CN107640164A - A kind of train automated driving system based on UWB communications with ranging - Google Patents
A kind of train automated driving system based on UWB communications with ranging Download PDFInfo
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- CN107640164A CN107640164A CN201711039248.9A CN201711039248A CN107640164A CN 107640164 A CN107640164 A CN 107640164A CN 201711039248 A CN201711039248 A CN 201711039248A CN 107640164 A CN107640164 A CN 107640164A
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- train
- vehicle
- uwb
- uwb communications
- automated driving
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Abstract
The invention discloses a kind of train automated driving system based on UWB communications with ranging, the system includes vehicle-mounted part and above ground portion, vehicle-mounted part is to be deployed on train system and its rail system, for gathering the train perception information numbered including at least train position, speed, train number, perception information transmits train perception information using UWB communications, above ground portion includes auxiliary train and obtains communication train information, and operation is exercised supervision and controlled, and auxiliary dispatching personnel are managed to train；Also include UWB range finder modules, for measuring the distance between train and train, train and website；Control loop includes judge module and control module.When the train of automatic Pilot downward driving of the present invention breaks down, the website closed on is driven to relatively low speed and repaired, avoids influence of the failure train to the train of normally travel in whole circuit, provided convenience for the maintenance work of website maintenance personal.
Description
Technical field
The present invention relates to signal control technology field, more particularly to a kind of train based on UWB communications and ranging to drive automatically
Sail system.
Background technology
With the fast development of urban track traffic, to the security of whole train control system while high efficiency operation
Higher requirement is proposed with automation.Semi-automatic driving system compared to pilot steering system and afterwards, automatically drives
The system of sailing effectively reduces the harmful effect that human error is brought, and improves efficiency of operation, reduces operation cost, is city rail
The trend of road traffic control system development.
Ultra wide band（UWB）Non-efficient hardware performance, but the software of hardware can be driven rich.Software improves bag
Containing embedded software（The basic function of UWB technology can adjust herein）And API interface（Upper strata can be added on this basis
Software）.Impulse has very high positioning precision, using ultra-wide band wireless communication, it is easy to and will position and communicate unification,
And conventional radio is difficult to this point.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.Therefore, the present invention
One purpose is to propose a kind of train automated driving system based on UWB communications and ranging, the train of automatic Pilot downward driving
During failure, the website closed on is driven to relatively low speed and repaired, avoid failure train in whole circuit just
The influence of the train often travelled, provided convenience for the maintenance work of website maintenance personal.
A kind of train automated driving system based on UWB communications with ranging according to embodiments of the present invention, the system include
Vehicle-mounted part and above ground portion, vehicle-mounted part comprise at least row to be deployed on train system and its rail system, for gathering
Truck position, speed, the train perception information of train number numbering, perception information transmit train perception information, floor portion using UWB communications
Dividing includes aiding in train to obtain communication train information, and operation is exercised supervision and controlled, and auxiliary dispatching personnel are managed to train；
Also include UWB range finder modules, for measuring the distance between train and train, train and website；Control loop includes judging mould
Block and control module, judge module are used for when the train of normally travel breaks down, failure judgement reason；Control module controls
The train stops in preset mode downward driving to next website, wherein, train travel speed in the preset mode
Less than pre-set velocity.
In some embodiments of the invention, described above ground portion, including：Train automatic monitoring system, train pass through
The train automatic monitoring system carries out centralized watch to train operation situation, temporary speed limitation order is assigned, driverless train is run
Adjust, automatically generate timetable, automatic record train operation reality mark, it is automatic carry out service data statistics and automatic report generation and
Automatic checkout equipment running status.
In some embodiments of the invention, the use distributed object controller communication network of the UWB communications, is supported
Trackside signalling arrangement is controlled by radio communication for train and state acquisition.
In some embodiments of the invention, the target controller by gathering trackside signalling arrangement state and remembering in real time
Record status information storehouse, train is by status information storehouse described in UWB communication inquiries, according to Query Result to the target controller
Operation requests are sent, the target controller, which receives, asks and perform corresponding action command.
In some embodiments of the invention, the failure includes：
When Vehicle Controller is with vehicle information management system communication failure, Vehicle Controller does not receive in the first preset time
To the message of vehicle information management system；
Vehicle information management system instructs inconsistent continue to the instruction that Vehicle Controller feeds back with what Vehicle Controller exported
Time is more than the second preset time；
Vehicle Controller and vehicle information management system network service it is normal when, the vehicle information management system detect with
The area of the network interruption of the brakes of the train is more than preset area；
During train one way traveling, the number for unexpected hypervelocity occur is more than the first preset times.
