CN105501259A - Ground control method and system for CBTC - Google Patents
Ground control method and system for CBTC Download PDFInfo
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- CN105501259A CN105501259A CN201510863492.1A CN201510863492A CN105501259A CN 105501259 A CN105501259 A CN 105501259A CN 201510863492 A CN201510863492 A CN 201510863492A CN 105501259 A CN105501259 A CN 105501259A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- PLAIAIKZKCZEQF-UHFFFAOYSA-N methyl 6-chloro-2-oxo-3h-1,2$l^{4},3-benzodithiazole-4-carboxylate Chemical compound COC(=O)C1=CC(Cl)=CC2=C1NS(=O)S2 PLAIAIKZKCZEQF-UHFFFAOYSA-N 0.000 title claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 56
- 238000013475 authorization Methods 0.000 claims abstract description 31
- 238000013459 approach Methods 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Classifications
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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
- B61L27/70—Details of trackside communication
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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
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
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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
- B61L27/30—Trackside multiple control systems, e.g. switch-over between different systems
-
- 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
- B61L27/40—Handling position reports or trackside vehicle data
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention provides a CBTC ground control system comprising a control subsystem; the control subsystem comprises a communication controller and an industrial control computer; the industrial control computer is used for generating a control order according to wayside equipment state information and station information of a controlled train and front and following trains of the controlled train; the control order comprises a control instruction used for controlling the wayside equipment and a mobile authorization used for controlling the controlled train; the communication controller is used for sending the control instruction, controlling the wayside equipment, to the wayside equipment, and used for sending the mobile authorization, controlling the controlled train, to the controlled train. The method and system can control the wayside equipment and train, can reduce system complexity and interface quantity, and can reduce information transmission delay property, thus keeping a low maintenance cost and fast information transmission speed.
Description
Technical field
The present invention relates to train operation control system field, particularly relate to the ground controlled approach and system that are applicable to CBTC.
Background technology
Along with the fast development of urbanization, urban track traffic is comfortable with it, low-carbon (LC), efficient, safe advantage, in the go off daily vehicle of people, occupy more and more higher ratio.At present, urban track traffic runs control technology with the movable block whistle control system technology based on CBTC (CommunicationBasedTrainControl, the train auto-matic control based on communication) is core mainstream scheme.This whistle control system scheme by Large Copacity vehicle-ground wireless communication transmission media, to realize between train and ground in real time or periodically two way communication.This system mainly comprises: vehicle-mounted VOBC (VehicleOn-BoardController, Vehicle Controller) equipment, ground region controller ZC (ZoneController, zone controller) subsystem, interlocking CI (ComputerInterlocking, computer interlock) system, transmission over radio DCS (DatabaseCommunicationSystem, data communication system (DCS)) system, center control ATS (AutomaticTrainSupervision, train automatic monitoring system) system and for locating and the transponder device etc. of point type standby.Wherein, ground control system mainly comprises ZC subscriber device, interlocking CI system equipment etc.
There is following defect in ground control system of the prior art:
(1) equipment construction and maintenance cost high, because ground ZC subscriber device and trackside CI system equipment operate in different industry control machines respectively, considerably increase construction cost and the maintenance cost of wayside equipment.
(2) system complex, interface is various, and system interface message is each other also more, adds the complexity of system, thus adds the maintenance cost of system, simultaneously due to the retardance of the information transmission between system, reduces the real-time of system.
Therefore, how simplifying ground control system, reducing the complexity of system is urgent problem.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is the complexity of how to simplify ground control system, reducing system.
(2) technical scheme
First aspect, the invention provides a kind of ground control system being applicable to CBTC, comprising: control subsystem;
Described control subsystem comprises: communication controller and industrial control computer;
Described industrial control computer, for according to the status information of trackside equipment with controlled train and this is generated control command by the status information being controlled train before and after train;
Described control command comprises the control command for controlling trackside equipment and is controlled the mobile authorization of train for controlling;
Described communication controller, for the described control command being used for controlling trackside equipment is sent to trackside equipment, and controls to be sent to by control train by the mobile authorization controlling train by being used for.
