1. A movement authorization method under an autonomous train operation system is characterized by comprising the following steps:

acquiring adjacent trains of a target train according to an operation plan of a concentration station where the target train is located;

taking the tail of the preceding train as a target position when the preceding train of the target train exists in the adjacent trains, and taking the destination of the operation plan as the target position if the preceding train of the target train exists in the adjacent trains;

and inquiring the resource state of each track section between the target train and the target position from the resource allocation formula, and determining a first mobile authorized protection area of the target train for the available track section according to the resource state.

2. The method for authorizing movement under an autonomous train operation system as claimed in claim 1, wherein said querying the resource allocation formula for the resource status of each track segment located between the target train and the target location comprises:

under the condition that the resource of any track section is controlled by the ground equipment, inquiring the resource state of the track section from the ground equipment corresponding to the track section;

when the resource of any track section is controlled by the train equipment, the resource state of the track section is inquired for the train equipment corresponding to the track section.

3. The method for authorizing movement under an autonomous train operation system according to claim 1, further comprising, after the step of determining the first authorized moving zone of the target train for the available track segment according to the resource status:

predicting a plurality of candidate paths of each adjacent train running in the concentration station according to the position and the running direction of each adjacent train sent by each adjacent train;

when at least one candidate route in a plurality of candidate routes of any adjacent train is overlapped with the first mobile authorized protection area, taking the adjacent train as a candidate barrier train;

under the condition that the target train does not receive the position and the running direction sent by the candidate barrier train within a preset time length, predicting the road sections of the candidate barrier train running on each candidate path within the preset time length;

under the condition that a road section corresponding to any candidate path is overlapped with the first mobile authorization protection area, updating the target position to be the tail of the candidate obstacle train;

and determining a second mobile authorized guard area of the target train according to the track section which is positioned between the target train and the updated target position and has the available resource state.

4. The method for authorizing movement under the train autonomous operation system as claimed in claim 3, further comprising, before the step of predicting a plurality of candidate routes for each neighboring train to travel within the concentration station according to the position and the traveling direction of each neighboring train transmitted by each neighboring train:

acquiring the VID of each adjacent train from the operation plan;

establishing connection with each adjacent train according to the VID of each adjacent train;

and receiving the position and the running direction of each adjacent train sent by each adjacent train.

5. The method for authorizing movement under the autonomous operation system of train as claimed in any one of claims 1 to 4, wherein the determining the first authorized area of protection of the target train for the available track section according to the resource status comprises:

under the condition that each track section in the first mobile authorization protection area has a relevant turnout, checking whether the current locking direction of the turnout is consistent with the locking direction of the turnout corresponding to the target train in the operation plan;

and taking the track section which is positioned between the target train and the target position and has the available resource state and the current locking direction of the associated turnout consistent with the locking direction in the operation plan as a first mobile authorized protection area of the target train.

6. The method for authorizing movement under the train autonomous operation system according to claim 5, wherein the checking whether the current locking direction of the switch is consistent with the locking direction of the switch corresponding to the target train in the operation plan in the case that there is an associated switch in each track section in the first movement authorization protection area comprises:

checking whether the switch is locked if there is an associated switch for each track segment in the first mobile authorized protected area;

under the condition that the turnout is locked, checking whether the state of the turnout is quarto or unknown;

and under the condition that the state of the turnout is not four or unknown, checking whether the current locking direction of the turnout is consistent with the locking direction of the turnout corresponding to the target train in the operation plan.

7. The method for authorizing movement under an autonomous operation system of train as claimed in any one of claims 1 to 4, wherein when there is a preceding train of the target train in the adjacent train, before taking the tail of the preceding train as the target position, further comprising:

acquiring the running direction of the target train and the running planned paths of the target train and the adjacent trains from the running plan;

and according to the running direction of the target train and the traveling planned paths of the target train and the adjacent trains, taking the adjacent train positioned in front of the target train on the traveling planned path of the target train as a front train of the target train.

