CN108263449A - A kind of municipal rail train method for tracing based on Velocity Pursuit - Google Patents
A kind of municipal rail train method for tracing based on Velocity Pursuit Download PDFInfo
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- CN108263449A CN108263449A CN201711295653.7A CN201711295653A CN108263449A CN 108263449 A CN108263449 A CN 108263449A CN 201711295653 A CN201711295653 A CN 201711295653A CN 108263449 A CN108263449 A CN 108263449A
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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
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/40—Handling position reports or trackside vehicle data
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Abstract
The present invention relates to a kind of municipal rail train method for tracing based on Velocity Pursuit, this method is mainly used for urban track traffic, increase front truck velocity information in train-ground communication/truck traffic, and it recalculates based on the mobile authorization in Velocity Pursuit scheme, it is analyzed according to calculating, when being tracked in section, significantly shorten compared to the car tracing interval based on location tracking using based on Velocity Pursuit mode vehicle, tracking interval can shorten 20%~30% in the case that front and rear two vehicle speed is identical.It during entering the station, can reduce speed now later using based on rear car under Velocity Pursuit mode, reduce in this way from the time spent to complete parking and the distance of reducing speed now, increase the efficiency that enters the station, 8% or so can be promoted through analysis efficiency highest.
Description
Technical field
The invention belongs to municipal rail train tracer technique fields, and in particular to a kind of municipal rail train tracking based on Velocity Pursuit
Method.
Background technology
In rail traffic, to ensure train traffic safety, it need to ensure that train is run with certain personal distance, therefore is made
With obturation techniques.Nonpassage of signal is divided into three classes substantially, i.e. fixed blocking, quasi-moving block and movable block.Fixed blocking system
Under formula, system can not know specific location of the train in subregion, therefore the beginning and end of train braking is always in a certain subregion
Boundary.Quasi-moving block occupies judging subregion by using track circuit and transmits information, and the starting point of train braking can prolong
The place for ensureing its safety arrestment is extended to, but the maximum target braking point of rear car still has to occupy the foreign side of subregion in front truck.It moves
Dynamic occlusion eliminates the fixed blocking section separated with semaphore, passes through mobile unit and the continual two-way of trackside equipment
Letter, control centre calculate train according to the real-time speed of front truck and position and protection distance dynamic and go out one and train synchronization shifting
Dynamic virtual partition, the maximum target braking point of such rear car can reach front truck rear, this enables train with higher speed
It is run with smaller interval, so as to improve efficiency of operation.
The city rail traffic signal system of mainstream is CBTC (Communication Based Train at present
Control) signal system, what which used is exactly Moving Block Technology in UMT, and technology realizes train-ground communication simultaneously by radio communication
Train location information is transmitted in real time.Ground ZC equipment calculates the mobile authorization of train according to train location information and is sent to vehicle
, the terminal of mobile authorization is located at the certain safe distance of front truck tail portion retraction.Safe distance is based on train safety braking mould
The additional distance that type calculates, it ensures that following train remains to safe stopping after the train that moves ahead under the conditions of worst
Side.
Mobile unit, can be according to shifting to ensure that vehicle can stop in mobile authorization terminal after mobile authorization is received
It is dynamic that final position and vehicle deceleration is authorized to calculate limiting vehicle speed curve (referring to Fig. 1), ensure vehicle safety operation.
From above for the description of CBTC signal systems as can be seen that it is current calculate vehicle mobile authorization when only consider front truck
Location information, be equivalent to and consider front truck as static situation, before rear car cannot all cross in the most adverse case
Tailstock portion.But actually front truck may not be static, and front truck is also impossible to become quiet from motion state in a flash
Only state, the tracking effect of front car and rear car are undesirable.
Term is explained
Communication-based train control communication based train control (CBTC)
Based on large capacity, continuous vehicle ground information bidirectional communication and train positioning and control technology, the speed of train is realized
Control.Using the train positive location technology for not depending on trackside train occupation detection device and continuous car-ground bidirectional data communication
Technology, the continous way train automatic controlling system built by being able to carry out the vehicle-mounted and ground based processor of security function.
Train auto-matic control automatic train control (ATC)
Signal system realizes the general name of the technologies such as train supervision, security protection and operation control automatically.
Train automatic monitoring automatic train supervision (ATS)
Route is set according to time-table automatically for train operation, the technologies such as train operation and management are implemented in commander's driving
General name.
Train automatic protection automatic train protection (ATP)
The automatic general name for realizing the monitoring technologies such as Train Interval, overspeed protection, route safety and car door.
Automatic train operation automatic train operation (ATO)
The automatic general name for realizing the control technologies such as train acceleration, speed governing, parking and opening/closing door of vehicle, prompting.
Computer interlocking computer interlocking (CI)
The subsystem of train automatic controlling system using computer technology as core, realizes route, track switch, semaphore automatically
Deng control and the general name of guard technology.
Zone controller Zone Controller (ZC)
It is responsible for interacting mass data with mobile unit, and train mobile authorization is calculated simultaneously according to train information, yard information
Inform vehicle-mounted equipment.
Mobile authorization movement authority (MA)
The license that train enters along given travel direction and drives a vehicle in a certain specific region, mobile authorization are considered as arranging
The various dangerous point information in vehicle operation front, should ensure that train is unrestricted in normal movement within the scope of authority, mobile authorization
End should not cross dangerous point.
Automatic train operation pattern (AM)
Under driver monitoring, CBTC systems automatically control train operation, and carry out the train driving pattern of security protection.
Train automatic protection pattern (CM)
Under train automatic protection equipment protection, the train driving pattern of driver driving train operation.
Limit pilot steering pattern (RM)
Driver by defined visual driving speed limit control vehicle operation, drive by the train that train automatic protection equipment carries out overspeed protection
Sail pattern.
Unrestricted pilot steering pattern (EUM)
Oneself is removed ATP equipment, and mobile unit is not monitored train operation, and driver drives train by operating instruction
Train driving pattern.
Track section
Basic Component units of the track section as line topological carry out section partition according to circuit elemental characteristic, divide
Principle is independent of circuit physical demarcation point, for describing circuit essential information.
Switch section
Switch section is the track section that attribute is track switch, describes the track data letter of switch zones in line topological
Breath.
Occlusion
Occlusion is exactly with signal or voucher, and guarantee train is according to must keep certain between forward train and following train
The technical method of distance (space interval system) operation.
Invention content
In view of the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a kind of city based on Velocity Pursuit
Rail train method for tracing.This method is mainly used for urban track traffic, considers current vehicle when calculating vehicle mobile authorization
The factors such as position, speed, safe distance, running velocity is improved under the precondition for ensureing safety, shortens train
Tracking interval, improve urban track traffic operational efficiency, so as to save operation cost, improve transport power.
The present invention solve the technical problem the technical solution adopted is that：A kind of municipal rail train based on Velocity Pursuit is provided
Method for tracing, this method include the following steps：
Step 1：Tracing scheme based on speed judges whether to meet Velocity Pursuit firstly the need of vehicle-mounted ATP when running
Condition, actual conditions include：
1) train operation pattern is train automatic protection pattern or automatic train operation pattern；
2) train communication rank is continuous communiction pattern；
3) train can receive the location-based mobile authorization information of zone controller (ZC) transmission；
4) train can obtain the velocity information of front truck；
If meeting conditions above, vehicle-mounted ATP, which can just provide, to be allowed access into based on Velocity Pursuit mode annunciations, automatic or warp
Manual confirmation admission velocity tracks pattern；
Step 2：Vehicle-mounted ATP vehicle speed, front vehicle position and is calculated before obtaining based on zone controller under location tracking mode
The mobile authorization gone out；
Step 3：Calculate the mobile authorization based on vehicle under Velocity Pursuit scheme：
On the basis of the mobile authorization based on location tracking sent in ZC, consider front truck under present speed with maximum deceleration
Degree be decelerated to parking it is distance travelled, while need consider information transmission when delay, calculate and got off based on Velocity Pursuit scheme
Mobile authorization；Assuming that the mobile authorization based on location tracking received is S, preceding vehicle speed is V, and maximum deceleration a prolongs
When the time be t, then the mobile authorization S' based on vehicle under Velocity Pursuit scheme, which is calculated, is：
Step 4：Limiting vehicle speed curve is calculated according to the mobile authorization based on vehicle under Velocity Pursuit scheme, obtains speed limit
Train carries out control vehicle according to Speed limit curve after curve.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention is based on Velocity Pursuit municipal rail train method for tracing increase in train-ground communication/truck traffic before vehicle speed
Information, and recalculate based on the mobile authorization in Velocity Pursuit scheme, it analyzes according to calculating, when being tracked in section, adopts
It is significantly shortened compared to the car tracing interval based on location tracking with based on Velocity Pursuit mode vehicle, when front and rear two vehicle speeds phase
Tracking interval can shorten 20%~30% in the case of.During entering the station, using based on rear car under Velocity Pursuit mode
It can reduce speed now later, reduce in this way from the time spent to complete parking and the distance of reducing speed now, increase the effect that enters the station
Rate can promote 8% or so through analysis efficiency highest.
Description of the drawings
Fig. 1 is the schematic diagram based on position tracking method；
Fig. 2 is the schematic diagram of the municipal rail train method for tracing the present invention is based on Velocity Pursuit；
Fig. 3 is the flow chart of the municipal rail train method for tracing the present invention is based on Velocity Pursuit.
Specific embodiment
The present invention is explained further, but do not protected in this, as to the application claim with reference to embodiment and attached drawing
Protect the restriction of range.
The present invention is based on the municipal rail train method for tracing (abbreviation method, referring to Fig. 2-3) of Velocity Pursuit, this method include with
Lower step：
Step 1：Tracing scheme based on speed judges whether to meet Velocity Pursuit firstly the need of vehicle-mounted ATP when running
Condition, actual conditions include：
1) train operation pattern is train automatic protection pattern (CM) or automatic train operation pattern (AM)；
2) train communication rank is continuous communiction pattern (CTC)；
3) train can receive the location-based mobile authorization information of zone controller (ZC) transmission；
4) train can obtain the velocity information of front truck (vehicle speed is needed to realize and truck traffic or be controlled by region before acquisition
Device forwarding processed)；
If meeting conditions above, vehicle-mounted ATP (train automatic protection), which can just provide, to be allowed access into based on Velocity Pursuit mould
Formula is prompted, and tracks pattern automatically or through manual confirmation admission velocity；
Step 2：It vehicle speed, position and is calculated before vehicle-mounted ATP obtains based on zone controller under location tracking mode
Mobile authorization, it is existing method to calculate the mobile authorization method calculated based on location tracking mode for zone controller (ZC)；
There are two types of the acquisition schemes of preceding vehicle speed：Scheme one：It realizes truck traffic, this vehicle speed of rear car is notified by front truck,
Mainstream CBTC systems do not include truck traffic function at present, realize truck traffic, need to increase vehicle workshop channel radio on vehicle
Believe equipment, truck traffic is intended only as one of transmission speed, method of location information between vehicle；
Scheme two：Vehicle speed before being forwarded by ZC.
Scheme one is needed to realize truck traffic function, advantage is that the modification of ZC functions is less, and timeliness is preferable, and shortcoming is
It needs to increase vehicle-mounted ATP interrelated logic and related communication (the increased mainly relevant software logic of truck traffic and communication
Equipment).Scheme two does not need to realize truck traffic function, but there is the shortcomings that larger that is delayed.For having been carried out truck traffic
Signal system suggested design one, to the operational version two of truck traffic is not implemented, but need to add to consider in terms of delay.
Step 3：Calculate the mobile authorization based on vehicle under Velocity Pursuit scheme：
When calculating mobile authorization, on the basis of the mobile authorization based on location tracking sent in ZC, consider that front truck is being worked as
Under preceding speed with maximum deceleration be decelerated to parking it is distance travelled, while need consider information transmission when delay, calculate base
The mobile authorization of vehicle under Velocity Pursuit scheme；Assuming that the mobile authorization based on location tracking received is S, preceding vehicle speed is
V, maximum deceleration a, delay time t, then the mobile authorization based on vehicle under Velocity Pursuit scheme, which is calculated, is：
Step 4：Limiting vehicle speed curve is calculated according to the mobile authorization based on vehicle under Velocity Pursuit scheme, obtains speed limit
Train carries out control vehicle according to Speed limit curve after curve, and then the moment judges whether to meet Velocity Pursuit condition, if meeting continuation
It repeats the above steps and calculates current time limiting vehicle speed curve, ensure that train can be under the conditions of safe distance, as far as possible quickly
It efficiently stops or starts, improve operational efficiency.It is consistent with based on position Speed limit curve method to calculate Speed limit curve method.
The present invention follows before description is based on the municipal rail train tracing scheme of Velocity Pursuit firstly the need of determining Velocity Pursuit
Security doctrine, main following points：
1. the mobile authorization of rear car cannot surmount two cars, i.e., it cannot cross the mobile authorization terminal of front truck；
2. if situation about degrading extremely occurs in front truck, the mobile authorization of rear car needs to bounce back immediately, the position of retraction
It determines, it should be identical with the processing that front truck degrades extremely under location tracking mode；
3. rear car cannot be overlapped with the safe envelope of front truck, if the overlapping of safe envelope shows to have the wind of car to car impact
Danger, safe envelope, which cannot be overlapped, to be realized by calculating the mobile authorization for the safety for providing rear car；
4. the tracing scheme based on speed should be used as a kind of optional train trace mode, train can after meeting certain condition
To enter the trace mode, can also be exited from the trace mode using location-based trace mode.
So if considering that front truck is still travelling forward when rear car is slowed down, rear car in current time slows down and stops immediately
Point can reach tail portion even across current time front truck, the tracking distance of such rear car and front truck can be closer to carrying
High operational efficiency.
Embodiment 1
Compared with location-based tracing scheme, section tracking can effectively be improved using the tracing scheme based on speed
Efficiency and the efficiency that enters the station.
Efficiency is tracked for section, it is assumed that a simplified version train-following model, it is assumed that have two cars A and B, A on circuit
Vehicle is front truck, and B vehicles are rear car, and the A vehicle speeds that T moment B vehicles receive are VA, B vehicle speeds are VB, vehicle maximum deceleration is a1,
ATO control vehicle maximum decelerations are a2, the processing delay of two inter-vehicle communications is t1, braking application time is t2。
Then the A vehicle stopping distances of B vehicles calculating at this time are：
B vehicle stopping distances are：
A truck positions uncertainty value is P at this timeA, B truck positions uncertainty value is PB, front truck regression safety is considered during parking
Surplus is D, and the safe envelope of two vehicles is not overlapped when stopping for guarantee, then can be calculated based on the T moment two under Velocity Pursuit scheme
Vehicle tracking interval needs to meet condition：
Calculate that two vehicle tracking intervals meet condition according to car speed under based on location tracking scheme：
It is now assumed that t1=1s, t2=1.5s, D=10m, a1=2m/s2, a2=0.75m/s2, PA+PB=20m passes through meter
The difference of the efficiency under friction speed based on Velocity Pursuit and based on location tracking train operation organization can be compared by calculating, and be shown in Table 1.
Vehicle tracking interval under 1 two kinds of trace modes of table
For the efficiency that enters the station, it is assumed that platform length 120m, vehicle commander 100m, stop are 10m away from platform boundary.Track
Speed limit 80km/h, platform speed limit are 50km/h (it is about 20m/s and 11m/s that corresponding train emergency braking, which triggers speed).Vehicle
Deceleration is 0.75m/s2。
If platform does not have a vehicle, train starts to reduce speed now from section again can be in stop parking to platform speed limit
It is divided into two stages considerations, the first stage enters the station to decelerate to platform speed limit from track speed limit, and second stage is into after platform
Stop is decelerated to come to a complete stop.For the first stage, vehicle is according to deceleration 0.75m/s2Slow down, from 20m/s reduce to 11m/s when
Between be：
This section of deceleration distance be：
For the 2nd stage, it is assumed that vehicle first at the uniform velocity in stop stop again by even slow down, then can calculate deceleration distance is：
It is the time spent in second stage then：
It is 29.34s the time spent in the process that entirely enters the station according to above-mentioned calculating, the distance of process is 296m.This is calculated
The result is that an independent train does not consider the distance of time and process of entering the station in the case of tracking, because of the position without the concern for front truck
And speed, the result that two kinds of trace modes obtain at this time are identical.
In the case of platform has vehicle, by platform cannot be entered simultaneously and can be with based on two trains under Velocity Pursuit mode
It is analyzed simultaneously into two kinds of situations of platform.For be based on location tracking mode enter it is identical in the case of two kinds of platform efficiency.
1) two trains cannot enter platform region simultaneously
In the case where two trains cannot enter platform region simultaneously, based under location tracking mode, current vehicle A is in platform
During parking, rear car B mobile authorizations are located at platform inlet, then the B vehicles distance that reduces speed now is：
B vehicles reduce speed now at this time, and A vehicles start to sail out of platform, if A vehicles acceleration is 1m/s2, then when A vehicles sail out of platform
Between be：
B vehicle speeds are at this time：
20-0.75*15.5=8.375m/s
It is away from platform inlet distance：
B vehicles stop is located at platform stop at this time, it is assumed that its is even when accelerating to platform entrance, and speed is platform speed limit, then
Spend the time be：
The time stopped after into platform for 17.34s (when platform is without other vehicles one in platform starting point with platform speed limit
The even deceleration of the vehicle of traveling is stopped the required time in stop, and second stage is into platform during by above-mentioned platform without vehicle
Decelerating to come to a complete stop time of calculating of stop afterwards obtains), then total time is obtained as 17.34+4.83+15.5=37.67s.
And use under the trace mode based on speed, it is assumed that even if A vehicle speeds are slowed down when reaching V with maximum deceleration immediately
Still platform can be sailed out of, the cost time is 12.75s, then B vehicle speeds are at this time：
20-0.75*12.75=10.44m/s
It is away from platform inlet distance：
It will again be assumed that its even speed when accelerating to platform entrance is platform speed limit, then the time is spent to be：
The time stopped after into platform is 17.34s, then obtains total time as 17.34+6.75+12.75=36.84s.
Efficiency improves about 2.2% compared with location-based trace mode.Here the time stopped includes two stages, and the first stage is
The time spent in reducing speed now to platform starting point, second stage are stopped the time it takes from platform starting point in stop,
In the case where platform does not allow two cars while enters, the time spent in two kinds of trace mode second stage, is identical, but first
Stage, which is based on location tracking, to be compared can be slowed down earlier based on Velocity Pursuit, cause the time it takes variant.
2) two trains can enter platform region simultaneously
If can enter platform region simultaneously based on two trains under Velocity Pursuit mode, current vehicle A when platform stops,
Rear car B mobile authorizations are located at platform inlet, then the B vehicles distance that reduces speed now is：
B vehicles reduce speed now at this time, and A vehicles start to sail out of platform, if A vehicles acceleration is 1m/s2, then when A vehicles sail out of platform
Between be：
The mobile authorization of B vehicles extends into platform at this time, and the relationship for calculating B vehicles deceleration and time at this time is：
It is 16.79s, speed 11.76m/s, higher than station to obtain the time when B vehicles enter platform according to this acceleration calculation
Platform speed limit 11m/s does not exceed the speed limit to ensure, a fixed coefficient n is multiplied by acceleration, then obtains below equation：
By n=1.085, t=17.2s is calculated
The time stopped after into platform is 17.34s, then obtains total time as 17.34+17.2=34.54s.With based on
The trace mode of position improves about 8.3% compared to efficiency.
The present invention does not address part and is suitable for the prior art.
Claims (3)
1. a kind of municipal rail train method for tracing based on Velocity Pursuit, this method include the following steps：
Step 1：Judge whether the condition for meeting Velocity Pursuit firstly the need of vehicle-mounted ATP when tracing scheme based on speed is run,
Actual conditions include：
1) train operation pattern is train automatic protection pattern or automatic train operation pattern；
2) train communication rank is continuous communiction pattern；
3) train can receive the location-based mobile authorization information of zone controller (ZC) transmission；
4) train can obtain the velocity information of front truck；
If meeting conditions above, vehicle-mounted ATP, which can just provide, to be allowed access into based on Velocity Pursuit mode annunciations, and automatic or warp is artificial
Confirm admission velocity tracking pattern；
Step 2：It vehicle speed, front vehicle position and is calculated before vehicle-mounted ATP obtains based on zone controller under location tracking mode
Mobile authorization；
Step 3：Calculate the mobile authorization based on vehicle under Velocity Pursuit scheme：
On the basis of the mobile authorization based on location tracking sent in ZC, consider that front truck is subtracted under present speed with maximum deceleration
Speed is distance travelled to stopping, while needs to consider delay when information is transmitted, and calculates based on vehicle under Velocity Pursuit scheme
Mobile authorization；Assuming that the mobile authorization based on location tracking received is S, preceding vehicle speed is V, maximum deceleration a, during delay
Between for t, then the mobile authorization S' based on vehicle under Velocity Pursuit scheme, which is calculated, is：
Step 4：Limiting vehicle speed curve is calculated according to the mobile authorization based on vehicle under Velocity Pursuit scheme, obtains Speed limit curve
Train carries out control vehicle according to Speed limit curve afterwards.
