CN116101329A - Rail engineering vehicle automatic driving control method, system, equipment and storage medium - Google Patents
Rail engineering vehicle automatic driving control method, system, equipment and storage medium Download PDFInfo
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- CN116101329A CN116101329A CN202111321412.1A CN202111321412A CN116101329A CN 116101329 A CN116101329 A CN 116101329A CN 202111321412 A CN202111321412 A CN 202111321412A CN 116101329 A CN116101329 A CN 116101329A
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Abstract
The application relates to a method, a system, equipment and a storage medium for controlling automatic driving of a track engineering vehicle. The method comprises the following steps: after the track engineering vehicle is electrified, automatically reading power configuration information of the train, and selecting different power transmission strategies according to the power configuration information; judging whether each part of an automatic driving system of the train works normally or not, and selecting an automatic driving mode and a manual driving mode according to a judging result; after the train enters an automatic driving mode, analyzing line data, vehicle data monitoring signals and vehicle current state information of the running of the train according to the operation requirement of the track engineering vehicle, and dynamically planning a train running target speed curve; according to different scenes of automatic driving operation of the train, the safe, stable and efficient operation of the train is controlled. The automatic driving system provided by the embodiment of the invention reduces the operation labor intensity of a driver and improves the operation quality of a train; meanwhile, when the rail car works, the safety, reliability and stability of train operation are improved.
Description
Technical Field
The present disclosure relates to the field of rail traffic, and in particular, to a method, a system, an apparatus, and a storage medium for controlling automatic driving of a rail engineering vehicle.
Background
Along with the continuous improvement of the intelligent and automatic level of rail transit equipment, the automatic driving technology and the unmanned driving technology are rapidly developed in the fields of urban rails, subways, high-speed rails and locomotives. But the intelligent level of the whole equipment technology of the track engineering vehicle is low, for example: most of the air braking systems adopt JZ-7 brakes (because the air braking systems are pure air brakes, electric control cannot be realized). The intelligent and automatic level of the rail car is promoted by researching the automatic driving technology of the rail car, the electric control transformation of the JZ-7 brake is promoted, the intelligent level of the rail engineering vehicle equipment is improved, and the tamping foundation is developed for the subsequent intelligent operation, maintenance and digitization times of the rail car.
At present, the driving of the track engineering train is completely driven by a driver, and the driver is not checked by unified standard standards due to different operation levels of the driver; the service life of part of mechanical devices is reduced due to frequent operation of drivers, and potential safety hazards exist; the driver controls the train to run only according to the operation habit and experience, and subjective factors of the driver exist to influence the driving efficiency and the train energy consumption; in the driving process, a driver needs to observe the running condition of the train while driving the train, so that the driver is distracted and has potential safety hazards; the driver can not respond to the train faults in time in the driving process. In addition, a part of the track engineering vehicle has a single operation scene, for example: the flaw detection vehicle, the polishing vehicle, the inspection vehicle and the like are low in use frequency. But when in use, the working mileage reaches thousands of kilometers, the working task is heavy, and the running time is long. The operation time of the driver is long, and the operation intensity is high.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a rail engineering vehicle autopilot control method, system, computer device, and storage medium.
In a first aspect, an embodiment of the present invention provides a method for controlling automatic driving of a rail engineering vehicle, where the method includes:
after the track engineering vehicle is electrified, automatically reading power configuration information of the train, and selecting different power transmission strategies according to the power configuration information;
judging whether each part of an automatic driving system of the train works normally or not, and selecting an automatic driving mode and a manual driving mode according to a judging result;
after the train enters an automatic driving mode, analyzing line data of train operation, train data monitoring signals and current state information of the train according to the track operation requirement of the train, and dynamically planning a train operation target speed curve;
according to different running scenes of the train, the automatic running of the vehicle is controlled in the processes of starting, running in intervals, train operation and stopping.
