Anti-collision method and apparatus for trains in cooperative formation

An anti-collision apparatus for trains in a cooperative formation, comprising a sensor measuring module, a data communication module, a control algorithm module and an anti-collision execution module, wherein:

• the sensor measuring module is configured to measure a real-time distance between a current train and a previous adjacent train in the same formation as the current train;
• the data communication module is configured to implement real-time communication between the previous adjacent train and the current train;
• the control algorithm module is configured to determine whether it is necessary to control the current train to brake;
• determine whether the real-time distance between the current train and the previous adjacent train in the same formation as the current train is greater than a preset minimum safety distance;
• and calculate a real-time safety distance between the current train and the previous adjacent train;
• and
• the anti-collision execution module is configured to control the current train to perform electromagnetic braking;
• or control, under a condition that the real-time distance is less than the real-time safety distance, the current train to brake;
• wherein the control algorithm module is further configured to:
• under a condition that the previous adjacent train in the same formation as the current train brakes urgently, determine that it is necessary to control the current train to brake;
• or
• under a condition that the real-time distance between the current train and the previous adjacent train in the same formation as the current train determined by ranging is less than a first preset maximum safety distance, determine that it is necessary to control the current train to brake;
• wherein the data communication module is further configured to:
• obtain real-time operation information of the previous adjacent train, wherein the real-time operation information comprises at least a speed of the previous adjacent train and position information of the previous adjacent train;
• the control algorithm module is further configured to:
• calculate, based on the position information of the previous adjacent train in the real-time operation information and position information of the current train, the real-time distance between the current train and the previous adjacent train;
• or
• the sensor measuring module is further configured to:
• measure the real-time distance between the current train and the previous adjacent train, wherein a method for measuring the real-time distance comprises at least one or both of laser radar and ultra wide band technology;
• wherein the control algorithm module is further configured to:
• under a condition that the real-time distance is less than a second preset maximum safety distance, measure a relative speed between the current train and the previous adjacent train, and calculate the real-time safety distance based on the relative speed;
• and
• under a condition that the real-time distance is greater than the second preset maximum safety distance, calculate the real-time safety distance based on the speed of the previous adjacent train in the real-time operation information, a speed of the current train and a communication delay.

An anti-collision system for trains in a cooperative formation, comprising a memory storing a computer program, and a processor coupled to the memory, wherein the processor is configured to execute the computer program to perform operations of:

• determining, under a condition that a current train is not a first train in a formation, whether it is necessary to control the current train to brake;
• determining, under a condition that it is necessary to control the current train to brake, whether a real-time distance between the current train and a previous adjacent train in the same formation as the current train is greater than a preset minimum safety distance;
• controlling, under a condition that the real-time distance is less than the preset minimum safety distance, the current train to perform electromagnetic braking;
• and
• calculating, under a condition that the real-time distance is greater than the preset minimum safety distance, a real-time safety distance between the current train and the previous adjacent train, and controlling, under a condition that the real-time distance is less than the real-time safety distance, the current train to brake;
• wherein the determining whether it is necessary to control the current train to brake comprises:
• under a condition that the previous adjacent train in the same formation as the current train brakes urgently, determining that it is necessary to control the current train to brake;
• or
• under a condition that the real-time distance between the current train and the previous adjacent train in the same formation as the current train determined by ranging is less than a first preset maximum safety distance, determining that it is necessary to control the current train to brake;
• wherein the real-time distance between the current train and the previous adjacent train in the same formation as the current train determined by ranging is determined by:
• obtaining real-time operation information of the previous adjacent train, wherein the real-time operation information comprises at least a speed of the previous adjacent train and position information of the previous adjacent train;
• calculating, based on the position information of the previous adjacent train in the real-time operation information and position information of the current train, the real-time distance between the current train and the previous adjacent train;
• or
• measuring the real-time distance between the current train and the previous adjacent train, wherein a method for measuring the real-time distance comprises at least one or both of laser radar and ultra wide band technology;
• wherein the calculating the real-time safety distance between the current train and the previous adjacent train comprises:
• under a condition that the real-time distance is less than a second preset maximum safety distance, measuring a relative speed between the current train and the previous adjacent train, and calculating the real-time safety distance based on the relative speed;
• and
• under a condition that the real-time distance is greater than the second preset maximum safety distance, calculating the real-time safety distance based on the speed of the previous adjacent train in the real-time operation information, a speed of the current train and a communication delay.