CN106394537A - Heavy haul train and control method and system of heavy haul train brake - Google Patents
Heavy haul train and control method and system of heavy haul train brake Download PDFInfo
- Publication number
- CN106394537A CN106394537A CN201610933137.1A CN201610933137A CN106394537A CN 106394537 A CN106394537 A CN 106394537A CN 201610933137 A CN201610933137 A CN 201610933137A CN 106394537 A CN106394537 A CN 106394537A
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- brake
- state
- control
- current state
- heavy haul
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000008450 motivation Effects 0.000 claims description 4
- 230000001629 suppression Effects 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 description 10
- 230000006870 function Effects 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
Abstract
The invention discloses a control method of a heavy haul train brake. The method comprises the following steps that the current state of the brake and the current state of a microcomputer control device are obtained; when the current state of the brake meets the automatic control condition and the current state of the microcomputer control device is the automatic control state, the brake enters the automatic control state; when an automatic control quitting instruction is received, the brake is kept to be in the waiting state; and when a braking handle moves to the quitting position, the brake enters the manual control state. The invention further discloses a control system of the heavy haul train brake. The invention also discloses the heavy haul train brake comprising the above control system. According to the above control method, manual control or automatic control can be selected, for switching of the two control modes, smooth switching of the brake of the heavy haul train can be effectively guaranteed through the above method, and safety running performance of the heavy haul train is improved.
Description
Technical field
The present invention relates to heavy haul train technical field, particularly to a kind of control method of heavy haul train brake.This
Bright further relate to a kind of control system of heavy haul train brake.The invention still further relates to a kind of heavy duty row with this control system
Car.
Background technology
Existing maturation rail transit automatic pilot technology is mainly used in subway train, because the subway road conditions rate of exchange are simple, its
Man-machine method for handover control is relatively simple, judges that automatic conversion determines by signaling system itself, without manual intervention.
For bullet train, heavy haul train automatic Pilot all in analysis and research and l-G simulation test stage, not real
Input use, the man-machine switching control for brake do not have clear and definite methods and strategies.The heavy haul train locomotive system of the present invention
The man-machine method for handover control of motivation provides clear and definite switching condition and secure handoff mechanism, normally runs feelings not affecting locomotive
The safe operation of heavy haul train has been ensured under condition.
Content of the invention
It is an object of the invention to provide a kind of control method of heavy haul train brake, this control method can be with effective guarantee
Brake switches between the control and the control of computer control device of artificial handle, improves the safe operation of heavy haul train.This
Another object is that of invention provides a kind of control system of heavy haul train brake.Another object of the present invention is to provide a kind of bag
Include the heavy haul train of above-mentioned control system.
For achieving the above object, the present invention provides a kind of control method of heavy haul train brake, comprises the following steps：
Obtain the current state of brake and computer control device；
Automatically control at condition and the current state of described computer control device when the current state of described brake meets
When automatic control state, described brake enters automatic control state；
When receive exit automatically control instruction when, described brake remains waiting for state, and starts timing；
Judge that whether receiving brake handle in Preset Time moves to the signal exiting position, if so, described brake
Enter artificial controlled state.
The control method providing with respect to above-mentioned background technology, the present invention, the current state of brake should meet automatic control
Condition processed, automatically controlling condition can be substantially：It is able to detect that the life signal of computer control device, brake fault-free,
Brake is in local state, no punishment and emergency brake command, and the Braking mode handle of brake and independent brake handle are equal
It is in driving position etc.；The current state of computer control device is in automatic control state, and computer control device can control system
Motivation execution is automatically brought into operation；Only automatically control condition and described computer control device when the current state of brake meets
When current state is in automatic control state, brake just can execute and automatically control；Once automatically controlling finger when receiving to exit
When making, brake remains waiting for state；And need mobile for brake handle manually to exiting position, then brake just can pass through people
Industry control system.When brake execution automatically controls, if the Braking mode handle of brake or independent brake handle position occur
Movement is in non-driving position, and brake switches to artificial control immediately；Using the mode that is set as above, brake execution is automatically brought into operation
Condition more harsh such that it is able to improve the security reliability under complex road condition, and remain waiting for state in brake
Afterwards in addition it is also necessary to artificial move brake handle to exiting position, to show brake by manually taking over, now brake just meeting
Controlled by artificial.It is arranged such, can select manually to control or automatically control, for the switching of two kinds of control models, lead to
Cross said method, the safe running performance of heavy haul train with the smooth switching of the brake of effective guarantee heavy haul train, can be improved.
