WO2021104301A1 - Train, and control method, control apparatus and vehicle on-board controller therefor - Google Patents

Train, and control method, control apparatus and vehicle on-board controller therefor Download PDF

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Publication number
WO2021104301A1
WO2021104301A1 PCT/CN2020/131443 CN2020131443W WO2021104301A1 WO 2021104301 A1 WO2021104301 A1 WO 2021104301A1 CN 2020131443 W CN2020131443 W CN 2020131443W WO 2021104301 A1 WO2021104301 A1 WO 2021104301A1
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Prior art keywords
train
control
creeping
instruction
management system
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PCT/CN2020/131443
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French (fr)
Chinese (zh)
Inventor
朱国栋
Original Assignee
比亚迪股份有限公司
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Application filed by 比亚迪股份有限公司 filed Critical 比亚迪股份有限公司
Priority to BR112022009581A priority Critical patent/BR112022009581A2/en
Priority to US17/777,871 priority patent/US20220410950A1/en
Publication of WO2021104301A1 publication Critical patent/WO2021104301A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0062—On-board target speed calculation or supervision
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0058—On-board optimisation of vehicle or vehicle train operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0081—On-board diagnosis or maintenance
    • 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

Definitions

  • the present disclosure relates to the field of communication technology, and in particular to a train control method, a train control device, an on-board control device and a train.
  • FAM Full Automatic Train Operating Mode
  • VOBC Vehicle On-board Controller
  • TCMS Train Control and Management System
  • an object of the present disclosure is to provide a train and its control method, control device and on-board control equipment.
  • the method outputs an emergency braking instruction and controls it after detecting a failure of the train control management system TCMS, so as to improve the processing of the TCMS.
  • the ability to break down prevents passengers' travel from being affected by misdiagnosis of TCMS faults, and provides a more reliable and efficient train operation plan.
  • the present disclosure proposes a train control method, which includes: outputting an emergency braking instruction after detecting a failure of the train control and management system; outputting an emergency braking instruction after detecting that the train control and management system has no failure Emergency brake mitigation command.
  • the emergency braking instruction is output, and after detecting that the train control management system returns to normal, the emergency braking mitigation instruction is output, which improves the processing
  • the ability of TCMS failure avoids the influence of passengers' travel due to misdiagnosis of TCMS failure, and provides a more reliable and efficient train operation plan.
  • the present disclosure proposes a train control device, which includes: a first control module for outputting an emergency braking instruction after detecting a train control management system failure; a second control module for detecting a failure of the train control and management system; After the train control and management system has no fault, it outputs an emergency braking relief command.
  • the first control module after detecting a failure of the train control management system TCMS, the first control module outputs an emergency braking instruction, and after detecting that the train control management system returns to normal, the second control module outputs the emergency braking Automatic mitigation instructions improve the ability to deal with TCMS faults, avoid the misdiagnosis of TCMS faults that affect passengers' travel, and provide a more reliable and efficient train operation plan.
  • the present disclosure proposes an on-board control device, including the train control device described in the embodiment of the second aspect of the present disclosure.
  • the vehicle-mounted control device of the embodiment of the present disclosure through the above-mentioned train control device, outputs an emergency braking instruction after detecting a failure of the train control management system TCMS, and outputs emergency braking relief after detecting that the train control management system returns to normal Commands improve the on-board control equipment's ability to handle TCMS failures, avoid the misdiagnosis of TCMS failures that affect passengers' travel, and provide a more reliable and efficient train operation plan.
  • the present disclosure proposes a train including the on-board control device described in the embodiment of the third aspect of the present disclosure.
  • the train of the embodiment of the present disclosure through the above-mentioned on-board control device, outputs an emergency braking instruction after detecting a failure of the train control management system TCMS, and outputs an emergency braking relief instruction after detecting that the train control management system returns to normal, Improve the on-board control equipment's ability to handle TCMS failures, avoid the misdiagnosis of TCMS failures that affect passengers' travel, and provide a more reliable and efficient train operation plan.
  • Fig. 1 is a flowchart of a train control method according to a first embodiment of the present disclosure
  • Fig. 2 is a flowchart of a train control method according to a second embodiment of the present disclosure
  • Fig. 3 is a flowchart of a train control method according to a third embodiment of the present disclosure.
  • Fig. 4 is a schematic block diagram of a train control device according to an embodiment of the present disclosure.
  • train control method of the embodiment of the present disclosure can be described from the side of the on-board control device VOBC, that is, the execution subject is the on-board control device VOBC, and the train control method of the embodiment of the present disclosure is aimed at the train running in fully automatic mode. Under unmanned driving mode.
  • Fig. 1 is a flowchart of a train control method according to a first embodiment of the present disclosure. As shown in Figure 1, the method includes the following steps:
  • the above-mentioned train control method further includes: parsing the message data sent by the train control management system in a preset period; if the parsing fails, the communication failure count is increased by one; the communication failure count exceeds the communication timeout within the preset time Threshold, it is judged that the train control and management system is faulty; the communication failure count within the preset time does not exceed the communication timeout threshold, and it is judged that the train control and management system has no fault.
  • the communication timeout threshold and the preset time are preset according to actual conditions.
  • the on-board control device VOBC parses the message data sent by TCMS in a preset cycle in the fully automatic unmanned driving mode. If the analysis fails, the analysis failure includes not receiving the message data, data analysis failure, or CRC check (Cyclic Redundancy Check) error, etc., the communication failure count is increased by one. When the communication failure count exceeds the communication timeout threshold within the preset time, it is determined that the train control management system TCMS is faulty and the communication failure count is cleared; if the communication failure count does not exceed the timeout threshold, it is determined that the train control management system TCMS is not faulty , And clear the communication failure count to zero.
  • CRC check Cyclic Redundancy Check
  • the on-board control device VOBC will issue an emergency braking command and control the train to be downgraded to a fully automatic unmanned driving backup mode.
  • the on-board control device VOBC Before the on-board control device VOBC enters the fully automatic unmanned driving mode, it will keep outputting emergency braking commands to control the train's emergency braking and control the train to be degraded to the fully automatic unmanned driving backup mode.
  • the on-board control equipment VOBC continuously detects the status of the train control management system TCMS.
  • the central dispatcher can remotely issue an emergency brake relief command through VOBC, or the driver can press the confirmation button of the console to issue an emergency brake relief command through VOBC.
  • VOBC emergency brake relief command
  • the driver can press the confirmation button of the console to issue an emergency brake relief command through VOBC.
  • the method improves the ability to deal with TCMS failures, avoids the situation that the misdiagnosis of TCMS failures affects passengers' travel due to misdiagnosis of TCMS failures, and provides a more reliable and efficient train operation plan.
  • the train still meets all the conditions of fully automatic and unmanned driving except for the TCMS failure and the alleviable emergency braking in the fully automatic and unmanned backup mode.
  • the VOBC will recover from the TCMS failure and output the emergency. After the brake release command, it can re-enter the fully automatic unmanned driving mode.
  • the above-mentioned train control method may further include:
  • the ATO controls the train to stop at the first preset position and controls the train to automatically open and close the door to facilitate passengers to get on and off.
  • the first preset position is the normal operation parking window. If the entire train is in the first preset position after the train is stopped, the train is in the normal operation parking window, and if it exceeds the first preset position, the train is outside the normal operation parking window.
  • the second preset position is the creeping parking window.
  • the ATO can only be pulled and controlled by the hard-wired fixed output. It can’t output the specific level, so it is impossible to realize the precise stop of the train. Therefore, in the creep mode, the parking window of the train is larger than the normal operation parking window, that is, the range of the second preset position is larger than the first preset position Range. If the entire train is in the second preset position after the train is stopped, the train is located in the creeping window, and if it exceeds the second preset position, the train is located outside the creeping parking window.
  • the above-mentioned control method further includes:
  • VOBC judges that the train is stopped and the train is outside the creeping parking window, and then sends a request to the ATS to enter the creeping mode.
  • the central workstation dispatcher manually confirms whether to enter the peristaltic mode. If the dispatcher of the central workstation manually confirms to enter the peristaltic mode, the ATS sends an instruction to confirm entering the peristaltic mode to VOBC at this time.
  • the VOBC If the VOBC receives the command to enter the creep mode issued by the ATS, it will output the command to enter the creep mode through the vehicle I/O (input/output) harness, and set emergency braking to relieve it.
  • the vehicle IO harness When the VOBC judges that the train has stopped, the emergency brake can be relieved, the vehicle IO harness output enters the creep mode command and the input and collected feedback that the vehicle has entered the creep mode, the emergency brake relief command is output, and the emergency brake is automatically relieved. After the driverless backup mode enters the creeping mode, the car will start automatically.
  • VOBC If VOBC does not receive a confirmation from ATS to enter the creep mode command, it will keep outputting emergency braking commands and fully automatic unmanned driving backup mode. If the VOBC detects that the TCMS fault has recovered while waiting for confirmation, VOBC will stop sending a request to the ATS to enter the creep mode, and manual operation can be performed to relieve the emergency braking and re-upgrade to the fully automatic unmanned driving mode.
