CN107672626A - The rail vehicle collision avoidance system and method kept based on time interval - Google Patents
The rail vehicle collision avoidance system and method kept based on time interval Download PDFInfo
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- CN107672626A CN107672626A CN201710931799.XA CN201710931799A CN107672626A CN 107672626 A CN107672626 A CN 107672626A CN 201710931799 A CN201710931799 A CN 201710931799A CN 107672626 A CN107672626 A CN 107672626A
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- vehicle
- time interval
- timing
- lower limit
- transponder
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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
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/08—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only
- B61L23/14—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only automatically operated
- B61L23/18—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only automatically operated specially adapted for changing lengths of track sections in dependence upon speed and traffic density
-
- 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 vehicle 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 vehicle train, e.g. braking curve calculation
- B61L2027/204—Trackside control of safe travel of vehicle or vehicle train, e.g. braking curve calculation using Communication-based Train Control [CBTC]
Abstract
There is provided in a kind of rail vehicle collision avoidance system kept based on time interval and method, including track and set the mobile unit that timing module is set on the timing transponder and vehicle of timing module.Timing is carried out using mobile unit control timing transponder and determines vehicle time interval, timing is carried out using timing transponder control mobile unit and determines response time interval, the vehicle time interval lower limit value and response time interval lower limit value required for guarantee Current vehicle traffic safety are calculated according to this, the control signal for judging to generate braking when time interval reaches lower limit carries out control for brake, make then to reach the vehicle time interval determined during the timing transponder location of front and response time interval is recovered and is maintained on the respective lower limit calculated according to this, judge to generate anti-collision warning signal when time-out is not recovered.Using the present invention, Current vehicle can actively keep risk and alleviating the harm that advances rashly with the first vehicle hour interval of rail, reducing vehicle and advancing rashly.
Description
Technical field
The invention belongs to traffic and transport field, is related on track anticollision technology between vehicle, especially actively prevents track
Vehicle is run in traffic system rear-end collision occurs, belong to radiotechnics and automatic control technology field.
Background technology
In modern railways transportation system, except railway fixed equipment（Circuit, bridge, tunnel）And mobile device（Locomotive, car
）In addition, it is also necessary to the support of railway signal system, three indivisible technical foundation of rail transportation system are collectively formed,
First mission of railway signal system is to ensure traffic safety, is the nerve center of railway transportation, in modern railways transportation system
In occupy very important status, have become one of important symbol of railway modernization, recently as " prism door " event
Continuing fermentation, cyberspace has become another space of various countries' game after land, sea, air and day, involved net
Network space safety also turns into national strategy part, and each application field for being related to Networks and information security is all being examined again
Depending on, pay close attention to and pay attention to potential threaten and its counte-rplan.
Train operation relies primarily on existing Train operation control system CTCS in China Express Railway system
（Chinese Train Control System）Prevent vehicle from colliding, CTCS shares 5 grades, has been achieved with working as at present
The modern most advanced train automatic protection of on-line operation (Automatic Train Protection, abbreviation ATP) system CTCS-3, most
High-grade CTCS-4 is the development plan to face the future, and CTCS-3 and CTCS-4 are by terrestrial wireless occlusion center（RBC）With
Mobile unit completes train occupation detection and integrity checking, and train traffic safety and the control car message that RBC is sent is close
Correlation, because RBC mandate is more complicated apart from longer and with external equipment information interaction approach, therefore complicated from these
Picked out exactly in logic it is also more difficult the reason for may causing security risk, although having taken preferable countermeasure and implementation
Multiple technologies measure, but overspeed of vehicle and vehicle advance rashly and are still focus.
The content of the invention
（One）Technical problems to be solved
The present invention is advanced rashly risk to solve the problems, such as to exist in existing train operation control system vehicle, there is provided a kind of
Based on time interval keep rail vehicle collision avoidance system and method, can be effectively reduced vehicle advance rashly risk and alleviate car
Advance rashly harm, improves travel safety.
