1. A parking control method of a rail transit signal system is characterized by comprising the following steps:

step 101, determining a parking spot;

102, calculating the minimum protection distance of a signal system;

103, setting a virtual track;

step 104, setting a safety guarantee beacon;

and step 105, setting a virtual track speed limit point.

2. The parking control method of claim 1, wherein the step 101 specifically comprises: the signal system sets different target stopping points in the area needing stopping according to the train length on the line.

3. The parking control method of claim 2, wherein the length of the route from the target parking point to the end of the route is determined only after the target parking point is set according to the length of the vehicle.

4. The parking control method of claim 1, wherein the step 102 specifically comprises:

the signal system calculates the minimum safety protection distance required by the train to stop at the target stopping point according to the gradient of the civil engineering line and the traction braking performance of the train, and the length of the line behind the target stopping point is larger than the minimum safety protection distance.

5. The parking control method of claim 1, wherein the step 103 specifically comprises:

and when the speed is lower than the safe collision speed in the braking process of the train and the accumulated running distance S is less than the distance from the target stop point to the tail end of the line, setting a virtual track to enable the terminal point of the ATP protection curve of the train to move outside the line.

6. The parking control method of claim 1, wherein the step 104 specifically comprises:

the emergency braking command is sent by a signal system when the train is at the S distance from the tail end of the line, an European beacon is arranged at the distance which is not less than the S distance from the tail end of the line, and the train can normally run before the beacon is not read by the train, so that the emergency braking command is sent when the train reads the beacon, and the safety of the train at the tail end of the line is ensured.

7. The parking control method of claim 1, wherein the step 105 specifically comprises:

in order to ensure the safety of the train under the most adverse condition, the signal system sets the minimum speed limit for ensuring the train to be capable of running in an ATO mode on the virtual track, and the virtual track safety speed limit is set to ensure that the actual running speed of the train in the area is smaller than the minimum value of the speed of the train bumper and the collision speed of the train, so that the train is ensured not to be dangerous under the most adverse condition.

8. A parking control apparatus for a rail transit signaling system, comprising:

the parking spot determining module is used for determining a parking spot;

the minimum protection distance calculation module is used for calculating the minimum protection distance of the signal system;

the virtual track module is used for setting a virtual track;

the safety guarantee beacon setting module is used for setting a safety guarantee beacon;

and the virtual track speed limit point setting module is used for setting the virtual track speed limit points.

9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the processor, when executing the program, implements the method of any of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 1 to 7.

Background

In a CBTC signal system based on mobile communication, the safety of train operation is achieved by a vehicle-mounted ATP (automatic train protection, hereinafter abbreviated as ATP) system and a ground ATP system, and automatic train driving depends on the vehicle-mounted ATO (automatic train operation, hereinafter abbreviated as ATO) system.

As shown in fig. 1, the vehicle-mounted ATP system transmits the train position to the trackside ATP system in real time, and the trackside ATP system calculates the movement authorization of the train based on the train position and the route condition and transmits the movement authorization to the vehicle-mounted ATP system. And the vehicle-mounted ATP system determines whether to apply emergency braking for stopping according to the performance of the train and the distance between the current position and the movement authorization terminal point, so that the running safety of the train is ensured. Within the range of movement authorization, the vehicle-mounted ATO system controls the train to run stably, including the application or release of traction and braking, so as to ensure the comfort and accurate stop of passengers.

Due to the application or release response time of vehicle traction and braking, the response time of the vehicle-mounted ATP system and the trackside ATP system and the communication delay between the systems, based on the principle of target distance safety protection, the actual speed of the train is difficult to be completely consistent with the theoretical ATP protection curve, as shown in FIG. 2, a certain distance difference exists between the terminal point of the ATO optimal operation curve and the terminal point of the ATP emergency braking guarantee curve, and the difference is the minimum safety protection distance when the train approaches the target stop point.

The minimum protection distance that the train can approach the target stopping point, which is calculated by the signal system, is closely related to the vehicle performance and the line condition. In view of the fact that the outbound signal is relatively close to the platform, in order to stop the train at the platform accurately, a protection section larger than the minimum protection distance is generally arranged downstream of the outbound signal as shown in fig. 3.

However, when the length of the line cannot meet the requirement of the protection distance of the signal system, the train cannot automatically and accurately stop on the line. That is: although the guard section may be placed downstream of the signal, the length of the track downstream of the signal does not meet the requirement of the minimum guard distance, resulting in the train not being able to automatically and accurately stop at the target stop as shown in fig. 4.