8. A movement authorization system under an autonomous operation system of a train, comprising:

the acquisition module is used for acquiring adjacent trains of the target train according to the operation plan of the concentration station where the target train is located;

a determining module, configured to take a tail of the preceding train as a target position when the preceding train of the target train exists in the adjacent train, and take a destination of the operation plan as a target position if the preceding train of the target train exists in the adjacent train;

and the authorization module is used for inquiring the resource state of each track section between the target train and the target position from the resource allocation formula and determining a first mobile authorization protection area of the target train for the available track section according to the resource state.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the movement authorization method under the autonomous train operation system according to any of claims 1 to 7.

10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of a movement authorization method under an autonomous operation system of a train according to any of claims 1 to 7.

Background

The TACS is a short for train autonomous operation system based on train-to-vehicle communication, and refers to a signal system for realizing autonomous resource management and performing active interval protection on a train based on an operation plan and a real-time position. The system achieves the aims of higher safety, efficiency and economy in a vehicle-ground coordination mode and a vehicle-vehicle coordination mode.

The autonomous resource management means that the vehicle-mounted signal subsystem generates an operation task according to the current position of the Train based on an operation plan issued by an Automatic Train Supervision (ATS), autonomously calculates the demand on trackside resources, applies for the trackside resource management subsystem or a trackside resource owner Train by selecting a machine, locks and uses the resource after the allocation is obtained, and actively releases the resource in time after the use. Once the resource is allocated to a certain train, the resource can not be used by other trains, and the resource can not be released until the vehicle-mounted signal subsystem obtaining the resource is used or is not used any more.

The active interval protection means that the vehicle-mounted signal subsystem actively interacts information with an adjacent train based on the running task and the current position of the vehicle-mounted signal subsystem, and automatically updates the movement authorization and vehicle control curve according to the interaction information.

At present, a train autonomous operation system TACS has two trackside resource allocation modes: one is to perform distribution control of trackside resources with ground equipment as a center, and the other is to perform distribution control of trackside resources with a resource owner train. And the ground equipment is used as the center to carry out distribution control of trackside resources, the ground has the resource management distribution right of the whole centralized station, and the train needing the resources applies for the distribution of the resources to the ground. The resource owner train is used for distributing and controlling the trackside resources, the train uses the train negotiation resources to the train with the trackside resources according to the ATS planned path, different trackside resources can be owned by different trains, and the trains can obtain the resource use only after the resource owner train agrees. The signal manufacturers of different lines adopt different resource allocation modes.

In the existing rail transit TACS train autonomous control system, the mobile authorization cannot well support the hybrid train tracking of performing distribution control of trackside resources by taking ground equipment as a center and performing distribution control of trackside resources by a resource owner train, so that the cross-line hybrid operation requirement of interconnection and intercommunication among different signal manufacturers cannot be met, and the development and application of the train autonomous operation system are restricted.

Disclosure of Invention

The invention provides a mobile authorization method and a mobile authorization system under an autonomous train operation system, which are used for overcoming the defect that mobile authorization in the autonomous train operation system in the prior art cannot simultaneously support two trackside resource distribution modes of trackside resources controlled by ground equipment and trackside resources controlled by train equipment, and realize mobile authorization simultaneously supporting two trackside resource distribution modes of trackside resources controlled by the ground equipment and trackside resources controlled by the train equipment.

The invention provides a movement authorization method under an autonomous train operation system, which comprises the following steps:

acquiring adjacent trains of a target train according to an operation plan of a concentration station where the target train is located;

taking the tail of the preceding train as a target position when the preceding train of the target train exists in the adjacent trains, and taking the destination of the operation plan as the target position if the preceding train of the target train exists in the adjacent trains;

and inquiring the resource state of each track section between the target train and the target position from the resource allocation formula, and determining a first mobile authorized protection area of the target train for the available track section according to the resource state.

According to the movement authorization method under the train autonomous operation system provided by the invention, the inquiring of the resource state of each track section between the target train and the target position to the resource allocation formula comprises the following steps:

under the condition that the resource of any track section is controlled by the ground equipment, inquiring the resource state of the track section from the ground equipment corresponding to the track section;

when the resource of any track section is controlled by the train equipment, the resource state of the track section is inquired for the train equipment corresponding to the track section.

