CN116811969A - Train operation plan automatic adjustment system and method with man-machine interaction function - Google Patents
Train operation plan automatic adjustment system and method with man-machine interaction function Download PDFInfo
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Abstract
The invention provides a train operation plan automatic adjustment system and method with a man-machine interaction function. Static topological structure data of a railway line along-road station are obtained; acquiring train operation plan data of a railway line, and constructing an automatic train operation plan adjustment model based on a space-time network; solving the automatic train operation plan adjustment model by using mathematical programming software ILOG Cplex to obtain an initial train operation adjustment plan; and acquiring a train operation sequence changing instruction input by a train dispatcher on the train operation plan automatic adjustment man-machine interaction system, and obtaining a train operation adjustment plan after changing the train operation sequence based on the initial train operation adjustment plan. The system and the method provided by the invention can effectively solve the problem of train operation adjustment under the condition of temporary blocking of an interval and meet the requirement of a dispatcher for temporarily adjusting the train operation line sequence.
Description
Technical Field
The invention relates to the technical field of train operation management, in particular to an automatic train operation plan adjusting system and method with a man-machine interaction function.
Background
In the daily operation process of the high-speed railway train, most of the time is in direct contact with the external environment, so that the high-speed railway train is inevitably influenced by interference events such as weather or other human factors. In this case, the intended operation plan of the train cannot be executed, and the running order on the high-speed railway network is affected, with the consequence that the train is late.
At present, the adjustment work of the high-speed railway train operation plan is mainly manually completed by a train dispatcher of a railway bureau dispatching station. When the interference event occurs, the train dispatcher needs to quickly judge the type and the influence degree of the interference event, adjust the running plan of the train influenced by the interference event and redetermine the arrival time and the stop track of each train at each station. However, when the interval is temporarily blocked, a large area of delay of the train is caused, a train dispatcher cannot make a rapid coping decision in a limited time, the manual adjustment mode depends on experience of the dispatcher to a large extent, subjectivity is high, and potential influence of the dispatching adjustment decision on a subsequent train cannot be determined. It can be seen that the drawbacks of the way of manually adjusting the train operation plan are gradually revealed, and at present, a train operation adjustment optimization algorithm for assisting a dispatcher in decision making is urgently designed from a theoretical level.
When a dispatcher adjusts a train operation plan, the operation order of trains is one of the important points of attention of the dispatcher. In the existing train operation adjustment optimization research, a more common theoretical method is that by analyzing specific emergency scenes and comprehensively considering factors such as the level, the late degree and the like of trains, different weight values are set for different trains, so that the operation sequence of the trains after the occurrence of the interference event is determined according to the weight values, and then a corresponding mathematical optimization model is established for solving. However, because the high-speed railway dispatching field work is very complex, the priority level of the train is often not a static fixed value, a train dispatcher can dynamically adjust the priority level of each train in the running process according to the real-time running state of different trains and combining a series of factors such as passenger flow, fixed equipment occupation condition, busyness of each section and the like, so that the whole transportation order of the high-speed railway reaches a balanced and stable state, and the factors are not taken into consideration in the existing train running adjustment optimization research.
Disclosure of Invention
The embodiment of the invention provides a train operation plan automatic adjustment system and method with a man-machine interaction function, which are used for solving the problems in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme.
The train operation plan automatic adjustment system with the man-machine interaction function comprises a line basic data processing and storing module, a train operation plan adjustment module, a man-machine interaction module and a visual input and output module;
the train line basic data processing and storing module stores train line basic data and can also process the train line basic data to obtain adjustment data for train operation adjustment;
the man-machine interaction module is used for:
analyzing the adjustment instruction through a user intention analysis model according to the train operation plan adjustment instruction, and acquiring train operation modification information based on analysis results and adjustment data of train operation adjustment; the process is performed one or more times;
or, according to the train operation plan adjustment instruction, acquiring train operation modification information based on the adjustment data of train operation adjustment;
terminating execution of the above process according to the revocation instruction; continuing to execute the process according to the recovery instruction;
the train operation plan adjustment module is used for:
based on a railway line space-time network obtained according to the railway line space-time network, establishing constraint conditions for ensuring safe operation of a train, establishing a train operation plan optimization model by taking the minimum total delay time of the train as an objective function, and obtaining a train operation adjustment plan by solving the train operation plan optimization model;
Modifying parameters of the train operation plan optimization model through train operation modification information sent by the man-machine interaction module, updating the train operation plan optimization model, and obtaining an updated train operation adjustment plan through solving the updated train operation plan optimization model; the process is performed one or more times;
the visual input/output module is used for: acquiring and sending any one or more of a train operation plan adjustment instruction, a revocation instruction and a recovery instruction to a man-machine interaction module; and visually outputting the train operation plan and the updated train operation plan.
