CN105539525B - Suitable for the Vehicle Controller remote failure repositioning method of full-automatic driving - Google Patents
Suitable for the Vehicle Controller remote failure repositioning method of full-automatic driving Download PDFInfo
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- CN105539525B CN105539525B CN201510886317.4A CN201510886317A CN105539525B CN 105539525 B CN105539525 B CN 105539525B CN 201510886317 A CN201510886317 A CN 201510886317A CN 105539525 B CN105539525 B CN 105539525B
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- 238000012545 processing Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000002955 isolation Methods 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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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
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- 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
- B61L2027/204—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation using Communication-based Train Control [CBTC]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of Vehicle Controller remote failure repositioning method suitable for full-automatic driving, including：Complex automatic system of driving a vehicle TIAS obtains device fault information and sends remote reset order or remote shunt order to Vehicle Controller VOBC according to fault type；If it is zero and when driver's cover plate is not switched on that train, which is in full-automatic driving pattern, train speed, received remote reset order or remote shunt order are sent to vehicle information management system TCMS by the VOBC；The TCMS carries out remote reset when receiving the remote reset order to train；Or, when the TCMS receives the remote shunt order, the equipment to train is bypassed；When the TIAS detect the TCMS meet dispatch a car condition when, to the VOBC send departure instructions so that train continue with full-automatic driving mode operation.The present invention, by long-range processing train fault in time, reaches the purpose for not influenceing train full-automatic driving to run when detecting vehicle trouble.
Description
Technical field
The present invention relates to train auto-matic control field, more particularly to a kind of Vehicle Controller suitable for full-automatic driving are remote
Journey failure reset method.
Background technology
With the fast development of track traffic, Rail Transit System experienced from pilot steering to semi-automatic driving again to complete
The transformation of automatic Pilot, the security and automaticity of Rail Transit System are also improved constantly.
Traditional non-full-automatic driving train in the process of running, causes train not transport normally in the event of equipment fault
OK, or when occurring vehicle fire influence normal operation, because the skilled operation degree by driver is influenceed, occurring above-mentioned to ask
Carry out failure reset or isolation promptly and accurately can not be ensured during topic, so as to have impact on efficiency of operation, in some cases even
The situation of large area influence operation occurs.
Due to the whole participation without driver during full-automatic driving train operation, when generation vehicle equipment failure
Or alarm lead to not ensure full-automatic driving in the case of, or vehicle detection to fire alarm when, in a short time can not
Got on the bus processing by personnel.Offer one kind is accomplished by this case on without car in the case that professional intervenes remotely to enter
The method that row is intervened, in order to which the equipment timely to vehicle after failure occurs is resetted or is bypassed, continues to protect to reach
Hold the purpose of train operation.
Therefore, in full-automatic driving, the method that a kind of remote failure of Vehicle Controller resets that provides is needed badly, to solve
The failure problems that vehicle arrangement occurs during full-automatic driving, to ensure the normal operation of train.
The content of the invention
One of purpose of the present invention is to provide a kind of Vehicle Controller remote failure suitable for full-automatic driving
Repositioning method, to solve train in the case of intervening when train breaks down under full-automatic driving pattern without professional on car
The technical problem that can not normally run.
For achieving the above object, the embodiments of the invention provide a kind of Vehicle Controller suitable for full-automatic driving
Remote failure repositioning method, including：
The complex automatic system TIAS of driving a vehicle obtains device fault information and according to fault type to Vehicle Controller VOBC
Send remote reset order or remote shunt order；
If it is zero and when driver's cover plate is not switched on that train, which is in full-automatic driving pattern, train speed, the VOBC is by institute
The remote reset order or remote shunt order received is sent to vehicle information management system TCMS；
The TCMS carries out remote reset when receiving the remote reset order to train；Or, the TCMS is received
To during the remote shunt order, the equipment to train is bypassed；
When the TCMS, which meets, dispatches a car condition, the departure instructions that the VOBC is sent according to the TIAS control train after
Continue with full-automatic driving mode operation.