Beneficial effect in the present invention：When the train of automatic Pilot downward driving breaks down, driven to relatively low speed
The website closed on is repaired, and avoids influence of the failure train to the train of normally travel in whole circuit, is repaired for website
The maintenance work of personnel is provided convenience.UWB has extremely strong penetration capacity, can be accurately positioned, and reduces error.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be used to explain the present invention together, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is a kind of principle schematic based on UWB communications with the train automated driving system of ranging proposed by the present invention.
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 describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
The example of the embodiment is shown in the drawings, wherein same or similar label represents identical or class from beginning to end
As element or with same or like function element.The embodiments described below with reference to the accompanying drawings are exemplary, purport
For explaining the present invention, and it is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
Reference picture 1, it is a kind of based on UWB communications and the train automated driving system of ranging, the system include vehicle-mounted part and
Above ground portion, vehicle-mounted part is is deployed on train system and its rail system, for gathering including at least train position, speed
The train perception information of degree, train number numbering, perception information transmit train perception information using UWB communications, and above ground portion includes auxiliary
Train is helped to obtain communication train information, operation is exercised supervision and controlled, and auxiliary dispatching personnel are managed to train；Also include
UWB range finder modules, for measuring the distance between train and train, train and website；Control loop includes judge module and control
Molding block, judge module are used for when the train of normally travel breaks down, failure judgement reason；Control module controls the row
Car stops in preset mode downward driving to next website, wherein, train travel speed in the preset mode is less than pre-
If speed.
Described above ground portion, including：Train automatic monitoring system, train is by the train automatic monitoring system to row
Car running situation carries out centralized watch, temporary speed limitation order and assigns, driverless train combustion adjustment, automatically generate timetable, be automatic
Record train operation reality mark, the automatic service data that carries out counts simultaneously automatic report generation and automatic checkout equipment running status.
The use distributed object controller communication network of the UWB communications, supports train by radio communication to trackside
Signalling arrangement is controlled and state acquisition.
By gathering trackside signalling arrangement state in real time and recorded status information storehouse, train passes through the target controller
Status information storehouse described in UWB communication inquiries, operation requests, the target control are sent to the target controller according to Query Result
Device processed, which receives, asks and performs corresponding action command.
Failure includes：
When Vehicle Controller is with vehicle information management system communication failure, Vehicle Controller does not receive in the first preset time
To the message of vehicle information management system；
Vehicle information management system instructs inconsistent continue to the instruction that Vehicle Controller feeds back with what Vehicle Controller exported
Time is more than the second preset time；
Vehicle Controller and vehicle information management system network service it is normal when, the vehicle information management system detect with
The area of the network interruption of the brakes of the train is more than preset area；
During train one way traveling, the number for unexpected hypervelocity occur is more than the first preset times.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (5)
- A kind of 1. train automated driving system based on UWB communications with ranging, it is characterised in that：The system include vehicle-mounted part and Above ground portion, vehicle-mounted part is is deployed on train system and its rail system, for gathering including at least train position, speed The train perception information of degree, train number numbering, perception information transmit train perception information using UWB communications, and above ground portion includes auxiliary Train is helped to obtain communication train information, operation is exercised supervision and controlled, and auxiliary dispatching personnel are managed to train；Also include UWB range finder modules, for measuring the distance between train and train, train and website；Control loop includes judge module and control Molding block, judge module are used for when the train of normally travel breaks down, failure judgement reason；Control module controls the row Car stops in preset mode downward driving to next website, wherein, train travel speed in the preset mode is less than pre- If speed.
- A kind of 2. train automated driving system based on UWB communications with ranging according to claim 1, it is characterised in that： Described above ground portion, including：Train automatic monitoring system, train by the train automatic monitoring system to train operation situation carry out centralized watch, Temporary speed limitation order is assigned, driverless train combustion adjustment, is automatically generated timetable, automatic record train operation reality mark, is entered automatically Row service data statistics and automatic report generation and automatic checkout equipment running status.
- A kind of 3. train automated driving system based on UWB communications with ranging according to claim 1, it is characterised in that： The use distributed object controller communication network of the UWB communications, supports train by radio communication to trackside signalling arrangement It is controlled and state acquisition.
- A kind of 4. train automated driving system based on UWB communications with ranging according to claim 3, it is characterised in that： By gathering trackside signalling arrangement state in real time and recorded status information storehouse, train is communicated the target controller by UWB The status information storehouse is inquired about, operation requests are sent to the target controller according to Query Result, the target controller connects Receive and ask and perform corresponding action command.
