CN109263688B - Method for sleeping and awakening unmanned automatic driving train by trackside equipment - Google Patents
Method for sleeping and awakening unmanned automatic driving train by trackside equipment Download PDFInfo
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- CN109263688B CN109263688B CN201810933285.2A CN201810933285A CN109263688B CN 109263688 B CN109263688 B CN 109263688B CN 201810933285 A CN201810933285 A CN 201810933285A CN 109263688 B CN109263688 B CN 109263688B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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Abstract
The invention discloses a sleeping and awakening method of trackside equipment for an unmanned automatic driving train, which comprises train awakening condition check and power-on test check, wherein when the train awakening condition is met, vehicle-mounted awakening permission is authorized, and stored sleeping storage information is sent to a vehicle-mounted state for checking the correctness of the position of the train, and if the train is not verified, the vehicle-mounted awakening is notified to fail, and an ATS is alarmed; the method comprises the steps that after a train is awakened, power-on test check is carried out, when power-on test conditions are met, a vehicle-mounted permission power-on test is authorized, static test and dynamic test are carried out, communication overtime with the vehicle is considered during power-on test request, if the communication overtime with the vehicle is achieved, the power-on test request given by the vehicle is interrupted, a ZC replies that the power-on test is not permitted until the vehicle-mounted recovery power-on test request, the ZC fails in power-on test condition check, an ATS is alarmed, and a dormant state is maintained. The invention reduces the workload of manually detecting the dormancy awakening environment and improves the working efficiency.
Description
Technical Field
The invention relates to a rail transit technology, in particular to a CBTC control system.
Background
The system used in the urban rail transit is mainly a train automatic control system based on wireless communication, the train dormancy awakening of the system is that a driver manually powers off after the train operation is finished in a garage, a return line and a parking line, and the train scheduled to operate is manually powered on, self-checked and awakened one by one through the cooperation of dispatching and the driver before the operation is started and is put into operation.
The defects of the prior art are as follows: the current train dormancy awakening processing needs to confirm the train state and other train conditions on the track one by one manually, the labor intensity of workers is high, and the working efficiency, safety and accuracy are all to be improved.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for sleeping and awakening an unmanned automatic driving train by trackside equipment, improving the efficiency and accuracy and ensuring the safe operation of the train.
In order to solve the technical problems, the invention adopts the following technical scheme: a sleeping and awakening method of a trackside device for an unmanned automatic train comprises the steps of train sleeping preparation, train sleeping process supervision and train awakening and power-on test, wherein,
the train dormancy preparation is that when the train dormancy condition is met, the ZC authorizes the train to carry out dormancy, manages the train as a dormant train, and stores train dormancy storage information; and the ZC reports a train list which can be awakened into an unmanned train to the ATS in real time;
the supervision of the sleeping process of the train is that the ZC tracks and manages the train by combining the occupation state of the interlocked section, the vehicle-mounted sleeping awakening application and the train position report information, so that the whole-process supervision and management of the sleeping train are realized;
the train awakening and power-on test comprises train awakening condition check and power-on test check, when the train awakening condition is met, vehicle-mounted awakening permission is authorized, stored dormancy storage information is sent to a vehicle-mounted unit for checking the correctness of the train position, if the train awakening permission is not verified, the vehicle-mounted unit is notified that the vehicle-mounted unit is awakened to fail, and an ATS is alarmed;
the method comprises the steps that after a train is awakened, power-on test check is carried out, when power-on test conditions are met, a vehicle-mounted permission power-on test is authorized, static test and dynamic test are carried out, communication overtime with the vehicle is considered during power-on test request, if the communication overtime with the vehicle is achieved, the power-on test request given by the vehicle is interrupted, a ZC replies that the power-on test is not permitted until the vehicle-mounted recovery power-on test request, the ZC fails in power-on test condition check, an ATS is alarmed, and a dormant state is maintained.
Further, after receiving the sleep application sent by the vehicle, the ZC checks the following two conditions:
1) the train completely and independently occupies the dormant rail, namely no other communication vehicles and non-communication vehicles occupy the dormant rail;
2) the train is in a stable state.