According to the movement authorization method under the train autonomous operation system provided by the invention, after the step of determining the first movement authorization protective area of the target train for the available track section according to the resource state, the method further comprises the following steps:

predicting a plurality of candidate paths of each adjacent train running in the concentration station according to the position and the running direction of each adjacent train sent by each adjacent train;

when at least one candidate route in a plurality of candidate routes of any adjacent train is overlapped with the first mobile authorized protection area, taking the adjacent train as a candidate barrier train;

under the condition that the target train does not receive the position and the running direction sent by the candidate barrier train within a preset time length, predicting the road sections of the candidate barrier train running on each candidate path within the preset time length;

under the condition that a road section corresponding to any candidate path is overlapped with the first mobile authorization protection area, updating the target position to be the tail of the candidate obstacle train;

and determining a second mobile authorized guard area of the target train according to the track section which is positioned between the target train and the updated target position and has the available resource state.

According to the movement authorization method under the train autonomous operation system provided by the invention, before the step of predicting a plurality of candidate paths of each adjacent train running in the concentration station according to the position and the running direction of each adjacent train sent by each adjacent train, the method further comprises the following steps:

acquiring the VID of each adjacent train from the operation plan;

establishing connection with each adjacent train according to the VID of each adjacent train;

and receiving the position and the running direction of each adjacent train sent by each adjacent train.

According to the movement authorization method under the train autonomous operation system provided by the invention, the determining of the first movement authorization protective area of the target train for the available track section according to the resource state comprises the following steps:

under the condition that each track section in the first mobile authorization protection area has a relevant turnout, checking whether the current locking direction of the turnout is consistent with the locking direction of the turnout corresponding to the target train in the operation plan;

and taking the track section which is positioned between the target train and the target position and has the available resource state and the current locking direction of the associated turnout consistent with the locking direction in the operation plan as a first mobile authorized protection area of the target train.

According to the movement authorization method under the train autonomous operation system provided by the invention, when each track section in the first movement authorization protective area has a relevant turnout, whether the current locking direction of the turnout is consistent with the locking direction of the turnout corresponding to the target train in the operation plan is checked, and the method comprises the following steps:

checking whether the switch is locked if there is an associated switch for each track segment in the first mobile authorized protected area;

under the condition that the turnout is locked, checking whether the state of the turnout is quarto or unknown;

and under the condition that the state of the turnout is not four or unknown, checking whether the current locking direction of the turnout is consistent with the locking direction of the turnout corresponding to the target train in the operation plan.

According to the movement authorization method under the train autonomous operation system provided by the present invention, when a preceding train of the target train exists in the adjacent train, before taking the tail of the preceding train as a target position, the method further includes:

acquiring the running direction of the target train and the running planned paths of the target train and the adjacent trains from the running plan;

and according to the running direction of the target train and the traveling planned paths of the target train and the adjacent trains, taking the adjacent train positioned in front of the target train on the traveling planned path of the target train as a front train of the target train.

The invention also provides a mobile authorization system under the train autonomous operation system, which comprises:

the acquisition module is used for acquiring adjacent trains of the target train according to the operation plan of the concentration station where the target train is located;

a determining module, configured to take a tail of the preceding train as a target position when the preceding train of the target train exists in the adjacent train, and take a destination of the operation plan as a target position if the preceding train of the target train exists in the adjacent train;

and the authorization module is used for inquiring the resource state of each track section between the target train and the target position from the resource allocation formula and determining a first mobile authorization protection area of the target train for the available track section according to the resource state.

The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the method of the mobile authorization system under the train autonomous operation system.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of the movement authorization system under the train autonomous operation system as described in any of the above.

According to the movement authorization method and the movement authorization system under the train autonomous operation system, the tail of the front train of the target train is used as the target position or the destination of the operation plan is used as the target position, only the resource state of each track section between the target train and the target position is inquired by the resource allocation formula, the movement authorization protection area is determined according to the track section with the available resource state, the trackside resource control is not required to be distinguished from the ground or the resource owner train, and the decoupling performance and the universality are better; meanwhile, two trackside resource distribution modes of trackside resources controlled by ground equipment and trackside resources controlled by train equipment are supported, and the cross-line mixed operation requirement of interconnection and intercommunication among different signal manufacturers is met.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a movement authorization method under an autonomous train operation system provided by the invention;

fig. 2 is a schematic structural diagram of a mobile authorization system under the train autonomous operation system provided by the invention;

fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The following describes a movement authorization method under the train autonomous operation system of the present invention with reference to fig. 1, where the method includes: step 101, acquiring an adjacent train of a target train according to an operation plan of a concentration station where the target train is located;

wherein, the target train is a train needing movement authorization. The execution subject of the present embodiment is a target train.