As shown in fig. 5, especially in an automated parking lot or a vehicle section, due to a large number of tracks and dense parking areas, civil engineering conditions are difficult to change. If the length of the track can not meet the requirement of the minimum safety protection distance for accurate parking of the train, the train can not automatically and accurately park on all the tracks, and the positions of a boarding platform, an overhaul pit and the like planned and designed in the early stage can not be matched. If extension lines are added in the signal system implementation stage, not only project construction period cannot be met, but also civil engineering planning is very difficult to implement because of problems of land use, house collection, removal and the like.

When the current project meets the situation, the automation degree of the train is mainly sacrificed, the problem is solved by adopting a manual intervention mode, when the train automatically stops at a distance from a target stop point on a track, a driver converts a train driving mode into manual driving, and then the manual driving train accurately stops at the stop point, so that the automation degree operation efficiency of the line train is reduced, and the working time of the driver is increased.

This situation is made worse in more and more cities in a constructed driverless project: in a subway project driven by people, a driver can manually drive a train on the train at any time to manually and accurately stop the train at a preset stop point. However, for the unmanned project, a driver is not configured on the train, and if the train cannot be accurately stopped at the tail end of the line, the efficiency of the whole line is undoubtedly greatly influenced when the driver needs to go on and off through a complex process and an approval program.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a parking control method, a parking control device, equipment and a parking control medium for a rail transit signal system, which can save the delay of a vehicle-mounted ATP system and a trackside ATP communication by setting a deceleration point and a deceleration point beacon under the conditions of not changing the minimum safety protection distance of the signal system and not reducing the safety condition, thereby solving the problem that the length of a parking track cannot meet the requirement of accurate parking of a train under the condition of ensuring the minimum safety protection distance, so that the train cannot be automatically and accurately parked.

The purpose of the invention can be realized by the following technical scheme:

according to a first aspect of the present invention, there is provided a parking control method for a rail transit signal system, comprising the steps of:

step 101, determining a parking spot;

102, calculating the minimum protection distance of a signal system;

103, setting a virtual track;

step 104, setting a safety guarantee beacon;

and step 105, setting a virtual track speed limit point.

As a preferred technical solution, the step 101 specifically comprises: the signal system sets different target stopping points in the area needing stopping according to the train length on the line.

As a preferable technical scheme, the length of the route from the target parking point to the end of the route can be determined only after the target parking point is set according to the length of the vehicle.

As a preferred technical solution, the step 102 specifically includes:

the signal system calculates the minimum safety protection distance required by the train to stop at the target stopping point according to the gradient of the civil engineering line and the traction braking performance of the train, and the length of the line behind the target stopping point is larger than the minimum safety protection distance.

As a preferred technical solution, the step 103 specifically comprises:

and when the speed is lower than the safe collision speed in the braking process of the train and the accumulated running distance S is less than the distance from the target stop point to the tail end of the line, setting a virtual track to enable the terminal point of the ATP protection curve of the train to move outside the line.

As a preferred technical solution, the step 104 specifically includes:

the emergency braking command is sent by a signal system when the train is at the S distance from the tail end of the line, an European beacon is arranged at the distance which is not less than the S distance from the tail end of the line, and the train can normally run before the beacon is not read by the train, so that the emergency braking command is sent when the train reads the beacon, and the safety of the train at the tail end of the line is ensured.

As a preferred technical solution, the step 105 specifically comprises:

in order to ensure the safety of the train under the most adverse condition, the signal system sets the minimum speed limit for ensuring the train to be capable of running in an ATO mode on the virtual track, and the virtual track safety speed limit is set to ensure that the actual running speed of the train in the area is smaller than the minimum value of the speed of the train bumper and the collision speed of the train, so that the train is ensured not to be dangerous under the most adverse condition.

According to a second aspect of the present invention, there is provided a parking control apparatus of a rail transit signal system, comprising:

the parking spot determining module is used for determining a parking spot;

the minimum protection distance calculation module is used for calculating the minimum protection distance of the signal system;

the virtual track module is used for setting a virtual track;

the safety guarantee beacon setting module is used for setting a safety guarantee beacon;

and the virtual track speed limit point setting module is used for setting the virtual track speed limit points.

According to a third aspect of the invention, there is provided an electronic device comprising a memory having stored thereon a computer program and a processor implementing the method when executing the program.