Preferably, the process of parsing the adjustment instruction through the user intention parsing model includes:
obtaining the arrival and departure time of each train at each station in the initial train operation adjustment plan according to the initial train operation adjustment plan
Ascending order arrangement is carried out on arrival and departure time of each train in the initial train operation adjustment plan, and arrival and departure sequence of each train in each station in the initial train operation adjustment plan is calculated and obtained; wherein F represents a train set; s represents a station set; n is n f Is train sequence number;an arrival sequence list of all trains at station s in an initial train operation adjustment plan;A departure sequence list of all trains at station s in an initial train operation adjustment plan;
according to the initial train operation adjustment plan, passing through type
Obtaining the stop time length of each train at each station in an initial train operation adjustment plan; wherein F represents a train set; s represents a station set; d, d f The stop time of the train n at the station s in the initial train running adjustment plan is set;
obtaining an updated train operation adjustment plan generated according to the train operation plan adjustment instruction, and obtaining arrival and departure time of each train in the updated train operation adjustment plan at each station, wherein the arrival and departure time is through type
The arrival and departure time of each train in each station in the updated train operation adjustment plan is arranged in ascending order, and the arrival and departure sequence of each train in each station in the updated train operation adjustment plan is calculated and obtained; in the method, in the process of the invention,
an arrival order list of all trains at station s in the updated train operation adjustment plan;
a departure sequence list of all trains at station s in the updated train operation adjustment plan;
Pass-through train operation adjustment schedule based on updated train operation
Obtaining stop time length of each train at each station in the updated train operation adjustment plan; wherein d' f The stop time of the train n at the station s in the updated train running adjustment plan is adjusted;
respectively toAnd->And->Andand->Performing comparison operation if the comparison result is that the change occursAnd if not, modifying the train operation sequence and the train stop time constraint conditions.
Preferably, the railway line space-time network is obtained by expanding the time dimension of a railway line topological network, and the construction process of the railway line topological network comprises the following steps:
extracting key positions on a line to form nodes in a network, and constructing arcs according to line connection relations among the nodes, wherein the nodes comprise an inbound signal machine and an outbound boundary on a station positive line, rail insulation and blocking partition boundary points from each station to two ends of a departure line; if the starting point of the arc is a station boundary point and the end point is a departure line end point, indicating a vehicle receiving access; if the starting point of the arc is the starting point to the departure line end point and the finishing point is the station boundary point, the departure route is indicated; if both ends of the arc are the departure line end points, the arc represents departure line and stop time of the train at the stop of the station; if the two ends of the arc are the outbound boundary and the inbound signaller, the train is indicated to run in the section.
Preferably, expanding the time dimension of the railway line topology network, and the process of obtaining the railway line space-time network comprises the following steps:
expanding the time dimension of the topological network on the basis of the railway line topological network to obtain a railway line space-time network; neglecting a signal system of a line, and describing the running of a train on the road network into the selection of the train to the nodes through a space-time network diagram to form a specific train space-time path;
based on the condition that the train space-time path is formed by a series of resource nodes, in order to ensure the safety of train operation, the condition that resources are occupied by one train at most must be ensured, and the definition of train conflict is obtained: means that the railway driving resources are occupied by two or more train requests at the same time; when the road network is suddenly interfered, the train may have to occupy the driving resources at the later point due to the train delay caused by the change of the running state, so that the train at the later point has to occupy the driving resources by using the plan of the subsequent train, and the resource occupation conflict is caused.
Preferably, the constraint conditions comprise space-time network flow balance constraint, space-time resource occupation mark constraint, train conflict constraint, train station-on/off time constraint, train sequence constraint, train departure time constraint, train connection relation constraint and train minimum running time constraint;
The space-time network flow balance constraint is:
in the method, in the process of the invention,representing the set of arc segments starting at node n, < >>Representing an arc segment set taking a node n as an ending point;For decision variables, if train f selects arc a, +.>1, otherwise 0; n is a node set, F is a train set;
the space-time resource occupation marking constraint is as follows:
in the method, in the process of the invention,as auxiliary variable, if train f occupies space-time resource r +.>1, otherwise 0; l (L) f F, arc segment collection in the train space-time network;As an auxiliary variable, if arc a occupies space-time resource R, i.e. R e R a Then->1, otherwise 0; f is a train set; r is R a Representing space-time resource nodes occupied by Arc section a, wherein a is E Arc;
the train collision constraint is to indicate that any space-time resource is occupied by at most one train:
in the middle ofAs auxiliary variable, if train f occupies space-time resource r +.>1, otherwise 0; f is a train set;
the train departure time constraint is as follows:
in the method, in the process of the invention,representing a train receiving access set in a station s;For decision variables, if train f selects arc a, +.>1, otherwise 0;Is an arc sectiona, corresponding time of the termination point of the step a; dep f，s The planned departure time of the train f at the station s; g is a train set; s is a station set;
The constraint of the train connection relation is as follows:
in the method, in the process of the invention,the time corresponding to the end point of the arc section a; con (Con) f,f′ As a parameter, if the trains f and f 'have a connection relationship and f' is the subsequent train of f, con f,f′ 1, otherwise 0; f is a train set;
the train stop time constraint is:
in the method, in the process of the invention,a stop arc set in a station s; c (C) a The weight of the arc section a; s is a station set; f is a train set; stop min For the minimum Stop time of the trains f in the station s, in the man-machine interaction module, the Stop time of each train can be modified so as to enable Stop min Will change;
the minimum runtime constraint is:
middle Run s,t S and t are adjacent stations when the station is operated in the minimum section within the section s-t;
the train running sequence constraint is as follows:
wherein f, f' is two trains which are different;representing the moment corresponding to the arrival arc selected by the train f at the station s;representing the moment corresponding to the outgoing arc selected by the train f at the station s;The train arrival minimum interval time representing station s;The minimum train departure interval time division representing the station s; the symbol V represents that only one of the two constraints on the left and right is true; in the man-machine interaction module, the running sequence of each train at each station can be modified, so that the running sequence constraint of the trains becomes dynamic constraint.