Alternatively, in the step of driving complex automatic system TIAS obtains device fault information, including following step
Suddenly：
The TCMS obtains device fault information and is sent to the VOBC；
The said equipment fault information reporting is given driving complex automatic system TIAS by the VOBC.
Alternatively, it is described when the TIAS detect the TCMS meet dispatch a car condition when, dispatched a car to the VOBC
Instruction, so that train continues with before the step of full-automatic driving mode operation, in addition to：
The equipment state of the TCMS is reported the TIAS by the VOBC according to predetermined period.
Alternatively, received remote reset order or remote shunt order are sent to information of vehicles by the VOBC
In the step of management system TCMS, the remote reset order is sent to the TCMS by the VOBC by network mode.
Alternatively, the network mode is the one or more in bus, Serial Port Line and network.
Alternatively, it is right in the step of carrying out remote reset to train when the TCMS receives the remote reset order
First end automatic train operation device ATO powers breaker or the second end automatic train operation device ATO powers, and breaker enters
Row remote reset.
Alternatively, in the step of carrying out remote reset to train when the TCMS receives the remote reset order, also
To drivers' cab activation breaker, air compressor machine start control breaker, Train Control breaker, the first brake apparatus control power supply,
Second brake apparatus control power supply, the first control for brake power supply, the second control for brake power supply, safety return circuit power supply, bogie are remote
Journey isolation power supply, accessory power supply control, train activation control, the control of EIOM module for power supply, drivers' cab broadcast power supply, guest room
Broadcast power supply, radio main frame, vehicle-mounted fire alarm host supplying power, Car's door controlling power supply, the first car door power supply and the second car door
One or more kinds of progress remote resets in power supply.
Alternatively, when the TCMS receives the remote shunt order, in the step of being bypassed to the equipment of train,
When only one bogie air damping occurs not alleviating failure, remote shunt is carried out.
Alternatively, when the TCMS receives the remote shunt order, in the step of being bypassed to the equipment of train,
When only one bogie air damping occurs not alleviating failure, remote shunt is carried out to the bogie air damping.
Alternatively, when the TCMS receives the remote shunt order, in the step of being bypassed to the equipment of train,
Following equipment is unable to remote shunt, including：Urgent loop segments bypass, the bypass of train door closed state, traction allow bypass and
Door enables bypass.
Vehicle Controller VOBC is received after device fault information in the embodiment of the present invention, and logical according to train current state
Cross long-range failure reset method to re-power ATO breakers, make failure reset；It is detecting air bogie number of faults
When 1, the method that can be bypassed by remote failure cuts off unique bogie air damping, so as to bypass brake command.Pass through failure
Repositioning method, by remotely being handled in time, does not influence the full-automatic driving of train to run when detecting vehicle trouble.
Brief description of the drawings
The features and advantages of the present invention can be more clearly understood from by reference to accompanying drawing, accompanying drawing is schematical without that should manage
Solve to carry out any limitation to the present invention, in the accompanying drawings：
Fig. 1 is a kind of Vehicle Controller remote failure reset side suitable for full-automatic driving provided in an embodiment of the present invention
Method flow chart；
Fig. 2 is the timing diagram that remote failure provided in an embodiment of the present invention resets head end or tail end ATO breakers；
Fig. 3 is the timing diagram that remote failure provided in an embodiment of the present invention bypasses bogie air damping.
Embodiment
With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
The embodiments of the invention provide a kind of Vehicle Controller remote failure repositioning method suitable for full-automatic driving, such as
Shown in Fig. 1, including：
The complex automatic system TIAS of driving a vehicle obtains device fault information and according to fault type to Vehicle Controller VOBC
Send remote reset order or remote shunt order；
If it is zero and when driver's cover plate is not switched on that train, which is in full-automatic driving pattern, train speed, the VOBC is by institute
The remote reset order or remote shunt order received is sent to vehicle information management system TCMS；
The TCMS carries out remote reset when receiving the remote reset order to train；Or, the TCMS is received
To during the remote shunt order, the equipment to train is bypassed；
When the TCMS, which meets, dispatches a car condition, the departure instructions that the VOBC is sent according to the TIAS control train after
Continue with full-automatic driving mode operation.
