CN102700571A - Safety overlay collision avoidance system for train of CTCS (Chinese Train Control System) based on vehicular-to-vehicular communication and method thereof - Google Patents
Safety overlay collision avoidance system for train of CTCS (Chinese Train Control System) based on vehicular-to-vehicular communication and method thereof Download PDFInfo
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Abstract
The invention discloses a safety overlay collision avoidance system for train of CTCS (Chinese Train Control System) based on vehicular-to-vehicular communication. The system comprises a collision avoidance system vital computer, an electronic map database, a velocity measuring and positioning sub system, a vehicular-to-vehicular communication sub system and a man-machine interaction sub system. The collision avoidance system vital computer calculates and analyzes the collision probability by integrating velocity information, position information and direction information of the train as well as velocity information, position information and direction information of adjacent trains received by the vehicular-to-vehicular communication sub system as well as the electronic map data, and gives an alarm prompt and a handling suggestion according to the level of collision; the electronic map database provides electronic map data for the collision avoidance system vital computer and the velocity measuring and positioning sub system; the man-machine interaction sub system inputs data of the train and gives the alarm prompt if collision occurs probably. The invention can enhance the safety level of railway transportation essentially and overcome the deficiency that collision occurs when the control center malfunctions and vehicular-to-ground communication is not smooth, and has high social benefit. The system provided by the invention can be overlaid on the CTCS and share train data information with the CTCS.
Description
Technical field
What the present invention relates to is a kind of CTCS safety stack train collision protection system and method based on the communication of car car.
Background technology
Two serious train collision cases had taken place in China's field of track traffic in 2011.Though China's field of track traffic has dropped into a large amount of construction costs, improve Chinese train operation control system (CTCS), but still can't avoid the collision problem between train fully.
The collision protection system is applied in maritime affairs, aviation, highway communication field.Deutschen Zentrums fur Luft-und Raumfahrt e.V. in 2006 have started the subject study of railway collision avoidance system; U.S. Alaska railroad had started this type of system research and development in 2009; Train collision protection preliminary specifications had been drafted by India in 2011, and this area research of China still is in the starting stage.
CTCS is on the basis of using for reference ETCS, in conjunction with China railways present situation and development program, satisfies the train control system of different circuit transportation demands with hierarchical form.System's purpose is to adapt to Chinese existing signal equipment present situation, realizes interconnecting between the road network, satisfies maximum speed 160～350km/h train operation demand for control, and the control grade is divided into 5 grades.In the classification of CTCS Pyatyi, CTCS-3 and CTCS-4 adopt the vehicle-ground wireless communication GSM-R of system, and have realized that perfect redundancy covers, and can guarantee effectively that train safe at interval.
The CTCS system architecture is as shown in Figure 1.System is divided into onboard subsystem and ground subsystem, carries out information realtime interactive via railway GSM-R (GSM for Railway, Railway Special digital mobile communication system) between the car ground.Train is issued the inaccessible center of terrestrial wireless with the self-operating status information via the GSM-R network; The radio block center generates the driving permission according to track circuit, information such as interlocking route etc., is transferred to CTCS-3 level mobile unit through will the drive a vehicle permission, line parameter circuit value, temporary speed limitation of GSM-R wireless communication system; Mobile unit generates continuous velocity master mode curve according to the driving permission of radio block center, monitors safe train operation in real time; Track circuit is realized the train occupation inspection, and using at degradation is to can be used as the stand-by system that sends the driving License Info; Information and train parameters such as the driving permission that the CTCS fail-safe computer provides according to wayside equipment, line parameter circuit value, temporary speed limitation generate the dynamic speed curve according to target range continuous velocity master mode, the safe operation of monitoring train; The centralized traffic control system realizes train scheduling commander's maincenter, and train is carried out centralized control, has functions such as a station expression, running number show, running number management, train note point, and has concurrently and assign the temporary speed limitation order, the effect of guarantee Train Interval.(1) ground infrastructure and control center are depended in system's operation unduly, and cost of investment is high; (2) driver can't independently judge the train operation state that moves ahead, and can't in time initiatively carry out the collision protection operation.(3) can't direct communication between train and the train, this car can't be judged the running state of move ahead train and retinue train, has or not risk of collision.