（Two）Technical scheme
To achieve these goals, on the one hand, the present invention provides a kind of rail vehicle anticollision system kept based on time interval
System and method, system are provided with the mobile unit being arranged on vehicle and the timing transponder sequence on track circuit, when
Vehicle in front is run along the positive tracking of track circuit with the first vehicle of rail, and first vehicle and Current vehicle successively reach rear most successively
Nearly timing transponder location and present timing transponder location, using setting antenna and Current vehicle in mobile unit on first vehicle
When the timing of timing transponder and the generation vehicle that the signals of vehicles control that antenna is launched is arranged on track are set in upper mobile unit
Between be spaced, using mobile unit timing and generation response time interval on the answer signal control vehicle of timing transponder transmitting,
Go out to ensure the vehicle time interval required for Current vehicle traffic safety according to vehicle time interval and response time interval calculation
Lower limit and response time interval lower limit value, judge under vehicle time interval reaches lower limit or response time interval reaches
Limit value or both generates braking control signal when reaching lower limit simultaneously carries out control for brake, counts the subsequent front that reaches
When transponder location when the vehicle time interval that determines and the response time interval that determines recover and be maintained at what is calculated according to this
On respective lower limit, judge to generate anti-collision warning signal when more than the time not recovering, system and method for the invention includes
Step：
Step A：Determine the vehicle time interval of Current vehicle and first vehicle and the response time interval of Current vehicle；
Step A includes A1, determines vehicle time interval：It is accumulative by first vehicle that timing module is set on track in timing transponder
It is terminal when reaching the timing transponder location in advance when being and reaching the timing transponder location starting point to the Current vehicle later stage
Time interval；
Step A includes A2, determines response time interval：It is accumulative by current vehicle that timing module is set on Current vehicle in mobile unit
It is terminal when being and reach present timing transponder location starting point to the later stage when reaching the nearest timing transponder location in rear in advance
Time interval；
Step B：Go out Current vehicle according to the vehicle time interval and response time interval calculation determined to ensure needed for traffic safety
The vehicle time interval lower limit value and response time interval lower limit value wanted；
Step C：Judge when the vehicle time interval determined reaches between vehicle time interval lower limit value or the response time of determination
When reaching response time interval lower limit value or both while reaching respective lower limit, the control signal of generation braking is carried out
Control for brake, when making the Current vehicle then reach front timing transponder location between the vehicle time interval that determines and response time
Every recovering and be maintained on the respective lower limit calculated according to this；
Step D：Judge when the vehicle time interval determined reaches between vehicle time interval lower limit value or the response time of determination
Reach time threshold every reaching response time interval lower limit value or both while reaching continuous integration time of respective lower limit
Shi Shengcheng anti-collision warning signals；
The Current vehicle is the vehicle that is controlled using present system and method, the formerly vehicle be Current vehicle just
To tracking operation with nearest vehicle in front of track；The timing transponder is the internal transponder for being provided with timing module, and along rail
Road circuit sequentially arranges setting；The mobile unit is to be installed on inside on vehicle to be provided with timing module and for controlling setting for vehicle
It is standby；The present timing transponder is that Current vehicle mobile unit drives to the timing transponder reached；The rear is nearest
All timing transponders that timing transponder was reached by Current vehicle before driving to up to present timing transponder location
In last timing transponder.
On the other hand, the present invention also provides a kind of timing transponder simultaneously, and the timing transponder includes：
Timing module：For it is accumulative the timing transponder location is reached by first vehicle in advance when for starting point to Current vehicle later stage
It is the time interval of terminal when reaching the timing transponder location；
Detection module：Whether exceed its set range for detecting the timing module cumulative time, judge and generation no to scale and
The time status information of one of both is not outranged；
Power module：Worked for timing module and detection module and can ensure timing module every time by cumulative time starting point extremely
The timing course of cumulative time terminal is complete continuous process.
（Three）Beneficial effect
The present invention is complete and independent rail vehicle anticollision signal system, with existing CTCS-2 levels and CTCS-3 level train controls
System processed is friendly compatible, and using the system and method for the present invention, vehicle can control itself speed to be run with retention time interval,
Advance rashly risk and alleviating of vehicle is reduced to advance rashly harm.
Brief description of the drawings
Fig. 1 is present system and method flow diagram.
