CN107685749A - A kind of virtually connecting based on truck traffic hangs small marshaling control system and method - Google Patents
A kind of virtually connecting based on truck traffic hangs small marshaling control system and method Download PDFInfo
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- CN107685749A CN107685749A CN201710686257.0A CN201710686257A CN107685749A CN 107685749 A CN107685749 A CN 107685749A CN 201710686257 A CN201710686257 A CN 201710686257A CN 107685749 A CN107685749 A CN 107685749A
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a kind of virtually connecting based on truck traffic to hang small marshaling control system and method, it is a kind of guarantee driving safety, improve the scheme of train operation efficiency, in the program, in a small grouping range, main car is by constantly detecting the environment sensing and status data of itself, and the environment sensing and status data of front truck are obtained by point-to-point direct communication, it is compared calculating, control strategy is formed according to result of calculation, adjustment rear car keeps a dynamic security distance to go to follow front truck to run.Adaptively follow front truck to run by the main car of this policy control, help in small marshalling train to cooperate with and make correct active vehicle control decision and operation.The runnability of system can be greatly improved by using the program, preferably meets the requirement that urban track traffic is flexibly runed, there are great development space and potentiality, this is also following development trend and developing direction of city rail traffic signal system.
Description
Technical field
The present invention relates to urban rail transit technology field, more particularly to a kind of virtually connecting based on truck traffic to hang small volume
Group train control system and method.
Background technology
The train control system of urban track traffic is evolving always, from relying only on the ground such as semaphore and track circuit
The point type system of face equipment auxiliary train operation, to realizing car-ground continuous two-way communication, the train auto-matic control system based on communication
Unite (the hereinafter referred to as CBTC systems of train-ground communication), Train Control Technology realizes huge change.Traditional CBTC systems
Feature is that the two-way communication of train and ground installation is realized with wireless communication media, and transmission contains much information, and transmission speed is fast, greatly
Width improves section operation handling capacity, shortens Train Interval.
The CBTC system architectures of traditional train-ground communication are as shown in Figure 1.Wherein train new style of auto-supervisory (ATS) sends route
For the message of request to the zone controller (ZC) of trackside and the local ATS at station, the position that ZC reports according to train calculates the shifting
It is dynamic to authorize, mobile authorization is then then forwarded to the train.Therefore in the CBTC systems of train-ground communication, vehicular control unit and rail
The substantial amounts of data message of real-time, interactive is needed between other control unit, communication delay therein can not avoid.Calculating row simultaneously
Also need to, using trackside auxiliary positioning equipment such as transponder, meter shafts, cause the trackside equipment of system more, safeguard into during truck position
This is higher.
The CBTC systems of train-ground communication at present, technically have been realized in the function of movable block.But it also has one
A little defects, mainly include：
1) interface between subsystems is too many, adds the complexity of system；
2) trackside equipment of train-ground communication is more, causes the maintenance cost of system higher；
3) train needs that the running state information of front train could be obtained by ZC transfer, can not directly obtain the letter
Breath, so as to add the reaction time of system operation, reduces performance；
4) because the mutual limitation of trackside subsystems, the degree of flexibility of system operation are poor.
There is related scientific research mechanism to carry out a series of researchs for truck traffic, mainly including following two classes scheme：
The first kind：CTCS based on truck traffic is superimposed safely train collision guard system and method
(201210164949.6), the program discloses a kind of train collision guard technology for high-speed railway.The program is mainly
Truck traffic subsystem by the velocity location directional information of this car by broadcast by way of propagated into certain limit,
And the velocity location directional information of other broadcasting for train is received simultaneously.Then this vehicle speed position side is combined by anticollision computer
To information, the velocity location directional information of other trains and the line information of electronic map database, carrying out collision protection may
Property calculate.Result of calculation is finally sent to human-machine interaction subsystem, reminds driver to take measures to keep away by audible and visual alarm signal
Exempt from train collision.But the defects of program, is：1) the train collision protection of high-speed railway is mainly used in, can not be applied to
Train transport capacity and operational efficiency are improved in urban track traffic；2) one-to-many and many-to-one car is not only carried out per train
Car direct communication, it is also necessary to while train-ground communication is carried out with ground, the requirement to mobile unit is too high.3) anticollision result of calculation
Human-machine interaction subsystem is sent to, collision avoidance is manually carried out by driver and is operated, this mode also needs to consider driver's upon execution
The special circumstances such as reaction time, there is certain potential safety hazard.