  • the above-mentioned train control method may further include:
  • VOBC judges that the train is stationary and the train itself is within the creeping parking window, and the emergency braking is not relieved, nor is it sent to the ATS to enter the creeping mode request.
  • VOBC can send the request manually like the ATS.
  • Rescue prompt information the prompt information can be "the train is in the creeping parking window (TCMS failure), request manual rescue” to perform rescue as soon as possible, and avoid panic caused by untimely rescue of passengers.
  • VOBC when VOBC is in the fully automatic unmanned driving mode, when a TCMS failure is detected, VOBC follows the principle of backing to the safe side by interacting with the automatic train monitoring system ATS and dispatching personnel from the central workstation Manual confirmation to ensure that the train is under real-time monitoring before entering the creeping mode.
  • CBTC Communication Based Train Control
  • the peristaltic mode can be understood as a fully automatic unmanned driving mode that cannot guarantee accurate parking and waits for manual rescue after arriving at the station.
  • VOBC applies for the train to enter the creeping mode within the current operation plan and operation section to drive to the nearest one.
  • the platform is a safety risk, and should wait for manual rescue in situ. Therefore, after the ATS receives the request to enter the drive mode sent by the VOBC, it can be operated by the dispatcher, and the request is not approved. If the dispatcher chooses not to agree, after the VOBC sends a request to enter the drive mode, the ATS will not issue a confirmation command to enter the peristaltic mode to the VOBC.
  • the above-mentioned train control method may further include:
  • the automatic train protection system ATP is controlled to protect the train
  • the automatic train operation system ATO is controlled to control the train operation at three control levels of creeping traction, creeping idling and creeping braking.
  • the above-mentioned control method may further include:
  • the safety protection function is realized by ATP, and the ATO controls the start, acceleration, cruise, idling, braking and stopping of the train (the speed limit is the same as the speed limit in the manual driving mode), and the train is fully automatic
  • the unmanned vehicle stops at the nearest platform and waits for manual rescue.
  • the normal control position refers to the infinitely variable speed precise control of the car sent by VOBC through TCMS.
  • the infinitely variable speed precise control cannot be realized due to the TCMS failure, and the VOBC converts the ATO control position to creep Traction, creeping idling and creeping braking three control levels, through the three vehicle IO wiring harness output to the vehicle to control the car, instead of only using a single traction command to control the car, thereby improving the safety and reliability of the VOBC control car .
  • VOBC controls the train to run in the section in the creeping mode, triggering any emergency braking command that does not lose positioning, and outputs the emergency braking command but the mode remains in the creeping mode.
  • the central workstation dispatcher can remotely relieve the emergency brake and let the train continue to run To the nearest platform.
  • VOBC converts the ATO control position to a fixed motor power Traction and braking force commands are controlled by the vehicle's IO wiring harness output, which may cause the train to stop in the creeping mode after the train arrives in the CAM mode.
  • VOBC applies emergency braking after judging that the current platform is the target platform of the creeping mode and cannot be relieved. , Send the request for manual rescue information to the ATS, and send the prompt information for requesting manual rescue to the ATS.
  • the prompt information can be a prompt that "the train is in the creeping parking window (TCMS failure), request manual rescue".
  • VOBC When the train runs to the nearest platform and enters the creeping parking window to stop, VOBC outputs the emergency braking irreversible command. If VOBC judges that the train is stopped within the ATO parking window (normal operation parking window), VOBC will follow The running direction and the electronic map data obtain the door opening side information, the door control strategy is obtained from the ATO command information frame or the electronic map data sent by the ATS to the VOBC, and the door is opened through the vehicle I/O harness output door permission and door enable.
  • VOBC sends the screen door control command corresponding to the door opening side to the computer interlocking device (Computer Interlocking, CI) to drive the screen door to open, thereby completing the vehicle ground Door linkage control allows passengers to get off the vehicle and wait for manual rescue in place, reducing the impact of TCMS failure on passengers' travel.
  • CI Computer Interlocking
  • an emergency braking command is output, and after detecting that the train control management system returns to normal, the emergency braking relief is output Commands improve the ability of the on-board control equipment to handle TCMS faults, and avoid the impact of misdiagnosing TCMS faults on passengers' travel. It also follows the principle of falling to the safe side and sets more stringent condition judgments. It provides a more feasible solution to enter the creeping mode, control the car in the creeping mode, and stop and wait for manual rescue. It provides a safer and more reliable solution. , Efficient train operation plan.
  • the present disclosure also proposes a train control device.
  • the train control device of the embodiment of the present disclosure may be configured to implement the train control method of the embodiment of the present disclosure.
  • the train control device of the embodiment of the present disclosure may be configured to implement the train control method of the embodiment of the present disclosure.
  • Fig. 4 is a schematic block diagram of a train control device according to an embodiment of the present disclosure. As shown in FIG. 4, the control device includes: a first control module 1 and a second control module 2.
  • the first control module 1 is used to output an emergency braking instruction after detecting a failure of the train control and management system;
  • the second control module 2 is used to output an emergency braking relief instruction after detecting that the train control and management system has no failure.
  • the first control module 1 detects a failure of the train control management system TCMS, the first control module 1 outputs an emergency braking instruction and controls the train to be degraded to a fully automatic unmanned driving backup mode. Before entering the fully automatic unmanned driving mode, the first control module 1 will keep outputting emergency braking commands and control the train to be downgraded to the fully automatic unmanned driving backup mode. In this state, the second control module 2 will continue to detect the train control management system In the TCMS state, if it is detected that the train control management system TCMS is restored from the fault state to the normal state, the central dispatcher can remotely issue an emergency brake relief command through VOBC, or the driver can press the console confirmation button to issue it through the second control module 2.
  • the above-mentioned train control device further includes: a detection module for analyzing the message data sent by the train control management system in a preset period, if the analysis fails, the communication failure count is increased by one, if If the communication failure count exceeds the communication timeout threshold within the preset time, it is determined that the train control management system is faulty. If the communication failure count within the preset time does not exceed the communication timeout threshold, it is determined that the train control management system is not faulty.
  • the second control module 2 is further configured to: after outputting an emergency braking instruction, when it is detected that the train is stopped and is outside the creeping parking window, send a request to the automatic train monitoring system to enter the creeping mode; After receiving the instruction to confirm entering the creeping mode from the automatic train monitoring system, output the emergency brake relief instruction and control the train to enter the creeping mode.
  • the second control module 2 is also used to: after sending a request to enter the creeping mode to the automatic train monitoring system, if the confirmation of entering the creeping mode sent by the automatic train monitoring system is not received, and it detects If the train control and management system has no fault, it will output an emergency brake mitigation command.
  • the second control module 2 is also configured to send a prompt message requesting manual rescue to the automatic train monitoring system when it detects that the train has stopped and is within the creeping parking window after outputting an emergency braking instruction.
  • the second control module 2 is also used to: in the peristaltic mode, control the automatic train protection system to protect the train, and control the automatic train operation system to perform three kinds of creeping traction, creeping idling and creeping braking. Control the operation of the train under the car-control level; when the train reaches the platform and stops within the creeping parking window, output the emergency braking non-releasable instruction, and send a prompt requesting manual rescue to the automatic train monitoring system information.
  • the second control module 2 is also used to control the opening of the door and the screen door of the corresponding side if the train is stopped in the normal operation parking window after the emergency braking cannot be relieved instruction is output.
  • the first control module after detecting a failure of the train control management system TCMS, the first control module outputs an emergency braking instruction, and after detecting that the train control management system returns to normal, the second control The module outputs emergency braking mitigation instructions, thereby improving the ability to deal with TCMS faults, avoiding the misdiagnosis of TCMS faults affecting passengers' travel, and providing a more reliable and efficient train operation plan.
  • An on-board control device provided by an embodiment of the present disclosure includes the train control device described in the foregoing embodiment of the present disclosure.
  • the vehicle-mounted control device of the embodiment of the present disclosure through the above-mentioned train control device, outputs an emergency braking instruction after detecting a failure of the train control management system TCMS, and outputs emergency braking relief after detecting that the train control management system returns to normal Commands improve the on-board control equipment's ability to handle TCMS failures, avoid the misdiagnosis of TCMS failures that affect passengers' travel, and provide a safer, more reliable, and efficient train operation plan.
  • An embodiment of the present disclosure also proposes a train, which includes the on-board control device described in the foregoing embodiment of the present disclosure.
  • the train of the embodiment of the present disclosure through the above-mentioned on-board control device, outputs an emergency braking instruction after detecting a failure of the train control management system TCMS, and outputs an emergency braking relief instruction after detecting that the train control management system returns to normal, Improve the train's ability to handle TCMS failures, avoid the misdiagnosis of TCMS failures affecting passengers' travel, and provide a safer, more reliable and efficient train operation plan.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present disclosure, “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • a "computer-readable medium” can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices.
  • computer readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because it can be used for example by optically scanning the paper or other medium, and then editing, interpreting, or other suitable media if necessary. The program is processed in a manner to obtain the program electronically, and then stored in the computer memory.