Preferably, the objective function is:
omega in f Is the weight of the train f;for decision variables, if train f selects arc a, +.>1, otherwise 0;the time corresponding to the end point of the arc section a.
In a second aspect, the present invention provides a method for automatically adjusting a train operation plan with a man-machine interaction function, including:
analyzing the adjustment instruction through a user intention analysis model according to the train operation plan adjustment instruction, and acquiring train operation modification information based on analysis results and adjustment data of train operation adjustment; the process is performed one or more times;
or, according to the train operation plan adjustment instruction, acquiring train operation modification information based on the adjustment data of train operation adjustment;
based on a railway line space-time network obtained according to the railway line space-time network, establishing constraint conditions for ensuring safe operation of a train, establishing a train operation plan optimization model by taking the minimum total delay time of the train as an objective function, and obtaining a train operation adjustment plan by solving the train operation plan optimization model;
modifying parameters of the train operation plan optimization model through train operation modification information, updating the train operation plan optimization model, and obtaining an updated train operation adjustment plan through solving the updated train operation plan optimization model; the process is performed one or more times.
According to the technical scheme provided by the embodiment of the invention, the invention provides the automatic train operation plan adjusting system and method with the man-machine interaction function, and the system comprises a line basic data processing and storing module, a train operation plan adjusting module, a man-machine interaction module and a visual input and output module. Static topological structure data of a railway line along-road station are obtained; acquiring train operation plan data of a railway line, and constructing an automatic train operation plan adjustment model based on a space-time network; solving the automatic train operation plan adjustment model by using mathematical programming software ILOG Cplex to obtain an initial train operation adjustment plan; and acquiring a train operation sequence changing instruction input by a train dispatcher on the train operation plan automatic adjustment man-machine interaction system, and obtaining a train operation adjustment plan after changing the train operation sequence based on the initial train operation adjustment plan. The system and the method provided by the invention realize the adjustment of the train operation plan under the interval blocking, can automatically adjust the train operation plan affected by the interval blocking rapidly when the original train operation plan cannot be executed, and can receive the operation sequence adjustment instruction for the specific train input by a dispatcher through a man-machine interaction interface to generate the corresponding train operation adjustment plan rapidly.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a logic block diagram of an automatic train operation plan adjustment system with man-machine interaction function provided by the invention;
fig. 2 is a diagram of an original train operation plan before primary optimization according to an embodiment of the present invention.
Fig. 3 is a diagram of a train operation adjustment plan after initial optimization according to an embodiment of the present invention.
Fig. 4 shows four trains (before manual adjustment of the sequence) involved in the sequence adjustment in the initial optimized train operation adjustment plan according to the embodiment of the present invention.
Fig. 5 shows four trains related to sequential adjustment (after manual adjustment of the sequence) in the primary optimized train operation adjustment plan according to the embodiment of the present invention.
Fig. 6 is a train operation adjustment plan after re-optimizing after receiving a sequence adjustment instruction according to an embodiment of the present invention.
In the figure:
101. the system comprises a line basic data processing and storage module 102, a man-machine interaction module 103, a train operation plan adjustment module 104 and a visual input and output module.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
For the purpose of facilitating an understanding of the embodiments of the invention, reference will now be made to the drawings of several specific embodiments illustrated in the drawings and in no way should be taken to limit the embodiments of the invention.
Referring to fig. 1, the invention provides an automatic train operation plan adjustment system with a man-machine interaction function, which comprises a line basic data processing and storage module 101, a train operation plan adjustment module 103, a man-machine interaction module 102 and a visual input and output module 104.
The train line basic data processing and storing module 101 stores train line basic data, and can also process the train line basic data to obtain adjustment data for train operation adjustment.
The man-machine interaction module 102 is configured to: according to the train operation plan adjustment instruction, analyzing the adjustment instruction through a user intention analysis model, and obtaining train operation modification information by combining an analysis result with adjustment data based on train operation adjustment. The process is that the module carries out automatic adjustment optimization aiming at the operation plan adjustment instruction, in the specific adjustment work, the modified plan is fed back to the user for real-time reference, and if the user is not satisfied with the modification result and continuously inputs the updated train operation plan adjustment instruction, the process is continuously carried out for one or more times for updating and modifying until the user is satisfied. The invention also provides a direct manual adjustment mode in the embodiment, which comprises the following steps of obtaining train operation modification information based on adjustment data of train operation adjustment according to a train operation plan adjustment instruction (which can be a manual adjustment instruction performed by directly dragging a road line through a screen). In the embodiment provided by the invention, the invention also provides the functions of revocation and recovery, and the process is as follows: terminating the execution process according to the withdrawal instruction; and continuing to execute the process according to the recovery instruction.