And storing the operation plans of all the preset concentration stations in the ATS, and sending the operation plan of the concentration station where the target train is located to the target train. The operation plan of the centralized station where the target train is located comprises the operation plan of all trains in the centralized station.

Optionally, the target train takes a train located in a preset range with the current position of the target train as a neighboring train of the target train in the concentration station according to the traveling plan paths of all trains in the operation plan of the concentration station where the target train is located.

Step 102, taking the tail of the preceding train as a target position when the preceding train of the target train exists in the adjacent trains, or taking the destination of the operation plan as the target position;

the leading train of the target train refers to an adjacent train running in front of the target train. The present embodiment is not limited to a specific determination method, and determines whether there is a preceding train of the target train in the adjacent trains of the target train. If the target position exists, the tail of the front vehicle is taken as the target position, otherwise, the destination of the operation plan is taken as the target position.

Step 103, inquiring the resource state of each track section between the target train and the target position from the resource allocation formula, and determining a first mobile authorized protection area of the target train for the available track section according to the resource state.

The area between the current position of the target train and the target position is a mobile authorization candidate area. The resource allocation formula does not distinguish between a ground equipment allocation manner and a resource owner train equipment allocation manner.

Optionally, the track section is a track section unit of a minimum resource unit. When the resource status of the track section in the movement authorization candidate area is available, it indicates that the target train can be allocated to the resource after applying for the resource allocator, so that the movement authorization of the target train can extend into the track section. And taking an area formed by all track sections with available resource states in the mobile authorization candidate area as a first mobile authorization protection area of the target train.

In the embodiment, the tail of the front train of the target train is used as the target position or the destination of the operation plan is used as the target position, the resource state of each track section between the target train and the target position is inquired only by the resource allocation formula, the mobile authorization protection area is determined according to the track section with the available resource state, the trackside resource control is not required to be distinguished from the ground or the resource owner train, and the decoupling performance and the universality are better; meanwhile, two trackside resource distribution modes of trackside resources controlled by ground equipment and trackside resources controlled by train equipment are supported, and the cross-line mixed operation requirement of interconnection and intercommunication among different signal manufacturers is met.

On the basis of the foregoing embodiment, in this embodiment, the querying the resource allocation formula for the resource status of each track section located between the target train and the target location includes: under the condition that the resource of any track section is controlled by the ground equipment, inquiring the resource state of the track section from the ground equipment corresponding to the track section; when the resource of any track section is controlled by the train equipment, the resource state of the track section is inquired for the train equipment corresponding to the track section.

Specifically, according to the resource allocation mode adopted by each track section, the resource state of each track section is inquired from the corresponding resource allocation formula, and under the condition that the resource state is available, the movement authorization of the target train can be extended into the track section.

The embodiment simultaneously supports two trackside resource distribution modes of the trackside resource controlled by the ground equipment and the trackside resource controlled by the train equipment, realizes the cross-line mixed operation requirement of interconnection and intercommunication among different signal manufacturers, and ensures the driving safety of the train.

On the basis of the foregoing embodiment, after the step of determining the first mobile authorized guard area of the target train for the available track segment according to the resource status in this embodiment, the method further includes: predicting a plurality of candidate paths of each adjacent train running in the concentration station according to the position and the running direction of each adjacent train sent by each adjacent train;

and after the first mobile authorized protection area of the target train is obtained, continuously monitoring whether the barrier train exists in front of the target train.

Since the adjacent train may temporarily change the operation plan, which does not exist in the operation plan of the concentration station, as needed, the adjacent train may become an obstacle train of the target train in this case.

And the position and the running direction of each adjacent train are obtained in real time through communication with each adjacent train. And searching all paths which can be operated by each adjacent train in the concentration station according to the position and the operation direction of each adjacent train, and taking the paths as candidate paths.

When at least one candidate route in a plurality of candidate routes of any adjacent train is overlapped with the first mobile authorized protection area, taking the adjacent train as a candidate barrier train;

and calculating the adjacent trains which possibly enter the first mobile authorized protection area to be overlapped according to the candidate paths of the adjacent trains, and taking the adjacent trains as candidate barrier trains.