Fig. 2 is that information of the present invention generates scene graph.
Fig. 3 is the flow chart of present pre-ferred embodiments one.
Fig. 4 is the structural representation of present pre-ferred embodiments one.
Fig. 5 is the layout of equipment of present pre-ferred embodiments one.
Embodiment
Below in conjunction with the accompanying drawing in present pre-ferred embodiments, the technical scheme in the embodiment of the present invention is carried out clear
Chu, it is fully described by, it is clear that described embodiment is the part of the embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all on the premise of creative work is not made
Other embodiments, belong to the scope of protection of the invention.
The present invention is proposed with the method for remaining on time interval between vehicle come the concept for preventing vehicle from colliding, and is used
The method of generation vehicle time interval information makes to leave the first vehicle driving states related information of same rail on track, and Current vehicle is used
The method that information is left on track is read to perceive the driving states in advance of first vehicle, and rule are kept using car speed inertia
Restrain to determine whether there is vehicle in the time interval in front of Current vehicle track, reached with the method for control vehicle speed
The purpose of time interval is remained on, is advanced rashly risk and its harm so as to efficiently control vehicle.
Fig. 1 is that rail vehicle collision avoidance system provided by the invention and the flow chart of embodiment of the method 1, the present embodiment include：
Step 11：The vehicle time interval of Current vehicle and first vehicle and the response time interval of Current vehicle are determined, wherein,
Determine vehicle time at intervals of set on track in timing transponder timing module it is accumulative the timing is reached by first vehicle in advance should
It is the time interval of terminal when answering device position when being and reaching the timing transponder location in starting point to the Current vehicle later stage, determines response
Time interval be set on Current vehicle in mobile unit timing module it is accumulative reach the nearest timing in rear in advance by Current vehicle should
It is the time interval of terminal when being starting point to later stage arrival present timing transponder location when answering device position.
Above-mentioned steps are automatically controlled automated procedure, and the process of timing transponder cumulative time is in first vehicle and Current vehicle
Process under control, the process of mobile unit cumulative time are to be controlled in the nearest timing transponder in rear and present timing transponder
Under process.In timing transponder determines vehicle time interval procedure, timing transponder utilizes the vehicle from mobile unit
Time point when signal amplitude reaches predetermined threshold value determines that first vehicle and Current vehicle reach the timing transponder location, is used in
Starting point of the time point as cumulative time when first vehicle reaches its position in advance, when reaching its position with the Current vehicle later stage
Terminal of the time point as the cumulative time, the car of Current vehicle and first vehicle will be defined as by the time interval of starting point to the end
Time interval.In mobile unit determines response time interval procedure, mobile unit reaches default using answer signal amplitude
Time point during threshold value determines that Current vehicle reaches the timing transponder location, reaches the nearest timing in rear in advance with Current vehicle
Starting point of the time point as cumulative time during transponder location, when reaching present timing transponder location with the Current vehicle later stage
Terminal of the time point as the cumulative time, will be defined as by the time interval of starting point to the end between the response time of Current vehicle
Every.
Step 12：Go out Current vehicle according to the vehicle time interval and response time interval calculation determined and ensure traffic safety
Required vehicle time interval lower limit value and response time interval lower limit value, wherein, calculate vehicle time interval lower limit value
Concretely comprise the following steps：
Step B1：First vehicle is calculated in advance at the first vehicle response time interval of present timing transponder locationT tr ；T tr
=T vr +T vvb -T vv , wherein,T vr It is Current vehicle at the response time interval that present timing transponder location determines,T vvb To be current
The vehicle vehicle time interval that nearest timing transponder location determines at rear in advance,T vv It is Current vehicle in present timing response
The vehicle time interval that device position determines；
Step B2：First vehicle is calculated in advance in the first vehicle response time spacer unit of present timing transponder location
Between rate of change ΔT tr ；
ΔT tr =(T tr -T trb )/T vr , wherein,T tr It is the first vehicle that is calculated by step B1 in advance in present timing transponder
The first vehicle response time interval of position,T trb For the first vehicle that is calculated according to step B1 method in advance at rear most
The first vehicle response time interval of nearly timing transponder location,T vr Determined for Current vehicle in present timing transponder location
Response time interval；
Step B3：According to the vehicle time interval determinedT vv With response time intervalT vr What reading was stored should with first vehicle
Answer time intervalT tr With first vehicle response time spacer unit time rate of change ΔT tr The corresponding vehicle time interval of situation
Lower limit and response time interval lower limit value.