The train operation plan adjustment module 103 is configured to:
Based on a railway line space-time network obtained according to the railway line space-time network, establishing constraint conditions for ensuring safe operation of a train, establishing a train operation plan optimization model by taking the minimum total delay time of the train as an objective function, and obtaining a train operation adjustment plan by solving the train operation plan optimization model;
the parameters of the train operation plan optimization model are modified through the train operation modification information sent by the man-machine interaction module 102, the train operation plan optimization model is updated, and an updated train operation plan is obtained through solving the updated train operation plan optimization model. Corresponding to the human-computer interaction module 102, the process is repeatedly performed one or more times according to the feedback result of the user.
The visual input output module 104 is configured to: acquiring and transmitting any one or more of a train operation plan adjustment instruction, a revocation instruction and a recovery instruction to the man-machine interaction module 102; and visually outputting the train operation plan and the updated train operation plan.
In the preferred embodiment provided by the invention, the line basic data processing and storing module 101 models and processes the line basic data required by the train operation adjustment model on the basis of the original basic data file of the high-speed railway line to form an adjustment data file for train operation adjustment, and specific line basic data processing tasks include:
(1) Line topology and engineering data. Including station data (coordinates, grade, link line, link direction), line data (line grade, curve radius, section length, number of positive lines, line speed target value).
(2) Station topology and engineering data. The method comprises the steps of station stock track number, station throat connection relation and track circuit arrangement.
(3) Signal device data. The annunciators, transponders, track circuits are insulated and block the zone locations.
(4) Power supply device data. The range of the circuit covered by each power supply arm.
The line basic data file with standard format for train operation regulation is formed through automatic screening, modeling and processing and stored in a line basic data sub-module in a system background database.
The train operation plan adjustment parameter processing and storing module models and processes data of operation diagram parameters required by train operation adjustment on the basis of train operation plan data of a railway bureau to form a train operation diagram parameter data file for train operation adjustment, so that the train operation diagram adjustment parameters can be read by a train operation adjustment model, and specific train operation plan adjustment parameter processing tasks comprise:
(1) And (5) train running time division. The method comprises the steps of pure running time division, starting additional time division, stopping additional time division and slow running additional time division of the train in the section, and multiplying power of the train in the longest running time division of the section during train running adjustment.
(2) The train tracks the interval. The method comprises the following steps of continuous arrival interval time of the same-direction trains of all stations, interval time of tracking of the same-direction train intervals, interval time of arrival before passing of the same-direction trains, interval time of continuous departure of the same-direction train stations, interval time of departure before passing of the same-direction trains, interval time of passing before departure of the same-direction trains and interval time of tracking of the same-direction trains.
(3) Station interval time. The method comprises the time interval between arrival and departure of the hostile routes of the station and the time interval between departure and arrival of the same station train.
(4) And (5) connecting time standard of the motor train unit. Minimum connection time standard of different types of motor train units at each station.
The input and output module comprises a train operation plan display and output sub-module and a train operation adjustment plan display and output sub-module. The train operation plan display and output sub-module displays the original operation plan of the train before the interval is blocked in a graphical mode, can support to check the original arrival, departure time and occupied track of each train at each station, and can also output data files in a specific format.
The train operation adjustment plan display and output sub-module is used for displaying a train operation adjustment plan generated after the model is automatically solved, and the train operation adjustment plan comprises new arrival, departure time and station occupation tracks of the train affected by interval blockage at each station, and can also be output as a data file in a specific format.
The man-machine interaction module 102 is configured to modify the train operation adjustment plan solved by the model according to the personal intention of the dispatcher, automatically modify a corresponding objective function or constraint condition, and rapidly output a new train operation adjustment plan according to the personal intention of the dispatcher, where the dispatcher can choose to cancel or reserve the new train operation adjustment plan.
Although the optimizing method in the embodiment can provide a train operation adjusting plan with better quality for a dispatcher in a shorter time, due to the complexity of the on-site dispatching work of the high-speed railway, the system in the embodiment has the function of manually adjusting the train sequence and the train stop time length on the basis of the train operation adjusting plan given for the first time by the optimizing method, and the specific steps of the function implementation are as follows:
(1) The user can click and select the train operation line through the mouse on the man-machine interaction interface, and when the train operation line is selected, the color and the line shape which are different from those of the unselected train operation line are displayed.
(2) The user can drag, translate and stretch the selected train running line to modify the starting and ending time of the train at each station.
(3) To prevent user misoperations or erroneous operations, the system retains the "undo" and "resume" functions.
(4) In most cases, the train operation adjustment plan generated by the user after the man-machine interaction interface operation is not a feasible solution. The system automatically analyzes the user intention through the user intention analysis model, dynamically modifies the constraint conditions related to the train sequence and the train stop in the optimization model according to the analysis result, and restarts the optimization model to output a new conflict-free train operation adjustment plan.