  • each part of the present disclosure can be implemented by hardware, software, firmware, or a combination thereof.
  • multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • Discrete logic gate circuits for implementing logic functions on data signals
  • Logic circuits application specific integrated circuits with suitable combinational logic gates
  • PGA programmable gate array
  • FPGA field programmable gate array
  • a person of ordinary skill in the art can understand that all or part of the steps carried in the method of the foregoing embodiments can be implemented by a program instructing relevant hardware to complete.
  • the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. When executed, it includes one of the steps of the method embodiment or a combination thereof.
  • the functional units in the various embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.
  • the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

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Abstract

A control method for a train, comprising: in a full automatic train operating mode, after detecting that a train control and management system (TCMS) fails, outputting an emergency braking instruction and controlling the train to degrade to a full automatic train operating fallback mode; and in the full automatic train operating fallback mode, after detecting that the TCMS of the train returns to normal, outputting an emergency braking release instruction and controlling the train to upgrade to the full automatic train operating mode.

Description

列车及其的控制方法、控制装置和车载控制设备Train and its control method, control device and vehicle-mounted control equipment
相关申请的交叉引用Cross-references to related applications
本公开要求于2019年11月29日提交的申请号为201911199277.0，名称为“列车及其的控制方法、控制装置和车载控制设备”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。This disclosure claims the priority of the Chinese patent application filed on November 29, 2019 with the application number 201911199277.0, titled "train and its control method, control device, and on-board control equipment", the entire content of which is incorporated into this by reference In the open.
技术领域Technical field
本公开涉及通信技术领域，特别涉及一种列车的控制方法、一种列车的控制装置、一种车载控制设备和一种列车。The present disclosure relates to the field of communication technology, and in particular to a train control method, a train control device, an on-board control device and a train.
背景技术Background technique
列车在全自动无人驾驶模式(Full Automatic Train Operating Mode，下文简称FAM)下，车载控制设备(Vehicle On-board Controller，简称VOBC)与列车控制管理***(Train Control and Management System，简称TCMS)发生通信故障时，列车不满足全自动无人运行条件，此时，VOBC需要在中心调度人员的确认下进入蠕动模式(Creep Automatic Train Operating Mode，简称CAM)控制列车到达最近的站台等待人工救援。When the train is in Full Automatic Train Operating Mode (FAM), the on-board control equipment (Vehicle On-board Controller, VOBC) and the Train Control and Management System (Train Control and Management System, TCMS) occur When the communication fails, the train does not meet the conditions of fully automatic unmanned operation. At this time, the VOBC needs to enter the Creep Automatic Train Operating Mode (CAM) under the confirmation of the central dispatcher to control the train to the nearest platform and wait for manual rescue.
然而，相关技术中对列车蠕动模式的方案是基于理想化故障场景进行设计的，缺乏对某些异常场景的应对方案，例如，如果TCMS误报故障导致VOBC误诊断，VOBC依然控制列车进入蠕动模式，从而会影响乘客的出行。However, the relevant technology for train creeping mode is designed based on idealized failure scenarios, and there is a lack of solutions for certain abnormal scenarios. For example, if TCMS falsely reports a fault and causes VOBC misdiagnosis, VOBC still controls the train to enter creeping mode. , Which will affect the travel of passengers.
发明内容Summary of the invention
本公开旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本公开的一个目的在于提出一种列车及其控制方法、控制装置和车载控制设备，该方法在检测到列车控制管理***TCMS故障后，输出紧急制动指令并控制，以提高处理TCMS故障的能力，避免由于误诊断TCMS故障影响乘客的出行，提供了一种更可靠、高效的列车运行方案。The present disclosure aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an object of the present disclosure is to provide a train and its control method, control device and on-board control equipment. The method outputs an emergency braking instruction and controls it after detecting a failure of the train control management system TCMS, so as to improve the processing of the TCMS. The ability to break down prevents passengers' travel from being affected by misdiagnosis of TCMS faults, and provides a more reliable and efficient train operation plan.
为达到上述目的，第一方面，本公开提出了一种列车的控制方法，包括：检测到列车控制管理***故障后，输出紧急制动指令；检测到所述列车控制管理***无故障后，输出紧急制动缓解指令。In order to achieve the above objective, in the first aspect, the present disclosure proposes a train control method, which includes: outputting an emergency braking instruction after detecting a failure of the train control and management system; outputting an emergency braking instruction after detecting that the train control and management system has no failure Emergency brake mitigation command.
根据本公开实施例的列车的控制方法，在检测到列车控制管理***TCMS故障后，输出紧急制动指令，并在检测到列车控制管理***恢复正常后，输出紧急制动缓解指令，提高了处理TCMS故障的能力，避免了由于误诊断TCMS故障影响乘客的出行，提供了一种 更可靠、高效的列车运行方案。According to the train control method of the embodiment of the present disclosure, after detecting the failure of the train control management system TCMS, the emergency braking instruction is output, and after detecting that the train control management system returns to normal, the emergency braking mitigation instruction is output, which improves the processing The ability of TCMS failure avoids the influence of passengers' travel due to misdiagnosis of TCMS failure, and provides a more reliable and efficient train operation plan.
第二方面，本公开提出了一种列车的控制装置，包括：第一控制模块，用于检测到列车控制管理***故障后，输出紧急制动指令；第二控制模块，用于在测到所述列车控制管理***无故障后，输出紧急制动缓解指令。In the second aspect, the present disclosure proposes a train control device, which includes: a first control module for outputting an emergency braking instruction after detecting a train control management system failure; a second control module for detecting a failure of the train control and management system; After the train control and management system has no fault, it outputs an emergency braking relief command.
本公开实施例的列车的控制装置，在检测到列车控制管理***TCMS故障后，第一控制模块输出紧急制动指令，并在检测到列车控制管理***恢复正常后，第二控制模块输出紧急制动缓解指令，提高了处理TCMS故障的能力，避免了由于误诊断TCMS故障影响乘客的出行，提供了一种更可靠、高效的列车运行方案。In the train control device of the embodiment of the present disclosure, after detecting a failure of the train control management system TCMS, the first control module outputs an emergency braking instruction, and after detecting that the train control management system returns to normal, the second control module outputs the emergency braking Automatic mitigation instructions improve the ability to deal with TCMS faults, avoid the misdiagnosis of TCMS faults that affect passengers' travel, and provide a more reliable and efficient train operation plan.
第三方面，本公开提出了一种车载控制设备，包括本公开第二方面实施例所述的列车的控制装置。In the third aspect, the present disclosure proposes an on-board control device, including the train control device described in the embodiment of the second aspect of the present disclosure.
本公开实施例的车载控制设备，通过上述的列车的控制装置，在检测到列车控制管理***TCMS故障后，输出紧急制动指令并在检测到列车控制管理***恢复正常后，输出紧急制动缓解指令，提高了车载控制设备处理TCMS故障的能力，避免了由于误诊断TCMS故障影响乘客的出行，提供了一种更可靠、高效的列车运行方案。The vehicle-mounted control device of the embodiment of the present disclosure, through the above-mentioned train control device, outputs an emergency braking instruction after detecting a failure of the train control management system TCMS, and outputs emergency braking relief after detecting that the train control management system returns to normal Commands improve the on-board control equipment's ability to handle TCMS failures, avoid the misdiagnosis of TCMS failures that affect passengers' travel, and provide a more reliable and efficient train operation plan.
第四方面，本公开提出了一种列车，包括本公开第三方面实施例所述的车载控制设备。In the fourth aspect, the present disclosure proposes a train including the on-board control device described in the embodiment of the third aspect of the present disclosure.
本公开实施例的列车，通过上述的车载控制设备，在检测到列车控制管理***TCMS故障后，输出紧急制动指令，并在检测到列车控制管理***恢复正常后，输出紧急制动缓解指令，提高了车载控制设备处理TCMS故障的能力，避免了由于误诊断TCMS故障影响乘客的出行，提供了一种更可靠、高效的列车运行方案。The train of the embodiment of the present disclosure, through the above-mentioned on-board control device, outputs an emergency braking instruction after detecting a failure of the train control management system TCMS, and outputs an emergency braking relief instruction after detecting that the train control management system returns to normal, Improve the on-board control equipment's ability to handle TCMS failures, avoid the misdiagnosis of TCMS failures that affect passengers' travel, and provide a more reliable and efficient train operation plan.
附图说明Description of the drawings
本公开上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中，The above and/or additional aspects and advantages of the present disclosure will become obvious and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, in which,
图1是根据本公开第一个实施例的列车的控制方法的流程图；Fig. 1 is a flowchart of a train control method according to a first embodiment of the present disclosure;
图2是根据本公开第二个实施例的列车的控制方法的流程图；Fig. 2 is a flowchart of a train control method according to a second embodiment of the present disclosure;
图3是根据本公开第三个实施例的列车的控制方法的流程图；Fig. 3 is a flowchart of a train control method according to a third embodiment of the present disclosure;
图4是根据本公开一个实施例的列车的控制装置的方框示意图。Fig. 4 is a schematic block diagram of a train control device according to an embodiment of the present disclosure.
