CN107839718A - Tramcar crossing safety zone control device based on fixed equipment - Google Patents
Tramcar crossing safety zone control device based on fixed equipment Download PDFInfo
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- CN107839718A CN107839718A CN201711141812.8A CN201711141812A CN107839718A CN 107839718 A CN107839718 A CN 107839718A CN 201711141812 A CN201711141812 A CN 201711141812A CN 107839718 A CN107839718 A CN 107839718A
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- 230000005540 biological transmission Effects 0.000 claims description 11
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- 238000004387 environmental modeling Methods 0.000 claims description 4
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- 230000004927 fusion Effects 0.000 description 8
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- 230000004048 modification Effects 0.000 description 2
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- 238000012544 monitoring process Methods 0.000 description 2
- 231100000572 poisoning Toxicity 0.000 description 2
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- 238000013473 artificial intelligence Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/007—Safety arrangements on railway crossings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L29/00—Safety means for rail/road crossing traffic
- B61L29/24—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning
- B61L29/28—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning electrically operated
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- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The disclosure provides a kind of tramcar crossing safety zone control device based on fixed equipment, including train position detection system, crossing safety zone control system and crossing context aware systems；The crossing context aware systems gather the environmental state information at crossing in real time, and send the environmental state information to crossing safety zone control system；The train position detection system includes train position ground detection；The first ground detection and the second ground detection of the train position ground detection are sequentially arranged at the train approach axis of grade crossing, first ground detection is used to receive train characteristics information and preferentially by solicited message and is sent to crossing safety zone control system, and second ground detection is for receiving the status information of train characteristics information and Train Approaching crossing and being sent to crossing safety zone control system.
Description
Technical field
This disclosure relates to a kind of tramcar crossing safety zone control device, more particularly to it is a kind of based on fixed equipment
Tramcar crossing safety zone control device.
Background technology
Modern tram can undertake city's main road axles road bus transportation in public transit systems, or as subway
Light rail builds the supplement public traffic network in region, and its working line is mostly that Reconstruction of City Road forms, and circuit is endless totally-enclosed,
In the presence of the grade crossing with ground public transport.In grade crossing tramcar and other vehicles, Hang Rencun
Interfering, road speed reduces when causing the tramcar to pass through grade crossing, and the crossing for influenceing tramcar passes through
Ability.Meanwhile domestic city road traffic condition is complicated, the various vehicles of road intersection and its pedestrian collect at crossing, led to
Cross or conversion direction, the operation security to modern tram bring many hidden danger.
Modern tram is different from city underground, light rail right of way form, and most of circuit belongs to semi-independent or mixing
Right of way, it is different from completely enclosed running environment this feature of other track traffics such as railway, subway, light rail so that its nothing
Method ensures train operating safety, therefore modern tram drive manner using the occlusion control in rail traffic signal system
Similar with public transport, by the visual pilot steering vehicle of driver, driver judges according to train speed and keeps the distance with front truck.
At present, modern tram uses crossing priority control system mostly, by close and leave away two in level crossing
Individual direction sets detection device, detects that train by information, is sent to public vehicles traffic light control system, by public vehicles
Traffic light control system carries out crossing traffic phase transition, and driver drives a vehicle according to crossroad traffic signal lamp, ensures traffic safety.But
Existing crossing priority control system, which is only realized to public vehicles traffic light control system, sends train by intersection information, shows again
Crossroad traffic signal lamp, the correlation with the signal system of tramcar is not accounted for.By having to having runed the modern times both at home and abroad
Rail trolley line traffic-operating period and the accident of generation are analyzed, and most accidents are all due to public vehicles level-crossing road
Mouthful turn and to rob row, traveling, parking in the in-orbit row area of public vehicles, pedestrian cross Gui Hang areas, the outsides such as pedestrian arbitrarily makes a dash across the red light because
Element causes, and driver does not have found in time, the reason such as inadequate, driver's operational error of reacting treatment time causes after discovery.It is semi-independent
Right of way and the visual pilot steering of driver cause the operation security of tramcar, conevying efficiency to be highly dependent on driver driving state
And experience so that driver is for a long time in high-pressure, the state of notice high concentration, the operation security band to tramcar
Carry out many hidden danger.Change the traffic control scheme at modern tram crossing, build tramcar crossing safety zone, for protecting
It is safe efficient by grade crossing to hinder tramcar, realizes that nonpassage of signal control etc. has great significance.