Preferably, described when receive exit automatically control instruction when, described brake remains waiting for state, and start count
When step after also include：
When do not receive in Preset Time brake handle mobile to exit position signal when, system implemented by described brake
Dynamic.
Preferably, described when do not receive in Preset Time brake handle mobile to exit position signal when, described system
Motivation also includes after implementing the step braked：
When the mobile position to suppression of described brake handle, described brake enters artificial controlled state.
Preferably, also include after the step of described brake entrance automatic control state：
When the current state of described computer control device is not in automatic control state and the current state of described brake
When being not in automatic control state, described brake enters artificial controlled state；
When the current state of described computer control device is not in automatic control state and the current state of described brake
When being in automatic control state, described brake remains waiting for state.
Preferably, also include after the step of the described brake artificial controlled state of entrance：
Obtain the current state of brake and computer control device；
Automatically control at condition and the current state of described computer control device when the current state of described brake meets
When automatic control state, described brake enters automatic control state；
When receive exit automatically control instruction when, described brake remains waiting for state；
When brake handle mobile to exit when, described brake enters artificial controlled state.
Preferably, the described current state satisfaction when described brake automatically controls condition and described computer control device
Current state when being in automatic control state, also include after the step that described brake enters automatic control state：
When do not receive exit automatically control instruction when, obtain the current state of brake and computer control device；
Automatically control at condition and the current state of described computer control device when the current state of described brake meets
When automatic control state, described brake enters automatic control state.
The present invention also provides a kind of control system of heavy haul train brake, including：
Acquisition module：For obtaining the current state of brake and computer control device；
Automatic control module, for automatically controlling condition and described microcomputer control when the current state of described brake meets
When the current state of device processed is in automatic control state, described brake enters automatic control state；
Exit control module, for when receive exit automatically control instruction when, described brake remains waiting for state；
Timing module, for when described brake remains waiting for state, starting timing；
Artificial control module, for when receive in Preset Time brake handle mobile to exit position signal when, institute
State brake and enter artificial controlled state.
Preferably, also include：
Punishment brake module, for when do not receive in Preset Time brake handle mobile to exit position signal when,
Braking implemented by described brake.
The present invention also provides a kind of heavy haul train it is characterised in that including the heavy haul train braking described in any of the above-described
The control system of machine.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing providing obtains other accompanying drawings.
The flow chart of the control method of the heavy haul train brake that Fig. 1 is provided by the embodiment of the present invention；
Fig. 2 is a kind of flow chart of specific embodiment of Fig. 1；
The structured flowchart of the control system of the heavy haul train brake that Fig. 3 is provided by the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the accompanying drawings and be embodied as
The present invention is described in further detail for mode.
Refer to Fig. 1, Fig. 2 and Fig. 3, the control method of the heavy haul train brake that Fig. 1 is provided by the embodiment of the present invention
Flow chart；Fig. 2 is a kind of flow chart of specific embodiment of Fig. 1；The heavy haul train that Fig. 3 is provided by the embodiment of the present invention
The structured flowchart of the control system of brake.
The present invention provide a kind of heavy haul train brake control method, as shown in Figure of description 1, mainly include with
Lower step：
The current state of S1, acquisition brake and computer control device；
S2, automatically control the current shape of condition and described computer control device when the current state of described brake meets
When state is in automatic control state, described brake enters automatic control state；
S3, when receive exit automatically control instruction when, described brake remains waiting for state；And start timing
S4, when brake handle mobile to exit when, described brake enters artificial controlled state.
As the computer control device automatically controlling operation for brake execution, only brake and computer control device
After being satisfied by certain condition, brake just can be automatically controlled.In step S1, obtain working as of brake and computer control device
Front state；In step S2, automatically control working as of condition and described computer control device when the current state of described brake meets
When front state is in automatic control state, described brake enters automatic control state；The condition of automatically controlling can be for examining
Measure the life signal of computer control device, brake fault-free, brake is in local state, no punishment and brake hard life
Order, the Braking mode handle of brake and independent brake handle are in driving position etc., to those skilled in the art, also
Can be other, repeat no more herein.The current state of computer control device should be at automatic control state, only above-mentioned two
When condition is satisfied by, brake could start execution and automatically control；Certainly, automatically control included concrete action may be referred to
Prior art, does not repeat herein.