Preferably, described industrial control computer also for, when being controlled train and sailing the region that adjacent ground control system controls from the region that described ground control system controls into, sent to adjacent ground control system by described by the mobile authorization controlling train; And receive that adjacent ground control system sends controlled the mobile authorization of train.
Preferably, the quantity of described control subsystem is two; Each control subsystem comprises two industrial control computers, and comprises fault tolerant secure administrative unit;
In first control subsystem, first industrial control computer is also for carrying out data exchange with the second industrial control computer, judge that whether the first industrial control computer is identical with the control command that the second industrial control computer generates, and generate the first judged result and send to fault tolerant secure administrative unit;
Second industrial control computer is also for carrying out data exchange with the first industrial control computer, judge that whether the first industrial control computer is identical with the control command that the second industrial control computer generates, and generate the second judged result and send to fault tolerant secure administrative unit;
Fault tolerant secure administrative unit is used for when the first judged result and the second judged result are all for being, controls industrial control computer and control command is sent to communication controller, and controls this communication controller and export this control command;
In second control subsystem, it is all no that fault tolerant secure administrative unit is used for the first judged result and the second judged result in the first control subsystem or the first judged result is different with the second judged result and the first judged result in the second control subsystem and the second judged result all for being time, control command is sent to the communication controller in the second control subsystem by the industrial control computer controlled in the second control subsystem, and controls this communication controller and export this control command.
Preferably, in each control subsystem, described fault tolerant secure administrative unit also controls and Energy control for carrying out reset to described first industrial control computer, described second industrial control computer and communication controller.
Second aspect, the invention provides a kind of ground controlled approach being applicable to CBTC, and in the ground control system of CBTC, described ground control system comprises control subsystem; Described control subsystem comprises: communication controller and industrial control computer; The method comprises:
Industrial control computer is generated control command according to the status information of trackside equipment with by control train and this by the status information being controlled train before and after train;
Described control command comprises the control command for controlling trackside equipment and is controlled the mobile authorization of train for controlling;
The described control command being used for controlling trackside equipment is sent to trackside equipment by communication controller, and controls to be sent to by control train by the mobile authorization controlling train by being used for.
Preferably, described method also comprises:
When being controlled train and sailing the region that adjacent ground control system controls from the region that described ground control system controls into, described industrial control computer sends to adjacent ground control system by by the mobile authorization controlling train; And other receiving that adjacent ground control system sends is controlled the mobile authorization of train.
Preferably, described ground control system comprises the first control subsystem and the second control subsystem, and the method also comprises:
In first control subsystem, first industrial control computer and the second industrial control computer carry out data exchange, judge that whether the first industrial control computer is identical with the control command that the second industrial control computer generates respectively, and generate the first judged result respectively and the second judged result sends to fault tolerant secure administrative unit;
When the first judged result and the second judged result are all for being, fault tolerant secure administrative unit controls industrial control computer and control command is sent to communication controller, and controls this communication controller and export this control command;
In second control subsystem, in the first control subsystem the first judged result and the second judged result be all no or the first judged result is different with the second judged result and the first judged result in the second control subsystem and the second judged result all for being time, control command is sent to the communication controller in the second control subsystem by the fault tolerant secure administrative unit industrial control computer controlled in the second control subsystem, and controls this communication controller and export this control command.
Preferably, described method also comprises:
In each control subsystem, fault tolerant secure administrative unit is carried out reset to described first industrial control computer, described second industrial control computer and communication controller and is controlled and Energy control.
(3) beneficial effect
In the present invention, industrial control computer is generated control command according to the status information of trackside equipment with by control train and this by the status information being controlled train before and after train; Described control command comprises the control command for controlling trackside equipment and is controlled the mobile authorization of train for controlling; The described control command being used for controlling trackside equipment is sent to trackside equipment by communication controller, and controls to be sent to by control train by the mobile authorization controlling train by being used for.Scheme provided by the invention, achieves the control to trackside equipment and train, and reduces the complexity of system, decrease interface quantity, reduce the retardance of information transmission, thus maintenance cost is low, information transfer rate is fast.