Information generation scene graph of the present invention is illustrated in figure 2, the timing of rear second described in figure transponder is that rear is nearest
The nearest timing transponder in rear of timing transponder.
Above-mentioned steps 12 include：Timing transponder may determine that the cumulative time whether the timing range set by it simultaneously
Generation no to scale and the time status information for not outranging one of both；Mobile unit can utilize time status information to judge
Whether vehicle time interval determined by timing transponder is beyond the timing range set by it.
Preferably, range set by timing module is set in timing transponder as identical range, and is identical in the whole country
's.
Vehicle time interval lower limit value and response time interval lower limit value are calculated in above-mentioned steps 12, in advance using imitative
True technology is simulated to running status of the vehicle models in existing line, works out vehicle under various regimes, including differenceT tr With different ΔsT tr In the case of vehicle time interval lower limit value and response time interval lower limit Value Data, and be stored in vehicle-mounted
In the database of equipment, so when running system and method for the present invention on vehicle, when situation about running into and emulation is same
When, such as reach some vehicle time intervalT vv , response time intervalT vr , first vehicle response time intervalT tr With first car
Response time interval variation rate ΔT tr During situation, then vehicle time interval lower limit corresponding to the situation stored can be called
ValueT vlv With response time interval lower limit valueT rlv 。
Using emulation technology establishment vehicle time interval lower limit value in above-mentioned steps 12T vlv With response time interval lower limit valueT rlv , in the calculation using following functions：T vlv =f (T vv ,T vr ,T e ,L v ,L t ,L r ,L p ),T rlv =f (T vv ,T vr ,T e ,L v ,L t ,L r ,L p ), wherein,T vv It is Current vehicle at the vehicle time interval that present timing transponder location determines,T vr Exist for Current vehicle
The response time interval that present timing transponder location determines,T e For the equivalent virtual braking time of Current vehicle,L v For Current vehicle by
Vehicle head end to mobile unit installation site distance length,L t For first vehicle by mobile unit installation site to vehicle tail end away from
From length,L r For by the track circuit length of the nearest timing transponder location in rear to present timing transponder location,L p It is default
Current vehicle and first vehicle safety distance.
Preferably, under China's Line for Passenger Transportation running situation, it is vehicle-mounted that vehicle head and vehicle tail are provided with identical
Equipment, in the case of function provided by the invention is not changed, implement Overall Steps of the present invention and function using headstock mobile unit
In the case of, when can also open tail-portion vehicle-mounted equipment and launching that timing transponder is accumulative on same signals of vehicles Repetitive controller track
Between, reduce so as to reach in the calculating of vehicle time interval lower limit valueL t The purpose of numerical value, be so advantageous to improve the system and
The validity of method.
Alternatively, by the above situation, in the calculating of vehicle time interval lower limit value, first vehicle is installed by mobile unit
Position to vehicle tail end distance lengthL t Value is 3 meters, the distance by Current vehicle by vehicle head end to mobile unit installation site
LengthL v Value is 3 meters, willL r Value is 20 meters, by emergency protection distanceL p Value is 30 meters, according to vehicle condition and rail
Road condition is by Current vehicle equivalent virtual braking timeT e Value is 1.3 seconds.
