CN107650949A - A kind of train automatic sensing system based on UWB communications - Google Patents
A kind of train automatic sensing system based on UWB communications Download PDFInfo
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- CN107650949A CN107650949A CN201711039342.4A CN201711039342A CN107650949A CN 107650949 A CN107650949 A CN 107650949A CN 201711039342 A CN201711039342 A CN 201711039342A CN 107650949 A CN107650949 A CN 107650949A
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- 238000004891 communication Methods 0.000 title claims abstract description 68
- 230000008447 perception Effects 0.000 claims abstract description 10
- 230000006870 function Effects 0.000 claims description 23
- 230000011664 signaling Effects 0.000 claims description 16
- 238000012544 monitoring process Methods 0.000 claims description 11
- 230000000875 corresponding effect Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000002485 combustion reaction Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/04—Indicating or recording train identities
- B61L25/041—Indicating or recording train identities using reflecting tags
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2205/00—Communication or navigation systems for railway traffic
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
A kind of train automatic sensing system based on UWB communications of disclosure of the invention, the system include：Ground central apparatus；Aid in train to obtain communication train information, correctly establish truck traffic, and receive operation of the data to train automatically and exercise supervision and control, auxiliary dispatching personnel are managed to train；Mobile unit；The mobile unit is deployed on train system and its rail system, for gathering the train perception information numbered including at least train position, speed, train number；The sensor is communicated by UWB and transmits train perception information；Trackside equipment；Form the distributed object controller communication network based on UWB communications.The most of row control Core Feature of invention is moved to vehicle-mounted upper realization, the information content of interaction and interaction time are reduced between car-ground, whole system performance is improved, so as to preferably ensure train operating safety, further Lifting Convey ability, effectively reduces Life cycle cost.
Description
Technical field
Invention is related to train automatic sensing technical field, more particularly to a kind of train automatic sensing system based on UWB communications
System.
Background technology
Train operation control system is one of important component of railway signaling system, by ground installation and mobile unit
Form, for controlling train running speed, ensureing train safety and Effec-tive Function, be rail transportation system brain and nerve in
Pivot.
Ultra wide band（UWB）Non-efficient hardware performance, but the software of hardware can be driven rich.Software improves bag
Containing embedded software（The basic function of UWB technology can adjust herein）And API interface（Upper strata can be added on this basis
Software）.
In the past few decades, Train Operation Control Technology mainly solves the problems, such as security and automation.It is wide at present
The train operation control system of general application, although concrete methods of realizing is different, primary structure and principle be it is unified,
It is made up of ground installation, mobile unit and land mobile communication system.Wherein ground installation includes two basic functions, first, being train
Prepare operating path, generally realized by station interlocking system；Second, ensureing the personal distance that train is run on operating path, lead to
Often controlled by track block system.
In existing row control technology, for the mobile unit equipped on moving body train, its disposal ability, the function of completing,
And intelligence degree is limited, crucial control relevant information, which is such as driven a vehicle, permits to be calculated and generated by ground installation,
Information transfer is sent to specific train by car again, it may be said that and the operation area of train is controlled by ground installation, and
The information that mobile unit is only responsible for being provided according to ground controls train real-time speed, is a kind of passive train operating safety protection
Mode.There is no information exchange between car and car, the train of follow-up operation is not directly available the real-time position of front train and fortune
Row information, front driving situation is not known about.When the information transmission system breaks down when ground installation or car, the driving peace of train
Entirely will be by serious threat.
The content of the invention
Invention is intended to one of technical problem at least solving in correlation technique to a certain extent.Therefore, one of invention
Purpose is to propose a kind of train automatic sensing system based on UWB communications, largely arranges control Core Feature and be moved on vehicle-mounted
Realize, the information content of interaction and interaction time are reduced between car-ground, improve whole system performance, so as to preferably ensure
Train operating safety, further Lifting Convey ability, effectively reduce Life cycle cost.
According to a kind of train automatic sensing system to be communicated based on UWB of inventive embodiments, the system includes：Ground center
Equipment；Aid in train to obtain communication train information, correctly establish truck traffic, and receive operation of the data to train automatically and enter
Row supervision and control, auxiliary dispatching personnel are managed to train；
Mobile unit；The mobile unit is deployed on train system and its rail system, and train position is comprised at least for gathering
Put, the train perception information of speed, train number numbering；The sensor is communicated by UWB and transmits train perception information；
Trackside equipment；The distributed object controller communication network based on UWB communications is formed, supports train to pass through radio communication pair
Trackside signalling arrangement is controlled and state acquisition.
