CN105346563A

CN105346563A - Railway vehicle anti-collision system and method based on absolute displacement

Info

Publication number: CN105346563A
Application number: CN201510680164.8A
Authority: CN
Inventors: 贾幼尧; 叶卫春; 俞仲勋; 蒋宇新; 叶飞
Original assignee: HANGZHOU CHUANGLIAN ELECTRONIC TECHNOLOGY CO LTD
Current assignee: Gaoxing Chuanglian Technology Co ltd
Priority date: 2015-10-19
Filing date: 2015-10-19
Publication date: 2016-02-24
Anticipated expiration: 2035-10-19
Also published as: CN105346563B

Abstract

The invention relates to a railway vehicle anti-collision system and method based on absolute displacement. The railway vehicle anti-collision system and method solve the problems that in the prior art, anti-collision control is not accurate enough and potential collision hazards exist. The system comprises at least two railway vehicles running on the same rail. A speed and displacement information collection unit, a network connection unit, a position state detection unit, a change trend relation judgment unit, a front-back position relation judgment unit, a running state analysis unit and an anti-collision strategy output unit are arranged on each railway vehicle. The movement relation between the two railway vehicles is judged by detecting the front-back position relation between the railway vehicles and the railway vehicle absolute displacement value change trend relation, the current limited speed is calculated, and the current limited speed is compared with the current speed, so that whether anti-collision control is output or not can be judged. The railway vehicle anti-collision system and method have the beneficial effects that the running states of the railway vehicles are analyzed and judged through the absolute displacement value, the distance and movement relation between the railway vehicles is accurately analyzed, accurate data are provided for anti-collision calculation, and the anti-collision control accuracy is improved.

Description

A kind of guideway vehicle collision avoidance system based on absolute displacement and method

Technical field

The present invention relates to a kind of anticollision technical field, especially relate to a kind of track, influence of topography of being subject to little, the guideway vehicle collision avoidance system based on absolute displacement that control accuracy is high and method.

Background technology

Along with the quick growth of railway electrification operation mileage, the quantity of rail vehicle also increases rapidly thereupon, and the safe pressure of rail vehicle in the situations such as operation, construction operation also sharply increases.Although by the every safety management system strengthening, improve rail vehicle, largely decrease the safety hazard of rail vehicle in operation, operation process, still there is the important hidden danger that driving, job safety are jeopardized in operation against rules, management blind area etc.

Therefore be necessary that Study and Development is suitable for the anticollision device of the feature such as vehicle track running, operation, for meeting the crashproof requirement between current track car, eliminate the hidden danger that mutual collision case occurs rail vehicle, ensure the safety of rail vehicle in operation, operation process.

During existing anticollision controls, the general GPS device that adopts calculates the distance obtained between rail vehicle, and adopt during GPS device and easily affect by the condition such as track routes, terrain environment, make the result of calculating inaccurate, and the inaccurate of the spacing of rail vehicle can affect the control of follow-up anticollision, rail vehicle may be caused to collide, cause the accident.

Summary of the invention

The present invention mainly solves anticollision in prior art and controls not accurate enough, also there is the problem of collision hidden danger, provides a kind of track, influence of topography of being subject to little, the guideway vehicle collision avoidance system based on absolute displacement that control accuracy is high.

Present invention also offers a kind of track, influence of topography of being subject to little, the guideway vehicle collision-proof method based on absolute displacement that control accuracy is high.

The present invention is applicable to rail vehicle etc. and certainly takes turns movement special equipment, rail vehicle etc. from wheel movement special equipment mean run on state's iron Business Line rail vehicle, road maintainance machinery, Operation Van and other there is detection, the docking facility of more than 80km/h self-operating ability, hereinafter referred to as rail vehicle.