具体实施方式Detailed ways
下面详细描述本公开的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本公开，而不能理解为对本公开的限制。The embodiments of the present disclosure are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are intended to explain the present disclosure, but should not be construed as limiting the present disclosure.
下面参考附图来描述本公开实施例提出的列车的控制方法、列车的控制***、车载控制设备和列车。The following describes the train control method, the train control system, the on-board control device, and the train proposed by the embodiments of the present disclosure with reference to the accompanying drawings.
需要说明的是，本公开实施例的列车的控制方法可以从车载控制设备VOBC侧进行描述，即执行主体为车载控制设备VOBC，且本公开实施例的列车的控制方法是针对列车运行在全自动无人驾驶模式下。It should be noted that the train control method of the embodiment of the present disclosure can be described from the side of the on-board control device VOBC, that is, the execution subject is the on-board control device VOBC, and the train control method of the embodiment of the present disclosure is aimed at the train running in fully automatic mode. Under unmanned driving mode.
图1是根据本公开第一个实施例的列车的控制方法的流程图。如图1所示，该方法包括以下步骤：Fig. 1 is a flowchart of a train control method according to a first embodiment of the present disclosure. As shown in Figure 1, the method includes the following steps:
S1，检测到列车控制管理***TCMS故障后，输出紧急制动(Emergency Brake，简称EB)指令。S1, after detecting a failure of the train control management system TCMS, output an emergency brake (Emergency Brake, EB) command.
S2，检测到列车控制管理***TCMS无故障后，输出紧急制动缓解指令。S2: After detecting that the train control management system TCMS is not faulty, output an emergency brake relief instruction.
进一步而言，上述的列车的控制方法还包括：以预设的周期解析列车控制管理***发送的报文数据；若解析失败，则通信失败计数加一；预设时间内通信失败计数超过通信超时阈值，判断列车控制管理***故障；预设时间内通信失败计数未超过通信超时阈值，判断列车控制管理***无故障。其中，通信超时阈值和预设时间根据实际情况进行预设。Further, the above-mentioned train control method further includes: parsing the message data sent by the train control management system in a preset period; if the parsing fails, the communication failure count is increased by one; the communication failure count exceeds the communication timeout within the preset time Threshold, it is judged that the train control and management system is faulty; the communication failure count within the preset time does not exceed the communication timeout threshold, and it is judged that the train control and management system has no fault. Among them, the communication timeout threshold and the preset time are preset according to actual conditions.
具体地，车载控制设备VOBC在全自动无人驾驶模式下，以预设的周期解析TCMS发送的报文数据，若解析失败，解析失败包括未收到报文数据、数据解析失败或校验CRC(Cyclic Redundancy Check，循环冗余校验)错误等，则通信失败计数加一。当在预设时间内，通信失败计数超过通信超时阈值，则判断列车控制管理***TCMS故障，并将通信失败计数清零；如果通信失败计数未超过超时阈值，则判断列车控制管理***TCMS无故障，并将通信失败计数清零。如果检测到列车控制管理***TCMS故障，则车载控制设备VOBC发出紧急制动指令，并控制列车降级到全自动无人驾驶后备模式。在车载控制设备VOBC未进入全自动无人驾驶模式前，会保持输出紧急制动指令以控制列车紧急制动和控制列车降级到全自动无人驾驶后备模式。为避免发生由于误诊断导致列车在正常情况下无法正常运行的情况，在控制列车紧急制动和列车降级到全自动无人驾驶后备模式后，车载控制设备VOBC持续检测列车控制管理***TCMS状态。若检测到列车控制管理***TCMS由故障状态恢复到正常状态，则可由中心调度人员通过VOBC远程下发紧急制动缓解指令，或者司机按下司控台确认按钮，通过VOBC发出紧急制动缓解指令，以解除列车的紧急制动，并控制列车升级到全自动无人驾驶模式，以尽快恢复列车正常运行，避免影响乘客的出行。由此，该方法提高了处理TCMS故障的能力，避免了由于误诊断TCMS故障误诊断TCMS故障影响乘客的出行的情况，提供了一种更可靠、高效的列车运行方案。Specifically, the on-board control device VOBC parses the message data sent by TCMS in a preset cycle in the fully automatic unmanned driving mode. If the analysis fails, the analysis failure includes not receiving the message data, data analysis failure, or CRC check (Cyclic Redundancy Check) error, etc., the communication failure count is increased by one. When the communication failure count exceeds the communication timeout threshold within the preset time, it is determined that the train control management system TCMS is faulty and the communication failure count is cleared; if the communication failure count does not exceed the timeout threshold, it is determined that the train control management system TCMS is not faulty , And clear the communication failure count to zero. If a failure of the train control management system TCMS is detected, the on-board control device VOBC will issue an emergency braking command and control the train to be downgraded to a fully automatic unmanned driving backup mode. Before the on-board control device VOBC enters the fully automatic unmanned driving mode, it will keep outputting emergency braking commands to control the train's emergency braking and control the train to be degraded to the fully automatic unmanned driving backup mode. In order to avoid the occurrence of a situation where the train cannot run normally under normal conditions due to misdiagnosis, after controlling the emergency braking of the train and the train downgrading to the fully automatic unmanned backup mode, the on-board control equipment VOBC continuously detects the status of the train control management system TCMS. If it is detected that the train control management system TCMS has returned from a fault state to a normal state, the central dispatcher can remotely issue an emergency brake relief command through VOBC, or the driver can press the confirmation button of the console to issue an emergency brake relief command through VOBC. To release the emergency braking of the train, and control the train to upgrade to a fully automatic unmanned driving mode, so as to resume normal operation of the train as soon as possible to avoid affecting the travel of passengers. As a result, the method improves the ability to deal with TCMS failures, avoids the situation that the misdiagnosis of TCMS failures affects passengers' travel due to misdiagnosis of TCMS failures, and provides a more reliable and efficient train operation plan.
需要说明的是，在本公开中，列车在全自动无人驾驶后备模式下依然满足除TCMS故障和可缓解的紧急制动外所有的全自动无人驾驶条件，VOBC在TCMS故障恢复和输出紧 急制动缓解指令后可重新进入全自动无人驾驶模式。It should be noted that in the present disclosure, the train still meets all the conditions of fully automatic and unmanned driving except for the TCMS failure and the alleviable emergency braking in the fully automatic and unmanned backup mode. The VOBC will recover from the TCMS failure and output the emergency. After the brake release command, it can re-enter the fully automatic unmanned driving mode.
根据本公开的一个实施例，如图2所示，上述的列车的控制方法还可以包括：According to an embodiment of the present disclosure, as shown in FIG. 2, the above-mentioned train control method may further include:
S3，输出紧急制动指令后，检测到列车停稳且位于蠕动停车窗口外时，向列车自动监控***ATS发送进入蠕动模式的请求。S3: After the emergency braking instruction is output, when it is detected that the train has stopped and is outside the creeping parking window, a request to enter the creeping mode is sent to the automatic train monitoring system ATS.
可以理解的是，如果列车运行在自动运行***ATO控车模式，即列车正常运行，列车在进站后，ATO控制列车停靠在第一预设位置并控制列车自动开关门以方便旅客上下车，该第一预设的位置即为正常运行停车窗口。如果列车停稳后，整个列车都处于该第一预设的位置内，则列车位于正常运行停车窗口内，如果超出该第一预设位置，则列车位于正常运行停车窗口外。It is understandable that if the train is running in the ATO control mode of the automatic operation system, that is, the train is running normally. After the train enters the station, the ATO controls the train to stop at the first preset position and controls the train to automatically open and close the door to facilitate passengers to get on and off. The first preset position is the normal operation parking window. If the entire train is in the first preset position after the train is stopped, the train is in the normal operation parking window, and if it exceeds the first preset position, the train is outside the normal operation parking window.
如果列车运行在蠕动模式，列车在进站后需要停靠在第二预设位置，该第二预设位置即为蠕动停车窗口，其中，由于蠕动模式ATO只能通过硬线固定的输出牵引、制动，不能输出具体级位，因此无法实现列车的精准停靠，所以，蠕动模式下，列车的停车窗口相较于正常运行停车窗口更大，即第二预设位置的范围大于第一预设位置的范围。如果列车停稳后，整个列车都处于第二预设位置内，则列车位于蠕动窗口内，如果超出第二预设位置，则列车位于蠕动停车窗口外。If the train is running in the creeping mode, the train needs to stop at the second preset position after entering the station. The second preset position is the creeping parking window. In the creeping mode, the ATO can only be pulled and controlled by the hard-wired fixed output. It can’t output the specific level, so it is impossible to realize the precise stop of the train. Therefore, in the creep mode, the parking window of the train is larger than the normal operation parking window, that is, the range of the second preset position is larger than the first preset position Range. If the entire train is in the second preset position after the train is stopped, the train is located in the creeping window, and if it exceeds the second preset position, the train is located outside the creeping parking window.
S4，在接收到列车自动监控***ATS发送的确认进入蠕动模式指令后，输出紧急制动缓解指令并控制列车进入到蠕动模式。S4: After receiving an instruction to confirm entering the creeping mode sent by the automatic train monitoring system ATS, output an emergency brake relief instruction and control the train to enter the creeping mode.