Under the condition that the target train does not receive the position and the running direction sent by the candidate barrier train within a preset time length, predicting the road sections of the candidate barrier train running on each candidate path within the preset time length;

and predicting the running road section of the candidate barrier train on each candidate path within the preset time length when the target train does not receive the position and the running direction sent by the candidate barrier train, which indicates that the communication is overtime. In the prediction, the prediction is performed toward the most unfavorable direction to the target train.

Under the condition that a road section corresponding to any candidate path is overlapped with the first mobile authorization protection area, updating the target position to be the tail of the candidate obstacle train;

and under the condition that any one predicted operation section of the candidate barrier train is overlapped with the first mobile authorized protection area, the candidate barrier train is the barrier train of the target train. And updating the target position as the tail of the candidate obstacle train.

And determining a second mobile authorized guard area of the target train according to the track section which is positioned between the target train and the updated target position and has the available resource state.

And after the target position is updated, reducing the first mobile authorization protection area by using the updated target position to obtain a second mobile authorization protection area. The resource state of each track section between the target train and the updated target position is inquired from the resource distributor, and the track section with the available resource state is used as a second mobile authorized protection area.

And the target train stores the track section which can be extended in the second mobile authorized protection area as the final mobile authorized protection area for the target train to drive.

The embodiment effectively prevents other trains from entering the calculated mobile authorization protection area of the train, and ensures the driving safety.

On the basis of the foregoing embodiment, in this embodiment, before the step of predicting a plurality of candidate routes along which each adjacent train travels within the concentration station according to the position and the travel direction of each adjacent train sent by each adjacent train, the method further includes: acquiring the VID of each adjacent train from the operation plan; establishing connection with each adjacent train according to the VID of each adjacent train; and receiving the position and the running direction of each adjacent train sent by each adjacent train.

Specifically, after the target train acquires the adjacent trains, the target train registers with each adjacent train according to the serial number VID of each adjacent train, and if the registration is successful, connection is established with each adjacent train.

After the target train is connected with each adjacent train, the communication between the target train and the adjacent trains is normal, information is actively interacted with the adjacent trains, and the positions and the moving directions of the adjacent trains are obtained.

On the basis of the foregoing embodiments, in this embodiment, the determining a first mobile authorized guard area of the target train according to the track segment whose resource status is available includes: under the condition that each track section in the first mobile authorization protection area has a relevant turnout, checking whether the current locking direction of the turnout is consistent with the locking direction of the turnout corresponding to the target train in the operation plan;

it is determined whether there is an associated switch for each track segment in the first mobile authorized guard area. If so, checking the current locking direction of the turnout. The locking direction of the turnout comprises a straight direction and a lateral direction. And judging whether the current locking direction of the turnout is consistent with the locking direction of the turnout required by the target train.

And taking the track section which is positioned between the target train and the target position and has the available resource state and the current locking direction of the associated turnout consistent with the locking direction in the operation plan as a first mobile authorized protection area of the target train.

Optionally, in the process of determining a second mobile authorized protection area of the target train according to the track section, which is located between the target train and the updated target location and has an available resource state, the consistency of the locking direction of the turnout associated with each track section in the second mobile authorized protection area is determined, and the track section, which has an available resource state and the locking direction of the associated turnout meets the requirement of the target train, is used as the second mobile authorized protection area.

When the train is moved, authorized and extended, the embodiment not only requires the resource state of the track section to be available, and ensures that the resource of the track section can be applied, but also requires the current locking direction of the turnout associated with the track section to meet the requirement of the target train, thereby ensuring the running safety of the target train.

On the basis of the foregoing embodiment, in this embodiment, when there is an associated switch in each track segment in the first mobile authorized protected area, checking whether a current locking direction of the switch is consistent with a locking direction of a switch corresponding to a target train in the operation plan includes: checking whether the switch is locked if there is an associated switch for each track segment in the first mobile authorized protected area; under the condition that the turnout is locked, checking whether the state of the turnout is quarto or unknown; and under the condition that the state of the turnout is not four or unknown, checking whether the current locking direction of the turnout is consistent with the locking direction of the turnout corresponding to the target train in the operation plan.