Alternatively, the condition of dispatching a car is met when driving complex automatic system TIAS detects vehicle information management system TCMS
When, departure instructions are sent to the VOBC, so that train continues with before the step of full-automatic driving mode operation, in addition to：
The equipment state of the TCMS is reported the TIAS by the VOBC according to predetermined period.
Alternatively, received remote reset order or remote shunt order are sent to information of vehicles by the VOBC
In the step of management system TCMS, the remote reset order is sent to the TCMS by the VOBC by network mode.
Alternatively, it is right in the step of carrying out remote reset to train when the TCMS receives the remote reset order
First end automatic train operation device ATO powers breaker or the second end automatic train operation device ATO powers, and breaker enters
Row remote reset.
Alternatively, in the step of carrying out remote reset to train when the TCMS receives the remote reset order, also
To drivers' cab activation breaker, air compressor machine start control breaker, Train Control breaker, the first brake apparatus control power supply,
Second brake apparatus control power supply, the first control for brake power supply, the second control for brake power supply, safety return circuit power supply, bogie are remote
Journey isolation power supply, accessory power supply control, train activation control, the control of EIOM module for power supply, drivers' cab broadcast power supply, guest room
Broadcast power supply, radio main frame, vehicle-mounted fire alarm host supplying power, Car's door controlling power supply, the first car door power supply and the second car door
One or more kinds of progress remote resets in power supply.
Alternatively, when the TCMS receives the remote shunt order, in the step of being bypassed to the equipment of train,
When only one bogie air damping occurs not alleviating failure, remote shunt is carried out.
Alternatively, when the TCMS receives the remote shunt order, in the step of being bypassed to the equipment of train,
When only one bogie air damping occurs not alleviating failure, remote shunt is carried out to the bogie air damping.
Alternatively, when the TCMS receives the remote shunt order, in the step of being bypassed to the equipment of train,
Following equipment is unable to remote shunt, including：Urgent loop segments bypass, the bypass of train door closed state, traction allow bypass and
Door enables bypass.
A kind of Vehicle Controller remote failure repositioning method suitable for full-automatic driving that the present invention is provided is entered below
Row is described in detail.
A kind of Vehicle Controller remote failure suitable for full-automatic driving train is provided in one embodiment of the invention to reset
Method, including：
Vehicle information management system TCMS periodically checks the running status of each equipment in the process of running, when detecting
When having equipment fault, fault message is sent to Vehicle Controller VOBC；
Vehicle Controller VOBC is received after vehicle information management system TCMS each device fault information, by fault message
Report and give driving complex automatic system TIAS；
Complex automatic system TIAS drive a vehicle after the device fault information of train is received, according to different fault types
Remote reset order or remote shunt order can be sent to Vehicle Controller VOBC；
Vehicle Controller VOBC judges whether train is currently in after remote reset order or remote shunt order is received
Full-automatic driving model F AM, currently whether whether zero-speed and driver's cover plate are not switched on train, when the condition is satisfied by remote reset
Order or remote shunt order are sent to vehicle information management system TCMS, and remote reset order or remote shunt are not otherwise performed
Order；
Vehicle information management system TCMS will be automatically reset after remote reset order is received；When receiving long-range side
After the order of road, the equipment to vehicle is bypassed；
The state of vehicle information management system TCMS equipment is offered driving comprehensive automation by the Vehicle Controller VOBC cycles
Change system TIAS；
When driving complex automatic system TIAS detects vehicle information management system TCMS and meets the condition dispatched a car, to car
Set controller is dispatched a car order, makes Vehicle Controller VOBC control train to continue to run with full-automatic driving.