Further, the step of judging whether each component of the automatic driving system of the train works normally, and selecting the automatic driving mode and the manual driving mode according to the judgment result includes:
determining detection of the vehicle to the external driving environment through data exchange among the train monitoring equipment, the obstacle detection equipment and the automatic driving unit;
according to the communication mode of the vehicle-mounted network bus, the communication interfaces of a train network control system and a brake system are determined, and whether the communication data transmission of the train is normal or not is judged;
operating a display screen and man-machine voice interaction equipment on the train, and judging whether the man-machine interaction of the train is normal or not;
through information interaction with the train operation system, the reasonable operation of the train during operation is controlled, and whether the operation of the train is normal is judged.
Further, after the train enters the automatic driving mode, according to the track operation requirement of the train, analyzing the line data of the train operation, the train data monitoring signal and the current state information of the train, and dynamically planning a train operation target speed curve, including:
in an automatic driving mode, collecting train running line data, signal states and speed limiting requirement vehicle running parameters;
analyzing locomotive characteristics and locomotive state information according to the running parameters; obtaining control information of the current moment of the train;
and planning the running track in front of the running of the train according to the control information of the current time of the train, so as to realize the automatic running of the train in an automatic driving scene.
Further, after the train enters the automatic driving mode, according to the track operation requirement of the train, analyzing the line data of the train operation, the train data monitoring signal and the current state information of the train, and dynamically planning a train operation target speed curve, and further comprising:
selecting a point single mode for a train running with the time division of the section running as a calculation basis;
for the train which meets the transportation requirement and is the first target in the guaranteed operation time, the train which needs to be operated rapidly under the up-speed operation is selected in the up-speed mode;
selecting a speed limiting mode for a train taking operation safety as a guarantee in an operation section;
when the rail engineering vehicle works, the operation mode is selected for the operation train of rail flaw detection and inspection operation.
On the other hand, the embodiment of the invention also provides an automatic driving control system of the track engineering vehicle, which comprises the following steps:
the train initialization module is used for automatically reading power configuration information of the train after the track engineering vehicle is electrified, and selecting different power transmission strategies according to the power configuration information;
the driving selection module is used for judging whether each part of an automatic driving system of the train works normally or not, and selecting an automatic driving mode and a manual driving mode according to a judging result;
the vehicle control module is used for analyzing line data, train data monitoring signals and current state information of the train running according to the track operation requirement of the train after the train enters an automatic driving mode, and dynamically planning a train running target speed curve;
the scene selection module is used for controlling the automatic operation of the vehicle in the processes of starting, running in intervals, train operation and stopping according to different running scenes of the train.
Further, the driving selection module includes an automatic detection unit for:
determining detection of the vehicle to the external driving environment through data exchange among the train monitoring equipment, the obstacle detection equipment and the automatic driving unit;
according to the communication mode of the vehicle-mounted network bus, the communication interfaces of a train network control system and a brake system are determined, and whether the communication data transmission of the train is normal or not is judged;
operating a display screen and man-machine voice interaction equipment on the train, and judging whether the man-machine interaction of the train is normal or not;
through information interaction with the train operation system, the reasonable operation of the vehicle during operation is controlled, and whether the operation of the train is normal is judged.
Further, the vehicle control module includes an autopilot unit for:
in an automatic driving mode, collecting train running line data, signal states and speed limiting requirement vehicle running parameters;
analyzing locomotive characteristics and locomotive state information according to the running parameters; obtaining control information of the current moment of the train;
and planning the running track in front of the running of the train according to the control information of the current time of the train, so as to realize the automatic running of the train in an automatic driving scene.
Further, the vehicle control module further includes an operation mode unit for:
selecting a point single mode for a train running with the time division of the section running as a calculation basis;
for the train which meets the transportation requirement and is the first target in the guaranteed operation time, the train which needs to be operated rapidly under the up-speed operation is selected in the up-speed mode;
selecting a speed limiting mode for a train taking operation safety as a guarantee in an operation section;
when the rail engineering vehicle works, the operation mode is selected for the operation train of rail flaw detection and inspection operation.