- A kind of 5. train automated driving system based on UWB communications with ranging according to claim 1, it is characterised in that： The failure includes：When Vehicle Controller is with vehicle information management system communication failure, Vehicle Controller does not receive in the first preset time To the message of vehicle information management system；Vehicle information management system instructs inconsistent continue to the instruction that Vehicle Controller feeds back with what Vehicle Controller exported Time is more than the second preset time；Vehicle Controller and vehicle information management system network service it is normal when, the vehicle information management system detect with The area of the network interruption of the brakes of the train is more than preset area；During train one way traveling, the number for unexpected hypervelocity occur is more than the first preset times.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711039248.9A CN107640164A (en) | 2017-10-30 | 2017-10-30 | A kind of train automated driving system based on UWB communications with ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711039248.9A CN107640164A (en) | 2017-10-30 | 2017-10-30 | A kind of train automated driving system based on UWB communications with ranging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107640164A true CN107640164A (en) | 2018-01-30 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711039248.9A Withdrawn CN107640164A (en) | 2017-10-30 | 2017-10-30 | A kind of train automated driving system based on UWB communications with ranging |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108428297A (en) * | 2018-03-07 | 2018-08-21 | 上海乖行通信息科技有限公司 | A kind of intelligent refueling method and system |
| CN108545099A (en) * | 2018-05-07 | 2018-09-18 | 成都九壹通智能科技股份有限公司 | Traveler guiding system based on train exact position |
| CN108639107A (en) * | 2018-05-08 | 2018-10-12 | 成都九壹通智能科技股份有限公司 | Ground network monitoring system for train ranging |
| CN108791363A (en) * | 2018-05-09 | 2018-11-13 | 成都九壹通智能科技股份有限公司 | Train active safety protection system based on super-broadband tech |
| CN109035747A (en) * | 2018-06-12 | 2018-12-18 | 北京拜思克科技有限公司 | A kind of intelligent family moving platform system and its traffic control method |
| CN109334714A (en) * | 2018-08-16 | 2019-02-15 | 浙江浙大列车智能化工程技术研究中心有限公司 | The accurate shutdown system of train based on UWB wireless distance finding technology |
| CN111559412A (en) * | 2020-06-18 | 2020-08-21 | 中车株洲电力机车有限公司 | Locomotive benchmarking method and locomotive benchmarking system based on UWB positioning |
| WO2020258629A1 (en) * | 2019-06-27 | 2020-12-30 | 中车大同电力机车有限公司 | Auxiliary maintenance method, auxiliary maintenance apparatus, and auxiliary maintenance system for rail vehicle |
| CN113060189A (en) * | 2021-04-25 | 2021-07-02 | 上海富欣智能交通控制有限公司 | Train management method, device, apparatus and electronic device |
| CN114074691A (en) * | 2020-08-14 | 2022-02-22 | 比亚迪股份有限公司 | Train control method, device, system and storage medium |
| CN114537476A (en) * | 2020-11-26 | 2022-05-27 | 比亚迪股份有限公司 | Train anti-collision processing method, device and system |
-
2017
- 2017-10-30 CN CN201711039248.9A patent/CN107640164A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108428297A (en) * | 2018-03-07 | 2018-08-21 | 上海乖行通信息科技有限公司 | A kind of intelligent refueling method and system |
| CN108545099A (en) * | 2018-05-07 | 2018-09-18 | 成都九壹通智能科技股份有限公司 | Traveler guiding system based on train exact position |
| CN108639107A (en) * | 2018-05-08 | 2018-10-12 | 成都九壹通智能科技股份有限公司 | Ground network monitoring system for train ranging |
| CN108791363A (en) * | 2018-05-09 | 2018-11-13 | 成都九壹通智能科技股份有限公司 | Train active safety protection system based on super-broadband tech |
| CN109035747A (en) * | 2018-06-12 | 2018-12-18 | 北京拜思克科技有限公司 | A kind of intelligent family moving platform system and its traffic control method |
| CN109334714A (en) * | 2018-08-16 | 2019-02-15 | 浙江浙大列车智能化工程技术研究中心有限公司 | The accurate shutdown system of train based on UWB wireless distance finding technology |
| WO2020258629A1 (en) * | 2019-06-27 | 2020-12-30 | 中车大同电力机车有限公司 | Auxiliary maintenance method, auxiliary maintenance apparatus, and auxiliary maintenance system for rail vehicle |
| CN111559412A (en) * | 2020-06-18 | 2020-08-21 | 中车株洲电力机车有限公司 | Locomotive benchmarking method and locomotive benchmarking system based on UWB positioning |
| CN114074691A (en) * | 2020-08-14 | 2022-02-22 | 比亚迪股份有限公司 | Train control method, device, system and storage medium |
| CN114537476A (en) * | 2020-11-26 | 2022-05-27 | 比亚迪股份有限公司 | Train anti-collision processing method, device and system |
| CN113060189A (en) * | 2021-04-25 | 2021-07-02 | 上海富欣智能交通控制有限公司 | Train management method, device, apparatus and electronic device |
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Application publication date: 20180130 |