Above-mentioned technical matters of the present invention is mainly solved by following technical proposals: a kind of guideway vehicle collision avoidance system based on absolute displacement, comprise at least two rail vehicles run on the same track, rail vehicle is provided with speed displacement information acquisition unit, carry out the network connection unit of communication between rail vehicle, location status detecting unit, variation tendency relation judging unit, front and back position relation judging unit, running state analysis unit, anti-collision strategy output unit, network connection unit respectively with speed displacement information acquisition unit, variation tendency relation judging unit connection and front and back position relation judging unit is connected, speed displacement information acquisition unit is connected with variation tendency relation judging unit respectively and front and back position relation judging unit connects, location status detecting unit is connected with variation tendency relation judging unit respectively and front and back position relation judging unit connects, variation tendency relation judging unit is connected with running state analysis unit respectively with front and back position relation judging unit, running state analysis unit is connected with anti-collision strategy output unit,

Speed displacement information acquisition unit: the absolute displacement data of the running velocity of Real-time Obtaining rail vehicle, velocity phase and rail vehicle;

Location status detecting unit: detect rail vehicle and whether even hang with other rail vehicles;

Variation tendency relation judging unit: according to connecting the variation tendency relation of hanging absolute displacement values between absolute displacement values determination rail vehicle;

Front and back position relation judging unit: according to connecting the front and back position relation of hanging between service direction determination rail vehicle;

Running state analysis unit: judge the movement relation between two rail vehicles according to the variation tendency relation of front and back position relation and rail vehicle absolute displacement values between rail vehicle;

Anticollision strategy output unit: according to the movement relation between rail vehicle, calculates current limited speed, whether exports anti-collision control by present speed and current limited speed multilevel iudge.The present invention adopts speed displacement information acquisition unit for GYK equipment, can export absolute displacement values, and absolute displacement values changes the also corresponding change and can export running velocity of numerical value increasing or decreasing according to service direction.Speed displacement information acquisition unit also can be other sensor check implements.Each rail vehicle is all provided with speed displacement information acquisition unit, is obtained the running state of other rail vehicles by network connection unit, be i.e. the information such as absolute displacement values, running velocity.Running state analysis unit according to the absolute displacement values of Adjacent vehicles by judging and calculating the running state between rail vehicle, i.e. movement relation and rail vehicle spacing between rail vehicle.The present invention adopts speed displacement information acquisition unit, vehicle track running state is judged by absolute displacement values analysis, compare and adopt GPS device to calculate distance, overcome and affect larger problem by the condition such as track routes, terrain environment, Distance geometry movement relation between accurate analysis rail vehicle, provide data accurately for anticollision calculates, improve anticollision control accuracy.

As a kind of preferred version, between described vehicle, location status detecting unit comprises contact switch, and contact switch is arranged on rail vehicle rear and front end respectively.During in order to analyze movement relation and distance between two rail vehicles, under situation need being affiliated in advance, confirm front and back position relation between two rail vehicles.Between vehicle, location status detecting unit is for detecting this car at front or adjacent car front.When two rail vehicles are affiliated to mutually, contact switch also contacts with each other, contact switch issues a signal to processing unit, processing unit judges after receiving signal that this contact switch place end sending signal connects and hangs another rail vehicle, then according to the phase place exporting absolute displacement values judge adjacent car be before this car or after.

Based on a guideway vehicle collision-proof method for absolute displacement, comprise the following steps:

S1. rail vehicle divides open shop, and anticollision detects and starts;

S2. detecting the movement relation between rail vehicle according to connecting front and back position relation and absolute displacement values variation tendency relation between extension state lower railway car, simultaneously according to the absolute displacement values of each rail vehicle, detecting the distance between rail vehicle;

S3. according to the movement relation between rail vehicle, judge whether to implement anticollision, if implement anticollision, according to the spacing export-restriction speed of current orbit car, by with the comparing of present speed, select whether export anticollision and control.

The present invention adopts speed displacement information acquisition unit, vehicle track running state is judged by absolute displacement values analysis, compare and adopt GPS device to calculate distance, overcome and affect larger problem by the condition such as track routes, terrain environment, Distance geometry movement relation between accurate analysis rail vehicle, provide data accurately for anticollision calculates, improve anticollision control accuracy.

