initial train running state prediction model, and the running speed, time and distance curve data of the existing train reaching the fixed crossing closing notification position of the crossing can be used as a training sample to train the initial train running state prediction model to obtain a trained train running state prediction model. The type of the neural network is not limited in the embodiment.

[0040] The input of the train operation state prediction model can be a static parameter matrix (containing parameters such as train inertial mass, total mass, swing allowance, traction, maximum acceleration, maximum allowable speed, rated power supply, etc.) and a dynamic parameter matrix (containing parameters such as real-time speed of the train, real-time distance of the train from the crossing, instantaneous traction, instantaneous acceleration, instantaneous traction power, instantaneous friction resistance, and consumption, etc.), and the output can be the corresponding relationship between the subsequent time, running speed and distance.

[0041] In this embodiment, the pre-trained train operation state prediction model can be used to obtain the corresponding relationship between the subsequent time, running speed and distance according to the real-time speed of the train and the real-time distance of the train from the crossing, and generate a train subsequent operation curve based on the corresponding relationship. Then, the target crossing closing notification position can be determined according to the train subsequent operation curve and the train braking performance. The target crossing closing notification position can be the track position at which the crossing device 14 starts to close the crossing.

[0042] Further, according to the real-time distance of the train from the crossing, when the train reaches the target crossing closing notification position, the center device 12 can generate crossing closing information and send it to the crossing device 14 to make the crossing device 14 close the crossing, for example, control the alarm to issue an alarm, the crossing signal machine to turn red, and the crossing barrier to fall. Then, if it is detected that the crossing is successfully closed, a train permission can be generated and forwarded to the on-board device 15 through the track circuit and the trackside device 13; the on-board device 15 can control the train to pass through the crossing based on the train permission. If it is detected that the crossing is not successfully closed after the crossing closing time ends, the center device cannot generate the train permission, and the on-board device 15 controls the train to brake and stop in front of the block signal.

[0043] The technical scheme of the embodiment of the present application applies a detection signal to the track through the speed and distance measuring device arranged on the two sides of the railway line from the fixed crossing closure notification position to the crossing, and acquires the real-time speed of the train and the real-time distance of the train from the crossing according to the real-time signal strength and the real-time signal strength change rate of the detection signal; then, the center device determines the target crossing closure notification position according to the real-time speed of the train and the real-time distance of the train from the crossing based on the pre-trained train running state prediction model, and generates the crossing closure information when the train reaches the target crossing closure notification position, and generates the train operation permission after the crossing is closed, so that the on-board device controls the train to pass through the crossing based on the train operation permission; by using the speed and distance measuring device to acquire the real-time speed of the train and the real-time distance of the train from the crossing, and determining the crossing closure notification position based on the real-time speed of the train and the real-time distance of the train from the crossing, the crossing closure timing can be automatically determined according to the real-time running speed of the train after the train approaches, the length of the crossing closure notification position from the crossing can be shortened, and the crossing closure timing can be delayed, which can improve the transportation efficiency of the railway side and the highway side while ensuring the safety of train operation and the safety of people and vehicles on the highway side.

[0044] In one specific embodiment of the present embodiment, the structure of the control system 10 of the railway crossing can be as shown in FIG. 2, which is composed of a speed and distance measuring device 11, a center device 12, a track circuit and trackside device 13, a crossing device 14, an on-board device 15 and a wireless communication device 16, each device is in communication connection with the center device 12 through the wireless communication device 16, and information interaction is carried out through wireless communication. Among them, the track circuit and trackside device 13 can be used to realize train occupancy checking and integrity checking, and can transmit real-time train position information to the center device 12. The crossing device 14 is arranged in the crossing area, which can be composed of a processor, an alarm (such as a buzzer, etc.), a crossing signal and a crossing barrier.