根据本公开的一个实施例，如图2所示，向列车自动监控***发送进入蠕动模式的请求之后，上述的控制方法还包括：According to an embodiment of the present disclosure, as shown in FIG. 2, after sending a request to enter the creeping mode to the automatic train monitoring system, the above-mentioned control method further includes:
S5，若未接收到列车自动监控***ATS发送的确认进入蠕动模式指令，且检测到列车控制管理***无故障，则输出紧急制动缓解指令。S5: If the ATS confirms the entry into the creeping mode command sent by the automatic train monitoring system ATS, and it is detected that the train control and management system is not faulty, then the emergency brake relief command is output.
具体地，在全自动无人驾驶后备模式下，VOBC判断列车停稳且列车在蠕动停车窗口外，则给ATS发送进入蠕动模式的请求。ATS收到VOBC发送的进入蠕动模式的请求后，由中心工作站调度人员人工确认是否进入蠕动模式。如果中心工作站调度人员人工确认进入蠕动模式，此时ATS给VOBC发送确认进入蠕动模式指令。Specifically, in the fully automatic unmanned backup mode, VOBC judges that the train is stopped and the train is outside the creeping parking window, and then sends a request to the ATS to enter the creeping mode. After the ATS receives the request to enter the peristaltic mode sent by the VOBC, the central workstation dispatcher manually confirms whether to enter the peristaltic mode. If the dispatcher of the central workstation manually confirms to enter the peristaltic mode, the ATS sends an instruction to confirm entering the peristaltic mode to VOBC at this time.
若VOBC收到ATS下发的确认进入蠕动模式指令后，通过车辆I/O(输入/输出)线束输出进入蠕动模式命令，并设置紧急制动可缓解。当VOBC判断列车已停稳、紧急制动可缓解、车辆IO线束输出进入蠕动模式命令且输入采集到车辆已进入蠕动模式反馈时，输出紧急制动缓解指令，自动缓解紧急制动，由全自动无人驾驶后备模式进入蠕动模式后自动发车。If the VOBC receives the command to enter the creep mode issued by the ATS, it will output the command to enter the creep mode through the vehicle I/O (input/output) harness, and set emergency braking to relieve it. When the VOBC judges that the train has stopped, the emergency brake can be relieved, the vehicle IO harness output enters the creep mode command and the input and collected feedback that the vehicle has entered the creep mode, the emergency brake relief command is output, and the emergency brake is automatically relieved. After the driverless backup mode enters the creeping mode, the car will start automatically.
若VOBC未收到ATS发送的确认进入蠕动模式指令，会保持输出紧急制动指令和全自动无人驾驶后备模式。若在等待确认过程中VOBC检测到TCMS故障恢复，则VOBC停 止向ATS发送进入蠕动模式的请求，可进行人工操作缓解紧急制动并重新升级到全自动无人驾驶模式。If VOBC does not receive a confirmation from ATS to enter the creep mode command, it will keep outputting emergency braking commands and fully automatic unmanned driving backup mode. If the VOBC detects that the TCMS fault has recovered while waiting for confirmation, VOBC will stop sending a request to the ATS to enter the creep mode, and manual operation can be performed to relieve the emergency braking and re-upgrade to the fully automatic unmanned driving mode.
根据本公开的一个实施例，如图2所示，上述的列车的控制方法还可以包括：According to an embodiment of the present disclosure, as shown in FIG. 2, the above-mentioned train control method may further include:
S6，输出紧急制动指令后，检测到列车停稳且位于蠕动停车窗口内时，向列车自动监控***发送请求人工救援的提示信息。S6: After the emergency braking instruction is output, when it is detected that the train has stopped and is within the creeping parking window, a prompt message requesting manual rescue is sent to the automatic train monitoring system.
具体地，全自动无人驾驶后备模式下，VOBC判断列车停稳且列车本身就在蠕动停车窗口内，则不缓解紧急制动也不向ATS发送进入蠕动模式请求，VOBC可像ATS发送请求人工救援的提示信息，该提示信息可以为“列车已在蠕动停车窗口内(TCMS故障)，请求人工救援”，以尽快进行救援，避免救援不及时造成乘客恐慌。Specifically, in the fully automatic unmanned backup mode, VOBC judges that the train is stationary and the train itself is within the creeping parking window, and the emergency braking is not relieved, nor is it sent to the ATS to enter the creeping mode request. VOBC can send the request manually like the ATS. Rescue prompt information, the prompt information can be "the train is in the creeping parking window (TCMS failure), request manual rescue" to perform rescue as soon as possible, and avoid panic caused by untimely rescue of passengers.
需要说明的是，在本公开的实施例中，VOBC在全自动无人驾驶模式下，检测到TCMS故障时，VOBC遵循倒向安全侧原则，通过与列车自动监控***ATS交互和中心工作站调度人员的人工确认，确保列车处于实时监控下才能进入蠕动模式。列车在蠕动模式下列车依然处于基于通信的列车控制(Communication Based Train Control，简称CBTC)级别，ATO控车指令由TCMS报文改为车辆I/O线束输出。从某种角度来说，蠕动模式可以理解为不能保证精准停车且到站停车后等待人工救援的全自动无人驾驶模式。It should be noted that in the embodiments of the present disclosure, when VOBC is in the fully automatic unmanned driving mode, when a TCMS failure is detected, VOBC follows the principle of backing to the safe side by interacting with the automatic train monitoring system ATS and dispatching personnel from the central workstation Manual confirmation to ensure that the train is under real-time monitoring before entering the creeping mode. When the train is in the creeping mode, the following trains are still at the Communication Based Train Control (CBTC) level, and the ATO control command is changed from the TCMS message to the vehicle I/O harness output. From a certain perspective, the peristaltic mode can be understood as a fully automatic unmanned driving mode that cannot guarantee accurate parking and waits for manual rescue after arriving at the station.
在具体实施中，若中心工作站调度人员通过站台工作人员和监控设备了解现场实际情况，结合线路运营情况，经过综合考虑后认为VOBC在当前运营计划和运行区间内申请列车进入蠕动模式开到最近的站台是有安全风险的，应在原地等待人工救援。因此在ATS收到VOBC发送的进入驱动模式请求后，可由调度人员进行操作，不同意该请求。若调度人员选择不同意，VOBC发送进入驱动模式请求后，ATS不会给VOBC下发进入蠕动模式确认指令。当VOBC未收到ATS进入蠕动模式确认命令时，会保持输出紧急制动指令和全自动无人驾驶后备模式。由此，遵循倒向安全侧原则，设置更严格的进入蠕动模式的条件，提供了一种更为安全的进入蠕动模式的方案，提高了列车运行的安全性和可靠性。根据本公开的一个实施例，如图3所示，上述的列车的控制方法还可以包括：In the specific implementation, if the central workstation dispatcher understands the actual situation of the site through the platform staff and monitoring equipment, combined with the line operation situation, after comprehensive consideration, it is considered that VOBC applies for the train to enter the creeping mode within the current operation plan and operation section to drive to the nearest one. The platform is a safety risk, and should wait for manual rescue in situ. Therefore, after the ATS receives the request to enter the drive mode sent by the VOBC, it can be operated by the dispatcher, and the request is not approved. If the dispatcher chooses not to agree, after the VOBC sends a request to enter the drive mode, the ATS will not issue a confirmation command to enter the peristaltic mode to the VOBC. When VOBC does not receive the ATS to enter the peristaltic mode confirmation command, it will keep outputting emergency braking commands and fully automatic unmanned driving backup mode. Therefore, following the principle of turning to the safe side, setting stricter conditions for entering the creep mode provides a safer solution for entering the creep mode, and improves the safety and reliability of train operation. According to an embodiment of the present disclosure, as shown in FIG. 3, the above-mentioned train control method may further include:
S7，在蠕动模式下，控制列车自动防护***ATP对列车进行安全防护，控制列车自动运行***ATO在蠕动牵引、蠕动惰行和蠕动制动三种控车级位下控制列车运行。S7, in the creeping mode, the automatic train protection system ATP is controlled to protect the train, and the automatic train operation system ATO is controlled to control the train operation at three control levels of creeping traction, creeping idling and creeping braking.
S8，当列车运行至站台且停稳在蠕动停车窗口内时，输出紧急制动不可缓解指令，并向列车自动监控***发送请求人工救援的提示信息。S8: When the train runs to the platform and stops within the creeping parking window, output an emergency braking irreversible instruction, and send a prompt message requesting manual rescue to the automatic train monitoring system.
如图3所示，输出紧急制动不可缓解指令之后，上述的控制方法还可以包括：As shown in Fig. 3, after outputting the emergency braking non-releasable instruction, the above-mentioned control method may further include:
S9，若列车停稳在正常运行停车窗口内，则控制对应侧的车门和屏蔽门打开。S9: If the train stops in the normal operation parking window, control the door and screen door on the corresponding side to open.