Accompanying drawing explanation
Fig. 1 is a kind of schematic diagram being applicable to the ground control system of CBTC that embodiment of the present invention provides;
Fig. 2 is the annexation schematic diagram of the ground control system that provides of embodiment of the present invention and other device;
Fig. 3 is the structural representation of the control subsystem that embodiment of the present invention provides;
Fig. 4 is the annexation schematic diagram of two control subsystem that embodiment of the present invention provides;
Fig. 5 is a kind of schematic diagram being applicable to the ground controlled approach of CBTC that embodiment of the present invention provides.
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 is a kind of schematic diagram being applicable to the ground control system of CBTC that embodiment of the present invention provides, and comprises control subsystem;
Described control subsystem comprises: communication controller 11 and industrial control computer 12;
Described industrial control computer 12, for according to the status information of trackside equipment with controlled train and this is generated control command by the status information being controlled train before and after train;
Described control command comprises the control command for controlling trackside equipment and is controlled the mobile authorization of train for controlling;
Described communication controller 11, for the described control command being used for controlling trackside equipment is sent to trackside equipment, and controls to be sent to by control train by the mobile authorization controlling train by being used for.
Adopt the scheme that the present embodiment provides, industrial control computer 12 is generated control command according to the status information of trackside equipment with by control train and this by the status information being controlled train before and after train; The control command controlling trackside equipment is sent to trackside equipment by communication controller 11, and is sent to by control train by controlling the mobile authorization of train (MovementAuthority is called for short MA); Achieve the control to trackside equipment and train, and reduce the complexity of system, decrease interface quantity, reduce the retardance of information transmission, thus maintenance cost is low, information transfer rate is fast.
In the specific implementation, above-mentioned trackside equipment can comprise: track switch, signal, platform screen door, emergency stop push button etc.; The status information of above-mentioned trackside equipment can comprise: the location information (such as track switch location, track switch antiposition, track switch four are opened) of track switch, the status information of signal, the status information of platform screen door, the status information, orbit occupancy information etc. of emergency stop push button;
Preferably, said system can be connected with trackside information collecting device, thus receives the status information of the trackside equipment that trackside information collecting device sends, and trackside information collecting device can comprise meter shaft rack, interlocking electric modular block rack, ground junction box etc.
In the specific implementation, the above-mentioned control command for controlling trackside equipment can be specifically for: the aspects such as access way control, route release, the control of track switch signal, orbit occupancy renewal, the control of platform screen door, the control of emergency stop push button and management.
In the specific implementation, said system can be connected with ground control system handling labor station, and this ground control system handling labor station is mainly used in the maintenance to ground control system, the mode of operation of record ground control system and failure message;
In the specific implementation, said system can connect station operator workstation, can also be connected by ATC exchange with Vehicle Controller;
Preferably, the annexation at said system and trackside trackside information collecting device, ground control system handling labor station etc. as shown in Figure 2, LEU (LinesideElectronicUnit in figure, LEU) for data acquisition and procession, LEU is connected with loop wire responser, variable responser, filling responser and fixing responser etc. by lightning prevention junction cabinet.
In the specific implementation, above-mentioned communication controller can adopt COTS (CommercialOffTheShelf, commerical off-the-shelf) industrial control computer to realize, and other also can be adopted to have the device of communication function.
In the specific implementation, above-mentionedly can be comprised by the status information controlling train before and after train by control train and this: controlled the information such as ID, position, direction, speed, vehicle commander of train before and after train by control train and this, and controlled the route information etc. of train.Industrial control computer 12 is controlled train and this to be screened train by the status information controlling train before and after train and to sort according to above-mentioned, and calculates the mobile authorization of train; This mobile authorization may be used for for train computation speed curve, thus carries out overspeed protection and prevent train from overtaking collision, assist train safety traffic.