As a kind of preferred version, step S2 comprises the judgement connecting extension state between rail vehicle, and deterministic process is: if rail vehicle wherein end thereof contacts switch triggering, then judge that the contact switch place end of this triggering of this car and adjacent car are connected to the hanging.Contact switch triggers and then judges the company's of being in extension state, and contact switch sends to front and back position relation judging unit and variation tendency relation judging unit by connecting extension status signal.

As a kind of preferred version, between rail vehicle, front and back position relation deterministic process is: detect rail vehicle direct of travel, one end that Ruo Benche is relative with direct of travel even hangs with adjacent car, judge that this parking stall is in front on direct of travel, adjacent parking stall is in rear, otherwise connect in this car direct of travel one end and hang with adjacent car, then this parking stall is in rear, and adjacent parking stall is in front.

As a kind of preferred version, between rail vehicle, absolute displacement values variation tendency relation deterministic process is: detect the current direct of travel of rail vehicle, and be connected to the hanging rail vehicle absolute displacement values separately, if rail vehicle absolute displacement values variation tendency is all for increasing progressively, then to judge between rail vehicle that absolute displacement values is homophase and all as forward; If all for successively decreasing, then to judge between rail vehicle that absolute displacement values is homophase and is all reverse; Ruo Benche absolute displacement values increases progressively, and adjacent car absolute displacement values successively decreases, then judge that between rail vehicle, absolute displacement values is anti-phase, and this car forward, adjacent car is reverse; Ruo Benche absolute displacement values successively decreases, and adjacent car absolute displacement values increases progressively, then judge that between rail vehicle, absolute displacement values is anti-phase, and this car is reverse, adjacent car forward.

As a kind of preferred version, the method detecting the movement relation between rail vehicle in step S2 comprises:

A. when in step S2 between absolute displacement values variation tendency relation and rail vehicle front and back position close be: the absolute displacement values of Ben Che and adjacent car is all increase progressively and the preceding situation of this car:

When two rail vehicles all remain static, the information determined according to step S2 is the position relationship of two rail vehicles;

When only having the state of a rail vehicle movement, no matter Ben Che or the motion of adjacent car, if the rail vehicle absolute displacement values of motion increases progressively, then this truck position is front, and adjacent truck position is rear; If the rail vehicle absolute displacement values of motion successively decreases, then this car is rear, and adjacent car is front;

When two rail vehicles all move, Ruo Benche and adjacent car absolute displacement values all increase progressively, then two vehicle track running directions are identical, and this truck position is front, and adjacent truck position is rear; Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running directions are identical, and this car is rear, and adjacent car is front; Ruo Benche absolute displacement values increases progressively, adjacent car absolute displacement values successively decreases, then two rail vehicle sense of motions are contrary, rear car each other; Ruo Benche absolute displacement values successively decreases, adjacent car absolute displacement values increases progressively, then two rail vehicle directions are contrary, front truck each other;

B. when in step S2 between absolute displacement values variation tendency relation and rail vehicle front and back position close be: the absolute displacement values of Ben Che and adjacent car is all successively decrease and the preceding situation of this car:

When only having the state of a rail vehicle movement, no matter Ben Che or the motion of adjacent car, if the rail vehicle absolute displacement values of motion increases progressively, then this truck position is rear, and adjacent truck position is front; If the rail vehicle absolute displacement values of motion successively decreases, then this car is front, and adjacent car is rear;

When two rail vehicles all move, Ruo Benche and adjacent car absolute displacement values all increase progressively, then two vehicle track running directions are identical, and this truck position is rear, and adjacent truck position is front; Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running directions are identical, and this car is front, and adjacent car is rear; Ruo Benche absolute displacement values increases progressively, adjacent car absolute displacement values successively decreases, then two rail vehicle sense of motions are contrary, front truck each other; Ruo Benche absolute displacement values successively decreases, adjacent car absolute displacement values increases progressively, then two rail vehicle directions are contrary, rear car each other;

C. when in step S2 between absolute displacement values variation tendency relation and rail vehicle front and back position close be: the absolute displacement values of Ben Che and adjacent car is all increase progressively and the posterior situation of this car:

When two rail vehicles all move, Ruo Benche and adjacent car absolute displacement values all increase progressively, then this truck position is rear, and adjacent truck position is front; Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running directions are identical, and this car is front, and adjacent car is rear; Ruo Benche absolute displacement values increases progressively, adjacent car absolute displacement values successively decreases, then two vehicle track running directions are identical, and two rail vehicle sense of motions are contrary, front truck each other; Ruo Benche absolute displacement values successively decreases, adjacent car absolute displacement values increases progressively, then two rail vehicle directions are contrary, rear car each other;

D. when in step S2 between absolute displacement values variation tendency relation and rail vehicle front and back position close be: the absolute displacement values of Ben Che and adjacent car is all successively decrease and the posterior situation of this car:

E. when in step S2 between absolute displacement values variation tendency relation and rail vehicle front and back position close and be: this car absolute displacement values increases progressively, and adjacent car absolute displacement values successively decreases, and the preceding situation of this car:

When only having the state of a rail vehicle movement, Ruo Benche absolute displacement values increases progressively, then this truck position is front, and adjacent truck position is rear; Ruo Benche absolute displacement values successively decreases, then this truck position is rear, and adjacent truck position is front; If adjacent car absolute displacement values increases progressively, then this truck position is rear, and adjacent truck position is front; If adjacent car absolute displacement values successively decreases, then this truck position is front, and adjacent truck position is rear;

When two rail vehicles all move, Ruo Benche and adjacent car absolute displacement values all increase progressively, then two vehicle track running directions are contrary, rear car each other; Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running directions are contrary, front truck each other; Ruo Benche absolute displacement values increases progressively, and adjacent car absolute displacement values successively decreases, then two vehicle track running directions are identical, and this car is front, and adjacent car is rear; Ruo Benche absolute displacement values successively decreases, and adjacent car absolute displacement values increases progressively, and two car service directions are identical, then two vehicle track running directions are identical, and this car is rear, and adjacent car is front;

F. when in step S2 between absolute displacement values variation tendency relation and rail vehicle front and back position close and be: this car absolute displacement values successively decreases, and adjacent car absolute displacement values increases progressively, and the preceding situation of this car:

When only having the state of a rail vehicle movement, Ruo Benche absolute displacement values increases progressively, then this truck position is rear, and adjacent truck position is front; Ruo Benche absolute displacement values successively decreases, then this truck position is front, and adjacent truck position is rear; If adjacent car absolute displacement values increases progressively, then this truck position is front, and adjacent truck position is rear; If adjacent car absolute displacement values successively decreases, then this truck position is rear, and adjacent truck position is front;

When two rail vehicles all move, Ruo Benche and adjacent car absolute displacement values all increase progressively, then two rail vehicle sense of motions are contrary, front truck each other; Ruo Benche and adjacent car absolute displacement values all successively decrease, then two rail vehicle sense of motions are contrary, rear car each other; Ruo Benche absolute displacement values increases progressively, and adjacent car absolute displacement values successively decreases, then two vehicle track running directions are identical, and this truck position is rear, and adjacent truck position is front; Ruo Benche absolute displacement values successively decreases, and adjacent car absolute displacement values increases progressively, then two vehicle track running directions are identical, and this truck position is front, and adjacent car is rear;

G. when in step S2 between absolute displacement values variation tendency relation and rail vehicle front and back position close and be: this car absolute displacement values successively decreases, and adjacent car absolute displacement values increases progressively, and the posterior situation of this car:

When two rail vehicles all move, Ruo Benche and adjacent car absolute displacement values all increase progressively, then two rail vehicle sense of motions are contrary, rear car each other; Ruo Benche and adjacent car absolute displacement values all successively decrease, then two rail vehicle sense of motions are contrary, front truck each other; Ruo Benche absolute displacement values increases progressively, and adjacent car absolute displacement values successively decreases, then two vehicle track running directions are identical, and this truck position is front, and adjacent truck position is rear; Ruo Benche absolute displacement values successively decreases, and adjacent car absolute displacement values increases progressively, then two vehicle track running directions are identical, and this truck position is rear, and adjacent car is front;