According to a fourth aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the method.

Compared with the prior art, the invention has the following advantages:

1) the problem of the signal safety protection distance grow that changes such as vehicle, civil engineering condition brought in the later stage is solved, and the unable accurate parking that leads to.

2) The train can be automatically driven to the tail end of the line to be accurately stopped, and the intervention of a driver on the automatic driving of the train is reduced.

3) The train can automatically drive to stop at the accurate destination, and the virtual track improves the approaching speed of the train approaching a stopping point of a line under the condition of being a protective section, and improves the use efficiency of the line and the automation degree of the running of the train.

4) The flexibility in later detailed design of the signal system is improved, and the influence of other systems and condition changes on the signal system is reduced.

Drawings

FIG. 1 is a schematic diagram of train-to-ground train information transmission;

FIG. 2 is a schematic view of a minimum safeguard distance of the train;

fig. 3 is a schematic diagram of the station outbound signal protection section;

FIG. 4 is a schematic illustration of a guard segment length less than the guard distance requirement;

FIG. 5 is a schematic diagram of a parking line arrangement in an automated parking lot, vehicle section;

FIG. 6 is a schematic diagram of the train emergency braking speed time relationship;

FIG. 7 is a schematic diagram of a dual parking line arrangement;

FIG. 8 is a schematic diagram of a virtual track setup;

FIG. 9 is a flow chart of virtual track setup;

FIG. 10 is a flow chart of the method of the present invention;

FIG. 11 is a schematic view of the apparatus of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.

The invention provides a simple and efficient method, which solves the problem that an automatic train cannot automatically and accurately stop at a line terminal when the line length cannot meet the minimum protection distance requirement of a signal requirement.

As shown in fig. 10, the parking control method of the rail transit signal system of the present invention includes the following steps:

s101, determining a parking spot;

s102, calculating the minimum protection distance of the signal system;

s103, setting a virtual track;

s104, setting a safety guarantee beacon;

and S105, setting a virtual track speed limit point.

The specific process of the method is described in detail as follows:

1) a parking spot is determined. The signal system sets different target stopping points in an area needing stopping on a line according to the train length, particularly on the end of the line or a parking lot or a parking line of a vehicle section, the design of the stopping position of the train needs to consider that other professional functions cannot be influenced, the condition that a driver sees a signal machine after the train stops is ensured, the equipment position reserved by other professionals is also not influenced, and the line length from the target stopping point to the end of the line can be determined only after the target stopping point is set according to the train length.

2) And calculating the minimum protection distance of the signal system. The minimum protection distance required by the signal is different according to different projects, the minimum safety protection distance required by the train stopping at the target stopping point is calculated by the signal system according to the gradient of the civil engineering line and the traction and braking performance of the train, and the length of the line behind the target stopping point is greater than the minimum safety protection distance, so that the train can accurately stop at the target stopping point.

3) A virtual track is set. When the line condition can not meet the requirement of automatic accurate stop of the train, comparing the safe collision speed of the train and the gear, taking the minimum value of the two as a reference, when the train approaches the stop point, the train passes through the stop point according to the most unfavorable condition of the train, as long as an emergency braking trigger point is arranged at a proper distance behind the target stop point, and ensuring that the speed reaching the gear in the braking process of the train is less than the minimum value of the safe collision speed of the train and the gear, the running safety of the train can be ensured, as shown in figure 6, when the speed of the train passing through the limit point is reduced to the safe collision speed, the running distance S is accumulated.

When the speed is lower than the safe collision speed in the braking process of the train and the accumulated running distance S is smaller than the distance from the target stopping point to the tail end of the line, the virtual track can be set, so that the terminal point of the ATP protection curve of the train moves towards the outside of the line, and the train can be guaranteed to automatically and accurately stop at the target stopping point.

4) Setting a safety guarantee beacon, according to the description in 3), if the safe running of the train at the tail end of the line is realized, the speed of the train when actually approaching the stop is required to be lower than the collision speed of the stop, as long as the train is ensured to be at the distance S from the tail end of the line, the emergency braking command is sent by a signal system, the safety of the train stopping on the line can be ensured, an European-type beacon is set at the distance not less than S from the tail end of the line, before the train does not read the beacon, the train can normally run, the emergency braking command is sent when the train reads the beacon, and the safety of the train at the tail end of the line is ensured.