[0045] Specifically, when the train reaches the fixed crossing closure notification position, the speed and distance measuring device 11 obtains the real-time speed of the train and the real-time distance of the train from the crossing according to the real-time signal strength and the real-time signal strength change rate of the detection signal, and sends the detection information to the central device 12 through the wireless communication device 16. The central device 12 checks the real-time distance of the train returned by the speed and distance measuring device 11 with the real-time position information of the train returned by the track circuit and wayside device 13, and if the real-time distance of the train from the crossing successfully passes the check, the central device 12 determines the target crossing closure notification position according to the real-time speed of the train and the real-time distance of the train from the crossing through the pre-trained train running state prediction model, and sends the crossing closure information to the crossing device 14 through the wireless communication device 16 when the train reaches the target crossing closure notification position. The crossing device 14 controls the alarm, the red light of the crossing signal and the falling of the crossing barrier based on the crossing closure information, and feeds back the crossing closure situation information to the central device 12 through the wireless communication device 16 when the fixed crossing closure time is reached.

[0046] After receiving the crossing closure success information, the central device 12 can send a train operation permission to the track circuit and wayside device 13 through the wireless communication device 16, and the track circuit and wayside device 13 forwards the train operation permission to the on-board device 15. The on-board device 15 controls the train to pass the crossing based on the train operation permission. If the central device 12 receives the crossing closure unsuccessful information, the train operation permission cannot be generated, and the on-board device 15 controls the train to brake and stop in front of the block signal.

[0047] Embodiment two

[0048] Fig. 3 is a flowchart of a railway crossing control method provided by embodiment two of the present application. The present embodiment can be applied to the case of train control at a level crossing. The method can be applied to the railway crossing control system 10 described in embodiment one, and can be executed by a railway crossing control device. The railway crossing control device can be realized in the form of hardware and / or software. As shown in Fig. 3, the method comprises:

[0049] S210, applying a detection signal to the track through the speed and distance measuring device deployed on both sides of the railway line from the fixed crossing closure notification position to the crossing, and obtaining the real-time speed of the train and the real-time distance of the train from the crossing according to the real-time signal strength and the real-time signal strength change rate of the detection signal.

[0050] The signal strength can be a detection signal voltage value collected and other information that can reflect the signal strength. Since the signal strength has a linear relationship with the distance between the train and the crossing, and the signal strength change rate has a linear relationship with the train speed, in the embodiment, the linear function between the signal strength and the distance between the train and the crossing, and the linear function between the signal strength change rate and the train speed can be measured in advance. Then, the real-time signal strength and the real-time signal strength change rate of the collected detection signal can be brought into the corresponding linear function to calculate the real-time speed of the train and the real-time distance between the train and the crossing.

[0051] Optionally, according to the real-time signal strength and the real-time signal strength change rate of the detection signal, the real-time speed of the train and the real-time distance between the train and the crossing can be obtained, which can include:

[0052] According to the real-time signal strength of the detection signal and the preset corresponding relationship between the signal strength and the distance between the train and the crossing, the real-time distance between the train and the crossing is obtained.

[0053] According to the real-time signal strength change rate of the detection signal and the preset corresponding relationship between the signal strength change rate and the train speed, the real-time speed of the train is obtained.

[0054] Specifically, based on the linear relationship between the signal strength and the distance between the train and the crossing, and the linear relationship between the signal strength change rate and the train speed, the corresponding relationship between the signal strength and the distance between the train and the crossing, and the corresponding relationship between the signal strength change rate and the train speed can be generated in advance. Therefore, after the real-time signal strength and the real-time signal strength change rate are obtained, the real-time speed of the train and the real-time distance between the train and the crossing can be determined by looking up the corresponding relationship generated in advance.

[0055] S220, determining, by the center device, a target crossing closing notification position based on the pre-trained train running state prediction model and according to the real-time speed of the train and the real-time distance between the train and the crossing, and generating crossing closing information when the train reaches the target crossing closing notification position.

[0056] Specifically, the central device 12 can generate a static parameter matrix according to the static parameter information of the train, and can generate a dynamic parameter matrix according to the real-time speed of the train and the real-time distance of the train from the crossing; wherein in the dynamic parameter matrix, the real-time speed of the train and the real-time distance of the train from the crossing at each time point are taken as a row of data, and the dynamic parameter matrix is composed according to the set time step. Then, the static parameter matrix and the dynamic parameter matrix can be input into the train running state prediction model to obtain the subsequent running state of the train output by the train running state prediction model, and based on the running state, the target crossing closing notification position is determined by comprehensively considering the running distance of the train within the crossing closing time and the train braking distance. Finally, when the train reaches the target crossing closing notification position according to the real-time distance of the train from the crossing, the crossing closing information is generated and sent to the crossing device 14.