Step 13：Judge when it is determined that vehicle time interval reach the response of vehicle time interval lower limit value or determination when
Between interval reach response time interval lower limit value and both at the same reach its each lower limit when, generation braking control signal
Control for brake is carried out, makes then to reach the vehicle time interval determined during the timing transponder location of front and response time interval is extensive
Again and it is maintained on the respective lower limit calculated according to this；Wherein, using the vehicle time interval that Current vehicle determines with working as
The vehicle time interval lower limit value of preceding reading carries out numeric ratio compared with judging whether to be less than or equal to vehicle time interval lower limit
Value, if so, then to reach, if it is not, then for not up to；Answered using the response time interval that Current vehicle determines with what is currently read
Answer time interval lower limit and carry out numeric ratio compared with judging whether to be less than or equal to response time interval lower limit value, if so, being then
Reach, if it is not, then for not up to；Judge when one of both reaches or both while is reached for reaching；The mobile unit life
Control signal into braking applies to the control signal of concrete model Vehicular brake device, can be with Vehicular brake device system
Model is different or vehicle braking ratio is different and different；By vehicle brake reduce speed make it is later determined that vehicle time
Interval and response time interval are to the increased direction change of numerical value, by controlling restraint coefficient and braking time to transport Current vehicle
Row is placed on the vehicle time interval lower limit value and response time interval lower limit value of establishment.
Step 14：Judge when it is determined that vehicle time interval reach the response of vehicle time interval lower limit value or determination when
Between interval reach response time interval lower limit value or both while reach continuous integration time of respective lower limit and reach the time
Anti-collision warning signal is generated during threshold value, wherein, using the vehicle time interval that Current vehicle determines with currently read vehicle when
Between interval lower limit value carry out numeric ratio compared with, judge whether to be less than or equal to vehicle time interval lower limit value, if so, then for up to
Arrive, if it is not, then for not up to；The response time interval determined using Current vehicle and the response time interval lower limit currently read
Value carry out numeric ratio compared with, judge whether to be less than or equal to response time interval lower limit value, if so, then be reach, if it is not, being then
Not up to；Judge when one of both reaches or both while is reached for reaching；The early warning timer set in mobile unit is in car
Time interval and response time interval start timing when reaching lower limit, it is determined that vehicle time interval and response time between
Every recover to not up to when stop timing, when reaching timing transponder location every time with the timing numerical value of early warning timer with reading
The time threshold that takes carries out numeric ratio compared with judging whether to be more than time threshold, if so, then to reach time threshold, generation is collided
Pre-warning signal, if it is not, being then not up to time threshold, anti-collision warning signal is not generated；The anti-collision warning signal be suitable for
The control signal and the control signal suitable for concrete form impact-moderation device of concrete model collision alarm device, its signal shape
Formula can be different and different with used alarm device and impact-moderation device.
The system and method for the present invention is realized based on following preconditions：All vehicles can ensure reach timing every time
Timing transponder can be controlled to carry out time cumulation during transponder location, setting power module in timing transponder can ensure in it
If timing module be every time complete continuous process by the timing course of starting point to the end；All timing transponders can ensure
Each response communication can control mobile unit to carry out time cumulation, and setting power module in mobile unit can ensure what is set in it
Timing module is every time complete continuous process by the timing course of starting point to the end.
As seen from the above, by the present invention, Current vehicle can independently monitor first travel condition of vehicle, because of current vehicle
Actually available braking distance byT e 、L v 、L t 、L r WithL p Restrict, therefore when first vehicle uses a continuous hard brake stop,
The purpose for preventing vehicle from rear-end collision occurs can not be reached using the present invention, may only significantly alleviate knock into the back speed and collision
Kinetic energy, still further it can be seen that, if being set with the braking rule of restrictive condition, for example, the maximum braking that the setting present invention is actually available
Coefficient can use restraint coefficient slightly larger than an artificial controllable continuous hard brake stop maximum, and utilize vehicle electronic device
Automatically control and perform the rule, then, it can prevent limited quantity vehicle from knocking into the back using the present invention.
It should be noted that, although above-described embodiment is to monitor the time interval between adjacent two train of vehicles with to vehicle
Illustrated exemplified by progress control for brake anticollision, it can be appreciated that the system and method may also be used for monitoring vehicle
Ensure normally travel, that is, control vehicle operation to keep some response time interval threshold not less than setting.For example, vehicle is being transported
During row, mobile unit independently monitors the response time interval of vehicle, and is made comparisons with the response time interval threshold of setting,
Generation control signal exports and controls the traction of vehicle and braking running velocity is limited within the scope of needs.