5) And setting a virtual track speed limit point. Compromise under the efficiency condition, set up one section virtual track at the circuit end, let ATP protection curve terminal point in the signal system can cross and block the semaphore, realize the automatic accurate parking of train. Meanwhile, in order to ensure the safety of the train under the most adverse condition, the signal system sets a minimum speed limit for ensuring the train to be capable of running in an ATO mode on the virtual track, and the actual running speed of the train in the area is ensured to be smaller than the minimum value of the speed of collision between the train stop and the train by setting the safety speed limit, so that the train is ensured not to be dangerous under the most adverse condition.

The technical scheme in the embodiment of the invention will be fully described in detail with reference to the embodiment, as shown in fig. 7, the total length of a civil engineering line double-storage line is 330 meters, the length of a train is 140 meters, the double-row parking line is arranged, and in cooperation with the positions of equipment such as a boarding platform and the like, considering that the train does not occupy a fire passage when stopping and can ensure that maintenance personnel can normally enter a service pit of BG, the train adopts an end alignment mode, a train target parking point SSP3 is set, and the distance from the SSP3 to a stop is 12m according to the calculation of the line length.

According to the line gradient and the vehicle parameters, the minimum safety protection distance D3 of the train calculated by the signal system is equal to 15 meters, and the distance from the target stop point to the tail end of the line is less than the minimum safety protection distance D3 of the train, so that the train cannot automatically and accurately stop on the BG.

According to the improvement of vehicles and civil engineering, the designed safe collision speed of the train is 15km/h, the safe collision speed of the stop at the tail end of the line is 5km/h, the accumulated running distance is calculated when the speed is firstly lower than the collision speed of the stop in the emergency braking process of the train on the basis of the safe collision speed of the stop, the calculated distance is equal to 9.15 meters, and the calculated distance is smaller than the distance from a stop point SSP3 to the stop at the tail end of the line.

Considering the operation efficiency of the train approaching SSP3, a section of 50-meter virtual track is arranged behind a BG tail end bumper as shown in figure 8, and an ATP protection end point of train operation is moved to the virtual track from the bumper, so that the train can be automatically and accurately stopped at a target stop point.

Considering the safety of protecting the train under the most adverse condition, a speed-limiting beacon B is arranged at a position 9.5 meters away from a train stop at the tail end of a line, when the train reads the beacon through a target stop point, a signal system gives an emergency braking command, and the speed of the train is lower than the safe collision speed of the train stop when the train approaches the train stop in the braking process through calculation, so that the safety of the train operation can be ensured under the most adverse condition.

Based on safety consideration, a safety speed limit of 12km/h is set from a beacon to the end of a virtual track on a line, the safety operation of the train is realized on the basis of meeting the requirement that the train approaches a stopping point, and the safety risk of the train is avoided under the most adverse condition.

The above is a description of method embodiments, and the embodiments of the present invention are further described below by way of apparatus embodiments.

As shown in fig. 11, the parking control device of the rail transit signal system of the present invention includes:

a parking spot determination module 100 for determining a parking spot;

a minimum guard distance calculation module 200, configured to calculate a minimum guard distance of the signal system;

a virtual track module 300 for setting a virtual track;

a security assurance beacon setting module 400 for setting a security assurance beacon;

a virtual track speed limit point setting module 500 for setting the virtual track speed limit point

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the described module may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.

The electronic device of the present invention includes a Central Processing Unit (CPU) that can perform various appropriate actions and processes according to computer program instructions stored in a Read Only Memory (ROM) or computer program instructions loaded from a storage unit into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The CPU, ROM, and RAM are connected to each other via a bus. An input/output (I/O) interface is also connected to the bus.

A plurality of components in the device are connected to the I/O interface, including: an input unit such as a keyboard, a mouse, etc.; an output unit such as various types of displays, speakers, and the like; storage units such as magnetic disks, optical disks, and the like; and a communication unit such as a network card, modem, wireless communication transceiver, etc. The communication unit allows the device to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processing unit executes the respective methods and processes described above, for example, methods S101 to S105. For example, in some embodiments, methods S101-S105 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device via ROM and/or the communication unit. When the computer program is loaded into RAM and executed by the CPU, one or more of the steps of methods S101-S105 described above may be performed. Alternatively, in other embodiments, the CPU may be configured to perform methods S101-S105 by any other suitable means (e.g., by way of firmware).

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), and the like.

Program code for implementing the methods of the present invention may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may 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. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, 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.

While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.