In step S3, when receive exit automatically control instruction when, described brake remains waiting for state；Exit automatic control
System instruction can be the Braking mode handle of brake or independent brake handle position is moved and is in non-driving position etc., and one
Denier receives to exit and automatically controls instruction, and brake then exits and automatically controls；It should be noted that brake remains waiting for state
It is not meant to manually to be controlled；In step S4, only when brake handle mobile to exit when, brake is just permissible
Controlled by artificial；After brake remains waiting for state, brake keeps current state, needs manually to move brake handle
To exiting position, to show brake by manually taking over, now brake just can be controlled by artificial.
If brake handle does not move to exit, start timing；
When exceeding preset time period, braking implemented by described brake.
Preset Time can be 15 seconds；In after brake remains waiting for state 15 seconds, if brake handle does not move
Move to exiting position, then braking implemented by brake, this braking may be considered punishment braking.Certainly, the timing of 15 seconds can also be
Judge that brake handle starts when not moving to exit；That is, after brake remains waiting for state, just can open
The timing begun 15 seconds, and judge whether move to exiting position in 15 seconds inside brake handles, if not having, carry out punishment braking；?
Can first judge in default certain time interval T whether brake handle moves to exiting position after brake remains waiting for state,
If not moving to exiting position, starting timing in 15 seconds, and judging at 15 seconds whether brake handle moves to exiting position, if not having
Have, then carry out punishment braking；And default certain time interval T can set as needed, certainly should be not oversize yet, preferably 5 seconds it
Interior.
When exceeding preset time period, brake also includes after implementing the step braked：
When the mobile position to suppression of described brake handle, described brake enters artificial controlled state.
After punishment braking has been made, extremely can suppress position by brake handle is mobile, release punishment braking, and realize
Brake passes through artificial control.
Also include after the step that above-mentioned brake automatically controls：
When the current state of described computer control device is not in automatic control state and the current state of described brake
When being not in automatic control state, described brake enters artificial controlled state；
When the current state of described computer control device is not in automatic control state and the current state of described brake
When being in automatic control state, described brake remains waiting for state.
That is, during brake automatically controls, if the current state of computer control device is not in certainly
When the current state of dynamic controlled state and brake is not in automatic control state, brake passes through artificial control；This situation
In, the fault such as possible power down of computer control device leads to current state to be not in automatic control state, and other reasonses may lead to
The current state of brake is not in automatic control state；So, then directly pass through artificial control.
If because the current state that the reasons such as dead electricity lead to computer control device is not in automatic control state, but braking
When the current state of machine is in automatic control state, then brake remains waiting for state, needs subsequently to be braked handle movement
To the operation exiting position, pass through artificial control to realize brake.
Also include after brake is by manually operated step：
Obtain the current state of brake and computer control device；
Automatically control at condition and the current state of described computer control device when the current state of described brake meets
When automatic control state, described brake enters automatic control state；
When receive exit automatically control instruction when, described brake remains waiting for state；
When brake handle mobile to exit when, described brake enters artificial controlled state.
Although that is, brake passes through artificial control, being operated by corresponding, the automatic of brake can also be realized
Control；That is, repeat step mentioned above, reach the purpose that brake automatically controls.
Also include after the step that brake automatically controls：
When do not receive exit automatically control instruction when, obtain the current state of brake and computer control device；
Automatically control at condition and the current state of described computer control device when the current state of described brake meets
When automatic control state, described brake enters automatic control state.
That is, although in the state of current brake machine is in and automatically controls, but still repeat to obtain brake and microcomputer control
The current state of device, and judge whether the current state of brake meets working as of the condition of automatically controlling and computer control device
Whether front state is in automatic control state, thus the running status of monitor in real time brake and computer control device, once control
The current state of brake and/or computer control device is abnormal, as described above, then executes corresponding action.
The flow chart that Figure of description 2 shows a kind of specific embodiment of the control method of heavy haul train brake；
Step S10, starts.Step S20, arranges brake；I.e. the various functions of brake should normally wait.Step S30, judges brake
Allow access into whether the condition of automatically controlling meets；Allow access into the condition of automatically controlling be above-mentioned be able to detect that microcomputer control dress
The life signal put, brake fault-free, brake is in local state, no punishment and emergency brake command, brake from
Dynamic brake handle and independent brake handle are in driving position etc..If meeting, carrying out step S40, judging computer control device
Whether it is in automatic control state；If so, then brake enters automatic control mode；As described above, the automatically controlling of brake
Pattern may be referred to prior art, such as step S50, and determine whether to exit and automatically control instruction, such as step S60；If it is not,
Then repeat step S30～S70.