Second class：Capacity based on dynamic interval can configure train operation control system and method (201610799966.5)
And《Novel C BTC network analyses based on Che-car communication》With《CBTC system schemas research of new generation is explored with key technology》
Deng the CBTC system schemas using train as core mentioned in article.This kind of scheme proposes to control in the region of traditional CBTC systems
The trackside Core Feature equipment such as device (ZC) processed and interlocking is transplanted in mobile unit, and ground installation is carried out by object controller
Control, and then optimize system architecture, reduce trackside equipment quantity.The row of the relative velocity of a kind of " hitting soft wall " are also proposed simultaneously
Car trace mode.However, the defects of this kind of scheme, is：1) circuit of urban track traffic is longer, the train of truck traffic
Spacing is not known from hundreds of meters to several kms, and the situation of part elevated line direct communication between clearing, train is complicated,
Currently without the technology that can fully meet direct communication between this kind of scheme demand and safe and reliable train.Meanwhile patent
(201610799966.5) the satellite communication subsystem mentioned in is in the closing space of urban track traffic underground, and effect is not
It is good.Although 2) eliminate part ground installation, train needs to carry out train-ground communication and truck traffic simultaneously, and this is to mobile unit
It is it is required that too high.3) relative velocity train tracer technique its safety and reliability for " hitting soft wall " still remains to be discussed.
The content of the invention
It is an object of the invention to provide a kind of virtually connecting based on truck traffic to hang small marshaling control system and method,
The runnability of system can be greatly improved, preferably meets the requirement that urban track traffic is flexibly runed, there is greatly hair
Space and potentiality are opened up, this is also following development trend and developing direction of city rail traffic signal system.
The purpose of the present invention is achieved through the following technical solutions：
A kind of virtually connecting based on truck traffic hangs small marshaling control system, including：Front and rear train is based on vehicle-mounted
VOBC realizes a range of point-to-point communication, forms virtually to connect and hangs small marshalling；The vehicle-mounted VOBC includes：Truck traffic electricity
Platform and antenna, speed and position measuring module, truck traffic module and vehicle-mounted ATO；
It is virtual connect hang in small marshalling, rear car passes through the truck traffic radio station of itself and the antenna truck traffic with front truck in real time
Radio station and antenna carry out the point-to-point communication of full duplex, obtain the running state information of front truck；
What the speed and position measuring module of rear car obtained test the speed and location information, and the running state information of the front truck obtained is equal
By truck traffic module transfer to vehicle-mounted ATO, a dynamic safe distance is kept to go before following by vehicle-mounted ATO control rear cars
Car is run.
Rear car calculates speed of service curve and the protection of itself in real time as main car in virtually connecting at one and hang small marshalling
Range information, so as to control train operation；The virtual interval hung inside small marshalling that connects is controlled by main car, small when virtually connecting extension
Rear car is without train-ground communication when organizing into groups effective；
Main car is also by its present speed, position, safe distance, minimum tailstock position and tailstock safety allowance envelope information
Front truck is sent in real time, and front truck is responsible for obtain the route in front and speed limit believing with the zone controller on ground progress train-ground communication
Breath, and by zone controller of the information transfer that main car is sent to ground, this is virtually connected into extension by the zone controller on ground
Marshalling tracks as an entirety in real-time data base.
Tracking principle of the main car to front truck is a kind of adaptive model- following control, follows front truck to run with certain strategy：
Main car follows the acceleration of front truck, cruise and the state that runs slowly, Controlling model are one using range deviation and velocity deviation to be defeated
Enter, the closed loop feedback control based on acceleration, while calculate comparatively safe distance in real time according to present speed, as Controlling model
Security restriction condition.