Rail vehicle collision avoidance system provided by the invention and method can be used for embodiment two：Magnetic-levitation vehicle is prevented
Collision, by being specifically designed vehicle, the impact-moderation to stretch out is set in the headstock and the tailstock of magnetic-levitation vehicle respectively
Device and identical signals of vehicles is set to be used to reduce in the device endL v WithL t Restrict, set on magnetic-levitation vehicle
Quick response brake is put to be used to reduceT e Restrict, it is suitable to setL r , rear-end collision or high speed can be prevented using the present invention
Rear-end collision.
Rail vehicle collision avoidance system provided by the invention and method can be used for embodiment three：City underground rail vehicle
Anticollision, by being specifically designed vehicle, impact-moderation device is set respectively in city underground rail vehicle vehicle head end and vehicle tail end
And identical signals of vehicles is set to be used to reduce in the device endL v WithL t Restrict, on city underground track vehicle
Quick response brake is set to be used to reduceT e Restrict, it is suitable to setL r , rear-end collision or height can be prevented using the present invention
Fast rear-end collision.
Rail vehicle collision avoidance system provided by the invention and method can be used for example IV：Urban air rail vehicle
Anticollision, by being specifically designed vehicle, impact-moderation device is set respectively in urban air rail vehicle vehicle head end and vehicle tail end
And identical signals of vehicles is set to be used to reduce in the device endL v WithL t Restrict, on urban air track vehicle
Quick response brake is set to be used to reduceT e Restrict, it is suitable to setL r , rear-end collision or height can be prevented using the present invention
Fast rear-end collision.
Rail vehicle collision avoidance system provided by the invention and method can be used for embodiment five：High-speed vacuum pipeline transportation
Rail vehicle anticollision, by being specifically designed vehicle, the headstock and the tailstock of high-speed vacuum line path vehicle set respectively to
The impact-moderation device of outer extension and identical signals of vehicles is set to be used to reduce in the device endL v WithL t Restrict, in height
Quick response brake is set to be used to reduce on fast vacuum pipe rail vehicleT e Restrict, it is suitable to setL r , can using the present invention
To prevent rear-end collision or high speed rear-end collision.
Can be with it will appreciated by the skilled person that realizing that all or part of step in above-described embodiment method is
The hardware of correlation is instructed to complete by program, described program can be stored in a computer read/write memory medium,
The program includes each step of above-described embodiment method in implementation procedure, and described storage medium can be：ROM/RAM、
Magnetic disc, CD etc..Therefore, corresponding with the method for the present invention, the present invention also includes a kind of timing transponder, the timing simultaneously
Transponder generally represents in the form of the functional module corresponding with each step of method, it is to be understood by those skilled in the art that
The modular expression be not the system of the present invention uniquely by the way of, its substantially also should with specific software and/
Or hardware（Computer equipment, microprocessor or all kinds of PLDs）System is corresponding.
Compared with existing train control system and control technology, system and method proposed by the present invention not only can guarantee that harm
The event origin cause of formation and the validity of consequence control, are realized in the present invention just with the method for single short-range radio response communication
The transmission of full detail, in the absence of network service and its safety issue, whole behaviour in addition to determining vehicle time interval
Make step within Current vehicle itself mobile unit, realize and independently given birth to without the support of any external information and full detail
Into the self-control system using vehicle signal as main running signal, reach fully functional and operation be independent；And use
The system and method are controlled clear thinking to the time interval between operation vehicle, directly can be directed to automatically with the first car of rail
It is controlled, is advantageous to the validity of measure setting.
Embodiment of above is merely to illustrate the present invention, rather than limitation of the present invention, the common skill about technical field
Art personnel, without departing from the spirit and scope of the present invention, it can also make a variety of changes and modification, thus it is all etc.
Same technical scheme falls within the technology category of the present invention, and scope of patent protection of the invention should be defined by the claims.