One Chinese patent application numbers 200620078858, a kind of railroad train omnibearing stereoization is discerned early warning and collision prevention protective device automatically, and this utility model discloses a kind of railroad train and has discerned early warning and collision prevention protective device automatically.Connect a 800M antenna and a gps antenna on the main frame respectively, also connect two terminal controllers simultaneously respectively, said main frame is to be made up of communication unit and main processor unit.This device adopts SOTDMA (self-organizing time division multiple access) technology; Rational in infrastructure; Standard is unified; The multidate information of this car, row tail, his car, road junction and camp site can be collected at any time, speed limit early warning near the protection of train, the protection of road junction fault train second accident and line construction the time can be realized between train near safe early warning and collision prevention, last vehicle of train safety precaution, upper track operating personnel; Can also avoid the mutual interference mutually of train safe protective system and train dispatch radio communication, avoid protective device overlapping investment and construction, be applied to the railroad train safety precaution, also can be applied to the safety precaution and the management of special vehicle and waterborne traffic.(1) this equipment adopts the 800M separate frequency bands, and is approaching with Railway Special GSM-R frequency range, is easy to car ground safe communication system and causes the phase mutual interference, causes the bit error ratio higher; (2) system independently installs, and can't form the closed loop real-time Transmission.
Abbreviation and Key Term definition
(1) CAS-T:Collision Avoidance System for Train, train collision protection system (is called for short: the train collision avoidance system)
(2) CTCS:Chinese Train Control System, Chinese train operation control system
(3) SOS:Safety Overlay System, safe overlapping system,
(5) V2V:Vehicular to Vehicular, the communication of car car
(6) ETCS:European Trai n Control System, European train operation control system
Summary of the invention
Technical matters to be solved by this invention is that the deficiency that is directed against prior art provides a kind of CTCS safety stack train collision protection system and method based on the communication of car car.
Technical scheme of the present invention is following:
A kind of CTCS safety stack train collision protection system based on the communication of car car comprises:
The positioning subsystem that tests the speed is arranged on the train, accurately knows train velocity information, location information and direction information on the line;
Car car communication subsystem: to velocity information, location information and the direction information of other these cars of broadcasting for train, receive velocity information, location information and the direction information that comes from other trains on the one hand on the one hand; In certain communication coverage, adopt half duplex operation or dual-mode to receive and send train speed information, location information and direction information;
The collision protection fail-safe computer; Velocity information, location information and the direction information of the velocity information of cumulated volume car, location information and direction information and the contiguous train that receives from car car communication subsystem also combines electronic map data; Calculate and analyze the collision possibility, can provide alarm prompt and dispose suggestion according to the collision rank;
Electronic map database is for the collision protection fail-safe computer and the positioning subsystem that tests the speed provide electronic map data;
The man-machine interaction subsystem is accomplished the input of train data, and collision provides the display alarm prompting in the time of possibly taking place.
The collision protection method of described train collision protection system may further comprise the steps:
(1) this car tests the speed positioning subsystem with this vehicle speed information, location information and direction information, gives the collision protection fail-safe computer;
(2) the collision protection fail-safe computer is sent to two places with velocity information, location information and the direction information of this car: be presented on the man-machine interaction subsystem of this car on the one hand, supply Ben Che driver to understand the operation attitude information of train; Give car car communication subsystem on the one hand;
(3) car car communication subsystem is propagated through the mode of broadcasting velocity information, location information and the direction information of this car in certain communication range; Receive velocity information, location information and the direction information of other broadcasting for train simultaneously, and give this car collision protection fail-safe computer;
(4) the collision protection fail-safe computer combines train speed information, location information and the direction information of this car and velocity information, location information and the direction information of other train that the Che Che communication subsystem receives; Line information in conjunction with electronic map database; Carry out the calculating of collision protection possibility, and give the man-machine interaction subsystem result of calculation;
(5) the man-machine interaction subsystem provides the suggestion of audible and visual alarm signal and operation measure when collision possibly take place.Remind the driver to take necessary brake measure, avoid the train collision.