The principle of the user intention analysis model is as follows:
(1) When the initial train operation adjustment plan is generated, the man-machine interaction module 102 records the arrival and departure time of each train at each station, and sorts the time from small to large, so as to calculate the arrival and departure sequence of the trains at each station.
Wherein F represents a train set; s represents a station set; n is n f Is train sequence number;an arrival sequence list of all trains at station s in an initial train operation adjustment plan; / >A departure sequence list of all trains at station s is adjusted for the initial train operation plan.
(2) When the initial train operation adjustment plan is generated, the human-computer interaction module 102 records the stop time of each train at each station.
Wherein F represents a train set; s represents a station set; d, d f The stop time of the train n at the station s in the plan is adjusted for the initial train operation.
(3) The updated train operation adjustment plan generated according to the train operation plan adjustment instruction is fed back to the user through the human-computer interaction interface, and after the human-computer interaction interface is adjusted, the user passes through the system
The arrival and departure time of each train at each station is recorded again, and the time is ordered from small to large, so that the arrival and departure sequence of the trains at each station is measured. By combining the resultAnd->And comparing to obtain a train sequence change condition, and modifying the train operation sequence constraint in the optimization model. If the train sequence is not changed, the train operation sequence constraint is not modified.
(4) After the user finishes the adjustment of the man-machine interaction interface, the system
Through type
The stop time of each train at each station is recorded again. By giving the result- >And->And comparing to obtain the change condition of the train stop time, and modifying the train stop time constraint in the optimization model. If the train stop time is unchanged, the train stop time constraint is not modified.
The adjustment optimization principle at the train operation plan adjustment module 103 is as follows.
According to the actual physical structure of the railway line, the railway line is abstracted into a topological network under a mesoscopic road network. The idea of the mesoscopic road network is as follows: extracting some key positions on the line to form nodes in the network, and constructing arcs based on the line connection relation between the nodes, wherein the method comprises the following steps: (1) an inbound signal machine and an outbound boundary on a station positive line; (2) The steel rails at the two ends of each departure line (including the internal positive line of the station) of the station are insulated; (3) The 3 kinds of key positions such as the blocking partition boundary points form 3 kinds of space network nodes such as an ingress node, an egress node, an ingress node, a blocking partition boundary node and the like.
The approach in the station is regarded as an occlusion zone, the rule is that the approach of the receiving car is an occlusion zone, the approach of the departure car is an occlusion zone, and the inter-station zones are combined into an occlusion zone. The train receiving route and the train sending route are regarded as one resource, and the safe use of the routes is ensured through the tracking interval between trains. The mesoscopic route diagram consists of a station boundary point and two end points to a departure line, and an arc line between the station boundary point and the end points to the departure line represents a departure route; if the starting point of the arc is a station boundary point and the end point is a departure line end point, indicating a vehicle receiving access; if the starting point of the arc is the starting point to the departure line end point and the finishing point is the station boundary point, the departure route is indicated; if both ends of the arc are the departure line end points, the arc represents departure line and stop time of the train at the stop of the station; if the two ends of the arc are the outbound boundary and the inbound signaller, the train is indicated to run in the section. If the two routes are crossed, the train needs to consider the train receiving and dispatching sequence and the safe operation time interval.
On the basis of the mesoscopic line network, the time dimension of the network is expanded to obtain a space-time network. The signal system of the route is ignored, and the running of the train on the route can be characterized as the selection of the train to the nodes through the space-time network diagram, so that a specific train space-time path is formed.
The train space-time path is formed by a series of resource nodes, so that the train running safety is ensured, and the resources must be ensured to be occupied by one train at most. Conflicting definitions may be obtained: refers to the occupancy of railway driving resources by two or more train requests at the same time. When the road network is suddenly interfered, the train may have to occupy the driving resources at the later point due to the train delay caused by the change of the running state, so that the train at the later point has to occupy the driving resources by using the plan of the subsequent train, and the resource occupation conflict is caused. By representing the earliest possible path of a train under bursty interference in a space-time network, it is necessary to check for collisions in the network and to use reasonable measures to resolve the collisions, in which process how to detect the collisions becomes a prerequisite for collision resolution.
Aiming at train operation elements, a safety constraint condition for ensuring the operation of the train is established, and corresponding restrictions are made on a time network arc, the stop time of the train in the station, the departure time of the train, the connection relation of the train and the minimum operation time of the train.
The constraint is a space-time network flow balance constraint that, in the case of,representing a set of arcs starting at node n,representing an arc segment set taking a node n as an ending point;For decision variables, if train f selects arc a, +.>1, otherwise 0; n is a node set, and F is a train set.
The constraint is space-time resource occupation marking constraint, whereinAs auxiliary variable, if train f occupies space-time resource r +.>1, otherwise 0; l (L) f F, arc segment collection in the train space-time network;As an auxiliary variable, if arc a occupies space-time resource R, i.e. R e R a Then->1, otherwise 0; f is a train set; r is R a And (3) representing the space-time resource node occupied by the Arc section a, wherein a epsilon Arc.