具体地，VOBC进入蠕动模式后，由ATP实现安全防护功能，ATO控制列车的启动、加速、巡航、惰行、制动和停车(限速与限制人工驾驶模式限速保持一致)，实现列车全 自动无人驾驶至最近的站台停稳等待人工救援。列车正常运行时，正常控车级位是指VOBC通过TCMS发送的无极变速精准控车，而进入蠕动模式后，由于TCMS故障不能实现无极变速精准控车，VOBC将ATO控车级位转换为蠕动牵引、蠕动惰行和蠕动制动三种控车级位，通过三条车辆IO线束输出给车辆进行控车，而不是仅使用单一的牵引命令进行控车，从而提高VOBC控车的安全性和可靠性。Specifically, after VOBC enters the peristaltic mode, the safety protection function is realized by ATP, and the ATO controls the start, acceleration, cruise, idling, braking and stopping of the train (the speed limit is the same as the speed limit in the manual driving mode), and the train is fully automatic The unmanned vehicle stops at the nearest platform and waits for manual rescue. When the train is running normally, the normal control position refers to the infinitely variable speed precise control of the car sent by VOBC through TCMS. After entering the creep mode, the infinitely variable speed precise control cannot be realized due to the TCMS failure, and the VOBC converts the ATO control position to creep Traction, creeping idling and creeping braking three control levels, through the three vehicle IO wiring harness output to the vehicle to control the car, instead of only using a single traction command to control the car, thereby improving the safety and reliability of the VOBC control car .
VOBC在蠕动模式下控制列车运行在区间，触发任何不丢定位的可缓解紧急制动指令，输出紧急制动指令但模式保留在蠕动模式，可由中心工作站调度人员远程缓解紧急制动让列车继续驶向最近的站台。VOBC controls the train to run in the section in the creeping mode, triggering any emergency braking command that does not lose positioning, and outputs the emergency braking command but the mode remains in the creeping mode. The central workstation dispatcher can remotely relieve the emergency brake and let the train continue to run To the nearest platform.
当列车运行至最近的站台且进入蠕动停车窗口停稳后，由于TCMS故障导致驱动模式下ATO无法输出无级变速级位完成精准控车，VOBC将ATO控车级位转换为一个固定电机功率的牵引力和制动力指令，通过车辆IO线束输出进行控车，可能会造成列车以CAM模式到站后，过标停稳在蠕动模式停车窗口外。为避免因未停稳停准在蠕动模式停车窗口内而导致列车在停站倒计时结束后又自动发车运行到下一个站台，VOBC在判断当前站台是蠕动模式目的站台后施加紧急制动不可缓解指令，向ATS发送请求人工救援信息，并给ATS发送请求人工救援的提示信息，该提示信息可以是“列车已在蠕动停车窗口内(TCMS故障)，请求人工救援”的提示。When the train runs to the nearest platform and enters the creeping parking window to stop, due to the TCMS failure, the ATO cannot output the infinitely variable speed position in the drive mode to complete the precise control of the car. VOBC converts the ATO control position to a fixed motor power Traction and braking force commands are controlled by the vehicle's IO wiring harness output, which may cause the train to stop in the creeping mode after the train arrives in the CAM mode. In order to avoid that the train will automatically depart and run to the next platform after the stop countdown is over due to the unstoppable stop within the creeping mode parking window, VOBC applies emergency braking after judging that the current platform is the target platform of the creeping mode and cannot be relieved. , Send the request for manual rescue information to the ATS, and send the prompt information for requesting manual rescue to the ATS. The prompt information can be a prompt that "the train is in the creeping parking window (TCMS failure), request manual rescue".
当列车运行至最近的站台且进入蠕动停车窗口停稳后，VOBC输出紧急制动不可缓解指令后，如果VOBC判断列车停稳停准在ATO停车窗口内(正常运行停车窗口内)，则VOBC根据运行方向和电子地图数据获取开门侧信息，从ATS发给VOBC的ATO命令信息帧或电子地图数据中获取门控策略，通过车辆I/O线束输出门允许和门使能来打开车门，同时，当车门与屏蔽门对标中心线正负差小于配置值时，VOBC则发送与开门侧对应的屏蔽门控制指令给计算机联锁设备(Computer Interlocking，CI)来驱动屏蔽门打开，从而完成车地门联控，让乘客下车并原地等待人工救援，减小TCMS故障给乘客出行带来的影响。When the train runs to the nearest platform and enters the creeping parking window to stop, VOBC outputs the emergency braking irreversible command. If VOBC judges that the train is stopped within the ATO parking window (normal operation parking window), VOBC will follow The running direction and the electronic map data obtain the door opening side information, the door control strategy is obtained from the ATO command information frame or the electronic map data sent by the ATS to the VOBC, and the door is opened through the vehicle I/O harness output door permission and door enable. At the same time, When the positive and negative difference between the center line of the vehicle door and the screen door alignment mark is less than the configured value, VOBC sends the screen door control command corresponding to the door opening side to the computer interlocking device (Computer Interlocking, CI) to drive the screen door to open, thereby completing the vehicle ground Door linkage control allows passengers to get off the vehicle and wait for manual rescue in place, reducing the impact of TCMS failure on passengers' travel.
综上所述，根据本公开实施例的列车的控制方法，在检测到列车控制管理***TCMS故障后，输出紧急制动指令，并在检测到列车控制管理***恢复正常后，输出紧急制动缓解指令，提高了车载控制设备处理TCMS故障的能力，避免了由于误诊断TCMS故障影响乘客的出行。且遵循倒向安全侧原则，设置更严格的条件判断，提供了一种进入蠕动模式、蠕动模式控车、进站停车等待人工救援的可行性较高的方案，提供了一种更安全、可靠、高效的列车运行方案。与上述的列车的控制方法相对应，本公开还提出一种列车的控制装置。本公开实施例的列车的控制装置可以被配置为实行本公开实施例的列车的控制方法。对于本公开装置实施例中未披露的细节，可参照本公开方法实施例，为避免冗余，本公开中不再进行赘述。To sum up, according to the train control method of the embodiment of the present disclosure, after detecting a failure of the train control management system TCMS, an emergency braking command is output, and after detecting that the train control management system returns to normal, the emergency braking relief is output Commands improve the ability of the on-board control equipment to handle TCMS faults, and avoid the impact of misdiagnosing TCMS faults on passengers' travel. It also follows the principle of falling to the safe side and sets more stringent condition judgments. It provides a more feasible solution to enter the creeping mode, control the car in the creeping mode, and stop and wait for manual rescue. It provides a safer and more reliable solution. , Efficient train operation plan. Corresponding to the above-mentioned train control method, the present disclosure also proposes a train control device. The train control device of the embodiment of the present disclosure may be configured to implement the train control method of the embodiment of the present disclosure. For details that are not disclosed in the device embodiments of the present disclosure, reference may be made to the method embodiments of the present disclosure. To avoid redundancy, details are not repeated in this disclosure.
图4是根据本公开一个实施例的列车的控制装置的方框示意图。如图4所示，该控制装置包括：第一控制模块1和第二控制模块2。Fig. 4 is a schematic block diagram of a train control device according to an embodiment of the present disclosure. As shown in FIG. 4, the control device includes: a first control module 1 and a second control module 2.
其中，第一控制模块1用于在检测到列车控制管理***故障后，输出紧急制动指令；第二控制模块2用于在检测到列车控制管理***无故障后，输出紧急制动缓解指令。Among them, the first control module 1 is used to output an emergency braking instruction after detecting a failure of the train control and management system; the second control module 2 is used to output an emergency braking relief instruction after detecting that the train control and management system has no failure.
具体地，如果第一控制模块1检测到列车控制管理***TCMS故障，则第一控制模块1输出紧急制动指令并控制列车降级到全自动无人驾驶后备模式。在未进入全自动无人驾驶模式前，第一控制模块1会保持输出紧急制动指令和控制列车降级到全自动无人驾驶后备模式，此状态下第二控制模块2持续检测列车控制管理***TCMS状态，若检测到列车控制管理***TCMS由故障状态恢复到正常状态，则可由中心调度人员通过VOBC远程下发紧急制动缓解指令，或者司机按下司控台确认按钮通过第二控制模块2发出紧急制动缓解指令，以解除列车的紧急制动，并控制列车升级到全自动无人驾驶模式。由此，提高了处理TCMS故障的能力，避免了由于误诊断TCMS故障影响乘客的出行，提供了一种更安全、可靠、高效的列车运行方案。Specifically, if the first control module 1 detects a failure of the train control management system TCMS, the first control module 1 outputs an emergency braking instruction and controls the train to be degraded to a fully automatic unmanned driving backup mode. Before entering the fully automatic unmanned driving mode, the first control module 1 will keep outputting emergency braking commands and control the train to be downgraded to the fully automatic unmanned driving backup mode. In this state, the second control module 2 will continue to detect the train control management system In the TCMS state, if it is detected that the train control management system TCMS is restored from the fault state to the normal state, the central dispatcher can remotely issue an emergency brake relief command through VOBC, or the driver can press the console confirmation button to issue it through the second control module 2. Emergency braking mitigation instructions to release the emergency braking of the train and control the train to upgrade to a fully automatic unmanned driving mode. As a result, the ability to deal with TCMS failures is improved, and the misdiagnosis of TCMS failures that affect passengers' travel is avoided, and a safer, more reliable, and efficient train operation plan is provided.