The present invention is based on the communication of car car, and can be superimposed on the train collision protection system on the train operation control system safely.Mobile unit calculates position and the motion-vector of self in real time; And it is broadcast to other trains in certain zone; Human interface device shows train position information in certain zone; The possibility that other train position information monitoring collisions of comprehensive own location information of car-mounted computer and reception take place, and provide alerting signal and the suggestion of anti-collision strategy.The operation attitude of train when risk of collision occurs, can be taked the actv. workaround according to alarm message before and after the driver can clearly be known.
CAS-T is complete collision protection system based on mobile unit, need not increase extra ground infrastructure.Its groundwork is communicated by letter with Che Che and the collision protection algorithm by Train Location information, accomplishes anti-collision warning and protection.
Beneficial effect:
(1) the present invention can be from promoting the safety of railway traffic level in essence, overcomes because control center's functional disturbance, the defective that can crash between train when train-ground communication is smooth, and social benefit is high;
(2) on the stackable and existing train operation control system of the present invention, train data information shared with it, and need not increase extra wayside equipment investment, economic benefit is obvious.
(3) the present invention adopts the open frequency range of ISM, can on safing basis, interconnect with highway zone realization information to greatest extent, can effectively guarantee level crossing safety.Along with the application of highway bus or train route cooperative system, realization is public, railway information is shared simultaneously, and commercial value is huge.
Description of drawings
Fig. 1 is the CTCS system construction drawing of prior art;
Fig. 2 is CTCS stack CAS-T system construction drawing of the present invention.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is elaborated.
For realizing the purpose of train collision protection, as shown in Figure 2 based on the CTCS safety stack train collision protection system architecture of car car communication, comprising:
(1) positioning subsystem that tests the speed; Be arranged on the train; Multiple array modes such as location, tachogenerator, trailer-mounted radar and edd current transducer via satellite; Accurately know train velocity information (V), location information (L) and direction information (D) on the line, this part can realize sharing of hardware device and locating information with CTCS;
(2) car car communication subsystem: car car communication subsystem to speed, position and the direction information of other broadcasting for train oneself, receives speed, position and the direction information that comes from other trains on the one hand on the one hand.In certain communication coverage, adopt semiduplex mode or dual-mode operation.
(3) collision protection fail-safe computer (CAS-VC; CAS Vital Computer); Comprehensive self-position is with the contiguous train position that receives from car car communication subsystem and combine electronic map data, calculates and analyze the collision possibility, can provide alarm prompt and dispose suggestion according to the collision rank;
(4) electronic map database is for CAS-VC and positioning subsystem provide electronic map data;
(5) man-machine interaction subsystem is accomplished the input of train data, and collision provides the display alarm prompting in the time of possibly taking place.
CTCS safety stack train collision protection service system workflow based on the communication of car car is:
(1) technology such as the comprehensive satellite positioning of this car " positioning subsystem tests the speed " and the sensing location of testing the speed are given this vehicle speed information (V), location information (L) and direction information (D) " collision protection fail-safe computer ";
(2) " collision protection fail-safe computer " is sent to two places with speed, position, the direction information of this car: be presented on " the man-machine interaction subsystem " of this car on the one hand, supply Ben Che driver to understand the operation attitude information of train; Give on the one hand " car car communication subsystem ".
(3) " car car communication subsystem " propagated through the mode of broadcasting the train running information of this car in certain communication range, receives the operation information of other broadcasting for train simultaneously, and gives this car " collision protection fail-safe computer ".
(4) " collision protection fail-safe computer " combines the train operation attitude information of this car and the operation attitude information of other train of " car car communication subsystem " reception; Line information in conjunction with " electronic map database "; Carry out the calculating of collision protection possibility, and give " man-machine interaction subsystem " result of calculation.
(5) " man-machine interaction subsystem " provides the suggestion of audible and visual alarm signal and operation measure when the collision possibility.Remind the driver to take necessary brake measure, avoid the train collision.
(6) " CAS-T " utilizes independently " car car communication subsystem ", and directly mutual train running speed, position and direction information between train and train in the time of can between train and train, having risk of collision, in time provide early warning information and protection prompting.The safe overlapping system of " CAS-T " conduct " CTCS " and " CTCS " while on-line operation; When the train interval controllable function imperfection (for example: control center's malfunction, train-ground communication are not smooth etc.) of " CTCS ", " CAS-T " but independent operating is avoided the collision between train.