[0057] S230, when the crossing is successfully closed based on the crossing closing information, a train operation permit is generated by the central device to enable the on-board device to control the train to pass through the crossing based on the train operation permit.

[0058] In this embodiment, after receiving the crossing closing information, the crossing device 14 can control the alarm to issue an alarm and the crossing signal lamp to turn red, and control the crossing barrier to fall down; then, it can be detected whether the crossing is successfully closed, for example, whether the crossing barrier is completely fallen down, or whether there is a highway side person or vehicle occupying the crossing; if it is detected that the crossing barrier is completely fallen down and there is no highway side person or vehicle occupying the crossing, it can be determined that the crossing is successfully closed, and the crossing closing success information is fed back to the central device 12. Wherein, whether the crossing barrier is in a horizontal state can be judged by a pre-deployed sensor to determine whether the crossing barrier is completely fallen down, and whether there is a highway side person or vehicle occupying the crossing can be judged by a pre-deployed laser or infrared sensor.

[0059] After receiving the crossing closing success information sent by the crossing device 14, the central device 12 can generate a train operation permit through the track circuit and the trackside device 13 to the on-board device 15, so that the on-board device 15 controls the train to pass through the crossing normally based on the train operation permit.

[0060] Optionally, after the train reaches the target crossing closing notification position, the crossing closing information is generated, and further comprising:

[0061] If the crossing is not successfully closed based on the crossing closing information, the train operation permit cannot be generated by the central device 12, so that the on-board device 15 controls the train to brake and stop in front of the block signal.

[0062] In another case, if the crossing device 14 detects that the crossing barrier is not completely lowered or there is a person or vehicle on the highway side occupying the crossing, it can be determined that the crossing is not successfully closed, and the crossing closing failure information can be sent to the center device 12. When the center device 12 receives the crossing closing failure information sent by the crossing device 14, it can not issue a train permission, so that the on-board device 15 controls the train to brake and complete parking in front of the block signal.

[0063] The technical scheme of the embodiment of the present application can apply a detection signal to the track through the speed and distance measuring device 11 arranged on the railway line on both sides of the fixed crossing closing notification position to the crossing, and obtain the real-time speed of the train and the real-time distance of the train from the crossing according to the real-time signal strength and the real-time signal strength change rate of the detection signal. Then, the center device 12 determines the target crossing closing notification position based on the pre-trained train running state prediction model according to the real-time speed of the train and the real-time distance of the train from the crossing, and generates crossing closing information when the train reaches the target crossing closing notification position. When the crossing is successfully closed based on the crossing closing information, the center device 12 generates a train permission to enable the on-board device 15 to control the train to pass through the crossing based on the train permission. By using the speed and distance measuring device 11 to obtain the real-time speed of the train and the real-time distance of the train from the crossing, and determining the crossing closing notification position based on the real-time speed of the train and the real-time distance of the train from the crossing, the train closing time can be automatically determined according to the real-time running speed of the train after the train approaches, the length of the crossing closing notification position from the crossing can be shortened, and the train closing time can be delayed. While ensuring the safety of train operation and the safety of people and vehicles on the highway side, the transportation efficiency on the railway side and the highway side can be improved.

[0064] In an optional implementation of the present embodiment, the center device 12 determines the target crossing closing notification position based on the pre-trained train running state prediction model according to the real-time speed of the train and the real-time distance of the train from the crossing, which can include:

[0065] Obtain the real-time position information of the train, and obtain the subsequent running curve of the train based on the pre-trained train running state prediction model of the center device 12 according to the real-time speed of the train, the real-time distance of the train from the crossing, and the real-time position information of the train.

[0066] Determine the target crossing closing notification position according to the subsequent running curve of the train and the train braking performance.