The modern tram that the country has runed at present, passed through mostly using crossing priority control system auxiliary tramcar
Grade crossing.At present modern tram use crossing priority control system just for social traffic control unit
Interaction, collection train position information transmission give social traffic control unit, train are passed through by traffic lights phase controlling
Crossing is simply protected, and many problems be present, such as：
1st, under the conditions of crossing priority control system does not consider dependent right of way, other modes of transportation (such as pedestrian, social car
Etc.) turned in grade crossing and rob row, the external factor such as arbitrarily make a dash across the red light is prevented for tramcar by the safety at crossing
Shield, this is also the principal element for causing tramcar operation security accident.
2nd, crossing priority control system fails solve the problems, such as modern tram non-close running environment, can not combine the modern times
Tramcar signal system carries out inaccessible control to tramcar, realizes that train operating safety protects.
The content of the invention
In order to solve problems of the prior art, disclosure combination computer technology, automatic control technology, artificial intelligence
Energy technology, the communication technology, using the grade crossing safety zone control device based on trackside fixed equipment, with crossing society
Traffic control unit Collaborative Control, tramcar grade crossing is configured to a virtual safe closed area, formed
Meet the completely enclosed running environment that rail traffic signal system occlusion control requires.
The tramcar crossing safety zone control device based on fixed equipment of the disclosure, it is real by the following technical programs
It is existing.
Tramcar crossing safety zone control device based on fixed equipment, including train position detection system, crossing
Safety zone control system and crossing context aware systems；The crossing context aware systems gather the ambient condition at crossing in real time
Information, and send the environmental state information to crossing safety zone control system；The train position detection system
Including train position ground detection；First ground detection of the train position ground detection and the second ground
Detection means is sequentially arranged at the train approach axis of grade crossing, and first ground detection is used to receive train
Characteristic information and by solicited message and crossing safety zone control system preferentially is sent to, the second ground detection dress
Put the status information for receiving train characteristics information and Train Approaching crossing and be sent to the crossing safety zone control system
System.
Wherein, the set location of first ground detection can be by normal operation speed v, nothing for guarantee tramcar
Normal operation speed need to be reduced and pass through level crossing.That is the first ground detection is apart from tramcar crossing special signal lamp
Distance d=normal operation speed v* vehicle control syetems send preferentially by ask to crossing special signal lamp complete opening when
Between be spaced the certain safety allowances of t+.
Wherein, second ground detection is that set location is relevant by the crossing speed of service with tramcar, is
, can be with the distance of safety arrestment, for ensureing that tramcar reaches when installation site is travelled by normal operation speed v for the sake of safety
The position crossing special signal lamp is when no thoroughfare, tramcar is braked and can stop ahead in crossing special signal lamp.I.e.
Second ground detection is apart from the distance d=normal operations speed v* crossings safety zone of tramcar crossing special signal lamp
Control system collect train by and vehicle control syetem receive crossing special signal lamp can not be between the time of opening imformation
The safety allowance of the distance+certain of traveling before being stopped after t+ trains implement braking before the special signal lamp of crossing.The crossing
Safety zone controller can be arranged in the rack by crossing or other correct positions.The crossing context aware systems are arranged on
The appropriate location of grade crossing, it can be realized using high-precision sensor, such as from camera, laser radar, millimeter
The combination of one or more of sensors such as ripple radar, infrared ray, the environmental state information at crossing is gathered in real time, and can be by environment shape
State information sends crossing safety zone controller to after being pre-processed.
Further, the 3rd ground detection of the train position ground detection is arranged on grade crossing
Train leave away direction, confirm whether tramcar has left the grade crossing and detection is true completely for detecting
The information recognized is sent to crossing safety zone control system.
Further, for tramcar when by the train position ground detection, vehicle control syetem passes through row
Truck position vehicle-mounted detection apparatus obtains the data of the train position ground detection, corrects self-position.