Furthermore, when train tracking state management is carried out, communication overtime of the ZC and the interlock needs to be considered, and if the communication overtime of the ZC and the interlock is considered, the default zone is occupied.
The train tracking management comprises the following contents:
1) the dormant train can be formed only by the dormant communication train, and the train position of the dormant train is inherited to the position of the original communication train;
2) if the ZC detects that the effective position report of the dormant train in the non-power-on test state is received again, the ZC converts the train into a communication train for tracking management and deletes the stored dormant storage information;
3) and during the sleeping period of the train, the ZC continuously monitors whether the sleeping train is moved out of the sleeping track or not, and if the train is moved or other non-communication vehicles approach in the sleeping process, the sleeping train is converted into the non-communication vehicles for tracking management.
Further, when the following conditions are met, the dormant train is converted into a non-communication train for tracking management:
1) non-communication vehicles occupy the section where the dormant train is located or the adjacent section;
2) the dormant train adjacent sector is occupied but no other trains occupy the sector.
Further, after receiving the ATS remote wake-up command or the driver local wake-up command, the sleeping train sends a wake-up request to the ZC, and the ZC checks the following conditions:
1) the upper limit of the control vehicle of the current ZC is not reached;
2) the upper limit of the number of ZC access equipment is not reached;
3) the current train is in a dormant train management state.
Further, after the vehicle receives the awakening success, the vehicle sends a power-on test request to the ZC, and the ZC checks the following conditions:
1) the train is in a dormant train management state;
2) the same station road has no other train applying for testing;
3) the garage door is in an open state;
4) meanwhile, the train applying for testing does not exceed the maximum limit;
5) no other train is approaching the test train.
Further, the authorization permission in the authorized vehicle-mounted permission power-on test includes a jump test safety boundary in the dynamic test, and the boundary determination rule is as follows:
1) if the terminal point of the section is the vehicle gear, the vehicle gear is taken as the boundary;
2) if the adjacent section has a train, the train dormant section is taken as a boundary;
3) if there is no train in the adjacent sector, the far end of the adjacent sector is taken as the boundary and should not exceed the non-opened signal.
According to the technical scheme, the ZC system serves as trackside equipment and plays a role in monitoring whether the train is allowed to sleep or not and whether the train is allowed to wake up after the train is in sleep and wake up in the train sleep and wake up of the unmanned automatic driving system, safety of automatic train sleep and wake up is guaranteed from the trackside perspective, workload of manual detection of a sleep and wake-up environment is reduced, and working efficiency is improved.
The following detailed description of the present invention will be provided in conjunction with the accompanying drawings.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
FIG. 1 is a train sleep timing diagram;
FIG. 2 is a diagram of a dormant train management state;
fig. 3 is a train wake-up timing diagram.
Detailed Description
In urban rail transit, the unmanned automatic driving system can improve the safety and the efficiency of the system and reduce the labor intensity of workers, and is a development trend of urban rail transit in the future.
The train dormancy awakening of the unmanned automatic driving system is that the automatic train dormancy awakening in remote or local areas of an automatic train section, a return line and a storage line is automatically completed by matching an ATS (automatic train supervision), a vehicle-mounted ATP (automatic train protection), a vehicle-mounted ATO (automatic train driving), a ZC (zone controller) and a vehicle, so that the overall performance of the system is improved, and the automation degree of the system is improved.
The management method for dormancy awakening of the unmanned automatic drive train aims at the unmanned automatic drive train, and in the areas of an automatic train section, a turn-back line and a storage line, trackside equipment (a zone controller ZC) is matched with a vehicle to carry out environment verification of dormancy, awakening and power-on tests of the train, gives authorization after verification is passed, and sends the authorization to an ATS (automatic train supervision system) to be matched with scheduling to carry out dormancy awakening management of the whole train.
The following describes the method for sleeping and waking up the unmanned automatic train by the trackside equipment according to the present invention with reference to fig. 1 to 3.