The embodiment of the invention also provides computer equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the computer program:
after the track engineering vehicle is electrified, automatically reading power configuration information of the train, and selecting different power transmission strategies according to the power configuration information;
judging whether each part of an automatic driving system of the train works normally or not, and selecting an automatic driving mode and a manual driving mode according to a judging result;
after the train enters an automatic driving mode, analyzing line data of train operation, train data monitoring signals and current state information of the train according to the track operation requirement of the train, and dynamically planning a train operation target speed curve;
according to different running scenes of the train, the automatic running of the vehicle is controlled in the processes of starting, running in intervals, train operation and stopping.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, realizes the following steps:
after the track engineering vehicle is electrified, automatically reading power configuration information of the train, and selecting different power transmission strategies according to the power configuration information;
judging whether each part of an automatic driving system of the train works normally or not, and selecting an automatic driving mode and a manual driving mode according to a judging result;
after the train enters an automatic driving mode, analyzing line data of train operation, train data monitoring signals and current state information of the train according to the track operation requirement of the train, and dynamically planning a train operation target speed curve;
according to different running scenes of the train, the automatic running of the vehicle is controlled in the processes of starting, running in intervals, train operation and stopping.
The automatic driving control method, the automatic driving control system, the computer equipment and the storage medium for the rail engineering vehicle comprise the following steps: after the track engineering vehicle is electrified, automatically reading power configuration information of the train, and selecting different power transmission strategies according to the power configuration information; judging whether each part of an automatic driving system of the train works normally or not, and selecting an automatic driving mode and a manual driving mode according to a judging result; after the train enters an automatic driving mode, analyzing line data of train operation, train data monitoring signals and current state information of the train according to the track operation requirement of the train, and dynamically planning a train operation target speed curve; according to different running scenes of the train, the automatic running of the vehicle is controlled in the processes of starting, running in intervals, train operation and stopping. According to the automatic driving method provided by the embodiment of the invention, the operation of the rail car is automatically controlled and the data interaction is carried out, so that the optimal curve of train operation is reasonably planned according to the operation requirement, the train is controlled to stably operate during operation, and the operation quality is improved; meanwhile, when the rail car works, the system can control the train to reasonably run, so that the rail car working quality is improved, and the safety and reliability of the train running are improved; by researching the automatic driving technology of the railway engineering vehicle, the intelligent technical development of railway vehicle equipment is promoted.
Drawings
FIG. 1 is a flow chart of a method of controlling the autopilot of a rail engineering vehicle in one embodiment;
FIG. 2 is a flow diagram of one embodiment for detecting components of an autopilot;
FIG. 3 is a schematic flow chart of controlling automatic driving of a vehicle in one embodiment;
FIG. 4 is a flow diagram of operational mode selection in one embodiment;
FIG. 5 is a block diagram of an automated driving control system for a rail engineering vehicle in one embodiment;
fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a method for controlling automatic driving of a railway engineering vehicle, the method comprising:
Specifically, the automatic driving system of the track engineering vehicle solves the problems of automatic starting, automatic running in intervals and automatic stopping of the track engineering vehicle. According to the embodiment, on the basis of not changing the original electric control logic of the rail engineering vehicle, information interaction is carried out through the automatic driving component, the train network control component, the brake control component, the train operation monitoring component and the display, and automatic driving of the rail engineering vehicle is realized through upgrading and reforming of electromechanical control. The automatic starting, interval automatic running and automatic stopping functions of the rail engineering vehicle are realized, and the automatic driving scene control is realized according to the running scene of the rail engineering vehicle. Meanwhile, in the automatic driving method provided by the embodiment, the operation of the rail car is automatically controlled and the data interaction is carried out, so that the optimal curve of train operation is reasonably planned according to the operation requirement, the train is controlled to stably operate during the operation, and the operation quality is improved; meanwhile, when the rail car works, the system can control the train to reasonably run, so that the rail car working quality is improved, and the safety and reliability of the train running are improved; by researching the automatic driving technology of the railway engineering vehicle, the intelligent technical development of railway vehicle equipment is promoted.
In one embodiment, as shown in FIG. 2, the process of detecting components of an autopilot prior to an autopilot determination includes the steps of:
and 204, controlling the reasonable running of the vehicle during operation by carrying out information interaction with the train operation system, and judging whether the operation of the train is normal or not.