Claims (7)
1. a kind of rail vehicle collision avoidance system kept based on time interval and method, it is characterized in that：Set based on interior on track
On timing module timing transponder and vehicle during interior design module mobile unit active track traffic anti-vehicle collision system
And method, including step：
A, the vehicle time interval of Current vehicle and first vehicle and the response time interval of Current vehicle, including step are determined：
A1, determine vehicle time interval：Timing module is set on track in timing transponder to add up to reach this in advance by first vehicle
It is the time interval of terminal during timing transponder location when being and reaching the timing transponder location in starting point to the Current vehicle later stage；
A2, determine response time interval：Timing module is set on Current vehicle in mobile unit to add up to be reached in advance by Current vehicle
Be during the nearest timing transponder location in rear be terminal when starting point reaches present timing transponder location to the later stage time interval；
B, go out according to the vehicle time interval and response time interval calculation determined required for Current vehicle guarantee traffic safety
Vehicle time interval lower limit value and response time interval lower limit value；
C, judge when vehicle time interval reaches vehicle time interval lower limit value or response time interval reaches between response time
When lower limit or both reaches respective lower limit simultaneously, the control signal of generation braking carries out control for brake, makes current
Vehicle then reaches the vehicle time interval determined during the timing transponder location of front and response time interval is recovered and is maintained at
On the respective lower limit calculated according to this；
D, judge when vehicle time interval reaches vehicle time interval lower limit value or response time interval reaches between response time
Anti-collision warning letter is generated when the continuous integration time that lower limit or both reaches respective lower limit time threshold is reached simultaneously
Number.
2. system and method according to claim 1, it is characterised in that：
The Current vehicle is the vehicle being controlled using present system and method；
The formerly vehicle is the positive tracking operation of Current vehicle with nearest vehicle in front of track；
The timing transponder is the internal transponder for being provided with timing module, and set along track circuit by sequence；
The mobile unit is provided with timing module and device for controlling a vehicle to be installed on inside on vehicle；
The present timing transponder is that Current vehicle mobile unit drives to the timing transponder reached；
The nearest timing transponder in rear be first vehicle and Current vehicle drive to up to present timing transponder location it
Last timing transponder in the preceding all timing transponders reached.
3. system and method according to claim 1, it is characterised in that in step A, it is described determination vehicle time interval and
Response time interval, including：
In step A1, the timing transponder cumulative time is the process under first vehicle and Current vehicle control；
In step A2, the mobile unit cumulative time is the mistake under the nearest timing transponder in rear and the control of present timing transponder
Journey.
4. system and method according to claim 1, it is characterised in that in step B, under the calculating vehicle time interval
Limit valueT vlv With response time interval lower limit valueT rlv , it is：
T vlv =f（T vv , T vr , T e , L v , L t , L r , L p ）,T rlv =f（T vv , T vr , T e , L v , L t , L r , L P ）, wherein,T vv For Current vehicle with
The vehicle time interval of first vehicle,T vr For the response time interval of Current vehicle,T e For the equivalent virtual braking time of Current vehicle,L v Distance length for Current vehicle by vehicle head end to mobile unit installation site,L t It is first vehicle by mobile unit installation position
Put to the distance length of vehicle tail end,L r For by the railway line of the nearest timing transponder location in rear to present timing transponder location
Road length,L p For default Current vehicle and first vehicle safety distance.
5. system and method according to claim 4, it is characterised in that in step B, under the calculating vehicle time interval
Limit value and response time interval lower limit value use default lower limit, including：
Prestore under the different vehicle time interval under worked out different vehicle time interval and different response time intervals
Limit value and response time interval lower limit value；
Stored vehicle time interval lower limit value and response are read according to the vehicle time interval of determination and response time interval
Time interval lower limit.
6. system and method according to claim 1, it is characterised in that in step D, the time threshold is using default
Threshold value, including：
Prestore the different time threshold value under worked out different vehicle time interval and different response time intervals；
Stored time threshold is read according to the vehicle time interval of determination and response time interval.
7. a kind of timing transponder, it is characterised in that the timing transponder includes：
Timing module, for it is accumulative the timing transponder location is reached by first vehicle in advance when for starting point to Current vehicle later stage
It is the time interval of terminal when reaching the timing transponder location；
Detection module, whether exceed its set range for detecting the timing module cumulative time, judge and generation no to scale and
The time status information of one of both is not outranged；
Power module, worked for timing module and detection module and can ensure timing module every time by cumulative time starting point extremely
The timing course of cumulative time terminal is complete continuous process.
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