CN105292185A - Unmanned driving control system - Google Patents
Unmanned driving control system Download PDFInfo
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- CN105292185A CN105292185A CN201510802471.9A CN201510802471A CN105292185A CN 105292185 A CN105292185 A CN 105292185A CN 201510802471 A CN201510802471 A CN 201510802471A CN 105292185 A CN105292185 A CN 105292185A
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Abstract
The invention provides an unmanned driving control system. The unmanned driving control system comprises a TIAS, a CI, a trackside ATP, a train-mounted ATP and a train-mounted ATO. The CI is connected with train outside equipment, the trackside ATP and the TIAS and used for achieving interaction with the train outside equipment, the trackside ATP and the TIAS. The trackside ATP is connected with the train-mounted ATP and the TIAS and used for achieving interaction with the train-mounted ATP and the TIAS. The train-mounted ATP is connected with the train-mounted ATO and the TIAS and used for achieving interaction with the train-mounted ATO and the TIAS. The train-mounted ATO is used for achieving interaction with the train-mounted ATP. The TIAS is used for achieving interaction with the CI, the trackside ATP and the train-mounted ATP. The TIAS, the CI, the trackside ATP and the train-mounted ATP are in interaction, the signals of the TIAS, the CI, the trackside ATP and the train-mounted ATP are received, linkage signals are generated according to the received signals, the CI, the trackside ATP and the train-mounted ATP are in linkage according to the linkage signals, and therefore the unmanned driving control system can achieve automatic control over moving, running, stopping and door opening and closing, linkage control during failures or alarming and the like can be achieved, and the automation degree is higher.
Description
Technical field
The present invention relates to a kind of driverless operation control system.
Background technology
China's urban rail transit construction has stepped into the high speed development stage, and a considerable amount of rail line has been opened in each large-and-medium size cities.The growth of opening number of, lines brings the safety of operation, efficiency, manpower pressure significantly to increase.Particularly newly open circuit and need a large amount of drivers, station attendant, dispatcher, maintainer, and skilled staff needs the quite a while to recruit and cultivates, be difficult to tackle current track traffic speed of development, and human cost is also sizable part input.
For this problem, carry out the research of relevant work abroad already.In May, 1984, Lille, France builds up Article 1 driverless operation subway line road in the world.Subsequently, the application of external Unmanned Systems increases gradually, especially the new subway circuit of driverless operation technology was adopted in recent years exponentially to increase, as Copenhagen subway, Singapore's Northeast Line, Nuremburge U3 line, Dubai red line etc. all adopt driverless operation technology.China has two at present according to the circuit of driverless operation level design, and Beijing Airport line and Shanghai No. 10 line, by foreign vendor's design and establishing.
By to the research in domestic and international driverless operation technology application process and summary, find that Unmanned Systems only controls automatically to the startup of train, operation, parking and switch gate, therefore existing Unmanned Systems only can meet unpiloted basic controlling requirement, otherwise demand is not being met, therefore what other additional functioies were mainly realized by operation personnel causes the degree of automation of Unmanned Systems not high enough, needs the problem of at substantial manpower.
Summary of the invention
The invention provides the driverless operation control system that a kind of degree of automation is higher.
A kind of driverless operation control system, comprising: TIAS, CI, trackside ATP, vehicle-mounted ATP and vehicle-mounted ATO;
Described CI, be connected respectively with train exterior equipment, trackside ATP, TIAS, for receiving the status information of described train exterior equipment, the status information of described train exterior equipment is sent to described TIAS and trackside ATP, and receive the coordinated signals signal of TIAS transmission, train exterior equipment according to described coordinated signals signal control;
Described trackside ATP, also be connected respectively with described vehicle-mounted ATP and TIAS, for the status information of the running state information and described train exterior equipment that obtain train, the running state information of described train is sent to described TIAS, also receive the coordinated signals signal of described TIAS, and send mobile authorization according to the status information of described coordinated signals signal and described train exterior equipment to described vehicle-mounted ATP;
Described vehicle-mounted ATP, also be connected respectively with described vehicle-mounted ATO and TIAS, for sending the running state information of train to described trackside ATP and TIAS, and receive the coordinated signals signal of described TIAS, according to described coordinated signals calculated signals velocity protection curve, and described velocity protection curve is sent to described ATO;
Vehicle-mounted ATO, for receiving described velocity protection curve, according to the power system of described velocity protection curve controlled train, to make described power system according to described target velocity circular motion;
Described TIAS, for receiving the signal that described CI, trackside ATP and vehicle-mounted ATP send, generates described coordinated signals signal according to the signal that described CI, trackside ATP and vehicle-mounted ATP send.
Further, described CI, also connects described vehicle-mounted ATP, for sending the status information of described train exterior equipment to described vehicle-mounted ATP, and receives the running state information of described train;
Described vehicle-mounted ATP, for sending the running state information of described train to described CI, receives the status information of described train exterior equipment, and according to the status information of described train exterior equipment and described coordinated signals calculated signals velocity protection curve.
Further, also warning is comprised;
Described warning, is connected with described TIAS, for sending alerting signal to described TIAS;
Described TIAS, for receiving described alerting signal, and generates described coordinated signals signal according to the signal that described alerting signal, described CI, trackside ATP and vehicle-mounted ATP send.
Further, described TIAS also comprises detection interface;
Described detection interface, for receiving detection signal, and generates described coordinated signals signal according to the signal that described detection signal, described CI, trackside ATP and vehicle-mounted ATP send.
Further, also comprise: actuating equipment in standing;
Actuating equipment in described station, is connected with described TIAS, for controlling the equipment in station, receives described coordinated signals signal, and the equipment in station according to described coordinated signals signal control.
Further, also comprise: audio frequency indicating equipment;
Described audio frequency indicating equipment, is connected with described TIAS, receives described coordinated signals signal, and carries out audio prompt according to described coordinated signals signal.
Described train exterior equipment can comprise: gate, motor washer, garage door, signal and track switch.
In described station, actuating equipment can comprise: comprehensive ticket sale system, Radio Train Dispatch Communication System, gate control system and building automation system.
Described audio frequency indicating equipment can comprise: platform loud system and passenger information service system.
The running state information of described train can comprise the switching information of train position information and railway platform door.
As shown from the above technical solution, TIAS of the present invention and described CI, trackside ATP and vehicle-mounted ATP can carry out information interaction, thus signal, vehicle, electromechanics, power supply, the multi-specialized interlock of connection can be realized, make driverless operation control system not only can realize moving, run, stop and the automatic control of switch gate, coordinated signals etc. when also can realize fault or report to the police, its degree of automation is higher; Originally can be controlled automatically to realize by system interlink by manually operated event, improve the operating efficiency of system; Owing to realizing the interlock of multisystem, the risk that single system cannot be learnt originally can share in whole driverless operation control system, thus the automatic control realization passing through to link is to the timely process of risk, improves safety; And decrease artificial participation, reduce hand labor intensity, and decrease operation cost.
Accompanying drawing explanation
The functional block diagram of the driverless operation control system that Fig. 1 provides for one embodiment of the invention.
Description of reference numerals
Vehicle-mounted ATO-5, vehicle-mounted ATP-3CI-4, trackside ATP-2, TIAS-1
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
Fig. 1 shows the functional block diagram of full-automatic unmanned driving's system that one embodiment of the invention provides.
As shown in Figure 1, a kind of driverless operation control system, comprising: TIAS1, CI4, trackside ATP2, vehicle-mounted ATP 3 and vehicle-mounted ATO5; Wherein, described TIAS1 is driving complex automatic system, described CI4 is interlock system, and described trackside ATP2 is trackside automatic protective system, and vehicle-mounted ATP 3 is automatic train protection system, vehicle-mounted ATO5 is train personal vehicle system, be a known systems, the personal vehicle system of its driver as an alternative, except the control realized the power system of crewless train, also comprise controls such as controlling car door automatic opening/closing, illumination, air-conditioning, electric heating, be not described in detail in this;
Described CI4, be connected respectively with described train exterior equipment, trackside ATP2, TIAS1, for receiving the status information of described train exterior equipment, the status information of described train exterior equipment is sent to described TIAS1 and trackside ATP2, and receive the coordinated signals signal of TIAS1 transmission, train exterior equipment according to described coordinated signals signal control; Described train exterior equipment comprises: gate, motor washer, garage door, signal and track switch etc., the status information of described train exterior equipment can be signal status information, switch status information etc., and the coordinated signals signal now received can comprise route to be handled and detaining car instruction etc.
Described trackside ATP2, also be connected respectively with described vehicle-mounted ATP 3 and TIAS1, for the status information of the running state information and described train exterior equipment that obtain train, the running state information of described train is sent to described TIAS1, also receive the coordinated signals signal of described TIAS1, and send mobile authorization according to the status information of described coordinated signals signal and described train exterior equipment to described vehicle-mounted ATP 3; The running state information of described train can comprise the switching information etc. of train position information, speed and railway platform door; The coordinated signals signal that now trackside ATP2 receives can comprise temporary speed limitation etc.Trackside ATP2 also can send quiet, dynamic test authorized order to vehicle-mounted ATP 3;
Described vehicle-mounted ATP 3, also be connected respectively with described vehicle-mounted ATO5 and TIAS1, for sending the running state information of train to described trackside ATP2 and TIAS1, and receive the coordinated signals signal of described TIAS1, according to described coordinated signals calculated signals velocity protection curve, and described velocity protection curve is sent to described ATO; The coordinated signals signal that vehicle-mounted ATP 3 receives herein can comprise and runs destination, the next stop, service direction, the instruction such as to dispatch a car immediately.
Vehicle-mounted ATO5, for receiving described velocity protection curve, according to the power system of described velocity protection curve controlled train, to make described power system according to described target velocity circular motion; ; The personal vehicle system of vehicle-mounted ATO5 driver as an alternative, except realization is to except the control of power system, also comprises controls such as controlling car door automatic opening/closing, illumination, air-conditioning, electric heating.
Described TIAS1, for receiving the signal that described CI4, trackside ATP2 and vehicle-mounted ATP 3 sends, generates described coordinated signals signal according to the signal that described CI4, trackside ATP2 and vehicle-mounted ATP 3 sends.The signal that described CI4, trackside ATP2 and vehicle-mounted ATP 3 sends is the signal that above-mentioned corresponding device sends to described TIAS1, the status information of train exterior equipment as described in CI4 transmission, the running state information of the train that vehicle-mounted ATP 3 or trackside ATP2 send.
Beneficial effect of the present invention is:
TIAS1 of the present invention and described CI4, trackside ATP2 and vehicle-mounted ATP 3 can carry out information interaction, thus signal, vehicle, electromechanics, power supply, the multi-specialized interlock of connection can be realized, make driverless operation control system not only can realize moving, run, stop and the automatic control of switch gate, coordinated signals etc. when also can realize fault or report to the police, its degree of automation is higher; Originally can be controlled automatically to realize by system interlink by manually operated event, improve the operating efficiency of system; Owing to realizing the interlock of multisystem, the risk that single system cannot be learnt originally can share in whole driverless operation control system, thus the automatic control realization passing through to link is to the timely process of risk, improves safety; And decrease artificial participation, reduce hand labor intensity, and decrease operation cost.
Further, described CI4, also connects described vehicle-mounted ATP 3, for sending the status information of described train exterior equipment to described vehicle-mounted ATP 3, and receives the running state information of described train; The status information of train exterior equipment now can be gate status information and carwash storehouse status information etc.;
Described vehicle-mounted ATP 3, for sending the running state information of described train to described CI4, receives the status information of described train exterior equipment, and according to the status information of described train exterior equipment and described coordinated signals calculated signals velocity protection curve.
Further, also warning is comprised;
Described warning, is connected with described TIAS1, for sending alerting signal to described TIAS1;
Described TIAS1, for receiving described alerting signal, and generates described coordinated signals signal according to the signal that described alerting signal, described CI4, trackside ATP2 and vehicle-mounted ATP 3 send.Warning is generally fire alarm or fault alarm.
Further, described TIAS1 also comprises detection interface;
Described detection interface, for receiving detection signal, and generates described coordinated signals signal according to the signal that described detection signal, described CI4, trackside ATP2 and vehicle-mounted ATP 3 send.Detect interface and can receive fault detection etc.
Further, also comprise: actuating equipment in standing;
Actuating equipment in described station, is connected with described TIAS1, for controlling the equipment in station, receives described coordinated signals signal, and the equipment in station according to described coordinated signals signal control.In described station, actuating equipment can comprise: comprehensive ticket sale system, Radio Train Dispatch Communication System, gate control system and building automation system.
Further, also comprise: audio frequency indicating equipment;
Described audio frequency indicating equipment, is connected with described TIAS1, receives described coordinated signals signal, and carries out audio prompt according to described coordinated signals signal.Described audio frequency indicating equipment can comprise: platform loud system and passenger information service system.
Below by a specific embodiment, the present invention is described:
Suppose to have the first and second the third three stations, when in train travelling process, during the third station presence of fire, the interlock treating process of each system is as follows:
Third station fire alarm system FAS sends fire alarm signal to TIAS1, and CCTV image is pushed on dispatching workstations by TIAS1 automatically, and provides alarm; TIAS1 starts fire disaster emergency pattern, and now each subsystem realizes fire disaster emergency process by automation interlock.
TIAS1 sends the fire disaster emergency pattern at this station to building automation system BAS, and the Escalator that BAS controls this station is out of service; Send the contingency mode at this station to comprehensive ticket sale system MLC, MLC controls this station gate and automatically opens, to evacuate passenger simultaneously.
TIAS1 sends the detaining car instruction at second station to CI4, CI4 closes the starting signal at second station immediately, and send this signal closing information to trackside ATP2, trackside ATP2 withdraws mobile authorization and (withdraws mobile authorization: the feasible region of the mobile authorization before amendment, the fact can be regarded as the new mobile authorization of transmission one), prevent train from entering the third station by second station.Vehicle-mounted ATP 3 recognizes mobile authorization and withdraws, and recalculates protection velocity curve, stops follow-up train leaving from station by emergency braking or traction excision.
TIAS1 sends to the third train-installed ATP3 in station information of dispatching a car immediately, the third train-installed ATO5 in station is started immediately and dispatches a car away from fire platform; And send stop jumping third station information to close to the third train-installed ATP3 in station, can judge whether leave the third station completely close to the third train-installed ATP3 in station, if can be completely leaving from station, then perform stop jumping, as the third station can not be left completely, then be parked in outside station.In train travelling process, vehicle-mounted ATP 3 implementing monitoring train operating safety, meets abnormal condition hard brake stop.
TIAS1 sends fire disaster emergency information to the passenger information service system PIS at the third station and platform loud system PA, and the third station PIS and PA points out platform fire and dredge passenger by broadcast and leave the third station as early as possible.
TIAS1 sends fire disaster emergency information to the train at stop jumping third station, after train receives this information, vehicle-carrying display screen is pointed out platform fire and passes through broadcast signal passengers stop jumping reason.
One of ordinary skill in the art will appreciate that: above each embodiment, only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of the claims in the present invention.
Claims (10)
1. a driverless operation control system, is characterized in that, comprising: TIAS, CI, trackside ATP, vehicle-mounted ATP and vehicle-mounted ATO;
Described CI, be connected respectively with train exterior equipment, trackside ATP, TIAS, for receiving the status information of described train exterior equipment, the status information of described train exterior equipment is sent to described TIAS and trackside ATP, and receive the coordinated signals signal of TIAS transmission, train exterior equipment according to described coordinated signals signal control;
Described trackside ATP, also be connected respectively with described vehicle-mounted ATP and TIAS, for the status information of the running state information and described train exterior equipment that obtain train, the running state information of described train is sent to described TIAS, also receive the coordinated signals signal of described TIAS, and send mobile authorization according to the status information of described coordinated signals signal and described train exterior equipment to described vehicle-mounted ATP;
Described vehicle-mounted ATP, also be connected respectively with described vehicle-mounted ATO and TIAS, for sending the running state information of train to described trackside ATP and TIAS, and receive the coordinated signals signal of described TIAS, according to described coordinated signals calculated signals velocity protection curve, and described velocity protection curve is sent to described ATO;
Vehicle-mounted ATO, for receiving described velocity protection curve, according to the power system of described velocity protection curve controlled train, to make described power system according to described target velocity circular motion;
Described TIAS, for receiving the signal that described CI, trackside ATP and vehicle-mounted ATP send, generates described coordinated signals signal according to the signal that described CI, trackside ATP and vehicle-mounted ATP send.
2. system according to claim 1, is characterized in that, described CI, also connects described vehicle-mounted ATP, for sending the status information of described train exterior equipment to described vehicle-mounted ATP, and receives the running state information of described train;
Described vehicle-mounted ATP, for sending the running state information of described train to described CI, receives the status information of described train exterior equipment, and according to the status information of described train exterior equipment and described coordinated signals calculated signals velocity protection curve.
3. system according to claim 1, is characterized in that, also comprises warning;
Described warning, is connected with described TIAS, for sending alerting signal to described TIAS;
Described TIAS, for receiving described alerting signal, and generates described coordinated signals signal according to the signal that described alerting signal, described CI, trackside ATP and vehicle-mounted ATP send.
4. system according to claim 1, is characterized in that, described TIAS also comprises detection interface;
Described detection interface, for receiving detection signal, and generates described coordinated signals signal according to the signal that described detection signal, described CI, trackside ATP and vehicle-mounted ATP send.
5. system according to claim 1, is characterized in that, also comprises: actuating equipment in standing;
Actuating equipment in described station, is connected with described TIAS, for controlling the equipment in station, receives described coordinated signals signal, and the equipment in station according to described coordinated signals signal control.
6. system according to claim 1, is characterized in that, also comprises: audio frequency indicating equipment;
Described audio frequency indicating equipment, is connected with described TIAS, receives described coordinated signals signal, and carries out audio prompt according to described coordinated signals signal.
7. system according to claim 1, is characterized in that, described train exterior equipment comprises: gate, motor washer, garage door, signal and track switch.
8. system according to claim 5, is characterized in that, in described station, actuating equipment comprises: comprehensive ticket sale system, Radio Train Dispatch Communication System, gate control system and building automation system.
9. system according to claim 6, is characterized in that, described audio frequency indicating equipment comprises: platform loud system and passenger information service system.
10. system according to claim 1, is characterized in that, the running state information of described train comprises the switching information of train position information and railway platform door.
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| CN107226099A (en) * | 2017-05-15 | 2017-10-03 | 交控科技股份有限公司 | A kind of train fully automatic operation method and system |
| CN107856703A (en) * | 2017-09-11 | 2018-03-30 | 浙江众合科技股份有限公司 | A kind of crewless train positions automatic recovery method |
| CN107878513A (en) * | 2017-09-11 | 2018-04-06 | 浙江众合科技股份有限公司 | A kind of unsceptered rescue mode of crewless train |
| CN109204007A (en) * | 2018-08-29 | 2019-01-15 | 江西理工大学 | A kind of unpiloted suspension type magnetic suspension train and its control method |
| CN109229149A (en) * | 2018-08-29 | 2019-01-18 | 交控科技股份有限公司 | Regional Rail Transit fully automatic operation interconnects train operation control system |
| CN109584420A (en) * | 2018-12-04 | 2019-04-05 | 上海掌腾信息科技有限公司 | Rail hands over fast open gate intelligence passing control system and its intelligent passing control method based on vena metacarpea identification in the system of pedestrian passage |
| CN109664920A (en) * | 2018-12-25 | 2019-04-23 | 交控科技股份有限公司 | Train position acquisition methods and device under RM mode |
| CN114655260A (en) * | 2022-03-25 | 2022-06-24 | 浙江大丰轨道交通装备有限公司 | Control system of unmanned tourist coach |
| CN115402385A (en) * | 2022-08-30 | 2022-11-29 | 通号城市轨道交通技术有限公司 | Emergency handling method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106515792A (en) * | 2016-11-17 | 2017-03-22 | 中车株洲电力机车有限公司 | Safety control method and device for railway vehicle section |
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| CN109229149A (en) * | 2018-08-29 | 2019-01-18 | 交控科技股份有限公司 | Regional Rail Transit fully automatic operation interconnects train operation control system |
| CN109204007A (en) * | 2018-08-29 | 2019-01-15 | 江西理工大学 | A kind of unpiloted suspension type magnetic suspension train and its control method |
| CN109584420A (en) * | 2018-12-04 | 2019-04-05 | 上海掌腾信息科技有限公司 | Rail hands over fast open gate intelligence passing control system and its intelligent passing control method based on vena metacarpea identification in the system of pedestrian passage |
| CN109664920A (en) * | 2018-12-25 | 2019-04-23 | 交控科技股份有限公司 | Train position acquisition methods and device under RM mode |
| CN109664920B (en) * | 2018-12-25 | 2021-03-12 | 交控科技股份有限公司 | Train position obtaining method and device in RM mode |
| CN114655260A (en) * | 2022-03-25 | 2022-06-24 | 浙江大丰轨道交通装备有限公司 | Control system of unmanned tourist coach |
| CN115402385A (en) * | 2022-08-30 | 2022-11-29 | 通号城市轨道交通技术有限公司 | Emergency handling method and system |
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