[0067] In the present embodiment, the track circuit and trackside device 13 can be arranged at intervals to detect a real-time position information of the train every certain time interval, and the real-time position information of the train can be used to verify the detection information of the speed and distance measuring device 11 in real time to avoid abnormality of the speed and distance measuring device 11.

[0068] Specifically, after obtaining the train real-time position information, the train real-time position information can be used to perform real-time verification on the train real-time distance from the crossing at the same time. If the train real-time distance from the crossing successfully passes the verification, the train subsequent running curve can be obtained according to the train real-time speed and the train real-time distance from the crossing by using the train running state prediction model. The train subsequent running curve can be a data curve among time, distance and speed. Finally, by comprehensively considering the train running distance within the crossing closing time and the train braking distance, the target crossing closing notification position can be determined according to the train subsequent running curve and the train braking performance.

[0069] In a specific example, the train subsequent running curve can be as shown in FIG. 4. The target crossing closing notification position is a dynamic point, which changes according to the train real-time approach speed. The train reaches the position to trigger the crossing alarm and start closing the crossing. The crossing closing time can be set as a fixed value according to specific requirements. If the crossing is successfully closed within the crossing closing time, the train continuously runs through the crossing. If the crossing is not closed within the time, the train stops in front of the block signal.

[0070] Specifically, when determining the target crossing closing notification position, it is assumed that the crossing is not successfully closed within the crossing closing time, and the train needs to stop in front of the block signal. The train braking curve can be obtained by combining the real-time speed of the train subsequent running curve and the train braking performance, so that the train braking point can be determined, and the train braking distance S2 can be obtained.

[0071] After determining the train braking position, the train running distance S1 within the crossing closing time can be calculated by combining the train subsequent running curve and the fixed crossing closing time. Finally, the target crossing closing notification position can be determined by combining S1 and S2.

[0072] Optionally, based on the pre-trained train running state prediction model, the train subsequent running curve can be obtained according to the train real-time speed, the train real-time distance from the crossing and the train real-time position information, which can include:

[0073] The train real-time distance from the crossing is verified by using the train real-time position information. If the train real-time distance from the crossing successfully passes the verification, the train real-time distance from the crossing is used as a real-time target distance.

[0074] Based on the pre-trained train running state prediction model, the train subsequent running curve can be obtained according to the train real-time speed and the real-time target distance.

[0075] Specifically, the real-time distance of the train from the crossing can be verified in real time by determining whether the real-time position information of the train and the real-time distance of the train from the crossing are consistent. If it is determined that the two are consistent, it can be determined that the real-time distance of the train from the crossing has passed the verification successfully. If it is determined that the two are inconsistent, it can be determined that the real-time distance of the train from the crossing has not passed the verification successfully. When it is determined that the real-time distance of the train from the crossing has passed the verification successfully, the real-time distance of the train from the crossing can be taken as a real-time target distance, and based on a train running state prediction model, a subsequent running curve of the train can be obtained according to the real-time speed of the train and the real-time target distance. Secondly, if the real-time distance of the train from the crossing has not passed the verification successfully, the real-time distance of the train from the crossing at the next moment is verified, and if the verification is not successful within a fixed time, the information of a backup speed measurement and distance measurement device (such as a radar, a sensor, etc.) and the real-time position information of the train are verified in real time, and the subsequent running curve of the train is obtained after the verification is successful. If the backup device fails at the same time, the train is braked and parked in front of the block signal.

[0076] Optionally, based on the pre-trained train running state prediction model, the subsequent running curve of the train can be obtained according to the real-time speed of the train and the real-time target distance, which can include:

[0077] The static parameter matrix corresponding to the train is obtained, and a dynamic parameter matrix is generated according to the real-time speed of the train and the real-time target distance.

[0078] The static parameter matrix and the dynamic parameter matrix are input into the pre-trained train running state prediction model, and a corresponding relationship between a subsequent time, a running speed and a distance output by the pre-trained train running state prediction model is obtained.

[0079] The subsequent running curve of the train is generated according to the corresponding relationship between the subsequent time, the running speed and the distance.