In some embodiments of invention, the target controller by gathering trackside signalling arrangement state and recording in real time
To status information storehouse, train is sent out by status information storehouse described in UWB communication inquiries according to Query Result to the target controller
Operation requests are sent, the target controller, which receives, asks and perform corresponding action command.
In some embodiments of invention, described ground central apparatus, including：
Railway trains administrative unit, the module of train information management is set up on ground, for aiding in train to find correct communication
Train, establish truck traffic；It is additionally operable to the registration record device for full line train information, the communication of record and management each column train
Information and status information, and be stored in database, each column train is by inquiring about and responding the number of the railway trains administrative unit
According to storehouse, train communication relevant information in specified range is obtained.
In some embodiments of invention, described ground central apparatus, in addition to：
Train automatic monitoring system, train by the train automatic monitoring system to train operation situation carry out centralized watch,
Temporary speed limitation order is assigned, driverless train combustion adjustment, is automatically generated timetable, automatic record train operation reality mark, is entered automatically
Row service data statistics and automatic report generation and automatic checkout equipment running status.
In some embodiments of invention, described mobile unit, including：
Train Management unit, including front truck identification function, train-ground communication management and truck traffic management, wherein, when circuit is run
During more trains, lock specific front truck and establish truck traffic connection therewith, and nematic control functional module passes on accurate front truck
Real time position；
Row control functional unit, including overspeed protection module and driving license generation module, the overspeed protection module passes through vehicle-mounted
Interlock receives train speed, and passes on information to driving license generation module；The driving license generation module connects in real time
After receipts arrange the information of control management module identification front truck and the status information of reception target controller, and detection meets traffic rule,
Generate the vehicle-mounted of driving grant instruction sent-received message；
Vehicle-mounted interlocking unit, the front truck information that the vehicle-mounted interlocking unit is provided by arranging control module, and pass through car and target
The communication of controller obtains signalling arrangement state, forms interlock connection, is directly based upon the progress of radio communication control targe controller
Route management, the arrangement of route and execution, and provide route information for other vehicle-mounted modules；
Electronic map unit；Train is stored by the electronic map unit and inquires about full line fix information, and can be unified
With conversion position coordinate system.
Beneficial effect in invention：The intelligence degree of mobile unit in train control system is improved, will be both systematic
Lock and track block partial function (Train Management, driving license generation etc.) merge with original vehicle-mounted row control function, are set by vehicle-mounted
It is standby to complete interlocking row control overall-in-one control schema, and trackside equipment realizes all-electronic distributed AC servo system, greatly reduces trackside and sets
Standby laying complexity and maintenance difficulty, reduce the maintenance cost of signal system；And arrange control core work(due to most of
Vehicle-mounted upper realization can be moved to, the information content and interaction time interacted between car-ground is reduced, and improves whole system performance,
So as to preferably ensure train operating safety, further Lifting Convey ability, Life cycle cost is effectively reduced.
Brief description of the drawings
Accompanying drawing is used for providing further understanding invention, and a part for constitution instruction, the embodiment with invention
It is used to explain invention together, and is not construed as limiting the present invention limitation.In the accompanying drawings：
Fig. 1 is a kind of detail flowchart for train automatic sensing system based on UWB communications that invention proposes.
Embodiment
Below in conjunction with the accompanying drawing in inventive embodiments, the technical scheme in inventive embodiments is carried out clearly and completely
Description, it is clear that described embodiment is only invention part of the embodiment, rather than whole embodiments.
The example of the embodiment is shown in the drawings, wherein same or similar label represents identical or class from beginning to end
As element or with same or like function element.The embodiments described below with reference to the accompanying drawings are exemplary, purport
Invented for explaining, and it is not intended that limitation to invention.
In the description of invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of description invention and simplifies description, rather than indicates or imply that signified device or element are necessary
With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of invention, " multiple " are meant that two or more, remove
It is non-separately to have clearly specific limit.
In invention, unless otherwise clearly defined and limited, the art such as term " installation ", " connected ", " connection ", " fixation "
Language should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands concrete meaning of the above-mentioned term in invention.
Reference picture 1, a kind of train automatic sensing system based on UWB communications, the system include：Ground central apparatus；It is auxiliary
Help train to obtain communication train information, correctly establish truck traffic, and receive operation of the data to train automatically and exercise supervision
And control, auxiliary dispatching personnel are managed to train；
Mobile unit；The mobile unit is deployed on train system and its rail system, and train position is comprised at least for gathering
Put, the train perception information of speed, train number numbering；The sensor is communicated by UWB and transmits train perception information；
Trackside equipment；The distributed object controller communication network based on UWB communications is formed, supports train to pass through radio communication pair
Trackside signalling arrangement is controlled and state acquisition.