Further, crossing safety zone control system divides grade crossing region into crossing virtual secure area
Domain, according to the phase state of crossing special signal lamp and the environmental state information received from the crossing context aware systems, sentence
Whether not described crossing virtual secure region meets current condition, and will differentiate that result is sent to the vehicle control syetem；Institute
Vehicle control syetem is stated according to the differentiation output control tramcar operation.
Wherein, virtual secure region in crossing is the logical Virtual region of virtual grate in the control system of crossing safety zone,
For using tramcar the non-close part of level crossing in the control system of crossing safety zone as a logical Virtual
Region considers, so as to by tramcar whole service circuit configurations into closed operation environment.The length in crossing virtual secure region
For degree typically using level crossing import and level crossing outlet as segmentation, width is with street railway gauge and increases certain remaining
Measure to consider, specific region division can be adjusted according to the actual requirements.
Further, crossing safety zone control system is described preferentially by solicited message according to what is received, to
Crossing society traffic controller request clearing signal, crossing society traffic controller control crossing society traffic lights
Phase state, and the phase state is sent to crossing safety zone control system, the crossing safety zone control system
The phase state united according to the phase state Synchronization Control crossing special signal lamp of crossing society traffic lights.
Wherein, crossing society traffic controller can be arranged on level crossing roadside and (also be controlled with crossing safety zone
Device processed is installed to same rack), for receiving Train Approaching that crossing safety zone controller sends, taking, go out clear crossing letter
Breath, according to crossing priority strategy, the phase state of control crossing society traffic lights, while phase state is sent to crossing
Safety zone controller, the phase state of Synchronization Control crossing special signal lamp.
Wherein, crossing safety zone controller gathers crossing environmental state information in real time by crossing context aware systems,
Preferably, after environmental modeling, fusion, identification is carried out to the crossing environmental state information, in the virtual secure region of crossing
Possibility intrusion target be identified.
Further, when tramcar reaches first ground detection, first ground detection is led to
Cross the train position vehicle-mounted detection apparatus and the test point information at Train Approaching crossing is transmitted to the vehicle control syetem, and connect
Receive train characteristics information that the vehicle control syetem sent by the train position vehicle-mounted detection apparatus and preferentially by please
Information is sought, and is transmitted to crossing safety zone control system.
Further, when tramcar passes through first ground detection, arrival second ground detection
When, second ground detection transmits train by the train position vehicle-mounted detection apparatus to the vehicle control syetem
The test point information at crossing is reached, and receives what the vehicle control syetem was sent by the train position vehicle-mounted detection apparatus
Train characteristics information and Train Approaching crossing status information, and it is transmitted to crossing safety zone control system.
Further, when tramcar passes through second ground detection, when reaching three ground detections, institute
State the 3rd ground detection and train arrival is transmitted to the vehicle control syetem by the train position vehicle-mounted detection apparatus
Go out the test point information at clear crossing, and receive what the vehicle control syetem was sent by the train position vehicle-mounted detection apparatus
Train characteristics information, and it is transmitted to crossing safety zone control system.
Further, train is gone out clear intersection information and is transmitted to the traffic of crossing society by crossing safety zone control system
Controller, the phase state of crossing society traffic controller control crossing society traffic lights, and the phase state is sent
Give crossing safety zone control system, the phase of the crossing safety zone control system Synchronization Control crossing special signal lamp
Position state.
Further, the tramcar crossing safety zone control device based on fixed equipment of the disclosure may also include net
Network equipment, control centre's server and vehicle carried pick device.
Wherein, the vehicle carried pick device is arranged on tramcar, auxiliary based on GPS/BD technologies, the unit that tests the speed
Positioned by tramcar of train position detection device, Vehicle Controller counts according to GPS/BD modules location data and mileage
Tramcar current location is calculated when factually, and position is uploaded to control centre's server.Under normal circumstances, vehicle-mounted control
Device data based on the cell data that tests the speed, GPS/BD location datas are assistance data；When the unit that tests the speed has failure, will drop
Level carries out position calculating using GPS/BD data.Tramcar is in the process of running, it is understood that there may be wheel " skidding " or idle running,
There is error in this data for resulting in odometer statistics, train position detection device is disposed by online curb line, for vehicle-mounted
Controller is corrected to self poisoning data, meets positioning accuracy request.