Under brake automatic control state, if computer control device is not in automatic control state, as described above
Due to reasons such as power down, and when brake is still within automatic control state, then carry out step S80；If computer control device is not
Be in automatic control state, and brake not also in automatic control state when, then be directly entered step S100, brake enters
Enter artificial control, as described above.
When exit automatically control instruction when, enter step S80, brake remains waiting for state model, judge braking handss
Whether handle moves to exiting position, step S90；It is then then to enter step S100, if it is not, then carrying out step S91, brake keeps
In current state, start timing；In step S92, judge whether move to exiting position in 15s inside brake cleaner handgrip, if mobile,
Carry out step S100；If no, brake implements punishment braking mentioned above, step S93；And when brake handle moves
To after suppression position, punishment braking, such as step S94 can be released.After step sloo, step can also be repeated
S30, i.e. be braked the automatic control mode of machine again.Step S110 is then that vehicle is out of service waits done state.
Below the control system of heavy haul train brake provided in an embodiment of the present invention is introduced, control described below
System processed can mutually be compareed with control method mentioned above.
A kind of control system of heavy haul train brake that the present invention provides, as shown in Figure of description 3, main inclusion：
Acquisition module 100：For obtaining the current state of brake and computer control device；
Automatic control module 200, for automatically controlling condition and described microcomputer when the current state of described brake meets
When the current state of control device is in automatic control state, described brake enters automatic control state；
Exit control module 300, for when receive exit automatically control instruction when, described brake remains waiting for shape
State；
Timing module 400, for when described brake remains waiting for state, starting timing；
Artificial control module 500, for when receive in Preset Time brake handle mobile to exit position signal when,
Described brake enters artificial controlled state.
In addition, also include：
Punishment brake module, for when do not receive in Preset Time brake handle mobile to exit position signal when,
Braking implemented by described brake.
The present invention also provides a kind of heavy haul train, including the control system of the heavy haul train brake described in any of the above-described
System.The other parts of heavy haul train are referred to prior art, not reinflated herein.
In description, each embodiment is described by the way of going forward one by one, and what each embodiment stressed is real with other
Apply the difference of example, between each embodiment similar portion mutually referring to.For device disclosed in embodiment, by
Correspond to the method disclosed in Example in it, so description is relatively simple, referring to method part illustration in place of correlation.
Professional further appreciates that, in conjunction with the unit of each example of the embodiments described herein description
And algorithm steps, can with electronic hardware, computer software or the two be implemented in combination in, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes composition and the step of each example in the above description according to function.These
Function to be executed in the way of hardware or software actually, the application-specific depending on technical scheme and design constraint.Specially
Industry personnel can use different methods to each specific application realize described function, but this realization should not be recognized
For beyond the scope of this invention.
Above the control method and system of heavy haul train provided by the present invention and heavy haul train brake is carried out
It is discussed in detail.Specific case used herein is set forth to the principle of the present invention and embodiment, above example
Illustrate that being only intended to help understands the method for the present invention and its core concept.It should be pointed out that the common skill for the art
For art personnel, under the premise without departing from the principles of the invention, the present invention can also be carried out with some improvement and modify, these change
Enter and modify in the protection domain also falling into the claims in the present invention.
Claims (9)
1. a kind of control method of heavy haul train brake is it is characterised in that comprise the following steps：
Obtain the current state of brake and computer control device；
When the current state of described brake meet automatically control condition and described computer control device current state be in from
During dynamic controlled state, described brake enters automatic control state；
When receive exit automatically control instruction when, described brake remains waiting for state, and starts timing；
Judge that whether receiving brake handle in Preset Time moves to the signal exiting position, if so, described brake entrance
Artificial controlled state.
2. the control method of heavy haul train brake according to claim 1 is it is characterised in that described ought receiving is exited
When automatically controlling instruction, described brake remains waiting for state, and also includes after starting the step of timing：
When do not receive in Preset Time brake handle mobile to exit position signal when, braking implemented by described brake.
3. the control method of heavy haul train brake according to claim 2 is it is characterised in that described work as in Preset Time
Inside do not receive brake handle mobile to exit position signal when, also include after the step that braking implemented by described brake：
When the mobile position to suppression of described brake handle, described brake enters artificial controlled state.
4. the control method of the heavy haul train brake according to claims 1 to 3 any one is it is characterised in that described
Also include after the step of brake entrance automatic control state：
When the current state of described computer control device is not at automatic control state and the current state of described brake
When automatic control state, described brake enters artificial controlled state；
When the current state of described computer control device is not in automatic control state and the current state of described brake is in
During automatic control state, described brake remains waiting for state.