H. when in step S2 between absolute displacement values variation tendency relation and rail vehicle front and back position close and be: this car absolute displacement values increases progressively, and adjacent car absolute displacement values successively decreases, and the posterior situation of this car:

When two rail vehicles all move, Ruo Benche and adjacent car absolute displacement values all increase progressively, then two rail vehicle sense of motions are contrary, front truck each other; Ruo Benche and adjacent car absolute displacement values all successively decrease, then two rail vehicle sense of motions are contrary, rear car each other; Ruo Benche absolute displacement values increases progressively, and adjacent car absolute displacement values successively decreases, then two vehicle track running directions are identical, and this truck position is rear, and adjacent truck position is front; Ruo Benche absolute displacement values successively decreases, and adjacent car absolute displacement values increases progressively, then two vehicle track running directions are identical, and this truck position is front, and adjacent truck position is rear.

As a kind of preferred version, the step detecting the distance between rail vehicle in step S2 comprises:

S21. rail vehicle depart from connect hang time, respectively minute book car and adjacent car depart from the absolute displacement values connected when hanging separately, and using the absolute displacement values position of record as respective basic point;

S22. this car calculates the difference M of the absolute displacement values between current location and its basic point, adjacent car calculates the difference N of the absolute displacement values between current location and its basic point, by the difference M of absolute displacement values compared with the difference N of absolute displacement values, the absolute value of the difference of acquisition two values is the distance between Ben Che and adjacent car.

As a kind of preferred version, the detailed process exporting anticollision control in step S3 comprises:

S31. the movement relation between rail vehicle is judged,

If current car is consistent with adjacent car service direction, this parking stall current in adjacent car rear, then calculates limited speed according to the distance between current car and adjacent car;

If current car is consistent with adjacent car service direction, this parking stall current in adjacent front side, then using the highest for this car reality operation speed limit as limited speed;

If current car is contrary with adjacent car service direction, current car and adjacent car run in opposite directions, then calculate limited speed according to the distance between current car and adjacent car;

If current car is contrary with adjacent car service direction, current car and adjacent car trailing movement, then using the highest for this car reality operation speed limit as limited speed;

S32. the calculating of limited speed is according to following formula:

Calculate current limited speed v ₀, wherein S _zfor the distance between Ben Che and adjacent car, all the other parameters are known.

In formula

S _z---the distance between stopping distance i.e. this car and adjacent car, m;

S _k---idling stopping distance, m;

S _e---active braking distance, m;

V ₀---initial speed at brake application and current limited speed, km/h;

V _m---braking end speed, km/h;

T _k---idling braking time, s;

---brake shoe (brake lining) conversion friction coefficient;

---train equivalent braking ratio;

β _c---coefficient of service braking;

W ₀---specific train basic resistance, N/kN;

I _j---braking location adds the gradient thousand mark.

Limited speed calculating parameter is as shown in the table:

Note 1: in table, n is a traction number, i _jfor braking location adds the gradient thousand mark, in idling braking time computing formula, up gradient i _jget 0;

Note 2: the v in conversion friction coefficient and Unit basic resistance formula, by v=(v ₀+ v _m)/2 value;

Note 3: unit train number is regardless of type, and emergency braking idling braking time all calculates by 2.5s;

Note 4: according to the content that " regulations of railway technical operation " and " train traction computing code " is formulated in this table, changes according to code change with institute.

Note 5: rail vehicle is with reference to freight car braking calculating parameter.

Note 6: idling braking time needs to consider the factors such as communication delay.

S33. whether service direction is contrary with adjacent car for current car, and for run in opposite directions, enter lower step if not, if whether the speed sum then detecting current car and adjacent car is greater than limited speed, if judged result then exports anticollision and controls, then return step S32 if not;

S34. detect this car present speed and whether be greater than limited speed, then return step S32 if not, control if then export anticollision;

Anticollision controls comprise alarm mode and control motor vehicle braking system.