In practical application, during Vehicle Controller VOBC carries out remote failure reset or bypass, there is following implementation
Condition：
1st, when the following device fails of train, it is allowed to which complex automatic system of driving a vehicle TIAS carries out remote reset, such as
Shown in table 1：
The driving complex automatic system of table 1 TIAS can remote reset equipment
| Sequence number | Signal can remote reset equipment |
| 1 | First end ATO powers breaker |
| 2 | Second end ATO powers breaker |
Note：ATO is Automatic Train Operation abbreviation, i.e. automatic train operation device.
2nd, should will be remotely when Vehicle Controller VOBC receives driving complex automatic system TIAS remote reset instruction
Reset instruction is transmitted to vehicle information management system TCMS, vehicle for example, by the network mode of bus, Serial Port Line or network
Information management system TCMS is received after the reset instruction, can reset following equipment as shown in table 2：
The vehicle information management system TCMS of table 2 can remote reset equipment
| Sequence number | Train can remote reset equipment |
| 1 | Drivers' cab activates breaker |
| 2 | Air compressor machine starts control breaker |
| 3 | Train Control breaker |
| 4 | First brake apparatus controls power supply |
| 5 | Second brake apparatus controls power supply |
| 6 | First control for brake power supply |
| 7 | Second control for brake power supply |
| 8 | Safety return circuit power supply |
| 9 | Bogie remotely isolates power supply |
| 10 | Accessory power supply is controlled |
| 11 | Train activation control |
| 12 | EIOM module for power supply is controlled |
| 13 | Drivers' cab broadcast power supply |
| 14 | Guest room broadcast power supply |
| 15 | Radio main frame |
| 16 | Vehicle-mounted fire alarm host supplying power |
| 17 | Car's door controlling power supply |
| 18 | First car door power supply |
| 19 | Second car door power supply |
3rd, driving complex automatic system TIAS can remote shunt equipment it is as shown in table 3：
The driving complex automatic system of table 3 TIAS can remote shunt equipment
4th, driving complex automatic system TIAS can not remote shunt equipment it is as shown in table 4：
The driving complex automatic system of table 4 TIAS can not remote shunt equipment
| Sequence number | TIAS is unable to bypass instruction |
| 1. | Urgent loop segments bypass |
| 2. | Train door closed state is bypassed |
| 3. | Traction allows bypass |
| 4. | Door enables bypass |
Fig. 2 is the timing diagram that remote failure provided in an embodiment of the present invention resets head end or tail end ATO breakers.Such as Fig. 2
It is shown, when the TCMS breakers for detecting first end (head end) ATO or the second end (tail end) ATO disconnect, equipment fault is believed
Breath reports to Vehicle Controller VOBC.The device fault information is continued to report TIAS by the VOBC.
TIAS sends remote reset order to VOBC, and TCMS is issued to by the VOBC.The TCMS receives remote reset order
Self-resetting, again to electric on first end ATO or the second end ATO breakers, treats electricity and train fault on the ATO breakers afterwards
Information of vehicles is sent to TIAS after Information recovering, after cancelling remote reset instruction after TIAS confirmations, can now dispatch a car continuation
Operation.
Fig. 3 is the timing diagram that remote failure provided in an embodiment of the present invention bypasses bogie air damping.As shown in figure 3,
When it is 1 that TCMS, which detects bogie air damping quantity, by fault information reporting to TIAS.TIAS remotely sends failure bypass
Order, VOBC continues to send remote shunt order to TCMS.TCMS, which is received, bypasses the bogie air system after remote shunt order
It is dynamic, train information is sent to TIAS, continued to run with after that can be dispatched a car after TIAS confirmations.
In practical application, repositioning method provided in an embodiment of the present invention is the extension carried out to Function for Automatic Pilot, is passed through
The a small amount of equipment of amplification, it is possible to meet follow the trail of between user's train station, train operation at a high speed, the demand such as shielding door linkage, therefore
The main flow subway construction mode that the present invention adapts to domestic segmentation construction, segmentation is opened, and user is met to system automation and fortune
Seek the growing demand of efficiency.