Further, described industrial control computer 12 can also be used for, when being controlled train and sailing the region that adjacent ground control system controls from the region that described ground control system controls into, send to adjacent ground control system by by the mobile authorization controlling train; And receive that adjacent ground control system sends controlled the mobile authorization of train.
The benefit done like this is, completes the control blocked operation to train when train sails the region that adjacent ground control system controls into, ensure that train safely, run at high speed.
Preferably, the quantity of described control subsystem can be two; Each control subsystem can comprise two industrial control computers, and comprises fault tolerant secure administrative unit;
In first control subsystem, first industrial control computer is also for carrying out data exchange with the second industrial control computer, judge that whether the first industrial control computer is identical with the control command that the second industrial control computer generates, and generate the first judged result and send to fault tolerant secure administrative unit;
Second industrial control computer is also for carrying out data exchange with the first industrial control computer, judge that whether the first industrial control computer is identical with the control command that the second industrial control computer generates, and generate the second judged result and send to fault tolerant secure administrative unit;
Fault tolerant secure administrative unit is used for when the first judged result and the second judged result are all for being, controls industrial control computer and control command is sent to communication controller, and controls this communication controller and export this control command;
In second control subsystem, it is all no that fault tolerant secure administrative unit is used for the first judged result and the second judged result in the first control subsystem or the first judged result is different with the second judged result and the first judged result in the second control subsystem and the second judged result all for being time, control command is sent to the communication controller in the second control subsystem by the industrial control computer controlled in the second control subsystem, and controls this communication controller and export this control command.
Adopt this structure, add the practicality of system.
Fig. 3 is the structural representation of each control subsystem, two control subsystem can form 2 take advantage of 2 get 2 structure.
In the specific implementation, in each control subsystem, fault tolerant secure administrative unit (FoultTolerantandSafetyManagement is called for short FTSM) can comprise safety electric source plate, input/output board, communication board, logic card, AC220V-DC12V power supply module, 3U assembly, source of AC control assembly etc.
In the specific implementation, above-mentioned first industrial control computer 31 and the second industrial control computer 32 can pass through Intranet (such as ethernet) and export control command, fault tolerant secure administrative unit 33 gets the control command of the first industrial control computer 31 and the output of the second industrial control computer 32 by Intranet, and controls communication controller 34 by Intranet.Communication controller 34 is sent by the control command of outer net by industrial control computer; Concrete annexation as shown in Figure 4.
Further, in each control subsystem, described fault tolerant secure administrative unit 33 can also be used for carrying out reset to described first industrial control computer 31, described second industrial control computer 32 and communication controller 34 and control and Energy control.
Such benefit is, fault tolerant secure administrative unit controls and Energy control carrying out reset, improves the efficiency of management of system.
In the specific implementation, in the first industrial control computer, the second industrial control computer and communication controller, IPC (IndustrialPersonalComputer can be installed, industrial control computer) reset control desk, be convenient to fault tolerant secure administrative unit and reset control is carried out to it.
Adopt the scheme that the present embodiment provides, achieve the control to trackside equipment and train, and reduce the complexity of system, decrease interface quantity, thus system maintenance cost is low, information transfer rate is fast.
See Fig. 5, a kind of schematic diagram being applicable to the ground controlled approach of CBTC that embodiment of the present invention provides, described method is used in the ground control system of CBTC, and described ground control system comprises control subsystem; Described control subsystem comprises: communication controller and industrial control computer; The method comprises:
S51: industrial control computer is generated control command according to the status information of trackside equipment with by control train and this by the status information being controlled train before and after train;
S52: described control command comprises the control command for controlling trackside equipment and controlled the mobile authorization of train for controlling;
S53: the described control command being used for controlling trackside equipment is sent to trackside equipment by communication controller, and control to be sent to by control train by the mobile authorization controlling train by being used for.
Preferably, described method can also comprise:
When being controlled train and sailing the region that adjacent ground control system controls from the region that described ground control system controls into, described being used for controls to be sent to adjacent ground control system by the mobile authorization controlling train by described industrial control computer; And other receiving that adjacent ground control system sends is controlled the mobile authorization of train.