[0080] Specifically, the static parameter information corresponding to the current train can be obtained, for example, the inertial mass of the train, the total mass, the residual amount of rotation, the traction force, the maximum acceleration, the maximum allowable speed, the rated power supply power, etc., and based on each static parameter and the corresponding parameter value, a static parameter matrix is generated. At the same time, the dynamic parameter information corresponding to each moment of the train can be obtained, for example, the real-time speed of the train, the real-time distance of the train from the crossing, the instantaneous traction force, the instantaneous acceleration, the instantaneous traction power, the instantaneous friction resistance and consumption, etc., and each dynamic parameter value at a moment is taken as a row, and a dynamic parameter matrix is formed according to a certain time step.

[0081] Then, the static parameter matrix and the dynamic parameter matrix can be input into the train operation state prediction model as input, and a corresponding relationship between the subsequent time, the running speed and the distance output by the train operation state prediction model is obtained, that is, the running speed and the distance from the crossing at each subsequent time.

[0082] Optionally, inputting the static parameter matrix and the dynamic parameter matrix into the pre-trained train operation state prediction model and obtaining the corresponding relationship between the subsequent time, the running speed and the distance output by the pre-trained train operation state prediction model can include:

[0083] normalizing the dynamic parameter matrix, inputting the static parameter matrix and the normalized dynamic parameter matrix into the pre-trained train operation state prediction model, and obtaining the corresponding relationship between the subsequent time, the running speed and the distance output by the pre-trained train operation state prediction model;

[0084] Correspondingly, generating the train subsequent operation curve according to the corresponding relationship between the subsequent time, the running speed and the distance can include:

[0085] inverse normalizing the corresponding relationship between the subsequent time, the running speed and the distance, and generating the train subsequent operation curve according to the corresponding relationship between the subsequent time, the running speed and the distance after inverse normalization.

[0086] In this embodiment, in order to accelerate the convergence speed of the model, the training data can be normalized when the model is trained. For example, the input X and the output Y of the model can be normalized based on the formulas and respectively, to obtain the corresponding normalized input X n and the normalized output Y n , and a suitable activation function is selected, for example, ReLU (Rectified Linear Unit, linear rectifier function), to obtain the train operation state prediction model.

[0087] In a specific example, before the dynamic parameter matrix is input into the train operation state prediction model, it can be first normalized based on the above formulas. Correspondingly, after the train operation state prediction model outputs the corresponding relationship between the subsequent time, the running speed and the distance, the corresponding relationship can be inverse normalized based on the formula to restore the actual value Y pFinally, the train subsequent running curve can be fitted according to the corresponding relationship among the subsequent time, the running speed and the distance after the inverse normalization processing.

[0088] In another optional implementation of the embodiment, after the train subsequent running curve is generated, the real-time speed of the train and the real-time distance of the train from the crossing detected by the speed and distance measuring device 11 can be compared with the train subsequent running curve, and an error range can be calculated based on a mean square error function. When the error range is greater than a preset expected value, a corrected train subsequent running curve can be fitted again according to the real-time speed of the train and the real-time distance of the train from the crossing, and a corrected crossing closing notification position can be obtained according to the corrected train subsequent running curve.

[0089] In a specific implementation of the embodiment, the flow of the control method of the railway crossing can be as shown in FIG. 5. First, the central device 12 receives the state information transmitted by the crossing device 14, the real-time position information of the train transmitted by the track circuit and wayside device 13, and the real-time speed of the train and the real-time distance of the train from the crossing transmitted by the speed and distance measuring device 11, and analyzes and processes the received data to fit a train subsequent running curve for the train stopping in front of the crossing block signal. Then, the crossing closing notification position is determined according to the simulated train subsequent running curve, and the corrected crossing closing notification position is obtained according to the real-time speed of the train, the real-time distance of the train from the crossing and the real-time position information of the train transmitted by the speed and distance measuring device 11 and the track circuit and wayside device 13.