根据本公开的一个实施例，上述的列车的控制装置还包括：检测模块，用于以预设的周期解析列车控制管理***发送的报文数据，若解析失败，则通信失败计数加一，如果预设时间内通信失败计数超过通信超时阈值，则判断列车控制管理***故障，如果预设时间内通信失败计数未超过通信超时阈值，则判断列车控制管理***无故障。According to an embodiment of the present disclosure, the above-mentioned train control device further includes: a detection module for analyzing the message data sent by the train control management system in a preset period, if the analysis fails, the communication failure count is increased by one, if If the communication failure count exceeds the communication timeout threshold within the preset time, it is determined that the train control management system is faulty. If the communication failure count within the preset time does not exceed the communication timeout threshold, it is determined that the train control management system is not faulty.
根据本公开的一个实施例，第二控制模块2还用于：在输出紧急制动指令后，检测到列车停稳且位于蠕动停车窗口外时，向列车自动监控***发送进入蠕动模式的请求；在接收到列车自动监控***发送的确认进入蠕动模式指令后，输出紧急制动缓解指令并控制列车进入到蠕动模式。According to an embodiment of the present disclosure, the second control module 2 is further configured to: after outputting an emergency braking instruction, when it is detected that the train is stopped and is outside the creeping parking window, send a request to the automatic train monitoring system to enter the creeping mode; After receiving the instruction to confirm entering the creeping mode from the automatic train monitoring system, output the emergency brake relief instruction and control the train to enter the creeping mode.
根据本公开的一个实施例，第二控制模块2还用于：在向列车自动监控***发送进入蠕动模式的请求之后，若未接收到列车自动监控***发送的确认进入蠕动模式指令，且检测到列车控制管理***无故障，则输出紧急制动缓解指令。According to an embodiment of the present disclosure, the second control module 2 is also used to: after sending a request to enter the creeping mode to the automatic train monitoring system, if the confirmation of entering the creeping mode sent by the automatic train monitoring system is not received, and it detects If the train control and management system has no fault, it will output an emergency brake mitigation command.
根据本公开的一个实施例，第二控制模块2还用于在输出紧急制动指令后，检测到列车停稳且位于蠕动停车窗口内时，向列车自动监控***发送请求人工救援的提示信息。According to an embodiment of the present disclosure, the second control module 2 is also configured to send a prompt message requesting manual rescue to the automatic train monitoring system when it detects that the train has stopped and is within the creeping parking window after outputting an emergency braking instruction.
根据本公开的一个实施例，第二控制模块2还用于：在蠕动模式下，控制列车自动防护***对列车进行安全防护，控制列车自动运行***在蠕动牵引、蠕动惰行和蠕动制动三种控车级位下控制所述列车运行；当列车运行至站台且停稳在所述蠕动停车窗口内时，输出紧急制动不可缓解指令，并向所述列车自动监控***发送请求人工救援的提示信息。According to an embodiment of the present disclosure, the second control module 2 is also used to: in the peristaltic mode, control the automatic train protection system to protect the train, and control the automatic train operation system to perform three kinds of creeping traction, creeping idling and creeping braking. Control the operation of the train under the car-control level; when the train reaches the platform and stops within the creeping parking window, output the emergency braking non-releasable instruction, and send a prompt requesting manual rescue to the automatic train monitoring system information.
根据本公开的一个实施例，第二控制模块2还用于：在输出紧急制动不可缓解指令之后，若列车停稳在正常运行停车窗口内，则控制对应侧的车门和屏蔽门打开。According to an embodiment of the present disclosure, the second control module 2 is also used to control the opening of the door and the screen door of the corresponding side if the train is stopped in the normal operation parking window after the emergency braking cannot be relieved instruction is output.
综上，根据本公开实施例的列车的控制装置，在检测到列车控制管理***TCMS故障后，第一控制模块输出紧急制动指令，并在检测到列车控制管理***恢复正常后，第二控制模块输出紧急制动缓解指令，从而提高了处理TCMS故障的能力，避免了由于误诊断TCMS故障影响乘客的出行，进而提供了一种更可靠、高效的列车运行方案。In summary, according to the train control device of the embodiment of the present disclosure, after detecting a failure of the train control management system TCMS, the first control module outputs an emergency braking instruction, and after detecting that the train control management system returns to normal, the second control The module outputs emergency braking mitigation instructions, thereby improving the ability to deal with TCMS faults, avoiding the misdiagnosis of TCMS faults affecting passengers' travel, and providing a more reliable and efficient train operation plan.
本公开的实施例提出的一种车载控制设备，包括本公开上述实施例所述的列车的控制装置。An on-board control device provided by an embodiment of the present disclosure includes the train control device described in the foregoing embodiment of the present disclosure.
本公开实施例的车载控制设备，通过上述的列车的控制装置，在检测到列车控制管理***TCMS故障后，输出紧急制动指令并在检测到列车控制管理***恢复正常后，输出紧急制动缓解指令，提高了车载控制设备处理TCMS故障的能力，避免了由于误诊断TCMS故障影响乘客的出行，提供了一种更安全、可靠、高效的列车运行方案。The vehicle-mounted control device of the embodiment of the present disclosure, through the above-mentioned train control device, outputs an emergency braking instruction after detecting a failure of the train control management system TCMS, and outputs emergency braking relief after detecting that the train control management system returns to normal Commands improve the on-board control equipment's ability to handle TCMS failures, avoid the misdiagnosis of TCMS failures that affect passengers' travel, and provide a safer, more reliable, and efficient train operation plan.
本公开的实施例还提出的一种列车，包括本公开上述实施例所述的车载控制设备。An embodiment of the present disclosure also proposes a train, which includes the on-board control device described in the foregoing embodiment of the present disclosure.
本公开实施例的列车，通过上述的车载控制设备，在检测到列车控制管理***TCMS故障后，输出紧急制动指令，并在检测到列车控制管理***恢复正常后，输出紧急制动缓解指令，提高了列车处理TCMS故障的能力，避免了由于误诊断TCMS故障影响乘客的出行，提供了一种更安全、可靠、高效的列车运行方案。The train of the embodiment of the present disclosure, through the above-mentioned on-board control device, outputs an emergency braking instruction after detecting a failure of the train control management system TCMS, and outputs an emergency braking relief instruction after detecting that the train control management system returns to normal, Improve the train's ability to handle TCMS failures, avoid the misdiagnosis of TCMS failures affecting passengers' travel, and provide a safer, more reliable and efficient train operation plan.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean specific features described in conjunction with the embodiment or example , Structures, materials, or characteristics are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without mutual contradiction.
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本公开的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现定制逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本公开的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本公开的实施例所属技术领域的技术人员所理解。Any process or method description in the flowchart or described in other ways herein can be understood as a module, segment or part of code that includes one or more executable instructions for implementing custom logic functions or steps of the process , And the scope of the preferred embodiments of the present disclosure includes additional implementations, which may not be in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. This should It is understood by those skilled in the art to which the embodiments of the present disclosure belong.
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实 现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行***、装置或设备(如基于计算机的***、包括处理器的***或其他可以从指令执行***、装置或设备取指令并执行指令的***)使用，或结合这些指令执行***、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行***、装置或设备或结合这些指令执行***、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。The logic and/or steps represented in the flowchart or described in other ways herein, for example, can be considered as a sequenced list of executable instructions for realizing logic functions, and can be embodied in any computer-readable medium, For use by instruction execution systems, devices, or equipment (such as computer-based systems, systems including processors, or other systems that can fetch and execute instructions from instruction execution systems, devices, or equipment), or combine these instruction execution systems, devices Or equipment. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because it can be used for example by optically scanning the paper or other medium, and then editing, interpreting, or other suitable media if necessary. The program is processed in a manner to obtain the program electronically, and then stored in the computer memory.
应当理解，本公开的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行***执行的软件或固件来实现。如，如果用硬件来实现和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。It should be understood that each part of the present disclosure can be implemented by hardware, software, firmware, or a combination thereof. In the foregoing embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if it is implemented by hardware as in another embodiment, it can be implemented by any one or a combination of the following technologies known in the art: Discrete logic gate circuits for implementing logic functions on data signals Logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate array (PGA), field programmable gate array (FPGA), etc.
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。A person of ordinary skill in the art can understand that all or part of the steps carried in the method of the foregoing embodiments can be implemented by a program instructing relevant hardware to complete. The program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. When executed, it includes one of the steps of the method embodiment or a combination thereof.
此外，在本公开各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。In addition, the functional units in the various embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本公开的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本公开的限制，本领域的普通技术人员在本公开的范围内可以对上述实施例进行变化、修改、替换和变型。The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present disclosure. Those of ordinary skill in the art can comment on the foregoing within the scope of the present disclosure. The embodiment undergoes changes, modifications, substitutions, and modifications.