Further, described ground control system comprises the first control subsystem and the second control subsystem, and the method can also comprise:
In first control subsystem, first industrial control computer and the second industrial control computer carry out data exchange, judge that whether the first industrial control computer is identical with the control command that the second industrial control computer generates respectively, and generate the first judged result respectively and the second judged result sends to fault tolerant secure administrative unit;
When the first judged result and the second judged result are all for being, fault tolerant secure administrative unit controls industrial control computer and control command is sent to communication controller, and controls this communication controller and export this control command;
In second control subsystem, in the first control subsystem the first judged result and the second judged result be all no or the first judged result is different with the second judged result and the first judged result in the second control subsystem and the second judged result all for being time, control command is sent to the communication controller in the second control subsystem by the fault tolerant secure administrative unit industrial control computer controlled in the second control subsystem, and controls this communication controller and export this control command.
Preferably, described method can also comprise:
In each control subsystem, fault tolerant secure administrative unit is carried out reset to described first industrial control computer, described second industrial control computer and communication controller and is controlled and Energy control.
The method adopting the present embodiment to provide, achieves the control to trackside equipment and train, and reduce the complexity of system, decrease interface quantity, reduce the retardance of information transmission, thus maintenance cost is low, information transfer rate is fast.
Above embodiment is only for illustration of the present invention; and be not limitation of the present invention; the those of ordinary skill of relevant technical field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all equivalent technical schemes also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (8)
1. be applicable to a ground control system of CBTC, it is characterized in that, comprise control subsystem;
Described control subsystem comprises: communication controller and industrial control computer;
Described industrial control computer, for according to the status information of trackside equipment with controlled train and this is generated control command by the status information being controlled train before and after train;
Described control command comprises the control command for controlling trackside equipment and is controlled the mobile authorization of train for controlling;
Described communication controller, for the described control command being used for controlling trackside equipment is sent to trackside equipment, and controls to be sent to by control train by the mobile authorization controlling train by being used for.
2. system according to claim 1, it is characterized in that, described industrial control computer also for, when being controlled train and sailing the region that adjacent ground control system controls from the region that described ground control system controls into, sent to adjacent ground control system by described by the mobile authorization controlling train; And receive that adjacent ground control system sends controlled the mobile authorization of train.
3. system according to claim 1, is characterized in that, the quantity of described control subsystem is two; Each control subsystem comprises two industrial control computers, and comprises fault tolerant secure administrative unit;
In first control subsystem, first industrial control computer is also for carrying out data exchange with the second industrial control computer, judge that whether the first industrial control computer is identical with the control command that the second industrial control computer generates, and generate the first judged result and send to fault tolerant secure administrative unit;
Second industrial control computer is also for carrying out data exchange with the first industrial control computer, judge that whether the first industrial control computer is identical with the control command that the second industrial control computer generates, and generate the second judged result and send to fault tolerant secure administrative unit;
Fault tolerant secure administrative unit is used for when the first judged result and the second judged result are all for being, controls industrial control computer and control command is sent to communication controller, and controls this communication controller and export this control command;
In second control subsystem, it is all no that fault tolerant secure administrative unit is used for the first judged result and the second judged result in the first control subsystem or the first judged result is different with the second judged result and the first judged result in the second control subsystem and the second judged result all for being time, control command is sent to the communication controller in the second control subsystem by the industrial control computer controlled in the second control subsystem, and controls this communication controller and export this control command.
4. system according to claim 3, it is characterized in that, in each control subsystem, described fault tolerant secure administrative unit also controls and Energy control for carrying out reset to described first industrial control computer, described second industrial control computer and communication controller.