The constraint is a train collision constraint, meaning that any space-time resource is occupied by at most one train. In the middle ofAs auxiliary variable, if train f occupies space-time resource r +.>1, otherwise 0; f is a train set;
the constraint is a 0-1 variable constraint, and the representation model is a 0-1 integer programming model. In the middle ofFor decision variables, if train f selects arc a, +.>1, otherwise 0; f is a train set; l (L) f And f is an arc segment set in the train space-time network.
The constraint is a train departure time constraint. In the middle of Representing a train receiving access set in a station s;For decision variables, if train f selects arc a, +.>1, otherwise 0;The time corresponding to the end point of the arc section a; dep f，s The planned departure time of the train f at the station s; f is a train set; s is a station set. />
The constraint is a train connection constraint. In the middle ofThe time corresponding to the end point of the arc section a; con (Con) f,f′ As a parameter, if the trains f and f 'have a connection relationship and f' is the subsequent train of f, con f,f′ 1, otherwise 0; f is a train set;
the constraint is a train stop time constraint. In the middle ofA stop arc set in a station s; c (C) a The weight of the arc section a; s is a station set; f is a train set; stop min Minimum stop time length of the train f in the station s; under the man-machine interaction module 102, the user can modify the Stop time of each train, thus Stop min A change occurs.
The constraint is a minimum runtime constraint. Middle Run s,t And s and t are adjacent stations when the station is operated in the minimum section within the section s-t.
The constraint is train operation sequence constraint, wherein f and f' are two trains which are different;representing the moment corresponding to the arrival arc selected by the train f at the station s; / >Representing the moment corresponding to the outgoing arc selected by the train f at the station s;the train arrival minimum interval time representing station s;The minimum train departure interval time division representing the station s; the symbol V represents that only one of the two constraints on the left and right is true; under the man-machine interaction module 102, the user can modify the running sequence of each train at each station, and thus, the constraint is a dynamic constraint.
In the fourth step, the objective function is:
omega in f Is the weight of the train f;for decision variables, if train f selects arc a, +.>1, otherwise 0;the time corresponding to the end point of the arc section a.
And (5) taking the minimum total delay time of the train as a target, and establishing an automatic train operation plan adjustment optimization model. And solving the automatic train operation plan adjustment mathematical optimization model by using mathematical programming software ILOG Cplex to obtain an initial train operation adjustment plan.
The invention also provides an embodiment, which exemplarily displays the optimization adjustment of the operation plan to perform the simulation process.
The case scenario is a high-speed railway line, comprising 5 stations from south of certain city to east of certain city in North and 2 line centers of Jinjin line centers and Jinhu line centers. The method comprises the steps of including 295 trains in a case, considering that temporary bidirectional interval blocking occurs in the interval from the south of the Tian city to the west of the Cangzhou city within the time period of 10.00 to 11.00, and providing an adjusted train operation diagram through the automatic adjustment algorithm and the software system on the basis.
Fig. 2 is an original train operation plan before the solution of the embodiment, fig. 3 is an initial train operation adjustment plan after the solution of the embodiment, fig. 4 is four trains related to sequential adjustment (before manual adjustment of the sequence) in the initial train operation adjustment plan, fig. 5 is four trains related to sequential adjustment (after manual adjustment of the sequence) in the initial train operation adjustment plan, and fig. 6 is a train operation adjustment plan after re-optimization after receiving a sequential adjustment instruction.
Next, the train operation adjustment plan calculated in the present embodiment will be described. The H-shaped solid line segments in fig. 3, 4 and 5 represent two-way blocking of the block, in this embodiment, the inter-double-line blocking time is 10.00 am to 11.00 am, and the blocking interval is from the south of the city to the east of the de city. Fig. 3 is an initial train operation adjustment plan obtained by model solving. Assuming that the user wants to adjust the operation sequence of the 4 trains in fig. 4, the user manually adjusts the operation sequence of the 4 trains through a man-machine interaction module of the optimization system, and the adjusted result is shown in fig. 5. Because the result after manual adjustment does not meet the safety constraint of train operation, the system will automatically modify the corresponding objective function or constraint condition and quickly output a new train operation adjustment plan according with the personal intention of the dispatcher after receiving the manual adjustment instruction, as shown in fig. 6.
In a second aspect, the present invention provides a method for automatically adjusting a train operation plan with a man-machine interaction function, including the steps of:
analyzing the adjustment instruction through a user intention analysis model according to the train operation plan adjustment instruction, and acquiring train operation modification information based on analysis results and adjustment data of train operation adjustment; the process is performed one or more times;
or, according to the train operation plan adjustment instruction, acquiring train operation modification information based on the adjustment data of train operation adjustment;
based on a railway line space-time network obtained according to the railway line space-time network, establishing constraint conditions for ensuring safe operation of a train, establishing a train operation plan optimization model by taking the minimum total delay time of the train as an objective function, and obtaining a train operation adjustment plan by solving the train operation plan optimization model;
modifying parameters of the train operation plan optimization model through train operation modification information, updating the train operation plan optimization model, and obtaining an updated train operation adjustment plan through solving the updated train operation plan optimization model; the process is performed one or more times.