尽管上面已经示出和描述了本公开的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本公开的限制，本领域的普通技术人员在本公开的范围内可以对上述实施例进行变化、修改、替换和变型。Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present disclosure. Those of ordinary skill in the art can comment on the foregoing within the scope of the present disclosure. The embodiment undergoes changes, modifications, substitutions, and modifications.

Claims (16)

  1. 一种列车的控制方法，包括：A method for controlling trains, including:
    检测到列车控制管理***故障后，输出紧急制动指令；After detecting a failure of the train control management system, output an emergency braking command;
    检测到所述列车控制管理***无故障后，输出紧急制动缓解指令。After detecting that the train control and management system has no fault, output an emergency braking relief instruction.
  2. 根据权利要求1所述的控制方法，其中，还包括：The control method according to claim 1, further comprising:
    以预设的周期解析所述列车控制管理***发送的报文数据；Parsing the message data sent by the train control management system in a preset period;
    若解析失败，则通信失败计数加一；If the analysis fails, the communication failure count is increased by one;
    预设时间内所述通信失败计数超过通信超时阈值，判断所述列车控制管理***故障；The communication failure count exceeds the communication timeout threshold within a preset time, and it is determined that the train control management system is faulty;
    所述预设时间内通信失败计数未超过所述通信超时阈值，判断所述列车控制管理***无故障。If the communication failure count within the preset time does not exceed the communication timeout threshold, it is determined that the train control management system is not faulty.
  3. 根据权利要求1所述的控制方法，其中，还包括：The control method according to claim 1, further comprising:
    所述输出紧急制动指令后，检测到所述列车停稳且位于蠕动停车窗口外时，向列车自动监控***发送进入蠕动模式的请求；After the output of the emergency braking instruction, when it is detected that the train has stopped and is outside the creeping parking window, sending a request to enter the creeping mode to the automatic train monitoring system;
    在接收到所述列车自动监控***发送的确认进入蠕动模式指令后，输出所述紧急制动缓解指令并控制所述列车进入到蠕动模式。After receiving the instruction to confirm entering the creeping mode sent by the automatic train monitoring system, output the emergency brake relief instruction and control the train to enter the creeping mode.
  4. 根据权利要求3所述的控制方法，其中，所述向列车自动监控***发送进入蠕动模式的请求之后，还包括：The control method according to claim 3, wherein, after sending the request to enter the creeping mode to the automatic train monitoring system, the method further comprises:
    若未接收到所述列车自动监控***发送的所述确认进入蠕动模式指令，且检测到所述列车控制管理***恢复正常，则输出所述紧急制动缓解指令。If the confirmation of entering the creeping mode instruction sent by the automatic train monitoring system is not received, and it is detected that the train control management system returns to normal, the emergency brake relief instruction is output.
  5. 根据权利要求1所述的控制方法，其中，还包括：The control method according to claim 1, further comprising:
    所述输出紧急制动指令后，检测到所述列车停稳且位于蠕动停车窗口内时，向列车自动监控***发送请求人工救援的提示信息。After the emergency braking instruction is output, when it is detected that the train has stopped and is located within the creeping parking window, a prompt message requesting manual rescue is sent to the automatic train monitoring system.
  6. 根据权利要求3所述的控制方法，其中，还包括：The control method according to claim 3, further comprising:
    在所述蠕动模式下，控制列车自动防护***对所述列车进行安全防护，控制列车自动运行***在蠕动牵引、蠕动惰行和蠕动制动三种控车级位下控制所述列车运行；In the creeping mode, the automatic train protection system is controlled to protect the train, and the automatic train operation system is controlled to control the operation of the train at three levels of control: creeping traction, creeping idling, and creeping braking;
    当所述列车运行至站台且停稳在所述蠕动停车窗口内时，输出紧急制动不可缓解指令，并向所述列车自动监控***发送请求人工救援的提示信息。When the train runs to the platform and stops within the creeping parking window, output an emergency braking non-releasable instruction, and send prompt information requesting manual rescue to the automatic train monitoring system.
  7. 根据权利要求6所述的控制方法，其中，所述输出紧急制动不可缓解指令之后，还包括：The control method according to claim 6, wherein, after the output of the emergency braking non-releasable instruction, the method further comprises:
    若所述列车停稳在正常运行停车窗口内，则控制对应侧的车门和屏蔽门打开。If the train is stopped in the normal operation parking window, the door and the screen door on the corresponding side are controlled to open.
  8. 一种列车的控制装置，包括：A train control device, including:
    第一控制模块，用于检测到列车控制管理***故障后，输出紧急制动指令；The first control module is used to output an emergency braking instruction after detecting a failure of the train control management system;
    第二控制模块，用于检测到所述列车控制管理***无故障后，输出紧急制动缓解指令。The second control module is used for outputting an emergency brake relief instruction after detecting that the train control management system has no fault.
  9. 根据权利要求8所述的控制装置，还包括：The control device according to claim 8, further comprising:
    检测模块，用于以预设的周期解析所述列车控制管理***发送的报文数据，若解析失败，则通信失败计数加一，如果预设时间内所述通信失败计数超过通信超时阈值，判断所述列车控制管理***故障，如果所述预设时间内通信失败计数未超过所述通信超时阈值，判断所述列车控制管理***无故障。The detection module is used to analyze the message data sent by the train control management system in a preset period. If the analysis fails, the communication failure count is increased by one, and if the communication failure count exceeds the communication timeout threshold within the preset time, it is determined If the train control management system is faulty, if the communication failure count within the preset time does not exceed the communication timeout threshold, it is determined that the train control management system is not faulty.
  10. 根据权利要求8所述的控制装置，其中，所述第二控制模块还用于：The control device according to claim 8, wherein the second control module is further used for:
    在所述输出紧急制动指令后，检测到所述列车停稳且位于蠕动停车窗口外时，向列车自动监控***发送进入蠕动模式的请求；After the emergency braking instruction is output, when it is detected that the train has stopped and is outside the creeping parking window, sending a request to enter the creeping mode to the automatic train monitoring system;
    在接收到所述列车自动监控***发送的确认进入蠕动模式指令后，输出所述紧急制动缓解指令并控制所述列车进入到蠕动模式。After receiving the instruction to confirm entering the creeping mode sent by the automatic train monitoring system, output the emergency brake relief instruction and control the train to enter the creeping mode.
  11. 根据权利要求10所述的控制装置，其中，所述第二控制模块还用于：The control device according to claim 10, wherein the second control module is further used for:
    在所述向列车自动监控***发送进入蠕动模式的请求之后，若未接收到所述列车自动监控***发送的所述确认进入蠕动模式指令，且检测到所述列车控制管理***无故障，则输出所述紧急制动缓解指令。After the request to enter the creeping mode is sent to the automatic train monitoring system, if the confirmation to enter the creeping mode command sent by the automatic train monitoring system is not received, and it is detected that the train control management system is not faulty, output The emergency brake mitigation instruction.
  12. 根据权利要求8所述的控制装置，其中，所述第二控制模块还用于：The control device according to claim 8, wherein the second control module is further used for:
    在所述输出紧急制动指令后，检测到所述列车停稳且位于蠕动停车窗口内时，向列车自动监控***发送请求人工救援的提示信息。After the emergency braking instruction is output, when it is detected that the train has stopped and is within the creeping parking window, a prompt message requesting manual rescue is sent to the automatic train monitoring system.
  13. 根据权利要求10所述的控制装置，其中，所述第二控制模块还用于：The control device according to claim 10, wherein the second control module is further used for:
    在所述蠕动模式下，控制列车自动防护***对所述列车进行安全防护，控制列车自动运行***在蠕动牵引、蠕动惰行和蠕动制动三种控车级位下控制所述列车运行；In the creeping mode, the automatic train protection system is controlled to protect the train, and the automatic train operation system is controlled to control the operation of the train at three levels of control: creeping traction, creeping idling, and creeping braking;
    当所述列车运行至站台且停稳在所述蠕动停车窗口内时，输出紧急制动不可缓解指令，并向所述列车自动监控***发送请求人工救援的提示信息。When the train runs to the platform and stops within the creeping parking window, output an emergency braking non-releasable instruction, and send prompt information requesting manual rescue to the automatic train monitoring system.
  14. 根据权利要求13所述的控制装置，其中，所述第二控制模块还用于：The control device according to claim 13, wherein the second control module is further used for:
    在所述输出紧急制动不可缓解指令之后，若所述列车停稳在正常运行停车窗口内，则控制对应侧的车门和屏蔽门打开。After the output of the emergency braking non-releasable instruction, if the train stops in the normal operation parking window, the door and the screen door on the corresponding side are controlled to open.
  15. 一种车载控制设备，包括：如权利要求8-14任一项所述的列车的控制装置。An on-board control device, comprising: a train control device according to any one of claims 8-14.
  16. 一种列车，包括：列车控制管理***和如权利要求15所述的车载控制设备。A train comprising: a train control management system and the on-board control equipment according to claim 15.
PCT/CN2020/131443 2019-11-29 2020-11-25 Train, and control method, control apparatus and vehicle on-board controller therefor WO2021104301A1 (en)

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