5. be applicable to a ground controlled approach of CBTC, it is characterized in that, in the ground control system of CBTC, described ground control system comprises control subsystem; Described control subsystem comprises: communication controller and industrial control computer; The method comprises:
Industrial control computer is generated control command according to the status information of trackside equipment with by control train and this by the status information being controlled train before and after train;
Described control command comprises the control command for controlling trackside equipment and is controlled the mobile authorization of train for controlling;
The described control command being used for controlling trackside equipment is sent to trackside equipment by communication controller, and controls to be sent to by control train by the mobile authorization controlling train by being used for.
6. method according to claim 5, is characterized in that, described method also comprises:
When being controlled train and sailing the region that adjacent ground control system controls from the region that described ground control system controls into, described industrial control computer sends to adjacent ground control system by by the mobile authorization controlling train; And receive that adjacent ground control system sends controlled the mobile authorization of train.
7. method according to claim 5, it is characterized in that, described ground control system comprises the first control subsystem and the second control subsystem, and each control subsystem comprises two industrial control computers, and comprise fault tolerant secure administrative unit, the method also comprises:
In first control subsystem, first industrial control computer and the second industrial control computer carry out data exchange, judge that whether the first industrial control computer is identical with the control command that the second industrial control computer generates respectively, and generate the first judged result respectively and the second judged result sends to fault tolerant secure administrative unit;
When the first judged result and the second judged result are all for being, fault tolerant secure administrative unit controls industrial control computer and control command is sent to communication controller, and controls this communication controller and export this control command;
In second control subsystem, in the first control subsystem the first judged result and the second judged result be all no or the first judged result is different with the second judged result and the first judged result in the second control subsystem and the second judged result all for being time, control command is sent to the communication controller in the second control subsystem by the fault tolerant secure administrative unit industrial control computer controlled in the second control subsystem, and controls this communication controller and export this control command.
8. method according to claim 7, is characterized in that, described method also comprises:
In each control subsystem, fault tolerant secure administrative unit is carried out reset to described first industrial control computer, described second industrial control computer and communication controller and is controlled and Energy control.
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| CN201510863492.1A CN105501259B (en) | 2015-12-01 | 2015-12-01 | Suitable for the ground controlled approach and system of CBTC |
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Cited By (5)
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| CN106494457A (en) * | 2016-12-19 | 2017-03-15 | 兰州交通大学 | CBTC and regional interlock integral system and method |
| CN109562770A (en) * | 2016-07-29 | 2019-04-02 | 西门子移动有限公司 | For influencing the method and system of railroad vehicle |
| CN110803205A (en) * | 2019-11-27 | 2020-02-18 | 通号城市轨道交通技术有限公司 | Novel CBTC system architecture model |
| CN112960017A (en) * | 2021-03-30 | 2021-06-15 | 北京城建设计发展集团股份有限公司 | Vehicle-mounted underground train operation control system and method based on fog calculation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109562770A (en) * | 2016-07-29 | 2019-04-02 | 西门子移动有限公司 | For influencing the method and system of railroad vehicle |
| CN109562770B (en) * | 2016-07-29 | 2021-05-25 | 西门子交通有限公司 | Method and system for influencing a rail vehicle |
| CN106494457A (en) * | 2016-12-19 | 2017-03-15 | 兰州交通大学 | CBTC and regional interlock integral system and method |
| CN106494457B (en) * | 2016-12-19 | 2018-11-13 | 兰州交通大学 | CBTC and regional interlock integral system and method |
| CN110803205A (en) * | 2019-11-27 | 2020-02-18 | 通号城市轨道交通技术有限公司 | Novel CBTC system architecture model |
| CN110803205B (en) * | 2019-11-27 | 2021-10-08 | 通号城市轨道交通技术有限公司 | Novel CBTC system architecture model |
| CN113022657A (en) * | 2021-03-23 | 2021-06-25 | 上海电气泰雷兹交通自动化系统有限公司 | Improved CBTC system and digital rail transit train control method |
| CN112960017A (en) * | 2021-03-30 | 2021-06-15 | 北京城建设计发展集团股份有限公司 | Vehicle-mounted underground train operation control system and method based on fog calculation |
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|---|---|
| CN105501259B (en) | 2017-03-29 |
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