Alarm mode is: utilize sound, display alarm rail vehicle driver controls car speed according to the limited speed exported, and provide the early warning of different brackets to export according to dangerous situation.

Control motor vehicle braking system is: the braking control system being linked into rail vehicle, according to the relation of current limited speed and present speed, exports warnings accordingly, service braking, emergency braking control.This warning, service braking, emergency braking control as conventional anticollision rate-determining steps.

As a kind of preferred version, in step S1-S3, all include abnormality processing step, abnormality processing step comprises:

Can not collect the velocity information of Current vehicle, or not receive actv. velocity information in exceeding schedule time, system is by the mode output alarm information of sound, display, and the cycle plays, until collect actv. velocity information at certain intervals;

Can not collect the displacement information of Current vehicle, or not receive actv. displacement information in exceeding schedule time, system is by the mode output alarm information of sound, display, and the cycle plays, until collect actv. displacement information at certain intervals;

Do not receive the adjacent car data information of actv. at the appointed time, then think that radio communication lost efficacy, then system will with sound, display mode output alarm information, and the cycle plays at certain intervals, until radio communication is recovered normally.

Under operating in anticollision state, there will be abnormal condition, need to make corresponding reaction as the case may be.

Therefore, advantage of the present invention is: the present invention adopts speed displacement information acquisition unit, vehicle track running state is judged by absolute displacement values analysis, compare and adopt GPS device to calculate distance, overcome and affect larger problem by the condition such as track routes, terrain environment, Distance geometry movement relation between accurate analysis rail vehicle, provides data accurately for anticollision calculates, improves anticollision control accuracy.

Accompanying drawing explanation

Accompanying drawing 1 is a kind of structural frames diagram of the present invention;

Accompanying drawing 2 is a kind of schematic flow sheets of the inventive method.

1-speed displacement information acquisition unit 2-location status detecting unit 3-network connection unit 4-variation tendency relation judging unit 5-front and back position relation judging unit 6-running state analysis unit 7-anti-collision strategy output unit

Detailed description of the invention

Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.

Embodiment:

A kind of guideway vehicle collision avoidance system based on absolute displacement of the present embodiment, as shown in Figure 1, comprise at least two rail vehicles run on the same track, rail vehicle is for certainly taking turns movement special equipment.Rail vehicle is provided with speed displacement information acquisition unit 1, carry out the network connection unit 3 of communication between rail vehicle, location status detecting unit 2, variation tendency relation judging unit 4, front and back position relation judging unit 5, running state analysis unit 6, anti-collision strategy output unit 7, network connection unit 3 respectively with speed displacement information acquisition unit, variation tendency relation judging unit 4 is connected with front and back position relation judging unit 5, speed displacement information acquisition unit is connected with variation tendency relation judging unit 4 respectively and front and back position relation judging unit 5 connects, location status detecting unit 2 is connected with variation tendency relation judging unit 4 and front and back position relation judging unit 5 respectively, variation tendency relation judging unit 4 is connected with running state analysis unit 6 respectively with front and back position relation judging unit 5, running state analysis unit 6 is connected with anti-collision strategy output unit 7,

Location status detecting unit: detect rail vehicle and whether even hang with other rail vehicles; In the present embodiment, between vehicle, location status detecting unit 4 adopts contact switch, and contact switch comprises two, is arranged on respectively on rail vehicle rear and front end.

Anticollision strategy output unit: according to the movement relation between rail vehicle, calculates current limited speed, whether exports anti-collision control by present speed and current limited speed multilevel iudge.

Based on a guideway vehicle collision-proof method for absolute displacement, as shown in Figure 2, comprise the following steps:

Step S1. rail vehicle divides open shop, and anticollision detects and starts.

Step S2. detects the movement relation between rail vehicle according to connecting front and back position relation and absolute displacement values variation tendency relation between extension state lower railway car, simultaneously according to the absolute displacement values of each rail vehicle, detects the distance between rail vehicle.