Wherein, the network equipment is used for train position detection device, crossing safety zone controller, crossing environment sensing
Network transmission between system, Vehicle Controller, crossing special signal lamp, control centre's server.Vehicle Controller and control
Central server is carried out data transmission by wireless network, train position ground detection, crossing safety zone controller, road
Between mouth context aware systems, crossing special signal lamp, control centre's server, and train position vehicle-mounted detection apparatus and car
It can be carried out data transmission between set controller by LAN.
Wherein, control centre's server is arranged on control centre, for receiving the train position of Vehicle Controller transmission
The status information such as put, receive the crossing status information that crossing safety zone controller is sent, circuit is shown by dispatching workstations
Real time information, so as to dispatcher's monitoring circuit state.
Further, modeling procedure when being modeled to the environmental state information is as follows：
1) image information (such as passing through camera) in real-time acquisition plane intersection region；
2) the clarification of objective information in described image information is extracted, the target is demarcated；
3) three-dimensional information (such as passing through laser radar) of acquisition plane intersection region surrounding environment；
4), will according to the electronic map for the grade crossing being stored in crossing safety zone controller (601)
The image information of step 1) collection and the three-dimensional information of step 3) collection are identified, and realize that the environment of grade crossing is built
Mould.
Further, the fusion steps after being modeled to the environmental information are as follows：
A) the detection data of multiple varying environment awareness apparatus are transformed under the coordinate system in crossing virtual secure region, it is right
Multiple environment sensing equipment carry out combined calibrating；
B) chosen from above-mentioned image information and three-dimensional information it is specific demarcation thing (such as：Some point on the track of crossing)；
C) corresponding characteristic point of the demarcation thing in image information and three-dimensional information is obtained by specific demarcation thing；
D) image information collecting device coordinate system and three-dimensional information harvester coordinate system are realized by same characteristic point
Unification, complete two coordinate systems spacial alignment.
Wherein, image collecting device such as camera, three-dimensional information harvester such as laser radar.
Further, after above-mentioned fusion steps, in addition to identification step：
A) the object reference breath collected based on each environment sensing equipment for having completed fusion steps, crossing is virtual
Barrier in safety zone (such as：Public vehicles that are that some makes a dash across the red light and invading crossing virtual secure region) target signature
Information is extracted；
B) analyze and obtain the target that crossing virtual secure region or may have been invaded；
C the target in crossing virtual secure region or) may have been invaded by the environmental state information of real-time perception, analysis
Movement tendency；
D) if detecting the target for influenceing tramcar safety crossing virtual secure region, the control of crossing safety zone
Crossing virtual secure region prevailing state is real-time transmitted to Vehicle Controller by device processed；If being not detected by influences tramcar peace
Full by the target in crossing virtual secure region, continue repeat step A-C.
E when) tramcar does not obtain grade crossing right of access, the context aware systems are without Environment Obstacles
Thing target identification.
The beneficial effect of the disclosure：
By building crossing virtual secure region, by tramcar non-fully closed operation environment construction into completely enclosed ring
Border so that the control of tramcar signal meets nonpassage of signal control condition.
By the appropriate location installation environment sensing device by level crossing, tramcar running environment state is gathered in real time
Information, environmental modeling, fusion, identification are carried out, and combine crossing safety zone controller, the information of train position detection device,
Realize the Safety Judgment in crossing virtual secure region.
One base is built using train position detection device, crossing safety zone controller, crossing environmental perception device etc.
In the crossing virtual secure area control system of crossing fixed equipment, each crossing configuration is a set of, and number is configured for tramcar
When measuring more but crossing negligible amounts, crossing equipment quantity can be substantially reduced, reduces plant maintenance workload.
Crossing virtual secure region is compared can be according to tramcar overall trip speed, level crossing using physical security region
The change of situations such as social traffic speed limit is adjusted flexibly, and adds system flexibility.
Brief description of the drawings
Accompanying drawing shows the illustrative embodiments of the disclosure, and it is bright be used to explain the principle of the disclosure together,
Which includes these accompanying drawings to provide further understanding of the disclosure, and accompanying drawing includes in this manual and forms this
Part for specification.
Fig. 1 is the principle schematic of the tramcar crossing safety zone control device based on fixed equipment of the disclosure.
Fig. 2 is that the crossing that the tramcar crossing safety zone control device based on fixed equipment of the disclosure is set is virtual
Safety zone schematic diagram.
Embodiment
The disclosure is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that in order to just
The part related to the disclosure is illustrate only in description, accompanying drawing.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the disclosure can phase
Mutually combination.Describe the disclosure in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in figure 1, the tramcar crossing safety zone control device based on fixed equipment of the disclosure includes train
Position detecting system 101,102,103,104,105, crossing safety zone control system 601 and crossing context aware systems 301,
302；Crossing context aware systems 301,302 gather the environmental state information at crossing in real time, and environmental state information is sent to
Crossing safety zone control system 601；Train position detection system includes train position ground detection 101,102,103；
The first ground detection 101 and the second ground detection 102 of train position ground detection 101,102,103 are successively
Installed in the train approach axis of grade crossing, the first ground detection 101 is used to receive train characteristics information and excellent
First pass through solicited message and be sent to crossing safety zone control system 601, the second ground detection 102 is used to receive train
The status information at characteristic information and Train Approaching crossing (status information be train close to crossing and crossing will be passed through) and send
To crossing safety zone control system 601.
3rd ground detection 103 of train position ground detection 101,102,103 is arranged on level-crossing road
Mouthful train leave away direction, confirm whether tramcar has left grade crossing and by the detection completely for detecting
The information of confirmation is sent to crossing safety zone control system 601.
Tramcar is when by train position ground detection 101,102,103, vehicle control syetem 401,
402 obtain the number of the train position ground detection 101,102,103 by train position vehicle-mounted detection apparatus 104,105
According to amendment self-position.
Crossing safety zone control system 601 divides grade crossing region into crossing virtual secure region 901,
According to the phase state of crossing special signal lamp 201 and the ambient condition received from the crossing context aware systems 301,302
Information, differentiates whether the crossing virtual secure region 901 meets current condition, and will differentiate that result is sent to vehicle-mounted control system
System 401,402；Vehicle control syetem 401,402 is according to the differentiation output control tramcar operation.
Crossing safety zone control system 601 is described preferentially by solicited message according to what is received, to crossing society
Meeting traffic controller 801 asks clearing signal, and crossing society traffic controller 801 controls crossing society traffic lights
701 phase state, and the phase state is sent to crossing safety zone control system 601, the crossing place of safety
Domain control system 601 is according to the phase state Synchronization Control crossing special signal lamps 201 of crossing society traffic lights 701
Phase state.
When tramcar reaches first ground detection 101, first ground detection 101 passes through institute
State the detection that train position vehicle-mounted detection apparatus 104,105 transmits Train Approaching crossing to the vehicle control syetem 401,402
Point information (inform vehicle control syetem 401,402, at present train will reach crossing the first ground detection 101, the inspection
I D of survey device 101, position, place crossing, type, it is the Back ground Information of the detection means such as the first ground detection 101,
That is test point information), and the vehicle control syetem 401,402 is received by the train position vehicle-mounted detection apparatus 104,
105 train characteristics information sent and preferentially by solicited message, and are transmitted to crossing safety zone control system 601.
When tramcar is by first ground detection 101, reaches second ground detection 102,
Second ground detection 102 is by the train position vehicle-mounted detection apparatus 104,105 to the vehicle control syetem
401,402 transmission trains reach the test point information at crossing, and receive the vehicle control syetem 401,402 by the train
The train characteristics information and Train Approaching crossing status information that position vehicle-mounted detection apparatus 104,105 is sent, and be transmitted to described
Crossing safety zone control system 601.
It is described when tramcar is by second ground detection 102, reaches three ground detections 103
3rd ground detection 103 by the train position vehicle-mounted detection apparatus 104,105 to the vehicle control syetem 401,
402 transmission trains reach out the test point information at clear crossing, and receive the vehicle control syetem 401,402 by the train
The train characteristics information that position vehicle-mounted detection apparatus 104,105 is sent, and it is transmitted to crossing safety zone control system
601。
Train is gone out clear intersection information and is transmitted to crossing society traffic controller by crossing safety zone control system 601
801, crossing society traffic controller 801 controls the phase state of crossing society traffic lights 701, and the phase state is sent out
Give crossing safety zone control system 601, the special letter in Synchronization Control crossing of crossing safety zone control system 601
The phase state of signal lamp 201.
The tramcar crossing safety zone control device based on fixed equipment of the disclosure may also include the network equipment
501,502,503,504th, control centre's server 1001 and vehicle carried pick device 1101,1102,1103,1104.
Wherein, the vehicle carried pick device 1101-1104 is arranged on tramcar, and from GPS/BD technologies, test the speed list
Based on member, it is aided with train position detection device and is positioned for tramcar, Vehicle Controller 401,402 positions according to GPS/BD modules
Data and mileage count calculates tramcar current location in real time, and position is uploaded into control centre's server 1001.
Under normal circumstances, Vehicle Controller 401,402 based on the cell data that tests the speed data, GPS/BD location datas be supplementary number
According to；When the unit that tests the speed has failure, position calculating is carried out using GPS/BD data by degrading.Tramcar is in running
In, it is understood that there may be present error in wheel " skidding " or idle running, the data for causing odometer to count, disposed by online curb line
Train position detection device, it is corrected for 401,402 pairs of self poisoning data of Vehicle Controller, meets that positioning precision will
Ask.
Wherein, the network equipment 501-504 is used for train position detection device, crossing safety zone controller 601, road
Mouth context aware systems 301,302, Vehicle Controller 401,402, crossing special signal lamp 201, control centre's server 1001
Between network transmission.Vehicle Controller is carried out data transmission with control centre server by wireless network, train position
Face detection means, crossing safety zone controller, crossing context aware systems, crossing special signal lamp, control centre's server
Between, and can be carried out data transmission between train position vehicle-mounted detection apparatus and Vehicle Controller by LAN.
Wherein, control centre's server 1001 is arranged on control centre, is sent out for receiving Vehicle Controller 401,402
The status informations such as the train position sent, the crossing status information that crossing safety zone controller 601 is sent is received, by dispatching work
Make station and show circuit real time information, so as to dispatcher's monitoring circuit state.
Crossing safety zone control system 601 is modeled to the environmental state information, and modeling procedure is as follows：
The image information of 1 real-time acquisition plane intersection region；
Clarification of objective information in 2 extraction described image information, is demarcated to the target；
The three-dimensional information of 3 acquisition plane intersection region surrounding environment；
4 bases are stored in the electronic map of the grade crossing in crossing safety zone controller 601, by step
1) three-dimensional information that the image information of collection and step 3 gather is identified, and realizes the environmental modeling of grade crossing.
Fusion steps after being modeled to the environmental information are as follows：
A) the detection data of multiple varying environment awareness apparatus are transformed under the coordinate system in crossing virtual secure region, it is right
Multiple environment sensing equipment carry out combined calibrating；
B) chosen from above-mentioned image information and three-dimensional information it is specific demarcation thing (such as：Some point on the track of crossing)；
C) corresponding characteristic point of the demarcation thing in image information and three-dimensional information is obtained by specific demarcation thing；
D) image information collecting device coordinate system and three-dimensional information harvester coordinate system are realized by same characteristic point
Unification, complete two coordinate systems spacial alignment.
Wherein, image collecting device such as camera, three-dimensional information harvester such as laser radar.
After above-mentioned fusion steps, in addition to identification step：
A) the object reference breath collected based on each environment sensing equipment for having completed fusion steps, crossing is virtual
Barrier in safety zone (such as：Public vehicles that are that some makes a dash across the red light and invading crossing virtual secure region) target signature
Information is extracted；
B) analyze and obtain the target that crossing virtual secure region or may have been invaded；
C the target in crossing virtual secure region or) may have been invaded by the environmental state information of real-time perception, analysis
Movement tendency；
D) if detecting the target for influenceing tramcar safety crossing virtual secure region, the control of crossing safety zone
Crossing virtual secure region prevailing state is real-time transmitted to Vehicle Controller by device processed；If being not detected by influences tramcar peace
Full by the target in crossing virtual secure region, continue repeat step A-C.
E when) tramcar does not obtain grade crossing right of access, the context aware systems are without Environment Obstacles
Thing target identification.
The partiting step for showing crossing virtual secure region 901 exemplary Fig. 2：
1) it is direction 1 in current of traffic, determines that crossing virtual secure region 901 exists by crossing special signal lamp 201
The starting point in direction 1；
2) it is direction 1 in current of traffic, the 3rd train position ground detection in direction of being left away by grade crossing
Device 103 determines terminal of the crossing virtual secure region 901 in direction 1；
3) starting point of the crossing virtual secure region 901 in direction 1 can be adjusted according to the speed of service of tramcar
It is whole；
4) mainly it is made up of in direction 2, the scope in crossing virtual secure region 901 3 parts, 1 is that street railway limits
Boundary；2 be that tramcar crossing environmental perception device 301,302 detects public vehicles, pedestrian etc. towards street railway gauge
After the movement tendency in direction, public vehicles, the displacement of pedestrian when vehicle control syetem sends braking instruction can be according to roads
The actual conditions such as grade, crossing speed limit calculate；3 be safety allowance；
5) scope of crossing virtual secure region 901 can be carried out according to actual conditions such as category of roads, crossing traffic situations
Adjustment is set.
It will be understood by those of skill in the art that above-mentioned embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- is that the scope of the present disclosure is defined.For those skilled in the art, may be used also on the basis of disclosed above
To make other changes or modification, and these changes or modification are still in the scope of the present disclosure.
Claims (10)
1. the tramcar crossing safety zone control device based on fixed equipment, it is characterised in that including train position detection
System, crossing safety zone control system (601) and crossing context aware systems (301,302)；
The environmental state information at the crossing context aware systems (301,302) collection crossing in real time, and by the ambient condition
Information transmission gives crossing safety zone control system (601)；
The train position detection system includes train position ground detection (101,102,103)；
The first ground detection (101) of the train position ground detection (101,102,103) and the inspection of the second ground
The train approach axis that device (102) is sequentially arranged at grade crossing is surveyed, first ground detection (101) is used for
Receive train characteristics information and preferentially by solicited message and be sent to crossing safety zone control system (601), it is described
Second ground detection (102) is used to receive the status information of train characteristics information and Train Approaching crossing and is sent to described
Crossing safety zone control system (601).
2. tramcar crossing according to claim 1 safety zone control device, it is characterised in that the train position
The train that 3rd ground detection (103) of ground detection (101,102,103) is arranged on grade crossing is left away
Direction, confirm whether tramcar has left grade crossing and the information hair for confirming the detection completely for detecting
Give crossing safety zone control system (601).
3. tramcar crossing according to claim 1 or 2 safety zone control device, it is characterised in that tramcar
When by train position ground detection (101,102,103), vehicle control syetem (401,402) passes through train position
The data that vehicle-mounted detection apparatus (104,105) obtains the train position ground detection (101,102,103) are put, amendment is certainly
Body position.
4. tramcar crossing according to claim 3 safety zone control device, it is characterised in that the crossing safety
Area control system (601) divides grade crossing region into crossing virtual secure region (901), according to crossing special signal
The phase state of lamp (201) and the environmental state information received from the crossing context aware systems (301,302), described in differentiation
Whether crossing virtual secure region (901) meets current condition, and will differentiate result be sent to vehicle control syetem (401,
402)；Vehicle control syetem (401,402) is according to the differentiation output control tramcar operation.
5. the tramcar crossing safety zone control device according to claim any one of 1-4, it is characterised in that described
Crossing safety zone control system (601) is described preferentially by solicited message according to receiving, to the traffic control of crossing society
Device (801) asks clearing signal, crossing society traffic controller (801) control crossing society's traffic lights (701)
Phase state, and the phase state is sent to crossing safety zone control system (601), the crossing safety zone control
System (601) processed is according to the phase state Synchronization Control crossing special signal lamps of crossing society traffic lights (701)
(201) phase state.