[0090] Secondly, when the train arrives at the crossing closing notification position, the crossing closing program is started, and whether the crossing barrier falls to the horizontal position and whether the crossing is occupied by personnel or vehicles are continuously detected within a fixed crossing closing time. If it is determined that the crossing barrier falls to the horizontal position successfully and the crossing is not occupied by personnel or vehicles, the train permission is issued by the central device 12 to the on-board device 15, and the train passing through the crossing is controlled by the on-board device 15. If the crossing barrier does not fall to the horizontal position successfully or the crossing is occupied by personnel or vehicles, the train permission cannot be issued by the central device 12, and the train is stopped in front of the block signal.

[0091] Embodiment Three

[0092] FIG. 6 is a structural schematic diagram of a control device of a railway crossing according to Embodiment Three of the present application. As shown in FIG. 6, the device can be applied to the control system 10 of the railway crossing described in Embodiment One, and can include a train speed and distance acquisition module 310, a crossing closing notification position determination module 320 and a train passing control module 330. The train speed and distance acquisition module 310 can be configured to acquire the real-time speed of the train and the real-time distance of the train from the crossing detected by the speed and distance measuring device 11, and transmit the acquired real-time speed of the train and the real-time distance of the train from the crossing to the crossing closing notification position determination module 320.

[0093] The train speed and distance acquisition module 310 is configured to apply a detection signal to a track through a speed and distance measuring device arranged on both sides of a railway line from a fixed crossing closure notification position to a crossing, and acquire a real-time speed of a train and a real-time distance of the train from the crossing according to a real-time signal strength of the detection signal and a real-time signal strength change rate of the detection signal.

[0094] The crossing closure notification position determination module 320 is configured to determine a target crossing closure notification position based on the real-time speed of the train and the real-time distance of the train from the crossing through a central device based on a pre-trained train running state prediction model, and generate crossing closure information when the train reaches the target crossing closure notification position.

[0095] The train passing control module 330 is configured to generate a train passing permission through the central device when the crossing is successfully closed based on the crossing closure information, so that the on-board device controls the train to pass through the crossing based on the train passing permission.

[0096] The technical scheme of the embodiment of the application is configured to apply a detection signal to a track through a speed and distance measuring device 11 arranged on both sides of a railway line from a fixed crossing closure notification position to a crossing, and acquire a real-time speed of a train and a real-time distance of the train from the crossing according to a real-time signal strength of the detection signal and a real-time signal strength change rate of the detection signal. Then, a target crossing closure notification position is determined based on the real-time speed of the train and the real-time distance of the train from the crossing through a central device 12 based on a pre-trained train running state prediction model, and crossing closure information is generated when the train reaches the target crossing closure notification position. When the crossing is successfully closed based on the crossing closure information, a train passing permission is generated through the central device 12, so that the on-board device 15 controls the train to pass through the crossing based on the train passing permission. By acquiring the real-time speed of the train and the real-time distance of the train from the crossing through the speed and distance measuring device 11, and determining the crossing closure notification position based on the real-time speed of the train and the real-time distance of the train from the crossing, the train approaching can automatically determine the crossing closure timing according to the real-time running speed, the length of the crossing closure notification position from the crossing can be shortened, and the crossing closure timing can be delayed. While ensuring the safety of train operation and the safety of people and vehicles on the road, the transportation efficiency on the railway side and the road side can be improved.

[0097] Optionally, the train speed and distance acquisition module 310 is specifically configured to acquire the real-time distance of the train from the crossing according to the real-time signal strength of the detection signal and a preset corresponding relationship between the signal strength and the distance of the train from the crossing.

[0098] The real-time speed of the train is acquired according to the real-time signal strength change rate of the detection signal and a preset corresponding relationship between the signal strength change rate and the speed of the train.

[0099] Optionally, the crossing closing notification position determination module 320 is specifically configured to acquire real-time position information of the train, and acquire a subsequent running curve of the train based on a pre-trained train running state prediction model according to the real-time speed of the train, the real-time distance from the crossing of the train, and the real-time position information of the train through the center device 12.

[0100] The target crossing closing notification position is determined according to the subsequent running curve of the train and train braking performance.

[0101] Optionally, the crossing closing notification position determination module 320 is specifically configured to verify the real-time distance from the crossing of the train by using the real-time position information of the train, and if the real-time distance from the crossing of the train passes the verification, the real-time distance from the crossing of the train is taken as a real-time target distance.