Car car communication subsystem is the core technology of CAS-T.The communication standard of being selected for use according to vehicle-carrying communication unit in the CAS-T car car communication subsystem and the difference of mode of operation can be divided into two kinds with the CAS-T system:
(1) semiduplex mode
Under this kind mode of operation, need the driver to go the triggering system action, system is divided into normal and two kinds of mode of operations of alarm.
Normal condition: when train was in normal operation mode of operation, the vehicle-carrying communication unit was in receiving condition, did not have the data of transmission.
Alarm status: when train is in malfunction shutdown or improper going; By the train operator by behind the fault key; The vehicle-carrying communication unit periodically sends a warning message, and relevant alarm prompt (sound, light) is handled and sent to the train in the certain limit after receiving this warning information, and the prompting driver carries out fault recognition; Carry out Reduced Speed Now or shut-down operation, avoid the generation of rear-end collision.
(2) dual-mode
Under this kind mode of operation, the vehicle-carrying communication unit is received and dispatched train position and other relevant information automatically real-time and is collided the judgement of possibility.Can guarantee that the driver can obtain the operation attitude of up-to-date contiguous train, in time reminds the driver to take corresponding actions, in order to guarantee train operating safety.
The difference statement of car car signalling methods, for example: based on the train collision protection system of vehicle-mounted self-organizing network (VANET, MANET etc.).
Different statements with the train operation control system binding pattern.As be suitable for the collision protection system of different train operations control grades (CTCS-2 level, CTCS-3 level and CTCS-4 level).
Should be understood that, concerning those of ordinary skills, can improve or conversion, and all these improvement and conversion all should belong to the protection domain of accompanying claims of the present invention according to above-mentioned explanation.
Claims (2)
1. the CTCS safety stack train collision protection system based on the communication of car car is characterized in that, comprising:
The positioning subsystem that tests the speed is arranged on the train, accurately knows train velocity information, location information and direction information on the line;
Car car communication subsystem: to velocity information, location information and the direction information of other these cars of broadcasting for train, receive velocity information, location information and the direction information that comes from other trains on the one hand on the one hand; In certain communication coverage, adopt half duplex operation or dual-mode to receive and send train speed information, location information and direction information;
The collision protection fail-safe computer; Velocity information, location information and the direction information of the velocity information of cumulated volume car, location information and direction information and the contiguous train that receives from car car communication subsystem also combines electronic map data; Calculate and analyze the collision possibility, can provide alarm prompt and dispose suggestion according to the collision rank;
Electronic map database is for the collision protection fail-safe computer and the positioning subsystem that tests the speed provide electronic map data;
The man-machine interaction subsystem is accomplished the input of train data, and collision provides the display alarm prompting in the time of possibly taking place.
2. the collision protection method of train collision protection according to claim 1 system is characterized in that, may further comprise the steps:
(1) this car tests the speed positioning subsystem with this vehicle speed information, location information and direction information, gives the collision protection fail-safe computer;
(2) the collision protection fail-safe computer is sent to two places with velocity information, location information and the direction information of this car: be presented on the man-machine interaction subsystem of this car on the one hand, supply Ben Che driver to understand the operation attitude information of train; Give car car communication subsystem on the one hand;
(3) car car communication subsystem is propagated through the mode of broadcasting velocity information, location information and the direction information of this car in certain communication range; Receive velocity information, location information and the direction information of other broadcasting for train simultaneously, and give this car collision protection fail-safe computer;
(4) the collision protection fail-safe computer combines train speed information, location information and the direction information of this car and velocity information, location information and the direction information of other train that the Che Che communication subsystem receives; Line information in conjunction with electronic map database; Carry out the calculating of collision protection possibility, and give the man-machine interaction subsystem result of calculation;
(5) the man-machine interaction subsystem, spoken possibly take place the time in collision, light warning signal and operation measure suggestion.Remind the driver to take necessary brake measure, avoid the train collision.
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Application publication date: 20121003 |