6. the tramcar crossing safety zone control device according to claim any one of 1-5, it is characterised in that when having
When rail electric car reaches the first ground detection (101), first ground detection (101) passes through train position car
Carry detection means (104,105) and the test point information at Train Approaching crossing is transmitted to vehicle control syetem (401,402), and receive
Train characteristics information that vehicle control syetem (401,402) is sent by train position vehicle-mounted detection apparatus (104,105) and excellent
Solicited message is first passed through, and is transmitted to crossing safety zone control system (601).
7. the tramcar crossing safety zone control device according to claim any one of 1-6, it is characterised in that when having
Rail electric car passes through first ground detection (101), when reaching the second ground detection (102), described second
Ground detection (102) is transmitted by train position vehicle-mounted detection apparatus (104,105) to vehicle control syetem (401,402)
Train reaches the test point information at crossing, and receives vehicle control syetem (401,402) and pass through train position vehicle-mounted detection apparatus
(104,105) the train characteristics information and the status information at Train Approaching crossing sent, and it is transmitted to the crossing safety zone
Control system (601).
8. the tramcar crossing safety zone control device according to claim any one of 1-7, it is characterised in that when having
Rail electric car passes through second ground detection (102), when reaching the 3rd ground detection (103), the 3rd ground
Detection means (103) transmits train by train position vehicle-mounted detection apparatus (104,105) to vehicle control syetem (401,402)
The test point information at clear crossing is reached out, and receives vehicle control syetem (401,402) and passes through train position vehicle-mounted detection apparatus
(104,105) the train characteristics information sent, and it is transmitted to crossing safety zone control system (601).
9. tramcar crossing according to claim 8 safety zone control device, it is characterised in that the crossing safety
Train is gone out clear intersection information and is transmitted to crossing society traffic controller (801), the traffic of crossing society by area control system (601)
The phase state of controller (801) control crossing society's traffic lights (701), and the phase state is sent to the crossing
Safety zone control system (601), the crossing safety zone control system (601) Synchronization Control crossing special signal lamp
(201) phase state.
10. the tramcar crossing safety zone control device according to claim any one of 1-8, it is characterised in that institute
State crossing safety zone control system (601) to be modeled the environmental state information, modeling procedure is as follows：
1) image information in real-time acquisition plane intersection region；
2) the clarification of objective information in described image information is extracted, the target is demarcated；
3) three-dimensional information of acquisition plane intersection region surrounding environment；
4) according to the electronic map for the grade crossing being stored in crossing safety zone controller (601), by step
1) image information of collection and the three-dimensional information of step 3) collection are identified, and realize the environmental modeling of grade crossing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711141812.8A CN107839718A (en) | 2017-11-17 | 2017-11-17 | Tramcar crossing safety zone control device based on fixed equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711141812.8A CN107839718A (en) | 2017-11-17 | 2017-11-17 | Tramcar crossing safety zone control device based on fixed equipment |
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| Publication Number | Publication Date |
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| CN107839718A true CN107839718A (en) | 2018-03-27 |
Family
ID=61679778
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711141812.8A Pending CN107839718A (en) | 2017-11-17 | 2017-11-17 | Tramcar crossing safety zone control device based on fixed equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109062217A (en) * | 2018-08-29 | 2018-12-21 | 广州市君望机器人自动化有限公司 | To the dispatching method and device of robot crossroad |
| CN109166328A (en) * | 2018-08-28 | 2019-01-08 | 中铁第四勘察设计院集团有限公司 | A kind of operation control system and method based on rubber tire virtual rail train |
| CN113650658A (en) * | 2021-07-20 | 2021-11-16 | 同济大学 | Tramcar is at plane intersection control system |
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| CN104036648A (en) * | 2014-06-27 | 2014-09-10 | 上海自仪泰雷兹交通自动化***有限公司 | Priority selection method for passing of tramcar at intersection |
| CN106960583A (en) * | 2017-05-19 | 2017-07-18 | 西南交通大学 | A kind of tramcar crossing signals priority control system |
| CN207433558U (en) * | 2017-11-17 | 2018-06-01 | 中国铁道科学研究院 | Tramcar crossing safety zone control device based on fixed equipment |
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| CN109166328A (en) * | 2018-08-28 | 2019-01-08 | 中铁第四勘察设计院集团有限公司 | A kind of operation control system and method based on rubber tire virtual rail train |
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