Obtain under wherein between rail vehicle, front and back position relation and absolute displacement values variation tendency close the company's of tying up to extension state, then before point open shop, comprise the judgement to connecting extension state between rail vehicle, deterministic process is: if rail vehicle wherein end thereof contacts switch triggering, then judge that the contact switch place end of this triggering of this car and adjacent car are connected to the hanging.

After judging that rail vehicle is in company's extension state, determine front and back position relation and absolute displacement values variation tendency relation between rail vehicle.

Between rail vehicle, front and back position relation deterministic process is: detect rail vehicle direct of travel, one end that Ruo Benche is relative with direct of travel even hangs with adjacent car, judge that this parking stall is in front on direct of travel, adjacent parking stall is in rear, otherwise connect in this car direct of travel one end and hang with adjacent car, then this parking stall is in rear, and adjacent parking stall is in front.

Between rail vehicle, absolute displacement values variation tendency relation deterministic process is: detect the current direct of travel of rail vehicle, and be connected to the hanging rail vehicle absolute displacement values separately, if rail vehicle absolute displacement values variation tendency is all for increasing progressively, then to judge between rail vehicle that absolute displacement values is homophase and all as forward; If all for successively decreasing, then to judge between rail vehicle that absolute displacement values is homophase and is all reverse; Ruo Benche absolute displacement values increases progressively, and adjacent car absolute displacement values successively decreases, then judge that between rail vehicle, absolute displacement values is anti-phase, and this car forward, adjacent car is reverse; Ruo Benche absolute displacement values successively decreases, and adjacent car absolute displacement values increases progressively, then judge that between rail vehicle, absolute displacement values is anti-phase, and this car is reverse, adjacent car forward.

The method detecting the movement relation between rail vehicle comprises:

Meanwhile, calculate the distance between rail vehicle according to the absolute displacement values of each rail vehicle, step comprises:

S3. according to the movement relation between rail vehicle, judge whether to implement anticollision, if implement anticollision, according to the spacing export-restriction speed of current orbit car, by with the comparing of present speed, select whether export anticollision and control, its process comprises:

S31. the movement relation between rail vehicle is judged,

If current car is consistent with adjacent car service direction, this parking stall current, in adjacent car rear, is implemented anticollision, is then calculated limited speed according to the distance between current car and adjacent car;

If current car is consistent with adjacent car service direction, this parking stall current in adjacent front side, implement anticollision, then using the highest for this car reality operation speed limit as limited speed;

If current car is contrary with adjacent car service direction, current car and adjacent car run in opposite directions, implement anticollision, then calculate limited speed according to the distance between current car and adjacent car;

If current car is contrary with adjacent car service direction, current car and adjacent car trailing movement, implement anticollision, then using the highest for this car reality operation speed limit as limited speed.

If not four kinds of situations, then operate end above.

S32. limited speed be calculated as according to following formula:

In formula

S _k---idling stopping distance, m;

S _e---active braking distance, m;

V ₀---initial speed at brake application and current limited speed, km/h;

V _m---braking end speed, km/h;

T _k---idling braking time, s;

---brake shoe (brake lining) conversion friction coefficient;

---train equivalent braking ratio;

β _c---coefficient of service braking;

W ₀---specific train basic resistance, N/kN;

I _j---braking location adds the gradient thousand mark.

Limited speed calculating parameter is as shown in the table:

S33. after calculating obtains limited speed, whether service direction is contrary with adjacent car for current car, and for run in opposite directions, enter lower step if not, if whether the speed sum then detecting current car and adjacent car is greater than limited speed, if judged result then exports anticollision and controls, then return step S32 if not;

Control motor vehicle braking system is: the braking control system being linked into rail vehicle, according to the relation of current limited speed and present speed, exports warnings accordingly, service braking, emergency braking control.

In step S1-S3, all include abnormality processing step in addition, abnormality processing step comprises:

Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.

Although more employ the terms such as speed displacement information acquisition unit, location status detecting unit, network connection unit, variation tendency relation judging unit herein, do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.