Wherein the content of the first and second substances,
the input conditions include:
1. segment occupancy status, garage door status, annunciator status from interlocks;
2. a train standstill condition from onboard;
3. a sleep \ wake-up \ power-on test request from a vehicle;
4. sleep storage information from the vehicle;
5. the train tracking state inside the ZC.
The processed output includes:
1. sending to vehicle-mounted dormancy \ wakeup \ power-on test authorization;
2. a sleepable \ wakeable train list sent to the ATS.
And factors to be considered include:
1. communication delay time of ZC and interlock;
2. and the ZC delays the time with the vehicle-mounted communication.
The train is a train on-board device (abbreviated as CC in english), and the following description is the same.
The specific technical scheme is as follows:
train dormancy management
After receiving the sleep application sent by the vehicle, the ZC checks the following two conditions:
1. the train completely and independently occupies the dormant rail, namely no other communication vehicles and non-communication vehicles occupy the dormant rail;
2. the train is in a stable state;
when the conditions are met, the train is authorized to sleep, the train is taken as a sleeping train to be managed, and the sleeping storage information of the train is stored; the ZC reports a train list which can be awakened into an unmanned train to the ATS in real time; to sum up, the train is prepared for waking up.
Management in the sleeping process of the train
And the ZC performs train tracking management by combining the occupation state of the interlocked zone, the vehicle-mounted dormancy awakening application and the position report information, and realizes the whole-process supervision and management of the dormant train. When train tracking state management is carried out, communication overtime of a ZC and an interlock is considered, and if the communication overtime of the ZC and the interlock is considered, a default zone is occupied.
1. The dormant train can be formed only by the dormant communication train, and the train position of the dormant train is inherited to the position of the original communication train.
2. And if the ZC detects that the effective position report of the dormant train in the non-power-on test state is received again, the ZC converts the train into a communication train for tracking management and deletes the stored dormant storage information.
3. During the dormancy of the train, the ZC continuously monitors whether the dormant train is moved out of the dormant track, and from the logic inside the ZC, if the train moves or other non-communication vehicles approach in the dormancy process, namely the following conditions are met, the dormant train is switched to the non-communication vehicle for tracking management:
(1) non-communication vehicles occupy the section where the dormant train is located or the adjacent section;
(2) the dormant train adjacent sector is occupied but no other trains occupy the sector.
The non-communication vehicle is a train (a term of convention) which is mounted on a vehicle and does not communicate with the ZC; tracking of the non-communication vehicle depends on the interlocking acquisition zone occupation state to be sent to the ZC for train tracking; here, "non-communication train tracking management" means that when the above condition is satisfied, the dormant train is converted into a non-communication train, and tracking management is performed; the tracking management of the trains is a basic function of the ZC, which is to track all the trains on the line, so as to authorize safe running distance for the communication vehicles, and therefore, the tracking management of the trains is not developed in this document.
Third, train awakening and power-on test management
After receiving an ATS remote awakening command or a driver local awakening command, the dormant train sends an awakening request to the ZC, and the ZC checks the following conditions:
1. the upper limit of the control vehicle of the current ZC is not reached;
2. the upper limit of the number of ZC access equipment is not reached;
3. the current train is in a dormant train management state;
when the conditions are met, the vehicle-mounted awakening permission is authorized, and the stored dormancy storage information is sent to the vehicle-mounted device and used for verifying the correctness of the train position; and if the verification fails, notifying the vehicle-mounted awakening failure, and giving an alarm to the ATS.
After the vehicle receives the awakening success, sending a power-on test request to the ZC, and checking the following conditions by the ZC:
1. the train is in a dormant train management state;
2. the same station road has no other train applying for testing;
3. the garage door is in an open state;
4. meanwhile, the train applying for testing does not exceed the maximum limit;
5. no other train is approaching the test train (occupying the same sector);
when the conditions are met, the vehicle-mounted permission power-on test is authorized, static test and dynamic test are carried out, wherein the permission authorization comprises a jump test safety boundary in the dynamic test, and the boundary determination rule is as follows:
1. if the terminal point of the section is the vehicle gear, the vehicle gear is taken as the boundary;
2. if the adjacent section has a train, the train dormant section is taken as a boundary;
3. if there is no train in the adjacent sector, the far end of the adjacent sector is taken as the boundary and should not exceed the non-opened signal.