Specifically, in the detection process, real-time data interaction is carried out on equipment such as a network control system, a brake system, a train operation monitoring system, a display, an obstacle detection system, an operation system and the like of the train. The automatic driving display can be used alone or combined with the existing display of the railway car for display. The loudspeaker is additionally arranged on the display, so that the man-machine interaction voice prompt function is increased. In addition, an autopilot on-off button is added to the driver's desk, and the crewmember enters and exits the autopilot mode by pressing a control button. In the automatic driving process, the communication interfaces of the network control system and the brake system CAN be selected according to the bus communication mode of the vehicle-mounted network of the railway vehicle, the CAN communication is mainly used as the liquid transmission network, the MVB communication is mainly used as the electric transmission network communication in the existing vehicle type, and the automatic driving device CAN be randomly provided with the communication interfaces according to the bus communication mode. It is also desirable to determine that the train operation monitoring device provides line data to the autopilot unit, as well as monitoring data. For obstacle detection, the system mainly provides the obstacle detection condition for the line in front of the automatic driving unit, so that the system can timely handle abnormal conditions. For an operating system: refers to a rail engineering vehicle operating system, such as: flaw detection system of flaw detection car. The automatic driving unit performs information interaction with the rail car operation system, and the rail car is controlled to reasonably run during operation.
In one embodiment, as shown in FIG. 3, the process of controlling the autonomous driving of the vehicle includes:
and 303, planning a running track in front of the running of the train according to the control information of the current time of the train, and realizing the automatic running of the train in an automatic driving scene.
Specifically, in the automatic driving process of the train, according to the safety, stability, punctual, energy saving and operation requirements of the railway car, the line data, the vehicle data monitoring signal, the engine characteristic, the train traction characteristic, the braking characteristic and the operation requirements of the train operation are comprehensively analyzed, an optimal target speed curve of the train operation is dynamically planned, the train is adaptively controlled to operate according to the target curve according to different marshalling, and the functions of automatic train departure, automatic section operation, automatic operation and automatic stopping of the railway car are realized. The automatic driving system acquires the current control information of the train and the running track planning in front of the running of the train by acquiring the position, speed limit, locomotive signals, the rotating speed and power characteristic curves of the diesel engine, the traction/electric braking information sent by the network control system and the air braking information of the acquisition brake, combining basic line data and railcar parameter information, and performing optimization calculation, and outputs the calculated current control information to the train so as to achieve the aim of controlling the automatic running of the train under specific conditions; in the manual driving mode, the automatic driving unit outputs a train running track, but does not perform train control, and can have an automatic driving function to prompt a driver to operate.
In one embodiment, as shown in fig. 4, the process of selecting the working mode of the track engineering vehicle includes:
Specifically, the working modes of the automatic driving system mainly comprise order, speed up, speed limit and operation, and all the working modes can be mutually converted according to a dispatching plan and a train running state. Wherein, the order mode: the system is suitable for trains under the condition of normal transportation organization, the system divides the interval operation into an optimal calculation basis, and the operation time is reasonably distributed so as to reduce the train operation energy consumption. Speed mode: the method is suitable for the condition of receiving the dispatch notification of the arrival operation, and the arrival operation needs to be operated at a safe speed as fast as possible so as to ensure that the operation time meets the transportation requirement as a first target, and the optimization calculation is not carried out by the inter-station operation time of the ordering. Speed limit mode: the system is suitable for temporary speed limiting and speed control which is not written in the operation section and is disclosed by operation, and after a crew inputs the speed limit of a certain place in front of the train operation, the system controls the train operation according to the speed limit input by the crew. Operation mode: the method is suitable for rail car section operation, rail flaw detection, inspection and other operations. After the crewmember selects the operation mode, the automatic driving system and the operation system perform information interaction, so that the train operation is reasonably controlled, and the operation quality is improved.
It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described above may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, and the order of execution of the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with at least a part of the sub-steps or stages of other steps or other steps.
In one embodiment, as shown in fig. 5, there is provided a rail engineering vehicle autopilot control system comprising:
the train initialization module 501 is configured to automatically read power configuration information of a train after the track engineering vehicle is powered on, and select different power transmission strategies according to the power configuration information;
the driving selection module 502 is configured to determine whether each component of the automatic driving system of the train works normally, and select an automatic driving mode and a manual driving mode according to a determination result;
the vehicle control module 503 is configured to analyze line data of train operation, a train data monitoring signal, and current state information of the train according to a track operation requirement of the train after the train enters an automatic driving mode, and dynamically plan a train operation target speed curve;
the scene selection module 504 is configured to control the vehicle to automatically run during a start, an interval running, a train operation and a stopping according to different running scenes of the train.
In one embodiment, as shown in fig. 5, the driving selection module 501 includes an automatic detection unit 5011, and the automatic detection unit 5011 is configured to:
determining detection of the vehicle to the external driving environment through data exchange among the train monitoring equipment, the obstacle detection equipment and the automatic driving unit;
according to the communication mode of the vehicle-mounted network bus, the communication interfaces of a train network control system and a brake system are determined, and whether the communication data transmission of the train is normal or not is judged;
operating a display screen and man-machine voice interaction equipment on the vehicle, and judging whether the man-machine interaction of the train is normal or not;
through information interaction with the train operation system, the reasonable operation of the vehicle during operation is controlled, and whether the operation of the train is normal is judged.
In one embodiment, as shown in fig. 5, the vehicle control module 503 includes an autopilot unit 5031, the autopilot unit 5031 being configured to:
in an automatic driving mode, collecting running parameters required by train running line data, signal states and speed limit;
analyzing locomotive characteristics and locomotive state information according to the running parameters; obtaining control information of the current moment of the train;
and planning the running track in front of the running of the train according to the control information of the current time of the train, so as to realize the automatic running of the train in an automatic driving scene.
In one embodiment, as shown in fig. 5, the vehicle control module 503 further includes an operation mode unit 5032, where the operation mode unit 5032 is configured to:
selecting a point single mode for a train running with the time division of the section running as a calculation basis;
for the train which meets the transportation requirement and is the first target in the guaranteed operation time, the train which needs to be operated rapidly under the up-speed operation is selected in the up-speed mode;
selecting a speed limiting mode for a train taking operation safety as a guarantee in an operation section;
when the rail engineering vehicle works, the operation mode is selected for the operation train of rail flaw detection and inspection operation.
The specific limitation regarding the automatic driving control system of the track engineering vehicle can be referred to as the limitation regarding the automatic driving control method of the track engineering vehicle hereinabove, and will not be described herein. The modules in the automatic driving control system of the track engineering vehicle can be fully or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
FIG. 6 illustrates an internal block diagram of a computer device in one embodiment. As shown in fig. 6, the computer device includes a processor, a memory, a network interface, an input device, and a display screen connected by a system bus. The memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system, and may also store a computer program which, when executed by a processor, causes the processor to implement a rail engineering vehicle autopilot control method. The internal memory may also store a computer program which, when executed by the processor, causes the processor to perform the method for controlling the autonomous driving of the railway engineering vehicle. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 6 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of when executing the computer program:
after the track engineering vehicle is electrified, automatically reading power configuration information of the train, and selecting different power transmission strategies according to the power configuration information;
judging whether each part of an automatic driving system of the train works normally or not, and selecting an automatic driving mode and a manual driving mode according to a judging result;
after the train enters an automatic driving mode, analyzing line data of train operation, train data monitoring signals and current state information of the train according to the track operation requirement of the train, and dynamically planning a train operation target speed curve;
according to different running scenes of the train, the automatic running of the vehicle is controlled in the processes of starting, running in intervals, train operation and stopping.
In one embodiment, the processor when executing the computer program further performs the steps of:
determining detection of the vehicle to the external driving environment through data exchange among the train monitoring equipment, the obstacle detection equipment and the automatic driving unit;
according to the communication mode of the vehicle-mounted network bus, the communication interfaces of a train network control system and a brake system are determined, and whether the communication data transmission of the train is normal or not is judged;
operating a display screen and man-machine voice interaction equipment on the vehicle, and judging whether the man-machine interaction of the train is normal or not;
through information interaction with the train operation system, the reasonable operation of the train during operation is controlled, and whether the operation of the train is normal is judged.