Claims

1. the guideway vehicle collision avoidance system based on absolute displacement, it is characterized in that: comprise at least two rail vehicles run on the same track, rail vehicle is provided with speed displacement information acquisition unit (1), carry out the network connection unit (3) of communication between rail vehicle, location status detecting unit (2), variation tendency relation judging unit (4), front and back position relation judging unit (5), running state analysis unit (6), anti-collision strategy output unit (7), network connection unit respectively with speed displacement information acquisition unit, variation tendency relation judging unit is connected with front and back position relation judging unit, speed displacement information acquisition unit is connected with variation tendency relation judging unit respectively and front and back position relation judging unit connects, location status detecting unit is connected with variation tendency relation judging unit and front and back position relation judging unit respectively, variation tendency relation judging unit is connected with running state analysis unit respectively with front and back position relation judging unit, running state analysis unit is connected with anti-collision strategy output unit,

2. a kind of guideway vehicle collision avoidance system based on absolute displacement according to claim 1, it is characterized in that between described vehicle, location status detecting unit (2) comprises contact switch, contact switch is arranged on rail vehicle rear and front end respectively.

3., based on a guideway vehicle collision-proof method for absolute displacement, adopt system in any one of power 1 or 2, it is characterized in that: comprise the following steps:

S1. rail vehicle divides open shop, and anticollision detects and starts;

4. a kind of guideway vehicle collision-proof method based on absolute displacement according to claim 3, it is characterized in that step S2 comprises the judgement connecting extension state between rail vehicle, deterministic process is: if rail vehicle wherein end thereof contacts switch triggering, then judge that the contact switch place end of this triggering of this car and adjacent car are connected to the hanging.

5. a kind of guideway vehicle collision-proof method based on absolute displacement according to claim 4, it is characterized in that between rail vehicle, front and back position relation deterministic process is: detect rail vehicle direct of travel, one end that Ruo Benche is relative with direct of travel even hangs with adjacent car, judge that this parking stall is in front on direct of travel, adjacent parking stall is in rear, otherwise connect in this car direct of travel one end and hang with adjacent car, then this parking stall is in rear, and adjacent parking stall is in front.

6. a kind of guideway vehicle collision-proof method based on absolute displacement according to claim 4, it is characterized in that between rail vehicle, absolute displacement values variation tendency relation deterministic process is: detect the current direct of travel of rail vehicle, and be connected to the hanging rail vehicle absolute displacement values separately, if rail vehicle absolute displacement values variation tendency is all for increasing progressively, then to judge between rail vehicle that absolute displacement values is homophase and all as forward; If all for successively decreasing, then to judge between rail vehicle that absolute displacement values is homophase and is all reverse; Ruo Benche absolute displacement values increases progressively, and adjacent car absolute displacement values successively decreases, then judge that between rail vehicle, absolute displacement values is anti-phase, and this car forward, adjacent car is reverse; Ruo Benche absolute displacement values successively decreases, and adjacent car absolute displacement values increases progressively, then judge that between rail vehicle, absolute displacement values is anti-phase, and this car is reverse, adjacent car forward.

7. a kind of guideway vehicle collision-proof method based on absolute displacement according to any one of claim 3-6, is characterized in that the method for the movement relation detected in step S2 between rail vehicle comprises:

8. a kind of guideway vehicle collision-proof method based on absolute displacement according to any one of claim 3-6, is characterized in that the step of the distance detected in step S2 between rail vehicle comprises:

9. a kind of guideway vehicle collision-proof method based on absolute displacement according to any one of claim 3-6, is characterized in that the detailed process exporting anticollision control in step S3 comprises:

S31. the movement relation between rail vehicle is judged,

S32. the calculating of limited speed is according to following formula:

Anticollision controls comprise alarm mode and control motor vehicle braking system;

10. a kind of guideway vehicle collision-proof method based on absolute displacement according to any one of claim 3-6, it is characterized in that all including abnormality processing step in step S1-S3, abnormality processing step comprises: