CN109318940A - Train automatic Pilot method, apparatus and system - Google Patents
Train automatic Pilot method, apparatus and system Download PDFInfo
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- CN109318940A CN109318940A CN201710642963.5A CN201710642963A CN109318940A CN 109318940 A CN109318940 A CN 109318940A CN 201710642963 A CN201710642963 A CN 201710642963A CN 109318940 A CN109318940 A CN 109318940A
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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
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
- B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
-
- 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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- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention proposes a kind of train automatic Pilot method, apparatus and system, wherein method includes: the fault parameter for obtaining train；Judge whether the fault parameter meets fault mode switching condition；When the fault parameter is unsatisfactory for fault mode switching condition, control train travels in the normal mode；When the fault parameter meets fault mode switching condition, start remote controlled travelling mode, the remote controlled travelling mode includes: the remote controlled travelling instruction control train driving issued according to region Centralized Controller, and the train operation protective device in the region Centralized Controller and each train communicates to connect.
Description
Technical field
The present invention relates to train engineering field more particularly to a kind of train automatic Pilot method, apparatus and system.
Background technique
Track train travels the advantages that punctuality rate is high, passenger capacity is big with it, and main delivery is all used as in many cities
The vehicles.The control system of track train generally includes: train automatic monitoring device, computer interlocking equipment, region control
Device, switch apparatus and vehicle-mounted train controller.Wherein, the quantity of zone controller has multiple, and each zone controller is used
It is monitored in the train position in its compass of competency.The vehicle-mounted train controller being arranged on each train with the train
Zone controller in location carries out data communication, to send train position information to zone controller.Zone controller
It is ranked up according to the location information that all trains in the compass of competency are sent, then all generates movement for each train and award
Power information is simultaneously sent to corresponding train, so that the vehicle-mounted train controller in the train is adjusted certainly according to mobile authorization information
The travel speed etc. of body, to ensure that the distance between front and back vehicle is in safe distance.Train automatic monitoring device respectively with
Computer interlocking equipment is connected with zone controller, train position information and computer connection for being sent according to zone controller
Lock device send station orbit occupancy information carry out integrated treatment, backward computer interlocking equipment issue order to control
Trouble device action.
In above-mentioned existing control system, due to having more trains in the compass of competency of each zone controller, area
The responsible real time communication of domain controller and arithmetic operation content are more, and the service ability of zone controller is caused to be known as control system
The bottleneck of system.The train limited amount that each zone controller can control, in order to guarantee to the quick and accurate of train position
Monitoring, can increase the quantity of zone controller.But the problem of thus bringing is, train can pass through multiple administrations in the process of moving
Region will do it train turning-over operation between the zone controller in adjacent compass of competency, result in control system function more
It is complicated.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of train automatic Pilot method, simplify train control to realize
The function of system processed is complicated using function brought by multiple regions controller in the prior art for solving the problems, such as.
Second object of the present invention is to propose a kind of train servomechanism.
Third object of the present invention is to propose a kind of train automated driving system.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of train automatic Pilot method, comprising:
Obtain the fault parameter of train；
Judge whether the fault parameter meets fault mode switching condition；
When the fault parameter is unsatisfactory for fault mode switching condition, control train travels in the normal mode；
When the fault parameter meets fault mode switching condition, start remote controlled travelling mode, the remote controlled travelling mould
Formula include: according to region Centralized Controller issue remote controlled travelling instruction control train driving, the region Centralized Controller with
Train operation protective device communication connection in each train.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of train servomechanism, comprising:
Fault parameter obtains module, for obtaining the fault parameter of train；
Fault mode switching condition judgment module, for judging whether the fault parameter meets fault mode switching item
Part；
Normally travel control module, for controlling train when the fault parameter is unsatisfactory for fault mode switching condition
It travels in the normal mode；
Remote controlled travelling mode starting module, for starting distant when the fault parameter meets fault mode switching condition
Driving mode is controlled, the remote controlled travelling mode includes: the remote controlled travelling instruction control train issued according to region Centralized Controller
Traveling.
In order to achieve the above object, third aspect present invention embodiment proposes a kind of train automated driving system, comprising: train
Automatic monitoring equipment, region Centralized Controller, train operation protective device, train servomechanism, remote control equipment and
Track switch equipment；
The train operation protective device includes such as the described in any item train servomechanisms of claim 7-9；
The region Centralized Controller is communicated to connect with train automatic monitoring equipment and train operation protective device respectively, institute
It states train operation protective device and train servomechanism communicates to connect；
The remote control equipment is connected with track switch equipment and region Centralized Controller respectively, for according to the region collection
The control instruction that middle controller issues controls the track switch equipment work.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart for the train automatic Pilot method that the embodiment of the present invention one provides；
Fig. 2 is the flow chart of train automatic Pilot method provided by Embodiment 2 of the present invention；
Fig. 3 is the flow chart for the train automatic Pilot method that the embodiment of the present invention three provides；
Fig. 4 is the structural schematic diagram for the train servomechanism that the embodiment of the present invention four provides；
The structural representation of normally travel control module in the train servomechanism that Fig. 5 provides for the embodiment of the present invention five
Figure；
The structural schematic diagram of train communication unit in the train servomechanism that Fig. 6 provides for the embodiment of the present invention five；
Fig. 7 is the structural schematic diagram for the train automated driving system that the embodiment of the present invention six provides.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Embodiment one
The present embodiment provides a kind of Train control method, this method can be automatic by the train in train operation protective device
Pilot instrument executes, and can be realized by way of software and/or hardware.Train operation protective device is arranged in train
On, the train operation protective device being arranged on each train is connected with region Centralized Controller.Fig. 1 is that the embodiment of the present invention one mentions
The flow chart of the train automatic Pilot method of confession.As shown in Figure 1, train automatic Pilot method provided in this embodiment, including such as
Under several steps:
Step 101, train operation protective device obtain the fault parameter of train.
Fault parameter can be the corresponding parameter of various faults that train generates in the process of moving, it may include: failure name
Title, fault type, fault code etc..In the failure that train generates in the process of moving, have it is some for normally travel not compared with
Big influence, such as: air-conditioning failure, light failure etc.；There are some failure generations that can cause to the normally travel of train biggish
It influences, such as: communication failure, car door failure, braking equipment failure etc..
Step 102, train operation protective device judge whether fault parameter meets fault mode switching condition, if so,
Execute step 104；If it is not, thening follow the steps 103.
Train operation protective device judges the fault parameter of above-mentioned train, for it is above-mentioned to normally travel not compared with
The fault parameter influenced greatly is then considered as and is unsatisfactory for fault mode switching condition；There is larger impact to normally travel for above-mentioned
Fault parameter, then be considered as and meet fault mode switching condition.
Step 103, train operation protective device control train travel in the normal mode.
It is travelled according to normal mode, it can control train driving according to the normal automatic driving mode of train.
Step 104, train operation protective device start remote controlled travelling mode, and remote controlled travelling mode includes: according to region collection
The remote controlled travelling instruction control train driving that middle controller issues.
When fault parameter meets fault mode switching condition, i.e., above-mentioned failure is to have larger shadow to train normally travel
Loud failure needs to start remote controlled travelling mode, according to region Centralized Controller then in order to guarantee the safety of train driving
The remote controlled travelling instruction control train driving of sending.
Train operation protective device in region Centralized Controller and each train communicates to connect, then in train automatic Pilot system
In system, a region Centralized Controller is only set.Region Centralized Controller is obtained by the train operation protective device of each train
The location information of each train, and each train is ranked up.Region Centralized Controller is also connected with train automatic monitoring equipment, with
The location information for sending each train to train automatic monitoring equipment makes it carry out integrated dispatch.Region Centralized Controller can be according to column
The dispatch command of vehicle automatic monitoring equipment issues remote controlled travelling instruction, is run with controlling train under remote controlled travelling mode.
Technical solution provided in this embodiment, by using the train operation protective device being arranged in current train to event
Barrier parameter is judged, when judging to meet fault mode switching condition, starts remote controlled travelling mode, to concentrate according to region
The remote controlled travelling instruction control train driving that controller issues, then only concentrate with unique region during train driving and control
Device processed is connected, then avoids as gone out the problem of mutually transferring train operation instruction between multiple regions controller in the prior art
It is existing, the design complexity of system is simplified, efficiency is also improved.
For the remote controlled travelling instruction that above-mentioned zone Centralized Controller issues, it is specifically as follows train automatic monitoring equipment root
It generates and sends according to the operation of dispatcher to region Centralized Controller.Dispatcher is carried out by train automatic monitoring equipment
Remote control operation, comprising: forward, backward, traction, braking etc. remote control operations.Train automatic monitoring equipment is according to the distant of dispatcher
Control operation generates telecommand, and telecommand is sent to unique region Centralized Controller.Region Centralized Controller is connecing
It receives telecommand and then telecommand is sent to train operation protective device, in the anti-of train operation protective device
It protects lower control train servomechanism and controls train operation to nearest station parking, to repair.When the repair is completed,
Train can restore to normal operation mode.
Further, in remote controlled travelling mode, current train location information is also sent to by train operation protective device
Region Centralized Controller, so that current train position is sent to train automatic monitoring equipment by region Centralized Controller is scheduled for people
Member checks.In addition, region Centralized Controller also according to the train position information and other trains location information to each train into
Ranking results are sent to other trains in normal operation mode by row sequence.
Embodiment two
The present embodiment is on the basis of the above embodiments, further to be optimized to train automatic Pilot method.Especially
It is optimized to normal mode.
Fig. 2 is the flow chart of train automatic Pilot method provided by Embodiment 2 of the present invention.As shown in Fig. 2, control train
It travels, comprises the following steps in the normal mode:
Current train location information is sent to region Centralized Controller by step 201, train operation protective device, so that area
Domain Centralized Controller is ranked up each train according to the location information of current train location information and other trains, and generates
Ranking results.
In the present embodiment, positioning device is provided on current train, for obtaining the location information of current train in real time.It is fixed
Location information can be sent to train operation protective device by position device.
Later, the current train location information that train operation protective device can will acquire is sent to region centralized control
Device.The transmission process can be train operation protective device periodically active transmission, can also be in train operation protective device
It receives the location information request message of region Centralized Controller transmission and then is sent to region Centralized Controller.
Region Centralized Controller receives the train position information that each train is sent, and knows the location information of each train.
Region Centralized Controller is ranked up each train further according to the location information of each train, and generates ranking results.Then region
Ranking results are sent to the train operation protective device of the current train communicated by Centralized Controller.Include in ranking results
There are the operation order of each train and the identity information of each train, the identity information of above-mentioned train can be train mark, communication
Address etc., so that the train operation protective device in current train can be communicated according to the identity information with other trains.
Step 202, train operation protective device according to the ranking results got from region Centralized Controller and work as forefront
The adjacent preceding train of vehicle is communicated, to obtain the location information of preceding train.
Due to including the operation order of each train and the identity information of each train in above-mentioned ranking results, then train is transported
Row protective device can extract the train identity information adjacent with current train, the body of especially preceding train from ranking results
Part information.
Then, train operation protective device is according to the identity information of preceding train and corresponding preceding train communication, before obtaining
The location information of train.
Specifically, the location information of preceding train can be sent to by the train operation protective device in preceding train work as forefront
Train operation protective device in vehicle.
Step 203, train operation protective device are generated according to the location information and current train location information of preceding train and are moved
Dynamic authorization message.
Specifically, train operation protective device can work as according to the location information and current train positional information calculation of preceding train
The distance between preceding train and preceding train generate mobile authorization information according to this distance.The generating mode of mobile authorization information can
Referring to the generating mode of zone controller in the prior art.
Mobile authorization information is sent to train servomechanism by step 204, train operation protective device, so that train
Servomechanism controls current train automatic running according to mobile authorization information.
Train operation protective device and train servomechanism are respectively provided with ON TRAINS, pass through data/address bus therebetween
Connection carries out data communication.
Specifically, train servomechanism produces speed adjustment curve according to mobile authorization information, and then according to this
Speed adjustment curve adjusts the travel speed of train, realizes automatic Pilot, and keep safe distance with preceding train.Alternatively, train
Servomechanism can be combined with mobile authorization information and default braking rule to control current train automatic running, be equipped in advance
Dynamic rule can be pre-stored in train servomechanism for pre-set braking rule, the rule, can also be with
It is received by region Centralized Controller from train automatic monitoring equipment, and train is sent to by train operation protective device and is driven automatically
Sail device.
Technical solution provided in this embodiment will be worked as by using the train operation protective device being arranged in current train
Preceding train position information is sent to region Centralized Controller, so that region Centralized Controller is ranked up each train, and generates
Ranking results；Train operation protective device identify the identity information of preceding train adjacent thereto in ranking results and with preceding train
It is communicated, and then obtains the location information of preceding train；Train operation protective device is further according to the location information of preceding train and oneself
The location information of body generates mobile authorization information, so that train servomechanism controls current train according to mobile authorization information
Automatic running, and safe distance is kept with preceding train.Above-mentioned technical proposal, by current train and adjacent preceding train communication, with
The location information of train before obtaining, and then this train automatic running is controlled according to the location information of preceding train, it is equivalent to existing skill
The process that mobile authorization information is generated in art is executed by the train operation protective device in current train, and region centralized control
Device does not regenerate mobile authorization information, alleviates the burden of region Centralized Controller, improves the efficiency of whole system.Therefore exist
Only needed in entire train control system a region Centralized Controller, a region Centralized Controller and all trains into
Row communication, and each train is ranked up, it further solves and causes region control in the prior art since train is trans-regional
The problem of train transfer and bring system function complexity must be carried out between device.
In addition, in the prior art zone controller concentrate obtain location information by way of for, in the present embodiment
Region Centralized Controller is only ranked up each train, straight by the train identity information for including in ranking results between each train
Row communication is tapped into obtain the location information of adjacent train, no longer need to handle by zone controller it is primary, traffic rate faster,
The speed handled to location information is faster.
Embodiment three
The present embodiment provides a kind of trains to be in the automatic Pilot method in normal mode, and this method can be concentrated by region
Train servomechanism in controller executes, and can be realized by way of software and/or hardware.It is automatic in train
One region Centralized Controller is only set in control loop, and the train operation protective device being arranged on each train is concentrated with region
Controller is connected.Fig. 3 is the flow chart for the train automatic Pilot method that the embodiment of the present invention three provides.As shown in figure 3, this implementation
The train automatic Pilot method that example provides, comprises the following steps:
Step 301, region Centralized Controller receive the current train that the train operation protective device in current train is sent
Location information.
Current train location information is sent to region Centralized Controller by train operation protective device, which can be with
It, can also be first from region Centralized Controller to train operation protective device for train operation protective device periodically active transmission
Location information request message is sent, and then current train location information is sent to region collection by train operation protective device
Middle controller.
Step 302, region Centralized Controller are according to the location information of current train location information and other trains to each
Train is ranked up, and generates ranking results.
Region Centralized Controller receives the train position information that each train is sent, and knows the location information of each train.
Region Centralized Controller is ranked up each train further according to the location information of each train, and generates ranking results.
Ranking results are sent to train operation protective device by step 303, region Centralized Controller, so that train operation is anti-
Protection unit is communicated according to the ranking results preceding train adjacent with current train, to obtain the location information of preceding train；And
Train operation protective device generates mobile authorization information according to the location information and current train location information of preceding train；And column
Vehicle runs protective device and mobile authorization information is sent to train servomechanism, so that train servomechanism is according to shifting
Dynamic authorization message controls current train automatic running.
In step 303, the specific implementation of train operation protective device can refer to embodiment one, and details are not described herein again.
Technical solution provided in this embodiment will be worked as by using the train operation protective device being arranged in current train
Preceding train position information is sent to region Centralized Controller, so that region Centralized Controller is ranked up each train, and generates
Ranking results；Train operation protective device identify the identity information of preceding train adjacent thereto in ranking results and with preceding train
It is communicated, and then obtains the location information of preceding train；Train operation protective device is further according to the location information of preceding train and oneself
The location information of body generates mobile authorization information, so that train servomechanism controls current train according to mobile authorization information
Automatic running, and safe distance is kept with preceding train.Above-mentioned technical proposal, by current train and adjacent preceding train communication, with
The location information of train before obtaining, and then this train automatic running is controlled according to the location information of preceding train, it is equivalent to existing skill
The process that mobile authorization information is generated in art is executed by the train operation protective device in current train, and region centralized control
Device does not regenerate mobile authorization information, alleviates the burden of region Centralized Controller, improves the efficiency of whole system.Therefore exist
Only needed in entire train control system a region Centralized Controller, a region Centralized Controller and all trains into
Row communication, and each train is ranked up, it further solves and causes region control in the prior art since train is trans-regional
The problem of train transfer and bring system function complexity must be carried out between device.
In addition, in the prior art zone controller concentrate obtain location information by way of for, in the present embodiment
Region Centralized Controller is only ranked up each train, straight by the train identity information for including in ranking results between each train
Row communication is tapped into obtain the location information of adjacent train, no longer need to handle by zone controller it is primary, traffic rate faster,
The speed handled to location information is faster.
Example IV
Fig. 4 is the structural schematic diagram for the train servomechanism that the embodiment of the present invention four provides.As shown in figure 4, this reality
It applies example and a kind of train servomechanism is provided, comprising: fault parameter obtains module 41, fault mode switching condition judgment module
42, normally travel control module 43 and remote controlled travelling mode starting module 44.
Wherein, fault parameter obtains the fault parameter that module 41 is used to obtain train.Fault mode switching condition judges mould
Block 42 is for judging whether fault parameter meets fault mode switching condition.Normally travel control module 43 is for working as fault parameter
When being unsatisfactory for fault mode switching condition, control train travels in the normal mode.Remote controlled travelling mode starting module 44 is for working as
When fault parameter meets fault mode switching condition, start remote controlled travelling mode, remote controlled travelling mode includes: to concentrate according to region
The remote controlled travelling instruction control train driving that controller issues.
Technical solution provided in this embodiment, by using the train operation protective device being arranged in current train to event
Barrier parameter is judged, when judging to meet fault mode switching condition, starts remote controlled travelling mode, to concentrate according to region
The remote controlled travelling instruction control train driving that controller issues, then only concentrate with unique region during train driving and control
Device processed is connected, then avoids as gone out the problem of mutually transferring train operation instruction between multiple regions controller in the prior art
It is existing, the design complexity of system is simplified, efficiency is also improved.
Embodiment five
The structural representation of normally travel control module in the train servomechanism that Fig. 5 provides for the embodiment of the present invention five
Figure.As shown in figure 5, above-mentioned normally travel control module 43 specifically includes: train position information transmitting unit 431, train communication
Unit 432, mobile authorization information generating unit 433 and mobile authorization information transmitting unit 434.
Wherein, train position information transmitting unit 431 is used to current train location information being sent to region centralized control
Device, so that region Centralized Controller arranges each train according to the location information of current train location information and other trains
Sequence, and generate ranking results.Train communication unit 432 be used for according to the ranking results that are got from region Centralized Controller with work as
The adjacent preceding train of preceding train is communicated, to obtain the location information of preceding train.Mobile authorization information generating unit 433 is used for
Mobile authorization information is generated according to the location information of preceding train and current train location information.Mobile authorization information transmitting unit
434 for being sent to train servomechanism for mobile authorization information, so that train servomechanism is according to mobile authorization
Information controls current train automatic running.
Technical solution provided in this embodiment will be worked as by using the train operation protective device being arranged in current train
Preceding train position information is sent to region Centralized Controller, so that region Centralized Controller is ranked up each train, and generates
Ranking results；Train operation protective device identify the identity information of preceding train adjacent thereto in ranking results and with preceding train
It is communicated, and then obtains the location information of preceding train；Train operation protective device is further according to the location information of preceding train and oneself
The location information of body generates mobile authorization information, so that train servomechanism controls current train according to mobile authorization information
Automatic running, and safe distance is kept with preceding train.Above-mentioned technical proposal, by current train and adjacent preceding train communication, with
The location information of train before obtaining, and then this train automatic running is controlled according to the location information of preceding train, it is equivalent to existing skill
The process that mobile authorization information is generated in art is executed by the train operation protective device in current train, and region centralized control
Device does not regenerate mobile authorization information, alleviates the burden of region Centralized Controller, improves the efficiency of whole system.Therefore exist
Only needed in entire train control system a region Centralized Controller, a region Centralized Controller and all trains into
Row communication, and each train is ranked up, it further solves and causes region control in the prior art since train is trans-regional
The problem of train transfer and bring system function complexity must be carried out between device.
In addition, in the prior art zone controller concentrate obtain location information by way of for, in the present embodiment
Region Centralized Controller is only ranked up each train, straight by the train identity information for including in ranking results between each train
Row communication is tapped into obtain the location information of adjacent train, no longer need to handle by zone controller it is primary, traffic rate faster,
The speed handled to location information is faster.
The structural schematic diagram of train communication unit in the train servomechanism that Fig. 6 provides for the embodiment of the present invention five.
As shown in fig. 6, above-mentioned train communication unit 432 specifically includes: adjacent train identity information extracts subelement 4321 and train is logical
Believe subelement 4322.
Wherein, adjacent train identity information extracts subelement 4321 and is used for according to the row got from region Centralized Controller
Sequence result extracts the identity information of the preceding train adjacent with current train.Train communication subelement 4322 is used for according to preceding train
Identity information is communicated with corresponding preceding train.
Embodiment six
Fig. 7 is the structural schematic diagram for the train automated driving system that the embodiment of the present invention six provides.As shown in fig. 7, this reality
It applies example and a kind of train automated driving system is provided, comprising: region Centralized Controller 61, train operation protective device 62, train are certainly
Dynamic pilot instrument 63, remote control equipment 64, track switch equipment 65 and train automatic monitoring equipment 66.
Wherein, region Centralized Controller 61 is realized using the method in above-described embodiment three, train operation protective device
62 include the train servomechanism as provided by above-described embodiment three.
Region Centralized Controller 61 is communicated to connect with 66 train operation protective device 62 of train automatic monitoring equipment respectively, column
Vehicle runs protective device 62 and train servomechanism 63 communicates to connect.
Remote control equipment 64 is connected with track switch equipment 65 and region Centralized Controller 61 respectively, for being concentrated according to region
The control instruction control track switch equipment 65 that controller 61 issues works.
In addition, in train automated driving system further include: semaphore 67.Wherein, semaphore 67 and remote control equipment 64
Adjacent, remote control equipment 64 can work according to the control instruction control semaphore 67 that region Centralized Controller 61 issues.Train
Automatic monitoring equipment 66 is connected with region Centralized Controller 61, and the position for receiving each train from region Centralized Controller 61 is believed
Breath, switch status information etc. to be scheduled according to the location information of each train to each train, and generate control instruction for controlling
Semaphore 67 processed and track switch equipment 65 work, and can show to switch status, semaphore state.
Further, train automated driving system further include: axis-counting device 68, axis-counting device 68 are arranged in train rail
On, it is detected for the occupancy situation to train rail.When the train operation protective device 62 and region collection in a certain train
When middle controller 61 loses communication connection, region Centralized Controller 61 can be according to the train operation protective device 62 in the train
The track occupation that the axis-counting device 68 in corresponding position region is sent was searched in the location information that a upper period sends to come
Judgement loses the position of the train of communication connection.
Further, train automated driving system further include: the headstock portion of train is arranged in distance detection device 69,
For being detected to the barrier in front of train.Distance detection device 69 is connected with train operation protective device 62, will examine
It surveys result and is sent to train operation protective device 62.Distance detection device 69 is specifically as follows radar, when detecting in front of train
When having short distance barrier to occur, train operation protective device 62 can take stop in emergency Deng measures, can also be examined according to distance
It surveys the signal that device 69 issues and generates fault parameter, so that train operation protective device switches to remote control mode operation, with basis
The telecommand that region Centralized Controller issues slowly is run, and guarantees traffic safety.
Embodiment six
For implementation provided by the various embodiments described above, the present embodiment is provided for above-mentioned train automated driving system
A kind of workflow.
In the case where train automated driving system is in normal operating conditions, workflow is as follows:
(1) each train is parked in rolling stock section, and the train operation protective device 62 in each train is set with train automatic monitoring
Standby 66 keep communication connection.When train operation protective device 62 receives the wake up instruction of the transmission of train automatic monitoring equipment 66
When, train operation protective device 62 is automatically performed each device power self-test.Later, train operation protective device 62 will be at the beginning of train
Beginning location information, running state information are sent to region Centralized Controller 61 so that region Centralized Controller 61 to each train into
Row sequence.Assuming that the train operation protective device 62 in current train has sent current train position to region Centralized Controller 61
Information, then the identity information of the preceding train adjacent with current train is sent in above-mentioned current train by region Centralized Controller 61
Train operation protective device 62.Train operation protective device 62 in current train carries out direct communication with preceding train again, with
The location information of train before obtaining.
(2) after above-mentioned train operation protective device 62 completes starting and self-test, to train servomechanism 63
Send initial start completion status information so that train servomechanism 63 control train carried out in rolling stock section low speed to
Before, travel backward, to be accurately positioned.Positioning transponder can be set near train rail, for determining train
Position detection.During train moves forward, when signal of the detections of radar of train head setting to positioning transponder, column
Vehicle servomechanism 63 controls Train Stopping；When the radar of last vehicle of train setting monitors the signal of positioning transponder, column
Vehicle servomechanism 63 controls Train Stopping.
(3) train operation protective device 62 according to setting operational plan information, from the received road of region Centralized Controller 61
The position of the information such as trouble state, trackside signal condition, orbit occupancy state and the adjacent train got from adjacent train letter
Breath, which calculates, generates mobile authorization information, to go out rolling stock section by the 63 automatic Pilot train operation of train servomechanism.
(4) after train, which enters setting track, to be operated normally, train operation protective device 62 is in real time to region centralized control
Device 61 sends location information, and the ranking results for each train sent according to region Centralized Controller 61 and adjacent preceding train into
Row communication generates mobile authorization information to calculate to obtain the location information of preceding train to control train automatic running.Separately
Outside, train automatic monitoring equipment 66 also from region Centralized Controller 61 obtain all trains location information and track switch equipment 65,
The information that axis-counting device 68, semaphore 67 are sent, and train protection curve is generated, then be sent to by region Centralized Controller 61
Train operation protective device 62.Train operation protective device 62 forwards the train protection curve to train servomechanism 63,
So that train servomechanism 63 generates corresponding traction, braking, coasting level letter according to train protection curve controlled train
Breath etc. is completed the effects of the parking of each station, switch gate and starting are set out with controlling automatic train operation.
(5) after operation, operation meter that train operation protective device 62 is sent according to train automatic monitoring equipment 66
It draws the information instruction automatic control train of train servomechanism 63 and enters rolling stock section's parking, and break to vehicle-mounted each equipment
Electricity, but keep train on be arranged dormancy awakening module work, and with train automatic monitoring equipment 66 and region Centralized Controller
61 keep communication connection.
In the case where train control system is in malfunction, workflow is as follows:
(1) when train can not be communicatively coupled with adjacent train, it is urgent that train operation protective device 62 controls train
Brake stop, and by being communicatively coupled with train automatic monitoring equipment 66 and region Centralized Controller 61, so that scheduling people
Member controls train operation by remote control mode can restore normal after personnel to be repaired complete trouble hunting to nearest station
Operation.If region Centralized Controller 61 can not receive the location information of the train, the meeting basis of region Centralized Controller 61 should
Train generated blockade zone in the location information that a upper period sends, and the blockade zone is sent to the institute on the operating line
There is train.
(2) during dispatcher starts remote control mode control train operation, dispatcher passes through in control centre
Video monitoring information obtains train information, and sends remote control mould to train operation protective device 62 by region Centralized Controller 61
Formula switching command, so that train switches to remote control mode and travelled.
(3) dispatcher by region Centralized Controller 61 to train operation protective device 62 issue train forward, backward,
The control vehicle instruction such as traction, braking is slowly travelled with controlling train to nearest station parking.
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 spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (13)
1. a kind of train automatic Pilot method characterized by comprising
Obtain the fault parameter of train；
Judge whether the fault parameter meets fault mode switching condition；
When the fault parameter is unsatisfactory for fault mode switching condition, control train travels in the normal mode；
When the fault parameter meets fault mode switching condition, start remote controlled travelling mode, the remote controlled travelling mode packet
It includes: the remote controlled travelling instruction control train driving issued according to region Centralized Controller, the region Centralized Controller and each column
Train operation protective device communication connection in vehicle.
2. train automatic Pilot method according to claim 1, which is characterized in that the remote controlled travelling instructs as train certainly
Dynamic monitoring device generates and sends according to the operation of dispatcher to the region Centralized Controller.
3. train automatic Pilot method according to claim 2, which is characterized in that the remote controlled travelling mode further include:
Current train location information is sent to region Centralized Controller, so that the region Centralized Controller is by the current train position
It sets to be sent to train automatic monitoring equipment and be scheduled for personnel and check.
4. train automatic Pilot method according to claim 1, which is characterized in that control train travels in the normal mode,
Include:
Current train location information is sent to region Centralized Controller, so that the region Centralized Controller is according to described current
The location information of train position information and other trains is ranked up each train, and generates ranking results；
According to the ranking results got from region Centralized Controller, the preceding train adjacent with current train is communicated, to obtain
The location information of the preceding train；
Mobile authorization information is generated according to the location information of the preceding train and current train location information；
The mobile authorization information is sent to train servomechanism, so that the train servomechanism is according to
Mobile authorization information controls current train automatic running.
5. train automatic Pilot method according to claim 4, which is characterized in that obtained according to from region Centralized Controller
To the ranking results preceding train adjacent with current train communicated, comprising:
The identity information of the preceding train adjacent with current train is extracted according to the ranking results got from region Centralized Controller；
It is communicated according to the identity information of the preceding train with corresponding preceding train.
6. train automatic Pilot method according to claim 5, which is characterized in that the train servomechanism according to
The mobile authorization information controls current train automatic running, comprising:
The train servomechanism is according to the mobile authorization information formation speed adjustment curve；
The train servomechanism controls current train automatic running according to the speed adjustment curve.
7. a kind of train servomechanism characterized by comprising
Fault parameter obtains module, for obtaining the fault parameter of train；
Fault mode switching condition judgment module, for judging whether the fault parameter meets fault mode switching condition；
Normally travel control module, for when the fault parameter is unsatisfactory for fault mode switching condition, controlling train with just
Norm formula traveling；
Remote controlled travelling mode starting module, for when the fault parameter meets fault mode switching condition, starting remote control to be gone
Mode is sailed, the remote controlled travelling mode includes: the remote controlled travelling instruction control train driving issued according to region Centralized Controller.
8. train servomechanism according to claim 7, which is characterized in that the normally travel control module, packet
It includes:
Train position information transmitting unit, for current train location information to be sent to region Centralized Controller, so that described
Region Centralized Controller is ranked up each train according to the location information of the current train location information and other trains,
And generate ranking results；
Train communication unit, for the forefront adjacent with current train according to the ranking results got from region Centralized Controller
Vehicle is communicated, to obtain the location information of the preceding train；
Mobile authorization information generating unit is moved for being generated according to the location information and current train location information of the preceding train
Dynamic authorization message；
Mobile authorization information transmitting unit, for the mobile authorization information to be sent to train servomechanism, so that institute
It states train servomechanism and current train automatic running is controlled according to the mobile authorization information.
9. train servomechanism according to claim 8, which is characterized in that the train communication unit, comprising:
Adjacent train identity information extracts subelement, for according to the ranking results that are got from region Centralized Controller extract with
The identity information of the adjacent preceding train of current train；
Train communication subelement, for being communicated according to the identity information of the preceding train with corresponding preceding train.
10. a kind of train automated driving system characterized by comprising train automatic monitoring equipment, region Centralized Controller,
Train operation protective device, train servomechanism, remote control equipment and track switch equipment；
The train operation protective device includes such as the described in any item train servomechanisms of claim 7-9；
The region Centralized Controller is communicated to connect with train automatic monitoring equipment and train operation protective device respectively, the column
Vehicle runs protective device and train servomechanism communicates to connect；
The remote control equipment is connected with track switch equipment and region Centralized Controller respectively, controls for being concentrated according to the region
The control instruction that device processed issues controls the track switch equipment work.
11. train automated driving system according to claim 10, which is characterized in that further include: axis-counting device, the meter
Axis equipment is arranged on train rail, and the axis-counting device is connected with the remote control equipment.
12. train automated driving system described in claim 11, which is characterized in that further include: distance detection device, it is described away from
From the head that train is arranged in detection device, for detecting the barrier in front of train；The distance detection device and the column
Vehicle runs protective device and is connected.
13. the train control system according to claim 12, which is characterized in that the distance detection device is thunder
It reaches.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642963.5A CN109318940A (en) | 2017-07-31 | 2017-07-31 | Train automatic Pilot method, apparatus and system |
| PCT/CN2018/080316 WO2019024517A1 (en) | 2017-07-31 | 2018-03-23 | Automatic driving method, apparatus and system of train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642963.5A CN109318940A (en) | 2017-07-31 | 2017-07-31 | Train automatic Pilot method, apparatus and system |
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| CN109318940A true CN109318940A (en) | 2019-02-12 |
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|---|---|---|---|
| CN201710642963.5A Pending CN109318940A (en) | 2017-07-31 | 2017-07-31 | Train automatic Pilot method, apparatus and system |
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| CN (1) | CN109318940A (en) |
| WO (1) | WO2019024517A1 (en) |
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| CN110027593A (en) * | 2019-04-12 | 2019-07-19 | 成都宇俊盛科技有限公司 | A kind of full-automatic unmanned driving's rail vehicle safe-guard system |
| CN110758485A (en) * | 2019-10-29 | 2020-02-07 | 交控科技股份有限公司 | Method, onboard controller, TIAS, device and medium for automatic train driving |
| CN111619616A (en) * | 2020-07-30 | 2020-09-04 | 北京全路通信信号研究设计院集团有限公司 | Switching device and switching method for remote control system or train control system |
| CN111619615A (en) * | 2020-07-30 | 2020-09-04 | 北京全路通信信号研究设计院集团有限公司 | Switching method and switching system for remote control system and train control system |
| CN111824214A (en) * | 2019-04-18 | 2020-10-27 | 中车株洲电力机车研究所有限公司 | Automatic driving active safety control method and system for heavy-duty locomotive |
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| CN112441089A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Train dispatching control method, platform and system, intelligent carriage and medium |
| CN114394128A (en) * | 2022-01-27 | 2022-04-26 | 中铁第四勘察设计院集团有限公司 | Train control method and system, vehicle-mounted subsystem and trackside resource management subsystem |
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| CN114684220A (en) * | 2020-12-25 | 2022-07-01 | 比亚迪股份有限公司 | Multi-row train waking-up method, full-automatic shunting system and storage medium |
| CN114684220B (en) * | 2020-12-25 | 2023-09-05 | 比亚迪股份有限公司 | Multi-train wake-up method, full-automatic shunting system and storage medium |
| CN114394128A (en) * | 2022-01-27 | 2022-04-26 | 中铁第四勘察设计院集团有限公司 | Train control method and system, vehicle-mounted subsystem and trackside resource management subsystem |
| CN114394128B (en) * | 2022-01-27 | 2023-09-05 | 中铁第四勘察设计院集团有限公司 | Train control method and system, vehicle-mounted subsystem and trackside resource management subsystem |
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| Publication number | Publication date |
|---|---|
| WO2019024517A1 (en) | 2019-02-07 |
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Application publication date: 20190212 |