Under the condition that a track section has associated turnouts, firstly, detecting whether the turnouts are locked or not, and under the condition that the turnouts are not locked, enabling the movement authorization of a target train not to extend into the track section; and under the locking condition, continuously judging whether the state of the turnout is abnormal, namely the four-switch state or the unknown state. In the event of an abnormal state of a switch, the movement authorization of the target train does not extend into the track section; and under the condition that the state of the turnout is normal, checking whether the current locking direction of the turnout is consistent with the locking direction in the operation plan of the target train. The movement authorization of the target train in the event of an inconsistent locking direction does not extend into the track section. In the event that the locking directions are consistent and the resource status of the track segment is available, the movement authorization of the target train extends into the track segment.

In addition to the above embodiments, in this embodiment, when there is a preceding train of the target train in the adjacent train, before taking the tail of the preceding train as the target position, the method further includes: acquiring the running direction of the target train and the running planned paths of the target train and the adjacent trains from the running plan; and according to the running direction of the target train and the traveling planned paths of the target train and the adjacent trains, taking the adjacent train positioned in front of the target train on the traveling planned path of the target train as a front train of the target train.

Wherein the direction of travel along the target train is taken as the front of the target train. The traveling planned paths between the target train and the front trains of the target train have the same road sections, and the traveling directions are the same or opposite. In time, the preceding vehicle passes the same road segment first.

The following describes the movement authorization system under the train autonomous operation system provided by the present invention, and the movement authorization system under the train autonomous operation system described below and the movement authorization method under the train autonomous operation system described above can be referred to each other correspondingly.

As shown in fig. 2, the system includes an obtaining module 201, a determining module 202, and an authorizing module 203, wherein:

the acquisition module 201 is configured to acquire an adjacent train of a target train according to an operation plan of a concentration station where the target train is located;

wherein, the target train is a train needing movement authorization. The execution subject of the present embodiment is a target train.

And storing the operation plans of all the preset concentration stations in the ATS, and sending the operation plan of the concentration station where the target train is located to the target train. The operation plan of the centralized station where the target train is located comprises the operation plan of all trains in the centralized station.

Optionally, the target train takes a train located in a preset range with the current position of the target train as a neighboring train of the target train in the concentration station according to the traveling plan paths of all trains in the operation plan of the concentration station where the target train is located.

The determining module 202 takes the tail of the preceding train as a target position when the preceding train of the target train exists in the adjacent trains, otherwise takes the destination of the operation plan as the target position;

the leading train of the target train refers to an adjacent train running in front of the target train. The present embodiment is not limited to a specific determination method, and determines whether there is a preceding train of the target train in the adjacent trains of the target train. If the target position exists, the tail of the front vehicle is taken as the target position, otherwise, the destination of the operation plan is taken as the target position.

The authorization module 203 is configured to query the resource allocation formula for the resource status of each track segment located between the target train and the target location, and determine a first mobile authorization protection zone of the target train for an available track segment according to the resource status.

The area between the current position of the target train and the target position is a mobile authorization candidate area. The resource allocation formula does not distinguish between a ground equipment allocation manner and a resource owner train equipment allocation manner.

Optionally, the track section is a track section unit of a minimum resource unit. When the resource status of the track section in the movement authorization candidate area is available, it indicates that the target train can be allocated to the resource after applying for the resource allocator, so that the movement authorization of the target train can extend into the track section. And taking an area formed by all track sections with available resource states in the mobile authorization candidate area as a first mobile authorization protection area of the target train.

In the embodiment, the tail of the front train of the target train is used as the target position or the destination of the operation plan is used as the target position, the resource state of each track section between the target train and the target position is inquired only by the resource allocation formula, the mobile authorization protection area is determined according to the track section with the available resource state, the trackside resource control is not required to be distinguished from the ground or the resource owner train, and the decoupling performance and the universality are better; meanwhile, two trackside resource distribution modes of trackside resources controlled by ground equipment and trackside resources controlled by train equipment are supported, and the cross-line mixed operation requirement of interconnection and intercommunication among different signal manufacturers is met.

On the basis of the above embodiment, the authorization module in this embodiment is configured to: under the condition that the resource of any track section is controlled by the ground equipment, inquiring the resource state of the track section from the ground equipment corresponding to the track section; when the resource of any track section is controlled by the train equipment, the resource state of the track section is inquired for the train equipment corresponding to the track section.