In summary, the invention provides a system and a method for automatically adjusting a train operation plan with a man-machine interaction function, wherein the system comprises a line basic data processing and storing module, a train operation plan adjusting module, a man-machine interaction module and a visual input and output module. Static topological structure data of a railway line along-road station are obtained; acquiring train operation plan data of a railway line, and constructing an automatic train operation plan adjustment model based on a space-time network; solving the automatic train operation plan adjustment model by using mathematical programming software ILOG Cplex to obtain an initial train operation adjustment plan; and acquiring a train operation sequence changing instruction input by a train dispatcher on the train operation plan automatic adjustment man-machine interaction system, and obtaining a train operation adjustment plan after changing the train operation sequence based on the initial train operation adjustment plan. The system and the method provided by the invention realize the adjustment of the train operation plan under the interval blocking, can automatically adjust the train operation plan affected by the interval blocking rapidly when the original train operation plan cannot be executed, and can receive the operation sequence adjustment instruction for the specific train input by a dispatcher through a man-machine interaction interface to generate the corresponding train operation adjustment plan rapidly.
Those of ordinary skill in the art will appreciate that: the drawing is a schematic diagram of one embodiment and the modules or flows in the drawing are not necessarily required to practice the invention.
From the above description of embodiments, it will be apparent to those skilled in the art that the present invention may be implemented in software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments of the present invention.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus or system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, with reference to the description of method embodiments in part. The apparatus and system embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (7)
1. The train operation plan automatic adjustment system with the man-machine interaction function is characterized by comprising a line basic data processing and storing module, a train operation plan adjustment module, a man-machine interaction module and a visual input and output module;
the train line basic data processing and storing module is used for storing train line basic data and also can be used for processing the train line basic data to obtain adjustment data for train operation adjustment;
the man-machine interaction module is used for:
analyzing the adjustment instruction through a user intention analysis model according to the train operation plan adjustment instruction, and acquiring train operation modification information based on analysis results and adjustment data of train operation adjustment; the process is performed one or more times;
or, according to the train operation plan adjustment instruction, acquiring train operation modification information based on the adjustment data of train operation adjustment;
Terminating execution of the above process according to the revocation instruction; continuing to execute the process according to the recovery instruction;
the train operation plan adjustment module is used for:
based on a railway line space-time network obtained according to the railway line space-time network, establishing constraint conditions for ensuring safe operation of a train, establishing a train operation plan optimization model by taking the minimum total delay time of the train as an objective function, and obtaining a train operation adjustment plan by solving the train operation plan optimization model;
modifying parameters of the train operation plan optimization model through train operation modification information sent by the man-machine interaction module, updating the train operation plan optimization model, and obtaining an updated train operation adjustment plan through solving the updated train operation plan optimization model; the process is performed one or more times;
the visual input/output module is used for: acquiring and sending any one or more of a train operation plan adjustment instruction, a revocation instruction and a recovery instruction to the man-machine interaction module; and visually outputting the train operation plan and the updated train operation plan.
2. The system of claim 1, wherein the parsing the adjustment instruction by the user intention parsing model comprises:
Obtaining the arrival and departure time of each train at each station in the initial train operation adjustment plan according to the initial train operation adjustment plan
Ascending order arrangement is carried out on arrival and departure time of each train in the initial train operation adjustment plan, and arrival and departure sequence of each train in each station in the initial train operation adjustment plan is calculated and obtained; wherein F represents a train set; s represents station setCombining; n is n f Is train sequence number;an arrival sequence list of all trains at station s in an initial train operation adjustment plan;A departure sequence list of all trains at station s in an initial train operation adjustment plan;
according to the initial train operation adjustment plan, passing through type
Obtaining the stop time length of each train at each station in an initial train operation adjustment plan; wherein F represents a train set; s represents a station set; d, d f The stop time of the train n at the station s in the initial train running adjustment plan is set;
obtaining an updated train operation adjustment plan generated according to the train operation plan adjustment instruction, and obtaining arrival and departure time of each train in the updated train operation adjustment plan at each station, wherein the arrival and departure time is through type
The arrival and departure time of each train in each station in the updated train operation adjustment plan is arranged in ascending order, and the arrival and departure sequence of each train in each station in the updated train operation adjustment plan is calculated and obtained; in the method, in the process of the invention,an arrival order list of all trains at station s in the updated train operation adjustment plan;a departure sequence list of all trains at station s in the updated train operation adjustment plan;
pass-through train operation adjustment schedule based on updated train operation
Obtaining stop time length of each train at each station in the updated train operation adjustment plan; wherein d' f The stop time of the train n at the station s in the updated train running adjustment plan is adjusted;
respectively toAnd->And->Andand->And (3) performing comparison operation, if the comparison result is that the change occurs, modifying the corresponding train operation sequence and the train stop time constraint condition, otherwise, not modifying the train operation sequence and the train stop time constraint condition.