In some embodiments of invention, the target controller by gathering trackside signalling arrangement state and recording in real time
To status information storehouse, train is sent out by status information storehouse described in UWB communication inquiries according to Query Result to the target controller
Operation requests are sent, the target controller, which receives, asks and perform corresponding action command.
In some embodiments of invention, described ground central apparatus, including：
Railway trains administrative unit, the module of train information management is set up on ground, for aiding in train to find correct communication
Train, establish truck traffic；It is additionally operable to the registration record device for full line train information, the communication of record and management each column train
Information and status information, and be stored in database, each column train is by inquiring about and responding the number of the railway trains administrative unit
According to storehouse, train communication relevant information in specified range is obtained.
In some embodiments of invention, described ground central apparatus, in addition to：
Train automatic monitoring system, train by the train automatic monitoring system to train operation situation carry out centralized watch,
Temporary speed limitation order is assigned, driverless train combustion adjustment, is automatically generated timetable, automatic record train operation reality mark, is entered automatically
Row service data statistics and automatic report generation and automatic checkout equipment running status.
In some embodiments of invention, described mobile unit, including：
Train Management unit, including front truck identification function, train-ground communication management and truck traffic management, wherein, when circuit is run
During more trains, lock specific front truck and establish truck traffic connection therewith, and nematic control functional module passes on accurate front truck
Real time position；
Row control functional unit, including overspeed protection module and driving license generation module, the overspeed protection module passes through vehicle-mounted
Interlock receives train speed, and passes on information to driving license generation module；The driving license generation module connects in real time
After receipts arrange the information of control management module identification front truck and the status information of reception target controller, and detection meets traffic rule,
Generate the vehicle-mounted of driving grant instruction sent-received message；
Vehicle-mounted interlocking unit, the front truck information that the vehicle-mounted interlocking unit is provided by arranging control module, and pass through car and target
The communication of controller obtains signalling arrangement state, forms interlock connection, is directly based upon the progress of radio communication control targe controller
Route management, the arrangement of route and execution, and provide route information for other vehicle-mounted modules；
Electronic map unit；Train is stored by the electronic map unit and inquires about full line fix information, and can be unified
With conversion position coordinate system.
A kind of train automatic sensing system based on UWB communications that the embodiment of the present invention proposes can be divided into following layer
It is secondary, be respectively：
Level one：Ground central apparatus；For aiding in train to obtain communication train information, truck traffic is correctly established, and certainly
The dynamic operation for receiving data to train is exercised supervision and controlled, and auxiliary dispatching personnel are managed to train；
Train Management unit is set up at ground center, and from the big demand for improving vehicle mounted intelligentized, is positioned at auxiliary and carries
For truck traffic information, the function that storage and response are inquired about per train only is registered as circuit train information, without any control
Car management.
Railway trains administrative unit is the registration record device of full line train information, records all train informations and responds every
Inquiry of the train to circuit train communication information.The unit major function is：Support train registration in the range of administration and nullify；It is negative
The communication information and status information of duty record, management each column train；Response is per inquiry of the train to other train up-to-date informations.Ground
For face Train Management unit equivalent to the database of record of train communication information in compass of competency, i.e. each column train can pass through ground
Train Management unit obtains train communication relevant information in compass of competency, is easy to correctly realize truck traffic management function.
The ground central apparatus also include train automatic monitoring system, are entered by receiving operation of the data to train automatically
Row supervision and control, auxiliary dispatching personnel are managed to train；
Carry out centralized watch of the train automatic monitoring system to train operation situation, temporary speed limitation order are assigned, arranged automatically
Car combustion adjustment, automatically generate timetable, automatic record train operation reality mark, automatic progress service data statistics and automatically generate
Form, automatic checkout equipment running status etc., auxiliary dispatching personnel are managed to train in compass of competency.
Level two：Mobile unit unit, the distributed object controller communication network based on UWB communications is formed, support row
Trackside signalling arrangement is controlled by radio communication for car and state acquisition；
In train control system of the present invention, mobile unit lifts the intelligence degree of itself, and ground region is controlled and joined
Lock function is transferred to mobile unit, the modes such as increase truck traffic, car communicate with target controller, with reference to more information Perceptions
Train active defense is carried out with input.