It is virtual to connect the truck traffic hung in small marshalling between train, and train-ground communication between each train and ground is only
Erection system, possesses mutual redundancy feature；
If truck traffic is working properly between train, but train-ground communication equipment fault, all trains all switch to car car
Communication pattern, all fronts train is virtually connected into extension；
If truck traffic failure between train, train-ground communication is working properly, by the transponder on ground, meter shaft and DCS networks
Equipment guarantee traffic safety, virtually connects and hangs small marshalling solution volume, and train is run in a manner of independent train-ground communication；
If truck traffic and train-ground communication all cisco unity malfunctions between train, virtually connect and hang small marshalling solution volume, be downgraded to
Pilot steering or train brake hard.
A kind of virtually connecting based on truck traffic hangs small marshaling control method, is realized based on aforementioned system, including：Before
Train realizes a range of point-to-point communication based on vehicle-mounted VOBC afterwards, forms virtually to connect and hangs small marshalling；
It is virtual connect hang in small marshalling, rear car passes through the truck traffic radio station of itself and the antenna truck traffic with front truck in real time
Radio station and antenna carry out the point-to-point communication of full duplex, obtain the running state information of front truck；
What the speed and position measuring module of rear car obtained test the speed and location information, and the running state information of the front truck obtained is equal
By truck traffic module transfer to vehicle-mounted ATO, a dynamic safe distance is kept to go before following by vehicle-mounted ATO control rear cars
Car is run.
Rear car calculates speed of service curve and the protection of itself in real time as main car in virtually connecting at one and hang small marshalling
Range information, so as to control train operation；The virtual interval hung inside small marshalling that connects is controlled by main car, small when virtually connecting extension
Rear car is without train-ground communication when organizing into groups effective；
Main car is also by its present speed, position, safe distance, minimum tailstock position and tailstock safety allowance envelope information
Front truck is sent in real time, and front truck is responsible for obtain the route in front and speed limit believing with the zone controller on ground progress train-ground communication
Breath, and by zone controller of the information transfer that main car is sent to ground, this is virtually connected into extension by the zone controller on ground
Marshalling tracks as an entirety in real-time data base.
Tracking principle of the main car to front truck is a kind of adaptive model- following control, follows front truck to run with certain strategy：
Main car follows the acceleration of front truck, cruise and the state that runs slowly, Controlling model are one using range deviation and velocity deviation to be defeated
Enter, the closed loop feedback control based on acceleration, while calculate comparatively safe distance in real time according to present speed, as Controlling model
Security restriction condition.
It is virtual to connect the truck traffic hung in small marshalling between train, and train-ground communication between each train and ground is only
Erection system, possesses mutual redundancy feature；
If truck traffic is working properly between train, but train-ground communication equipment fault, all trains all switch to car car
Communication pattern, all fronts train is virtually connected into extension；
If truck traffic failure between train, train-ground communication is working properly, by the transponder on ground, meter shaft and DCS networks
Equipment guarantee traffic safety, virtually connects and hangs small marshalling solution volume, and train is run in a manner of independent train-ground communication；
If truck traffic and train-ground communication all cisco unity malfunctions between train, virtually connect and hang small marshalling solution volume, be downgraded to
Pilot steering or train brake hard.
As seen from the above technical solution provided by the invention, the car car for being not based on ground installation 1) proposed is directly logical
Letter mode, improving efficiency while alleviating the pressure of zone controller (ZC) in traditional train-ground communication CBTC systems, reducing car
The load of ground communication network.2) what is proposed is not based on the car car direct communication system of ground installation while also serves as train-ground communication
A kind of Safety Redundancy scheme, in train-ground communication failure train can be ensured with certain speed safe operation.3) extension skill virtually will be connected
Art is introduced into urban railway transit train operation control, proposes a kind of Transportation Organization form of new small marshalling operation, can be small
In the range of improve train operation efficiency, this more flexible Transportation Organization form, interconnected for engineering truck rescue and implementation
There is big advantage.4) the small marshalling that is applied to proposed virtually connects in extension, and main vehicle speed adaptively follows the basic of front truck
Control strategy.The strategy is one using range deviation and velocity deviation as input, it is contemplated that safe distance is as restrictive condition, base
In the closed loop feedback of acceleration.The strategy can ensure that the train of small marshalling truck traffic is safely and efficiently run.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the schematic diagram for traditional CBTC system architectures that background of invention provides；
Fig. 2 virtually connects the signal for hanging small marshaling control system to be provided in an embodiment of the present invention based on truck traffic
Figure；
Fig. 3 is vehicle-mounted VOBC provided in an embodiment of the present invention structure structural representation；
Fig. 4 is the redundancy rule flow chart of truck traffic provided in an embodiment of the present invention and train-ground communication.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on this
The embodiment of invention, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to protection scope of the present invention.