During the engineering of the train full-automatic driving system for the Beijing Metro circuit that will be opened, tested through theory
Card and actual test, repositioning method provided in an embodiment of the present invention can ensure what security protection and no driver participated in
In the case of, the long-range reset to Vehicle Controller failure and bypass functionality are realized, is enhanced tight under Vehicle Controller failure
Anxious disposal ability, improves efficiency of operation；And the operation pressure is alleviated to a certain extent, labour has been liberated, fortune is reduced
Seek cost.
In the present invention, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicate or
Imply relative importance.Term " multiple " refers to two or more, unless otherwise clear and definite restriction.
Although being described in conjunction with the accompanying embodiments of the present invention, those skilled in the art can not depart from this hair
Various modifications and variations are made in the case of bright spirit and scope, such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (9)
1. a kind of Vehicle Controller remote failure repositioning method suitable for full-automatic driving, it is characterised in that including：
Vehicle information management system TCMS obtains device fault information and is sent to Vehicle Controller VOBC；
The said equipment fault information reporting is given driving complex automatic system TIAS by the VOBC；
The complex automatic system TIAS of driving a vehicle obtains the device fault information of train and according to fault type to Vehicle Controller
VOBC sends remote reset order or remote shunt order；
If it is zero and when driver's cover plate is not switched on that train, which is in full-automatic driving pattern, train speed, the VOBC will be received
To remote reset order or remote shunt order be sent to vehicle information management system TCMS；
The TCMS carries out remote reset when receiving the remote reset order to train；Or, the TCMS receives institute
When stating remote shunt order, the equipment to train is bypassed；
When the TCMS, which meets, dispatches a car condition, the VOBC controls the train to continue according to the TIAS departure instructions sent
With full-automatic driving mode operation.
2. Vehicle Controller remote failure repositioning method according to claim 1, it is characterised in that described to work as the TIAS
Detect the TCMS to meet when dispatching a car condition, departure instructions are sent to the VOBC, so that train continues with full-automatic driving
Before the step of mode operation, in addition to：
The equipment state of the TCMS is reported the TIAS by the VOBC according to predetermined period.
3. Vehicle Controller remote failure repositioning method according to claim 1, it is characterised in that the VOBC will be connect
In the step of remote reset order or remote shunt order received is sent to vehicle information management system TCMS, the VOBC
The remote reset order is sent to by the TCMS by network mode.
4. Vehicle Controller remote failure repositioning method according to claim 3, it is characterised in that the network mode is
One or more in bus and Serial Port Line.
5. Vehicle Controller remote failure repositioning method according to claim 1, it is characterised in that the TCMS is received
In the step of carrying out remote reset to train during the remote reset order, first end automatic train operation device ATO is powered
Breaker or the second end automatic train operation device ATO power breaker carry out remote reset.
6. Vehicle Controller remote failure repositioning method according to claim 5, it is characterised in that the TCMS is received
In the step of carrying out remote reset to train during the remote reset order, breaker, air compressor machine also are activated to drivers' cab and started
Control breaker, Train Control breaker, the first brake apparatus control power supply, the second brake apparatus control power supply, the first braking
Control power supply, the second control for brake power supply, safety return circuit power supply, bogie remotely isolate power supply, accessory power supply control, row
Car activation control, the control of EIOM module for power supply, drivers' cab broadcast power supply, guest room broadcast power supply, radio main frame, vehicle-mounted fire report
One or more kinds of progress in alert host supplying power, Car's door controlling power supply, the first car door power supply and the second car door power supply are remotely multiple
Position.
7. Vehicle Controller remote failure repositioning method according to claim 1, it is characterised in that the TCMS is received
During the remote shunt order, in the step of being bypassed to the equipment of train, when only one bogie air damping occurs
When not alleviating failure, remote shunt is carried out.
8. Vehicle Controller remote failure repositioning method according to claim 1, it is characterised in that the TCMS is received
During the remote shunt order, in the step of being bypassed to the equipment of train, when only one bogie air damping occurs
When not alleviating failure, remote shunt is carried out to the bogie air damping.