In one embodiment, the processor when executing the computer program further performs the steps of:
in an automatic driving mode, collecting train running line data, signal states and speed limiting requirement vehicle running parameters;
analyzing locomotive characteristics and locomotive state information according to the running parameters; obtaining control information of the current moment of the train;
and planning the running track in front of the running of the train according to the control information of the current time of the train, so as to realize the automatic running of the train in an automatic driving scene.
In one embodiment, the processor when executing the computer program further performs the steps of:
selecting a point single mode for a train running with the time division of the section running as a calculation basis;
for the train which meets the transportation requirement and is the first target in the guaranteed operation time, the train which needs to be operated rapidly under the up-speed operation is selected in the up-speed mode;
selecting a speed limiting mode for a train taking operation safety as a guarantee in an operation section;
when the rail engineering vehicle works, the operation mode is selected for the operation train of rail flaw detection and inspection operation.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
after the track engineering vehicle is electrified, automatically reading power configuration information of the train, and selecting different power transmission strategies according to the power configuration information;
judging whether each part of an automatic driving system of the train works normally or not, and selecting an automatic driving mode and a manual driving mode according to a judging result;
after the train enters an automatic driving mode, analyzing line data of train operation, train data monitoring signals and current state information of the train according to the track operation requirement of the train, and dynamically planning a train operation target speed curve;
according to different running scenes of the train, the automatic running of the vehicle is controlled in the processes of starting, running in intervals, train operation and stopping.
In one embodiment, the processor when executing the computer program further performs the steps of:
determining detection of the vehicle to the external driving environment through data exchange among the train monitoring equipment, the obstacle detection equipment and the automatic driving unit;
according to the communication mode of the vehicle-mounted network bus, the communication interfaces of a train network control system and a brake system are determined, and whether the communication data transmission of the train is normal or not is judged;
operating a display screen and man-machine voice interaction equipment on the vehicle, and judging whether the man-machine interaction of the train is normal or not;
through information interaction with the train operation system, the reasonable operation of the vehicle during operation is controlled, and whether the operation of the train is normal is judged.
In one embodiment, the processor when executing the computer program further performs the steps of:
in an automatic driving mode, collecting train running line data, signal states and speed limiting requirement vehicle running parameters;
analyzing locomotive characteristics and locomotive state information according to the running parameters; obtaining control information of the current moment of the train;
and planning the running track in front of the running of the train according to the control information of the current time of the train, so as to realize the automatic running of the train in an automatic driving scene.
In one embodiment, the processor when executing the computer program further performs the steps of:
selecting a point single mode for a train running with the time division of the section running as a calculation basis;
for the train which meets the transportation requirement and is the first target in the guaranteed operation time, the train which needs to be operated rapidly under the up-speed operation is selected in the up-speed mode;
selecting a speed limiting mode for a train taking operation safety as a guarantee in an operation section;
when the rail engineering vehicle works, the operation mode is selected for the operation train of rail flaw detection and inspection operation.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. An automatic driving control method for a track engineering vehicle, which is characterized by comprising the following steps:
after the track engineering vehicle is electrified, automatically reading power configuration information of the train, and selecting different power transmission strategies according to the power configuration information;
judging whether each part of an automatic driving system of the train works normally or not, and selecting an automatic driving mode and a manual driving mode according to a judging result;
after the train enters an automatic driving mode, analyzing line data of train operation, train data monitoring signals and current state information of the train according to the track operation requirement of the train, and dynamically planning a train operation target speed curve;
according to different running scenes of the train, the automatic running of the vehicle is controlled in the processes of starting, running in intervals, train operation and stopping.
2. The automatic driving control method for a rail engineering vehicle according to claim 1, wherein the determining whether each component of an automatic driving system of a train is operating normally, and selecting the automatic driving mode and the manual driving mode according to the determination result, comprises:
determining detection of the vehicle to the external driving environment through data exchange among the train monitoring equipment, the obstacle detection equipment and the automatic driving unit;
according to the communication mode of the vehicle-mounted network bus, the communication interfaces of a train network control system and a brake system are determined, and whether the communication data transmission of the train is normal or not is judged;
operating a display screen and man-machine voice interaction equipment on the train, and judging whether the man-machine interaction of the train is normal or not;
through carrying out information interaction with the operation system of the train, the train is controlled to reasonably run during operation according to the operation requirement of the train, and whether the operation of the train is normal is judged.