On the basis of the above embodiment, the present embodiment further includes an updating module, configured to predict, according to the position and the operation direction of each adjacent train sent by each adjacent train, multiple candidate paths along which each adjacent train operates in the concentration station; when at least one candidate route in a plurality of candidate routes of any adjacent train is overlapped with the first mobile authorized protection area, taking the adjacent train as a candidate barrier train; under the condition that the target train does not receive the position and the running direction sent by the candidate barrier train within a preset time length, predicting the road sections of the candidate barrier train running on each candidate path within the preset time length; under the condition that a road section corresponding to any candidate path is overlapped with the first mobile authorization protection area, updating the target position to be the tail of the candidate obstacle train; and determining a second mobile authorized guard area of the target train according to the track section which is positioned between the target train and the updated target position and has the available resource state.

On the basis of the foregoing embodiment, this embodiment further includes a receiving module, configured to obtain a VID of each adjacent train from the operation plan; establishing connection with each adjacent train according to the VID of each adjacent train; and receiving the position and the running direction of each adjacent train sent by each adjacent train.

On the basis of the above embodiment, the authorization module in this embodiment is configured to: under the condition that each track section in the first mobile authorization protection area has a relevant turnout, checking whether the current locking direction of the turnout is consistent with the locking direction of the turnout corresponding to the target train in the operation plan; and taking the track section which is positioned between the target train and the target position and has the available resource state and the current locking direction of the associated turnout consistent with the locking direction in the operation plan as a first mobile authorized protection area of the target train.

On the basis of the above embodiment, the authorization module in this embodiment is configured to: checking whether the switch is locked if there is an associated switch for each track segment in the first mobile authorized protected area; under the condition that the turnout is locked, checking whether the state of the turnout is quarto or unknown; and under the condition that the state of the turnout is not four or unknown, checking whether the current locking direction of the turnout is consistent with the locking direction of the turnout corresponding to the target train in the operation plan.

On the basis of the above embodiment, the present embodiment further includes a calculation module, configured to obtain the operation direction of the target train and the travel plan paths of the target train and the adjacent trains from the operation plan; and according to the running direction of the target train and the traveling planned paths of the target train and the adjacent trains, taking the adjacent train positioned in front of the target train on the traveling planned path of the target train as a front train of the target train.

Fig. 3 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 3: a processor (processor)310, a communication Interface (communication Interface)320, a memory (memory)330 and a communication bus 340, wherein the processor 310, the communication Interface 320 and the memory 330 communicate with each other via the communication bus 340. The processor 310 may invoke logic instructions in the memory 330 to perform a method of movement authorization under a train autonomous operation system, the method comprising: acquiring adjacent trains of the target train according to the operation plan of the concentration station where the target train is located; taking the tail of the front train as a target position under the condition that the front train of the target train exists in the adjacent trains, and taking the destination of the operation plan as the target position if the tail of the front train does not exist in the adjacent trains; and inquiring the resource state of each track section between the target train and the target position from the resource allocation formula, and determining a first mobile authorized protection area of the target train for the available track section according to the resource state.

In addition, the logic instructions in the memory 330 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer, the computer can execute the movement authorization method under the train autonomous operation system provided by the above methods, the method includes: acquiring adjacent trains of the target train according to the operation plan of the concentration station where the target train is located; taking the tail of the front train as a target position under the condition that the front train of the target train exists in the adjacent trains, and taking the destination of the operation plan as the target position if the tail of the front train does not exist in the adjacent trains; and inquiring the resource state of each track section between the target train and the target position from the resource allocation formula, and determining a first mobile authorized protection area of the target train for the available track section according to the resource state.

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program being implemented by a processor to perform the method for train movement authorization under the above-mentioned train autonomous operation systems, the method comprising: acquiring adjacent trains of the target train according to the operation plan of the concentration station where the target train is located; taking the tail of the front train as a target position under the condition that the front train of the target train exists in the adjacent trains, and taking the destination of the operation plan as the target position if the tail of the front train does not exist in the adjacent trains; and inquiring the resource state of each track section between the target train and the target position from the resource allocation formula, and determining a first mobile authorized protection area of the target train for the available track section according to the resource state.

The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.