In today that urban track traffic continues to develop, the transport power of part big city subway line can not meet the people all the time
The trip requirements of the masses, because the stream of people is excessive, these circuits often occur in peak time morning and evening it is crowded, trample etc. and to endanger passenger
The accident of safety.This situation solves method currently without good：Because the circuit speed limit of these newly-built circuits, platform length
It is difficult to change at present etc. external condition, improves speed and increase the method for train marshalling list and do not apply to；Existing train-ground communication
The key factors such as the tracking interval of CBTC signal systems is delayed by train-ground communication, the reaction time of multiple subsystems restrict, train
Interval is difficult to reduce again；Each subsystem interface is more in the CBTC systems of train-ground communication simultaneously, and trackside equipment is also more, appoints
What equipment fault can all trigger a series of signal system failure, and train can be influenceed on the contrary by blindly increasing signal system load
Normal operation.
The defects of for present in current use demand and prior art, the embodiment of the present invention propose that one kind is based on car
Car communication it is virtual connect hang small marshaling control system, the system not only serve as car-ground communication system a kind of redundancy and
Emergency communication guarantee driving safety, moreover it is possible to improve the operational efficiency in small marshalling and operation flexibility.
Virtually the connecting based on truck traffic that the embodiment of the present invention is provided hangs small marshaling control system such as Fig. 2 institutes
Show, mainly include：Front and rear train realizes a range of point-to-point communication based on vehicle-mounted VOBC, forms virtually to connect and hangs small volume
Group；It is virtual connect hang in small marshalling, rear car passes through the truck traffic radio station of itself and antenna the truck traffic radio station with front truck in real time
And antenna carries out the point-to-point communication of full duplex, running state information (including speed, acceleration, position, the operation of front truck are obtained
Route etc.)；What the speed and position measuring module of rear car obtained test the speed and location information, and the running state information of the front truck obtained is equal
By truck traffic module transfer to vehicle-mounted ATO, a dynamic safe distance is kept to go before following by vehicle-mounted ATO control rear cars
Car is run.
Truck traffic it is virtual connect hang order and can preset before dispatching a car, can also in the process of running by ATS transmissions simultaneously
It is judged as that security command could perform by ZC.The virtual communication distance for connecting extension has certain requirement, it is necessary to by between two trains
Away from holding within the specific limits, reliable point-to-point information transfer could be carried out.Virtually connect the small marshalling of extension, ground for this
ZC can calculate a maximum virtual trailer that connects and grow (referred to as virtual vehicle commander), and the train at small marshalling rear is still with train-ground communication
Pattern follows the trail of small marshalling afterbody.
As shown in figure 3, the vehicle-mounted VOBC mainly includes：Truck traffic radio station and antenna, speed and position measuring module, Che Chetong
Believe module and vehicle-mounted ATO.
In the embodiment of the present invention, one virtually connects rear car in the small marshalling of extension and, as main car, calculates the operation speed of itself in real time
Write music line and guard space information, so as to control train operation；The virtual interval connected inside the small marshalling of extension is by main car control
System, when it is virtual connect hang small marshalling it is effective when rear car without train-ground communication；Main car also by its present speed, position, safe distance,
Minimum tailstock position and tailstock safety allowance envelope information are sent to front truck in real time, and front truck is responsible for the zone controller with ground
Train-ground communication is carried out to obtain the route and speed-limiting messages in front, and by Region control of the information transfer that main car is sent to ground
Device, this is virtually connected into extension marshalling as an entirety by the zone controller on ground and tracked in real-time data base.