3. The method for controlling the automatic driving of a rail engineering vehicle according to claim 1, wherein after the train enters the automatic driving mode, analyzing the line data of the train operation, the train data monitoring signal and the current state information of the train according to the track operation requirement of the train, and dynamically planning the train operation target speed curve, comprising:
in an automatic driving mode, collecting train running line data, signal states and speed limiting requirement vehicle running parameters;
analyzing locomotive characteristics and locomotive state information according to the running parameters; obtaining control information of the current moment of the train;
and planning the running track in front of the running of the train according to the control information of the current time of the train, so as to realize the automatic running of the train in an automatic driving scene.
4. The method for controlling the automatic driving of a rail engineering vehicle according to claim 1, wherein after the train enters the automatic driving mode, the method analyzes the line data of the train operation, the train data monitoring signal and the current state information of the train according to the track operation requirement of the train, and dynamically plans the train operation target speed curve, and further comprises:
selecting a point single mode for a train running with the time division of the section running as a calculation basis;
for the train which meets the transportation requirement and is the first target in the guaranteed operation time, the train which needs to be operated rapidly under the up-speed operation is selected in the up-speed mode;
selecting a speed limiting mode for a train taking operation safety as a guarantee in an operation section;
when the rail engineering vehicle works, the operation mode is selected for the operation train of rail flaw detection and inspection operation.
5. An automatic driving control system for a railway engineering vehicle, comprising:
the train initialization module is used for automatically reading power configuration information of the train after the track engineering vehicle is electrified, and selecting different power transmission strategies according to the power configuration information;
the driving selection module is used for judging whether each part of an automatic driving system of the train works normally or not, and selecting an automatic driving mode and a manual driving mode according to a judging result;
the vehicle control module is used for analyzing line data, train data monitoring signals and current state information of the train running according to the track operation requirement of the train after the train enters an automatic driving mode, and dynamically planning a train running target speed curve;
the scene selection module is used for controlling the automatic operation of the vehicle in the processes of starting, running in intervals, train operation and stopping according to different running scenes of the train.
6. The automated driving control system of a rail engineering vehicle of claim 5, wherein the driving selection module comprises an automatic detection unit for:
determining detection of the vehicle to the external driving environment through data exchange among the train monitoring equipment, the obstacle detection equipment and the automatic driving unit;
according to the communication mode of the vehicle-mounted network bus, the communication interfaces of a train network control system and a brake system are determined, and whether the communication data transmission of the train is normal or not is judged;
operating a display screen and man-machine voice interaction equipment on the train, and judging whether the man-machine interaction of the train is normal or not;
through information interaction with the train operation system, the reasonable operation of the train during operation is controlled, and whether the operation of the train is normal is judged.
7. The rail engineering vehicle autopilot control system of claim 5 wherein the train control module includes an autopilot unit for:
in an automatic driving mode, collecting train running line data, signal states and speed limiting requirement vehicle running parameters;
analyzing locomotive characteristics and locomotive state information according to the running parameters; obtaining control information of the current moment of the train;
and planning the running track in front of the running of the train according to the control information of the current time of the train, so as to realize the automatic running of the train in an automatic driving scene.
8. The rail engineering vehicle autopilot control system of claim 5 wherein the vehicle control module further includes an operating mode unit for:
selecting a point single mode for a train running with the time division of the section running as a calculation basis;
for the train which meets the transportation requirement and is the first target in the guaranteed operation time, the train which needs to be operated rapidly under the up-speed operation is selected in the up-speed mode;
selecting a speed limiting mode for a train taking operation safety as a guarantee in an operation section;
when the rail engineering vehicle works, the operation mode is selected for the operation train of rail flaw detection and inspection operation.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 4 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111321412.1A CN116101329A (en) | 2021-11-09 | 2021-11-09 | Rail engineering vehicle automatic driving control method, system, equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111321412.1A CN116101329A (en) | 2021-11-09 | 2021-11-09 | Rail engineering vehicle automatic driving control method, system, equipment and storage medium |
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