[0102] The subsequent running curve of the train is acquired based on the pre-trained train running state prediction model according to the real-time speed of the train and the real-time target distance.

[0103] Optionally, the crossing closing notification position determination module 320 is specifically configured to acquire a static parameter matrix corresponding to the train, and generate a dynamic parameter matrix according to the real-time speed of the train and the real-time target distance.

[0104] The static parameter matrix and the dynamic parameter matrix are input into the pre-trained train running state prediction model, and a corresponding relationship among a subsequent time, a running speed, and a distance output by the pre-trained train running state prediction model is acquired.

[0105] The subsequent running curve of the train is generated according to the corresponding relationship among the subsequent time, the running speed, and the distance.

[0106] Optionally, the crossing closing notification position determination module 320 is specifically configured to perform normalization processing on the dynamic parameter matrix, and input the static parameter matrix and the dynamic parameter matrix after the normalization processing into the pre-trained train running state prediction model, and acquire a corresponding relationship among a subsequent time, a running speed, and a distance output by the pre-trained train running state prediction model.

[0107] The corresponding relationship among the subsequent time, the running speed, and the distance is inversely normalized, and the subsequent running curve of the train is generated according to the corresponding relationship among the subsequent time, the running speed, and the distance after the inverse normalization processing.

[0108] Optionally, the control device of the railway crossing further includes:

[0109] A brake control module is configured to, if the crossing is not successfully closed based on the crossing closure information, generate the train movement permit through the central device 12 to be unable to generate the train movement permit, so that the on-board device 15 controls the train to brake and stop in front of the block signal.

[0110] The control device of the railway crossing provided by the embodiments of the present application can execute the control method of the railway crossing provided by any of the embodiments of the present application, and has the function modules and beneficial effects corresponding to the execution method.

[0111] Embodiment Four

[0112] In this embodiment, the control method of the railway crossing can be implemented as a computer program, which is tangibly embodied in a computer-readable storage medium. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device via a ROM and / or a communication unit. When the computer program is loaded into the RAM and executed by the processor, one or more steps of the control method of the railway crossing described above can be executed. Alternatively, in other embodiments, the processor can be configured to execute the control method of the railway crossing by any other appropriate means (for example, by means of firmware).

[0113] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0114] Computer programs used to practice the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, produces the functions / operations specified in the flowcharts and / or the block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a remote machine or a server.

[0115] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0116] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0117] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0118] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0119] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, and this is not limited herein.

[0120] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control system for a railway crossing, characterized in that, The system comprises a speed and distance measuring device and a central device; The speed and distance measuring device is arranged on both sides of the railway line from the fixed approach warning position to the crossing, and is configured to apply a detection signal to the track, and obtain real-time speed and real-time distance of the train from the crossing according to real-time signal strength and real-time signal strength change rate of the detection signal, and send the real-time speed and the real-time distance to the central device; The central device is configured to determine a target approach warning position according to the real-time speed and the real-time distance from the crossing by using a pre-trained train operation state prediction model, and generate and send crossing closing information to the crossing device when the train reaches the target approach warning position, so that the crossing device closes the crossing, and generate and send a train permission after the crossing is closed, so that the train permission is used to control the train to pass through the crossing.

2. A method of controlling a railway crossing, characterized in that The control system of the railway crossing of claim 1 comprises: The speed and distance measuring device is arranged on both sides of the railway line from the fixed approach warning position to the crossing, and is configured to apply a detection signal to the track, and obtain real-time speed and real-time distance of the train from the crossing according to real-time signal strength and real-time signal strength change rate of the detection signal, and send the real-time speed and the real-time distance to the central device; The central device is configured to determine a target approach warning position according to the real-time speed and the real-time distance from the crossing by using a pre-trained train operation state prediction model, and generate and send crossing closing information to the crossing device when the train reaches the target approach warning position, so that the crossing device closes the crossing, and generate and send a train permission after the crossing is closed, so that the train permission is used to control the train to pass through the crossing. According to the real-time signal strength and the real-time signal strength change rate of the detection signal, the real-time speed and the real-time distance of the train from the crossing are obtained, comprising:

3. The method of claim 2, wherein, According to the real-time signal strength of the detection signal and the preset corresponding relationship between the signal strength and the distance of the train from the crossing, the real-time distance of the train from the crossing is obtained; According to the real-time signal strength change rate of the detection signal and the preset corresponding relationship between the signal strength change rate and the speed of the train, the real-time speed of the train is obtained. According to the real-time speed and the real-time distance of the train from the crossing, the target approach warning position is determined by using a pre-trained train operation state prediction model by the central device, comprising:

4. The method of claim 2, wherein, Obtain real-time position information of the train, and obtain a subsequent running curve of the train by using a pre-trained train operation state prediction model by the central device according to the real-time speed, the real-time distance of the train from the crossing and the real-time position information of the train; According to the subsequent running curve of the train and the braking performance of the train, the target approach warning position is determined. According to the real-time speed, the real-time distance of the train from the crossing and the real-time position information of the train, the subsequent running curve of the train is obtained by using a pre-trained train operation state prediction model, comprising:

5. The method of claim 4, wherein, ​ The train real-time position information is used to check the train real-time distance from the crossing, and if the train real-time distance from the crossing passes the check successfully, the train real-time distance from the crossing is taken as a real-time target distance; Based on a pre-trained train running state prediction model, a subsequent running curve of the train is obtained according to the train real-time speed and the real-time target distance.

6. The method of claim 5, wherein, Based on a pre-trained train running state prediction model, a subsequent running curve of the train is obtained according to the train real-time speed and the real-time target distance, including: A static parameter matrix corresponding to the train is obtained, and a dynamic parameter matrix is generated according to the train real-time speed and the real-time target distance; The static parameter matrix and the dynamic parameter matrix are input into the pre-trained train running state prediction model, and a corresponding relationship among subsequent time, running speed and distance output by the pre-trained train running state prediction model is obtained; The corresponding relationship among subsequent time, running speed and distance is used to generate the subsequent running curve of the train.

7. The method of claim 6, wherein, The static parameter matrix and the dynamic parameter matrix are input into the pre-trained train running state prediction model, and a corresponding relationship among subsequent time, running speed and distance output by the pre-trained train running state prediction model is obtained, including: The dynamic parameter matrix is normalized, and the static parameter matrix and the normalized dynamic parameter matrix are input into the pre-trained train running state prediction model, and a corresponding relationship among subsequent time, running speed and distance output by the pre-trained train running state prediction model is obtained; The corresponding relationship among subsequent time, running speed and distance is used to generate the subsequent running curve of the train, including: The corresponding relationship among subsequent time, running speed and distance is inversely normalized, and the corresponding relationship among subsequent time, running speed and distance after the inverse normalization is used to generate the subsequent running curve of the train.

8. The method of claim 2, wherein, After the crossing closing information is generated when the train reaches the target crossing closing notification position, the method further includes: If the crossing is not successfully closed based on the crossing closing information, the train cannot generate the train operation permission through the central device, so that the on-board device controls the train to brake and stop in front of the block signal.

9. A control device for a railway crossing, characterized in that The control system of the railway crossing of claim 1, comprising: A train speed and distance acquisition module is configured to apply a detection signal to a track through a speed and distance measuring device arranged on both sides of a railway line from a fixed crossing closing notification position to a crossing, and acquire a train real-time speed and a train real-time distance from the crossing based on a real-time signal strength and a real-time signal strength change rate of the detection signal; A crossing closing notification position determination module is configured to determine a target crossing closing notification position based on a pre-trained train running state prediction model through a central device according to the train real-time speed and the train real-time distance from the crossing, and generate crossing closing information when a train reaches the target crossing closing notification position. The train passing control module is configured to generate a train passing permission by the central device when the crossing is successfully closed based on the crossing closing information, so that the on-board device controls the train to pass the crossing based on the train passing permission.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is configured to enable the processor to implement the control method of the railway crossing in any one of claims 2-8 when executed.

Images