The main functional modules of mobile unit are divided into Train Management unit, row control functional unit, interlocking unit and electronically
Figure unit, wherein row control functional unit includes the overspeed protection module and driving license generation module on basis.
The Train Management unit can identify front moving obstacle --- the correct identification of front truck, include determining whether front truck
Whether there is, circuit run more trains when lock specific front truck and establish therewith truck traffic connection, to driving permissions module
Export accurate front truck real time position.Front truck real time position is the drive a vehicle basis that licensing function is realized, its correctness and integrality
It ensure that the accuracy and validity of driving license generation.
The determination method of wherein front truck is the communication information by earthward inquiring about all trains of the circuit of acquisition, with reference to each row
The position mapping screening of car is calculated.
The major function of the Train Management unit includes：The telecommunication management of railway trains administrative unit, front truck identification and car
Car telecommunication management.
Driving license systematic function is original train control system ground region control function, in row control system described in the invention
By mobile unit according to the route information of interlocking, the trackside signalling arrangement state of target controller feedback, the real-time position of front truck in system
Confidence breath, temporary speed limitation etc., properly generate driving license.And the peace of function of safety protection and mobile unit in existing train control system
Full protection function is consistent.
Electronic map unit is mainly responsible for supporting the storage and inquiry of all fix informations of full line, and support position coordinate
The unification and conversion of system.
In train control system of the present invention, interlock is completed by mobile unit.Vehicle-mounted interlocking is by arranging control module
The front truck information of offer, and signalling arrangement state is obtained by the communication of car and target controller, interlock connection is formed, directly
Route management, the arrangement of route and execution are carried out based on radio communication control targe controller, and carried for other vehicle-mounted modules
For route information.
Level three：Trackside equipment, the distributed object controller communication network based on UWB communications is formed, support train to lead to
Radio communication is crossed to be controlled trackside signalling arrangement and state acquisition.
Described trackside equipment includes transponder, and the transponder is used for mobile unit transmission location information, while to
Mobile unit transmission lines parameter and temporary speed limitation information, meet back-up system needs.
In train control system of the present invention, all objects use IP-based communication network, therefore except existing
Transponder device, it is special that the distributed object controller based on IP communications is set, form signalling arrangement communication network so that car
Carry control and the perception trackside signalling arrangement that equipment can be moved by radio communication.
1st, the information that mobile unit exchanges with railway trains administrative unit, including：
A) earthward Train Management unit sends telecommunication management information (foundation, disconnection etc.) and inquiry full line scope to mobile unit
Interior train information；
B) railway trains administrative unit sends telecommunication management information (asking corresponding etc.) and inquiry corresponding information to mobile unit, i.e.,
The communication information such as the position of train and IP in the range of full line.
2nd, the information that mobile unit exchanges with train automatic monitoring system, including：
A) train automatic monitoring system sends the information such as route plan, temporary speed limitation to mobile unit；
B) mobile unit sends train operation state information to train automatic monitoring system.
3rd, the information that mobile unit exchanges with target controller, including：
B) mobile unit sends the information of its administration equipment of driving to target controller；
B) status information of each equipment is sent to vehicle-mounted set by target controller after it is determined that trackside equipment is already allocated to this car
It is standby.
4th, the information that train exchanges with train, including：Telecommunication management information, real time position and status information.
In summary, the embodiment of the present invention is redistributed by breaking the universal architecture of train control system, function, interlocks and arrange
Control critical function is completed by mobile unit, weakens the control function of ground installation, improves mobile unit intelligence degree；
In invention, unless otherwise clearly defined and limited, fisrt feature can be first "above" or "below" second feature
Directly contacted with second feature, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature is special second
Sign " on ", " top " and the fisrt feature " above " that can be are directly over second feature or oblique upper, or be merely representative of the first spy
Sign level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature
Immediately below second feature or obliquely downward, or it is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of invention.In this manual, the schematic representation of above-mentioned term is differed
Surely identical embodiment or example are referred to.Moreover, specific features, structure, material or the feature of description can be any
Combined in an appropriate manner in one or more embodiments or example.
It is described above, preferable embodiment is only invented, but the protection domain invented is not limited thereto, and it is any
Those familiar with the art is in the technical scope that invention discloses, according to the technical scheme of invention and its inventive concept
It is subject to equivalent substitution or change, should all covers within the protection domain of invention.