2. the municipal rail train method for tracing according to claim 1 based on Velocity Pursuit, which is characterized in that preceding vehicle speed
There are two types of acquisition schemes：
Scheme one：Truck traffic is realized by vehicle workshop wireless telecom equipment, by this vehicle speed of front truck notice rear car；
Scheme two：Vehicle speed before being forwarded by ZC.
3. the municipal rail train method for tracing according to claim 1 based on Velocity Pursuit, which is characterized in that in this method reality
It needs to be determined that the security doctrine that Velocity Pursuit follows before row, including：
1) mobile authorization of rear car cannot surmount two cars, i.e., cannot cross the mobile authorization terminal of front truck；
If 2) situation that front truck appearance degrades extremely, the mobile authorization of rear car need to bounce back immediately, the position of retraction determines
It should be identical with the processing that front truck degrades extremely under location tracking mode；
3) rear car cannot be overlapped with the safe envelope of front truck；
4) method for tracing based on speed should be used as a kind of optional train trace mode, and train can enter this after meeting condition
Trace mode can be also exited from the trace mode using location-based trace mode.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110843861A (en) * | 2019-11-29 | 2020-02-28 | 交控科技股份有限公司 | Mobile authorization determination method and device based on vehicle-to-vehicle communication |
| CN111923967A (en) * | 2020-10-10 | 2020-11-13 | 北京和利时***工程有限公司 | Enhanced CBTC train control system |
| CN111994133A (en) * | 2020-09-04 | 2020-11-27 | 中国国家铁路集团有限公司 | High-speed railway train arrival tracking interval time compression method |
| CN112258745A (en) * | 2020-12-21 | 2021-01-22 | 上海富欣智能交通控制有限公司 | Mobile authorization endpoint determination method, device, vehicle and readable storage medium |
| CN112644561A (en) * | 2021-01-04 | 2021-04-13 | 北京全路通信信号研究设计院集团有限公司 | Train tracking capacity determination method based on relative speed tracking model |
| CN113320576A (en) * | 2021-06-10 | 2021-08-31 | 交控科技股份有限公司 | Parking control method and device for virtual marshalling train formation and storage medium |
| CN113548091A (en) * | 2021-07-13 | 2021-10-26 | 卡斯柯信号(成都)有限公司 | Tramcar driver driving assisting method based on car-to-car communication |
| CN113830139A (en) * | 2021-07-28 | 2021-12-24 | 交控科技股份有限公司 | Train information interaction method and system |
| CN114919626A (en) * | 2022-05-31 | 2022-08-19 | 中铁二院工程集团有限责任公司 | Operation control method, device and system for rack rail train |
| CN115257887A (en) * | 2022-07-29 | 2022-11-01 | 青岛海信微联信号有限公司 | Method for determining train moving authorization terminal |
| CN117002580A (en) * | 2023-09-27 | 2023-11-07 | 北京和利时***工程有限公司 | Method and device for realizing mobile authorization information processing |
| CN117585045A (en) * | 2024-01-04 | 2024-02-23 | 兰州交通大学 | Minimum tracking interval based on post-train station jump and urban rail train alternate station jump operation mode using same |
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| CN117002580A (en) * | 2023-09-27 | 2023-11-07 | 北京和利时***工程有限公司 | Method and device for realizing mobile authorization information processing |
| CN117002580B (en) * | 2023-09-27 | 2023-12-19 | 北京和利时***工程有限公司 | Method and device for realizing mobile authorization information processing |
| CN117585045A (en) * | 2024-01-04 | 2024-02-23 | 兰州交通大学 | Minimum tracking interval based on post-train station jump and urban rail train alternate station jump operation mode using same |
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