It can only be worked in addition, virtually connecting and hanging in a small range of certain distance, once virtual vehicle length is more than maximum, then and it is empty
Intend even reporting the loss and lose, onboard system switches to train-ground communication pattern.Meanwhile hang two train marshalling list solutions inside small marshalling when virtually connecting
When compiling or exchanging position, the following train tracking target outside marshalling can be changed into the tail end of train from the tail end of small marshalling.System
More train marshalling lists are supported in theory, but operational efficiency can decrease as train quantity increases, therefore, can be according to reality
Situation hangs the quantity of train in small marshalling to determine virtually to connect.
In the embodiment of the present invention, main vehicle speed curve Computing Principle is as follows：Tracking principle of the main car to front truck be it is a kind of from
The model- following control of adaptation, front truck is followed to run with certain strategy：Main car follows the acceleration of front truck, cruises and the shape that runs slowly
State, Controlling model be one using range deviation and velocity deviation as input, the closed loop feedback control based on acceleration, while basis
Present speed calculates comparatively safe distance in real time, the security restriction condition as Controlling model.
On the other hand, from the view of security, car car direct communication system provided in an embodiment of the present invention also serves as simultaneously
A kind of Safety Redundancy scheme of train-ground communication, virtually connect the truck traffic hung in small marshalling between train, and each train and ground
Train-ground communication between face is autonomous system, possesses mutual redundancy feature；Train-ground communication mainly by the way of GSM-R or LTE,
Truck traffic can use the various ways such as vehicle radio station or ultrashort wave.As shown in Figure 4.
If 1) truck traffic is working properly between train, but train-ground communication equipment fault, all trains all switch to car
Car communication pattern, all fronts train is virtually connected into extension；
If 2) truck traffic failure between train, train-ground communication is working properly, by the transponder on ground, meter shaft and DCS nets
Network equipment guarantee traffic safety, virtually connects and hangs small marshalling solution volume, and train is run in a manner of independent train-ground communication；
If 3) truck traffic and train-ground communication all cisco unity malfunctions between train, virtually connect and hang small marshalling solution volume, degrade
For pilot steering or train brake hard.
Virtually the connecting based on truck traffic that the embodiment of the present invention is provided hangs small marshaling control system, is a kind of guarantor
Hinder traffic safety, improve the scheme of train operation efficiency.In a small grouping range, main car is by constantly detecting the ring of itself
Border perceives and status data, and the environment sensing and status data of front truck are obtained by point-to-point direct communication, is compared meter
Calculate, control strategy is formed according to result of calculation, adjustment rear car keeps a dynamic security distance to go to follow front truck to run.Pass through this
Kind of the main car of policy control adaptively follows front truck to run, and helps in small marshalling train to cooperate with and makes correct active vehicle control
Decision-making and operation processed.It mainly has the advantages that：
1) the car car direct communication mode for being not based on ground installation proposed, efficiency is being improved simultaneously with alleviating traditional vehicle
The pressure of zone controller (ZC) in the CBTC systems that communicate, reduces the load of train-ground communication network.
2) one kind safety for being not based on the car car direct communication system of ground installation while also serving as train-ground communication proposed
Redundancy scheme, in train-ground communication failure train can be ensured with certain speed safe operation.
3) the virtual extension technology that connects is introduced into urban railway transit train operation control, proposes a kind of new small marshalling operation
Transportation Organization form, can a small range improve train operation efficiency, this more flexible Transportation Organization form, for engineering
Car, which is rescued, and implementation is interconnected big advantage.
4) the small marshalling that is applied to proposed virtually connects in extension, and main vehicle speed adaptively follows the basic control plan of front truck
Slightly.The strategy is one using range deviation and velocity deviation as input, it is contemplated that safe distance is as restrictive condition, based on acceleration
The closed loop feedback of degree.The strategy can ensure that the train of small marshalling truck traffic is safely and efficiently run.