9. Vehicle Controller remote failure repositioning method according to claim 1, it is characterised in that the TCMS is received
During the remote shunt order, in the step of being bypassed to the equipment of train, it is impossible to the following equipment of remote shunt, including：Tightly
Anxious loop segments bypass, the bypass of train door closed state, traction allow bypass and door to enable bypass.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510886317.4A CN105539525B (en) | 2015-12-04 | 2015-12-04 | Suitable for the Vehicle Controller remote failure repositioning method of full-automatic driving |
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| CN201510886317.4A CN105539525B (en) | 2015-12-04 | 2015-12-04 | Suitable for the Vehicle Controller remote failure repositioning method of full-automatic driving |
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| CN105539525B true CN105539525B (en) | 2017-09-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106043262B (en) * | 2016-06-12 | 2018-11-27 | 中车青岛四方机车车辆股份有限公司 | Cut off the methods, devices and systems of bogie braking |
| CN107891887B (en) * | 2016-12-09 | 2019-01-11 | 比亚迪股份有限公司 | Train control method, TCMS, VOBC and train |
| CN107364468B (en) * | 2017-07-17 | 2023-09-12 | 中车工业研究院有限公司 | Remote isolation circuit, and brake fault isolation system and method of unmanned train |
| CN107393250A (en) * | 2017-07-31 | 2017-11-24 | 中车南京浦镇车辆有限公司 | A kind of method that train detects control new air-valve closing based on external fire |
| CN108099961A (en) * | 2017-12-07 | 2018-06-01 | 交控科技股份有限公司 | A kind of electronic driving system of train |
| CN109263657B (en) * | 2018-08-31 | 2021-01-08 | 北京图森智途科技有限公司 | Remote monitoring method, device and system for automatic driving vehicle |
| CN109878557B (en) * | 2019-01-30 | 2021-08-03 | 卡斯柯信号有限公司 | Method and system for realizing peristaltic driving mode in full-automatic operation system |
| CN109969232A (en) * | 2019-03-29 | 2019-07-05 | 卡斯柯信号有限公司 | A kind of fully automatic operation system medium-long range limitation driving mode implementation method |
| CN110487567B (en) * | 2019-08-21 | 2021-08-10 | 中车唐山机车车辆有限公司 | Vehicle detection method and device |
| CN112441073B (en) * | 2019-09-04 | 2022-04-19 | 中车唐山机车车辆有限公司 | Urban rail train bypass system |
| CN110723170A (en) * | 2019-09-29 | 2020-01-24 | 中车青岛四方机车车辆股份有限公司 | Safe operation control method, device, equipment and medium for rail train |
| CN110758483A (en) * | 2019-10-29 | 2020-02-07 | 交控科技股份有限公司 | Method, apparatus, device and medium for remote restart |
| CN111537013B (en) * | 2020-05-28 | 2022-06-24 | 新石器慧通（北京）科技有限公司 | Off-line detection device and detection method for automatic driving vehicle |
| CN112193230B (en) * | 2020-09-24 | 2023-10-27 | 北京市轨道交通建设管理有限公司 | Train braking fault control method and device |
| CN112977467B (en) * | 2021-02-25 | 2022-09-23 | 沃行科技(南京)有限公司 | Remote fault resetting method for vehicle end unmanned |
| CN113665631A (en) * | 2021-07-20 | 2021-11-19 | 交控科技股份有限公司 | Remote restarting method and device for interlocking host equipment |
| CN114670902B (en) * | 2022-04-28 | 2023-05-26 | 中车青岛四方车辆研究所有限公司 | Processing method and system for remote resetting and emergency braking remote relieving |
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| KR101061230B1 (en) * | 2010-02-17 | 2011-08-31 | 김효상 | ATS speed limit curve tracking system and method using ATS grounders |
| CN201741026U (en) * | 2010-07-21 | 2011-02-09 | 武汉钢铁(集团)公司 | Travelling crane remote on-line monitoring system |
| CN104442932A (en) * | 2014-11-07 | 2015-03-25 | 北京交控科技有限公司 | Remote train management system based on rail transit integrated automation system |
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