Claims (5)
- A kind of 1. train automatic sensing system based on UWB communications, it is characterised in that：The system includes：Ground central apparatus；Aid in train to obtain communication train information, correctly establish truck traffic, and receive data pair automatically The operation of train is exercised supervision and controlled, and auxiliary dispatching personnel are managed to train；Mobile unit；The mobile unit is deployed on train system and its rail system, and train position is comprised at least for gathering Put, the train perception information of speed, train number numbering；The sensor is communicated by UWB and transmits train perception information；Trackside equipment；The distributed object controller communication network based on UWB communications is formed, supports train to pass through radio communication pair Trackside signalling arrangement is controlled and state acquisition.
- A kind of 2. train automatic sensing system based on UWB communications according to claim 1, it is characterised in that：The mesh For mark controller by gathering trackside signalling arrangement state in real time and recorded status information storehouse, train passes through UWB communication inquiries institute Status information storehouse is stated, operation requests are sent to the target controller according to Query Result, the target controller receives request And perform corresponding action command.
- A kind of 3. train automatic sensing system based on UWB communications according to claim 1, it is characterised in that：Described Ground central apparatus, including：Railway trains administrative unit, the module of train information management is set up on ground, for aiding in train to find correct communication Train, establish truck traffic；It is additionally operable to the registration record device for full line train information, the communication of record and management each column train Information and status information, and be stored in database, each column train is by inquiring about and responding the number of the railway trains administrative unit According to storehouse, train communication relevant information in specified range is obtained.
- A kind of 4. train automatic sensing system based on UWB communications according to claim 3, it is characterised in that：Described Ground central apparatus, in addition to：Train automatic monitoring system, train by the train automatic monitoring system to train operation situation carry out centralized watch, Temporary speed limitation order is assigned, driverless train combustion adjustment, is automatically generated timetable, automatic record train operation reality mark, is entered automatically Row service data statistics and automatic report generation and automatic checkout equipment running status.
- A kind of 5. train automatic sensing system based on UWB communications according to claim 4, it is characterised in that：Described Mobile unit, including：Train Management unit, including front truck identification function, train-ground communication management and truck traffic management, wherein, when circuit is run During more trains, lock specific front truck and establish truck traffic connection therewith, and nematic control functional module passes on accurate front truck Real time position；Row control functional unit, including overspeed protection module and driving license generation module, the overspeed protection module passes through vehicle-mounted Interlock receives train speed, and passes on information to driving license generation module；The driving license generation module connects in real time After receipts arrange the information of control management module identification front truck and the status information of reception target controller, and detection meets traffic rule, Generate the vehicle-mounted of driving grant instruction sent-received message；Vehicle-mounted interlocking unit, the front truck information that the vehicle-mounted interlocking unit is provided by arranging control module, and pass through car and target The communication of controller obtains signalling arrangement state, forms interlock connection, is directly based upon the progress of radio communication control targe controller Route management, the arrangement of route and execution, and provide route information for other vehicle-mounted modules；Electronic map unit；Train is stored by the electronic map unit and inquires about full line fix information, and can be unified With conversion position coordinate system.
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| CN108622135A (en) * | 2018-05-08 | 2018-10-09 | 成都九壹通智能科技股份有限公司 | Track switch automatic control system and method |
| CN108639101A (en) * | 2018-05-08 | 2018-10-12 | 成都九壹通智能科技股份有限公司 | The early warning system that track switch automatically controls |
| CN108639106A (en) * | 2018-05-07 | 2018-10-12 | 成都九壹通智能科技股份有限公司 | Subway train remotely intelligently monitoring manages system |
| CN108639109A (en) * | 2018-05-07 | 2018-10-12 | 成都九壹通智能科技股份有限公司 | Subway train high-precision dot positioning system |
| CN108791360A (en) * | 2018-05-09 | 2018-11-13 | 成都九壹通智能科技股份有限公司 | Track switch remote control system |
| CN108791359A (en) * | 2018-05-08 | 2018-11-13 | 成都九壹通智能科技股份有限公司 | The automatic control system of track switch conversion |
| CN109080667A (en) * | 2018-06-06 | 2018-12-25 | 卡斯柯信号有限公司 | A kind of train mobile authorization method based on the cooperation of vehicle vehicle |
| CN109677456A (en) * | 2018-12-27 | 2019-04-26 | 卡斯柯信号有限公司 | A kind of train route control method and system suitable for low-density railway |
| CN110871826A (en) * | 2018-09-04 | 2020-03-10 | 比亚迪股份有限公司 | Train positioning control system and method |
| CN110871825A (en) * | 2018-08-31 | 2020-03-10 | 比亚迪股份有限公司 | Vehicle running control method and device and vehicle |
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