Another embodiment of the present invention, which also provides, hangs small marshaling control method a kind of virtually connecting based on truck traffic, should
Method is realized based on the system that previous embodiment is provided, and is mainly included：Front and rear train realizes certain limit based on vehicle-mounted VOBC
Interior point-to-point communication, form virtually to connect and hang small marshalling；
It is virtual connect hang in small marshalling, rear car passes through the truck traffic radio station of itself and the antenna truck traffic with front truck in real time
Radio station and antenna carry out the point-to-point communication of full duplex, obtain the running state information of front truck；
What the speed and position measuring module of rear car obtained test the speed and location information, and the running state information of the front truck obtained is equal
By truck traffic module transfer to vehicle-mounted ATO, a dynamic safe distance is kept to go before following by vehicle-mounted ATO control rear cars
Car is run.
Further, it is bent to calculate the speed of service of itself as main car in real time for rear car in virtually connecting at one and hang small marshalling
Line and guard space information, so as to control train operation；The virtual interval hung inside small marshalling that connects is controlled by main car, when
It is virtual connect hang small marshalling it is effective when rear car without train-ground communication；
Main car is also by its present speed, position, safe distance, minimum tailstock position and tailstock safety allowance envelope information
Front truck is sent in real time, and front truck is responsible for obtain the route in front and speed limit believing with the zone controller on ground progress train-ground communication
Breath, and by zone controller of the information transfer that main car is sent to ground, this is virtually connected into extension by the zone controller on ground
Marshalling tracks as an entirety in real-time data base.
Further, tracking principle of the main car to front truck is a kind of adaptive model- following control, is followed with certain strategy
Front truck is run：Main car follows the acceleration of front truck, cruise and the state that runs slowly, Controlling model are one with range deviation and speed
Deviation is input, the closed loop feedback control based on acceleration, while calculates comparatively safe distance in real time according to present speed, as
The security restriction condition of Controlling model.
Further, the truck traffic between train in the small marshalling of extension, and the car between each train and ground are virtually connected
Ground communication is autonomous system, possesses mutual redundancy feature；
If truck traffic is working properly between train, but train-ground communication equipment fault, all trains all switch to car car
Communication pattern, all fronts train is virtually connected into extension；
If truck traffic failure between train, train-ground communication is working properly, by the transponder on ground, meter shaft and DCS networks
Equipment guarantee traffic safety, virtually connects and hangs small marshalling solution volume, and train is run in a manner of independent train-ground communication；
If truck traffic and train-ground communication all cisco unity malfunctions between train, virtually connect and hang small marshalling solution volume, be downgraded to
Pilot steering or train brake hard.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (8)
1. a kind of virtually connecting based on truck traffic hangs small marshaling control system, it is characterised in that including：Front and rear train base
A range of point-to-point communication is realized in vehicle-mounted VOBC, forms virtually to connect and hangs small marshalling；The vehicle-mounted VOBC includes：Car car
Communication station and antenna, speed and position measuring module, truck traffic module and vehicle-mounted ATO；
It is virtual connect hang in small marshalling, rear car passes through the truck traffic radio station of itself and antenna the truck traffic radio station with front truck in real time
And antenna carries out the point-to-point communication of full duplex, the running state information of front truck is obtained；
What the speed and position measuring module of rear car obtained test the speed and location information, and the running state information of the front truck obtained passes through
Truck traffic module transfer keeps a dynamic safe distance to go to follow front truck to transport to vehicle-mounted ATO by vehicle-mounted ATO control rear cars
OK.
2. a kind of virtually connecting based on truck traffic according to claim 1 hangs small marshaling control system, its feature
Be, one it is virtual connect hang in small marshalling rear car as main car, calculate in real time itself speed of service curve and protection away from
From information, so as to control train operation；The virtual interval hung inside small marshalling that connects is controlled by main car, connects the small volume of extension when virtual
Rear car is without train-ground communication when group is effective；
Main car is also real-time by its present speed, position, safe distance, minimum tailstock position and tailstock safety allowance envelope information
Front truck is sent to, front truck is responsible for carrying out train-ground communication with the zone controller on ground to obtain the route and speed-limiting messages in front,
And by zone controller of the information transfer that main car is sent to ground, this is virtually connected to extension marshalling by the zone controller on ground
Tracked as an entirety in real-time data base.