The vehicle bumper refers to a line terminal in rail transit, and is a device for protecting a train from exiting a rail line, and the name is a general term in rail transit.
And considering the overtime of the communication with the vehicle during the power-on test request, if the communication with the vehicle is overtime, and the power-on test request given by the vehicle is interrupted, the ZC replies that the power-on test is not allowed until the vehicle recovers the power-on test request. And if the power-on test condition check of the ZC fails, alarming to the ATS and maintaining the dormant state.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in other forms without departing from the spirit or essential characteristics thereof. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (6)
1. The method for sleeping and awakening the unmanned automatic driving train by the trackside equipment is characterized by comprising the steps of train sleeping preparation, train sleeping process supervision and train awakening and power-on test, wherein,
the train dormancy preparation is that when the train dormancy condition is met, the ZC authorizes the train to carry out dormancy, manages the train as a dormant train, and stores train dormancy storage information; and the ZC reports a train list which can be awakened into an unmanned train to the ATS in real time;
the supervision of the sleeping process of the train is that the ZC tracks and manages the train by combining the occupation state of the interlocked section, the vehicle-mounted sleeping awakening application and the train position report information, so that the whole-process supervision and management of the sleeping train are realized;
the train awakening and power-on test comprises train awakening condition check and power-on test check, when the train awakening condition is met, vehicle-mounted awakening permission is authorized, stored dormancy storage information is sent to a vehicle-mounted unit for checking the correctness of the train position, if the train awakening permission is not verified, the vehicle-mounted unit is notified that the vehicle-mounted unit is awakened to fail, and an ATS is alarmed;
after the train is awakened, carrying out power-on test check, authorizing the vehicle-mounted permission power-on test when power-on test conditions are met, carrying out static test and dynamic test, considering the overtime of communication with the vehicle-mounted during the period of carrying out the power-on test request, if the communication with the vehicle-mounted is overtime, interrupting the power-on test request given by the vehicle-mounted, replying by the ZC that the power-on test is not permitted until the vehicle-mounted recovery power-on test request, and alarming to the ATS and maintaining the dormant state if the power-on test condition check of the ZC is;
when train tracking state management is carried out, communication overtime of a ZC and an interlock is considered, if the communication overtime of the ZC and the interlock is judged, a default zone is occupied, and the train tracking management comprises the following contents:
1) the dormant train can be formed only after the communication train is dormant, and the train position of the dormant train is inherited to the position of the original communication train;
2) if the ZC detects that the effective position report of the dormant train in the non-power-on test state is received again, the ZC converts the train into a communication train for tracking management and deletes the stored dormant storage information;
3) and during the sleeping period of the train, the ZC continuously monitors whether the sleeping train is moved out of the sleeping track or not, and if the train is moved or other non-communication vehicles approach in the sleeping process, the sleeping train is converted into the non-communication vehicles for tracking management.
2. The wakefulness and awakening method of the trackside equipment to the unmanned autonomous train of claim 1, wherein the wakefulness and awakening method comprises the following steps: after receiving the sleep application sent by the vehicle, the ZC checks the following two conditions:
1) the train completely and independently occupies the dormant rail, namely no other communication vehicles and non-communication vehicles occupy the dormant rail;
2) the train is in a stable state.
3. The wakefulness and awakening method of the trackside equipment to the unmanned autonomous train of claim 1, wherein the wakefulness and awakening method comprises the following steps: when the following conditions are met, the dormant train is converted into a non-communication train for tracking management:
1) non-communication vehicles occupy the section where the dormant train is located or the adjacent section;
2) the dormant train adjacent sector is occupied but no other trains occupy the sector.