5. the control method of heavy haul train brake according to claim 4 is it is characterised in that described brake enters people
Also include after the step of work controlled state：
Obtain the current state of brake and computer control device；
When the current state of described brake meet automatically control condition and described computer control device current state be in from
During dynamic controlled state, described brake enters automatic control state；
When receive exit automatically control instruction when, described brake remains waiting for state；
When brake handle mobile to exit when, described brake enters artificial controlled state.
6. heavy haul train brake according to claim 4 control method it is characterised in that described when described brake
Current state meet when automatically controlling the current state of condition and described computer control device and being in automatic control state, institute
Also include after the step stating brake entrance automatic control state：
When do not receive exit automatically control instruction when, obtain the current state of brake and computer control device；
When the current state of described brake meet automatically control condition and described computer control device current state be in from
During dynamic controlled state, described brake enters automatic control state.
7. a kind of control system of heavy haul train brake is it is characterised in that include：
Acquisition module：For obtaining the current state of brake and computer control device；
Automatic control module, for meeting the condition that automatically controls and described microcomputer control dress when the current state of described brake
When the current state put is in automatic control state, described brake enters automatic control state；
Exit control module, for when receive exit automatically control instruction when, described brake remains waiting for state；
Timing module, for when described brake remains waiting for state, starting timing；
Artificial control module, for when receive in Preset Time brake handle mobile to exit position signal when, described system
Motivation enters artificial controlled state.
8. the control system of heavy haul train brake according to claim 7 is it is characterised in that also include：
Punishment brake module, for when do not receive in Preset Time brake handle mobile to exit position signal when, described
Braking implemented by brake.
9. a kind of heavy haul train is it is characterised in that include the heavy haul train brake as described in any one of claim 7 to 8
Control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610933137.1A CN106394537B (en) | 2016-10-31 | 2016-10-31 | The control method and system of heavy haul train and heavy haul train brake |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610933137.1A CN106394537B (en) | 2016-10-31 | 2016-10-31 | The control method and system of heavy haul train and heavy haul train brake |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106394537A true CN106394537A (en) | 2017-02-15 |
| CN106394537B CN106394537B (en) | 2018-11-06 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610933137.1A Expired - Fee Related CN106394537B (en) | 2016-10-31 | 2016-10-31 | The control method and system of heavy haul train and heavy haul train brake |
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| Country | Link |
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| CN (1) | CN106394537B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109116760A (en) * | 2018-09-14 | 2019-01-01 | 北京全路通信信号研究设计院集团有限公司 | A kind of boundary member control method and its control system |
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| CN202481093U (en) * | 2012-01-31 | 2012-10-10 | 四川制动科技股份有限公司 | Logic form electric pneumatic braking system for heavy haul train |
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| CN103163886A (en) * | 2013-04-08 | 2013-06-19 | 中国科学院合肥物质科学研究院 | Automatic driving device and control method for intelligent vehicle |
| CN103645715A (en) * | 2013-12-12 | 2014-03-19 | 中国铁道科学研究院 | Dual-machine hot standby train automatic operation (ATO) system |
| CN105172768A (en) * | 2015-08-11 | 2015-12-23 | 中国铁路总公司 | Brake control method and system |
| CN105480259A (en) * | 2015-11-24 | 2016-04-13 | 北京交控科技有限公司 | Driving method and system of full-automatic driving train |
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2016
- 2016-10-31 CN CN201610933137.1A patent/CN106394537B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202481093U (en) * | 2012-01-31 | 2012-10-10 | 四川制动科技股份有限公司 | Logic form electric pneumatic braking system for heavy haul train |
| CN103010230A (en) * | 2012-12-26 | 2013-04-03 | 北京交控科技有限公司 | Train unmanned system and method |
| CN103163886A (en) * | 2013-04-08 | 2013-06-19 | 中国科学院合肥物质科学研究院 | Automatic driving device and control method for intelligent vehicle |
| CN103645715A (en) * | 2013-12-12 | 2014-03-19 | 中国铁道科学研究院 | Dual-machine hot standby train automatic operation (ATO) system |
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| CN105480259A (en) * | 2015-11-24 | 2016-04-13 | 北京交控科技有限公司 | Driving method and system of full-automatic driving train |
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| CN109116760A (en) * | 2018-09-14 | 2019-01-01 | 北京全路通信信号研究设计院集团有限公司 | A kind of boundary member control method and its control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106394537B (en) | 2018-11-06 |
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