3. a kind of virtually connecting based on truck traffic according to claim 2 hangs small marshaling control system, its feature
It is,
Tracking principle of the main car to front truck is a kind of adaptive model- following control, follows front truck to run with certain strategy：Main car
Follow the acceleration of front truck, cruise and the state that runs slowly, Controlling model is one using range deviation and velocity deviation as input, base
In the closed loop feedback control of acceleration, while calculate comparatively safe distance in real time according to present speed, the peace as Controlling model
Full restrictive condition.
4. a kind of virtually connecting based on truck traffic according to claim 1 hangs small marshaling control system, its feature
It is, virtually connects the truck traffic hung in small marshalling between train, and the train-ground communication between each train and ground is independent
System, possesses mutual redundancy feature；
If truck traffic is working properly between train, but train-ground communication equipment fault, all trains all switch to truck traffic
Pattern, all fronts train is virtually connected into extension；
If truck traffic failure between train, train-ground communication is working properly, by the transponder on ground, meter shaft and the DCS network equipments
Guarantee driving safety, virtually connects and hangs small marshalling solution volume, and train is run in a manner of independent train-ground communication；
If truck traffic and train-ground communication all cisco unity malfunctions between train, virtually connect and hang small marshalling solution volume, be downgraded to artificial
Driving or train brake hard.
5. a kind of virtually connecting based on truck traffic hangs small marshaling control method, it is characterised in that based on claim 1-4
Any one system realization, including：Front and rear train realizes a range of point-to-point communication based on vehicle-mounted VOBC, forms empty
Intend even hanging small marshalling；
It is virtual connect hang in small marshalling, rear car passes through the truck traffic radio station of itself and antenna the truck traffic radio station with front truck in real time
And antenna carries out the point-to-point communication of full duplex, the running state information of front truck is obtained；
What the speed and position measuring module of rear car obtained test the speed and location information, and the running state information of the front truck obtained passes through
Truck traffic module transfer keeps a dynamic safe distance to go to follow front truck to transport to vehicle-mounted ATO by vehicle-mounted ATO control rear cars
OK.
6. a kind of virtually connecting based on truck traffic according to claim 5 hangs small marshaling control method, its feature
Be, one it is virtual connect hang in small marshalling rear car as main car, calculate in real time itself speed of service curve and protection away from
From information, so as to control train operation；The virtual interval hung inside small marshalling that connects is controlled by main car, connects the small volume of extension when virtual
Rear car is without train-ground communication when group is effective；
Main car is also real-time by its present speed, position, safe distance, minimum tailstock position and tailstock safety allowance envelope information
Front truck is sent to, front truck is responsible for carrying out train-ground communication with the zone controller on ground to obtain the route and speed-limiting messages in front,
And by zone controller of the information transfer that main car is sent to ground, this is virtually connected to extension marshalling by the zone controller on ground
Tracked as an entirety in real-time data base.
7. a kind of virtually connecting based on truck traffic according to claim 6 hangs small marshaling control method, its feature
It is,
Tracking principle of the main car to front truck is a kind of adaptive model- following control, follows front truck to run with certain strategy：Main car
Follow the acceleration of front truck, cruise and the state that runs slowly, Controlling model is one using range deviation and velocity deviation as input, base
In the closed loop feedback control of acceleration, while calculate comparatively safe distance in real time according to present speed, the peace as Controlling model
Full restrictive condition.
8. a kind of virtually connecting based on truck traffic according to claim 5 hangs small marshaling control method, its feature
It is, virtually connects the truck traffic hung in small marshalling between train, and the train-ground communication between each train and ground is independent
System, possesses mutual redundancy feature；
If truck traffic is working properly between train, but train-ground communication equipment fault, all trains all switch to truck traffic
Pattern, all fronts train is virtually connected into extension；
If truck traffic failure between train, train-ground communication is working properly, by the transponder on ground, meter shaft and the DCS network equipments
Guarantee driving safety, virtually connects and hangs small marshalling solution volume, and train is run in a manner of independent train-ground communication；
If truck traffic and train-ground communication all cisco unity malfunctions between train, virtually connect and hang small marshalling solution volume, be downgraded to artificial
Driving or train brake hard.
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