4. The wayfinding and waking method of an unmanned autonomous train by a wayside device as claimed in claim 1, wherein: after receiving an ATS remote awakening command or a driver local awakening command, the dormant train sends an awakening request to the ZC, and the ZC checks the following conditions:
1) the upper limit of the control vehicle of the current ZC is not reached;
2) the upper limit of the number of ZC access equipment is not reached;
3) the current train is in a dormant train management state.
5. The wayfinding and waking method of an unmanned autonomous train by a wayside device as claimed in claim 1, wherein: after the vehicle receives the awakening success, sending a power-on test request to the ZC, and checking the following conditions by the ZC:
1) the train is in a dormant train management state;
2) the same station road has no other train applying for testing;
3) the garage door is in an open state;
4) meanwhile, the train applying for testing does not exceed the maximum limit;
5) no other train is approaching the test train.
6. The wayfinding and waking method of an unmanned autonomous train by a wayside device as claimed in claim 1, wherein: the authorization permission in the authorized vehicle-mounted permission power-on test comprises a jump test safety boundary in the dynamic test, and the boundary determination rule is as follows:
1) if the terminal point of the section is the vehicle gear, the vehicle gear is taken as the boundary;
2) if the adjacent section has a train, the train dormant section is taken as a boundary;
3) if there is no train in the adjacent sector, the far end of the adjacent sector is taken as the boundary and should not exceed the non-opened signal.
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| CN202010255056.7A CN111559413B (en) | 2018-08-16 | 2018-08-16 | Management method for dormancy awakening of unmanned automatic driving train |
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| CN110789581B (en) * | 2019-01-28 | 2020-12-01 | 通号城市轨道交通技术有限公司 | Hybrid operation control method and device for train |
| CN111619625B (en) * | 2019-02-28 | 2022-02-08 | 比亚迪股份有限公司 | Operation control center, rail vehicle and awakening method, device and system thereof |
| CN111619623B (en) * | 2019-02-28 | 2022-02-08 | 比亚迪股份有限公司 | Operation control center, rail vehicle and sleeping method, device and system thereof |
| CN112441083A (en) * | 2019-08-28 | 2021-03-05 | 比亚迪股份有限公司 | Rail vehicle control method and system |
| CN110843867B (en) * | 2019-10-15 | 2021-03-12 | 交控科技股份有限公司 | 4-marshalling double-row-bit-library train dormancy awakening method and system |
| CN110920692B (en) * | 2019-11-22 | 2022-02-08 | 交控科技股份有限公司 | Method and system for locally and manually screening and upgrading trains |
| CN112874585A (en) * | 2019-11-29 | 2021-06-01 | 比亚迪股份有限公司 | Train management method and system |
| CN110901702B (en) * | 2019-12-09 | 2021-12-28 | 上海富欣智能交通控制有限公司 | Train dormancy awakening control method and control system thereof |
| CN111169485B (en) * | 2020-02-19 | 2021-06-15 | 中国神华能源股份有限公司神朔铁路分公司 | Locomotive automatic dormancy method, device, system and storage medium |
| CN113734232B (en) * | 2020-05-29 | 2023-09-05 | 比亚迪股份有限公司 | Railway vehicle state detection method, vehicle-mounted controller and regional controller |
| CN111717245B (en) * | 2020-05-29 | 2022-07-15 | 卡斯柯信号有限公司 | Full-automatic train operation control method based on virtual yard |
| CN112393929B (en) * | 2020-11-17 | 2023-04-28 | 卡斯柯信号有限公司 | Train static and dynamic test control system and control method |
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| CN114684223A (en) * | 2020-12-25 | 2022-07-01 | 比亚迪股份有限公司 | Train awakening method and device and train |
| CN113147842B (en) * | 2021-05-21 | 2023-01-24 | 中车唐山机车车辆有限公司 | Train dynamic testing method and train |
| CN113900423B (en) * | 2021-08-31 | 2023-07-14 | 北京空间飞行器总体设计部 | Mars dormancy awakening function verification method based on FSM |
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| CN111559413B (en) | 2022-06-10 |
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