3. The system of claim 1, wherein the railway line space-time network is obtained by expanding a time dimension of a railway line topology network, and the construction process of the railway line topology network comprises:
Extracting key positions on a line to form nodes in a network, and constructing arcs according to line connection relations among the nodes, wherein the nodes comprise an inbound signal machine and an outbound boundary on a station positive line, rail insulation and blocking partition boundary points from each station to two ends of a departure line; if the starting point of the arc is a station boundary point and the end point is a departure line end point, indicating a vehicle receiving access; if the starting point of the arc is the starting point to the departure line end point and the finishing point is the station boundary point, the departure route is indicated; if both ends of the arc are the departure line end points, the arc represents departure line and stop time of the train at the stop of the station; if the two ends of the arc are the outbound boundary and the inbound signaller, the train is indicated to run in the section.
4. The system of claim 2, wherein expanding the time dimension of the railway line topology network to obtain the railway line space-time network comprises:
expanding the time dimension of the topological network on the basis of the railway line topological network to obtain a railway line space-time network; neglecting a signal system of a line, and describing the running of a train on the road network into the selection of the train to the nodes through a space-time network diagram to form a specific train space-time path;
Based on the condition that the train space-time path is formed by a series of resource nodes, in order to ensure the safety of train operation, the condition that resources are occupied by one train at most must be ensured, and the definition of train conflict is obtained: means that the railway driving resources are occupied by two or more train requests at the same time; when the road network is suddenly interfered, the train may have to occupy the driving resources at the later point due to the train delay caused by the change of the running state, so that the train at the later point has to occupy the driving resources by using the plan of the subsequent train, and the resource occupation conflict is caused.
5. The system of claim 1, wherein the constraint conditions include a space-time network flow balance constraint, a space-time resource occupancy label constraint, a train collision constraint, a train on-station off-station time constraint, a train sequence constraint, a train departure time constraint, a train connection relation constraint, and a train minimum run time constraint;
the space-time network flow balance constraint is:
in the method, in the process of the invention,representing the set of arc segments starting at node n, < >>Representing an arc segment set taking a node n as an ending point;For decision variables, if train f selects arc a, +.>1, otherwise 0; n is a node set, F is a train set;
the space-time resource occupation marking constraint is as follows:
In the method, in the process of the invention,as auxiliary variable, if train f occupies space-time resource r +.>1, otherwise 0; l (L) f When f is a trainAn arc segment set in an empty network;As an auxiliary variable, if arc a occupies space-time resource R, i.e. R e R a Then->1, otherwise 0; f is a train set; r is R a Representing space-time resource nodes occupied by Arc section a, wherein a is E Arc;
the train collision constraint is to indicate that any space-time resource is occupied by at most one train:
in the middle ofAs auxiliary variable, if train f occupies space-time resource r +.>1, otherwise 0; f is a train set;
the train departure time constraint is as follows:
in the method, in the process of the invention,representing a train receiving access set in a station s;For decision variables, if train f selects arc a, +.>1, otherwise 0;The time corresponding to the end point of the arc section a;The planned departure time of the train f at the station s; f is a train set; s is a station set;
the constraint of the train connection relation is as follows:
in the method, in the process of the invention,the time corresponding to the end point of the arc section a; con (Con) f,f′ As a parameter, if the trains f and f 'have a connection relationship and f' is the subsequent train of f, con f,f′ 1, otherwise 0; f is a train set;
the train stop time constraint is:
in the method, in the process of the invention,a stop arc set in a station s; c (C) a The weight of the arc section a; s is a station set; f is a train set; stop min For the minimum Stop time of the trains f in the station s, in the man-machine interaction module, the Stop time of each train can be modified so as to enable Stop min Will change;
the minimum runtime constraint is:
middle Run s,t S and t are adjacent stations when the station is operated in the minimum section within the section s-t;
the train running sequence constraint is as follows:
wherein f, f' is two trains which are different;representing the moment corresponding to the arrival arc selected by the train f at the station s;Representing the moment corresponding to the outgoing arc selected by the train f at the station s;The train arrival minimum interval time representing station s;The minimum train departure interval time division representing the station s; the symbol V represents that only one of the two constraints on the left and right is true; in the man-machine interaction module, the running sequence of each train at each station can be modified, so that the running sequence constraint of the trains becomes dynamic constraint.
6. The system of claim 4, wherein the objective function is:
omega in f Is the weight of the train f;for decision variables, if train f selects arc a, +.>1, otherwise 0;The time corresponding to the end point of the arc section a.
7. The automatic train operation plan adjusting method with the man-machine interaction function is characterized by comprising the following steps of:
analyzing the adjustment instruction through a user intention analysis model according to the train operation plan adjustment instruction, and acquiring train operation modification information based on analysis results and adjustment data of train operation adjustment; the process is performed one or more times;
or, according to the train operation plan adjustment instruction, acquiring train operation modification information based on the adjustment data of train operation adjustment;
based on a railway line space-time network obtained according to the railway line space-time network, establishing constraint conditions for ensuring safe operation of a train, establishing a train operation plan optimization model by taking the minimum total delay time of the train as an objective function, and obtaining a train operation adjustment plan by solving the train operation plan optimization model;
modifying parameters of the train operation plan optimization model through the train operation modification information, updating the train operation plan optimization model, and obtaining an updated train operation adjustment plan through solving the updated train operation plan optimization model; the process is performed one or more times.
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