CN108032879B - Full-automatic operation system-based terminal switching method and remote terminal switching method - Google Patents
Full-automatic operation system-based terminal switching method and remote terminal switching method Download PDFInfo
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- CN108032879B CN108032879B CN201711236923.7A CN201711236923A CN108032879B CN 108032879 B CN108032879 B CN 108032879B CN 201711236923 A CN201711236923 A CN 201711236923A CN 108032879 B CN108032879 B CN 108032879B
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- 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
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Abstract
The invention provides a full-automatic operation system-based terminal switching method and a remote terminal switching method, wherein the terminal switching method comprises the following steps: the method comprises the steps that a control end VOBC checks whether the position of a train meets a foldback line condition, if so, the train continues to be checked whether the position of the train meets the FAM mode foldback condition, if so, a FAM mode foldback change end mark is set to be effective, an emergency brake EB is output, meanwhile, a foldback logout command is sent to a ZC, whether a foldback logout confirmation command fed back by the ZC is received within a specified time period is judged, if so, an AR relay is controlled to fall down, and otherwise, the foldback failure is determined; and the VOBC at the waiting end receives the FAM mode operation level of the VOBC at the control end, checks whether the local end has the condition of returning and changing the terminal, outputs the FAM mode to the train if the local end has the condition of returning and changing the terminal, and sucks the AR relay at the local end to finish returning and changing the terminal. The terminal switching method for returning provided by the invention can complete automatic terminal switching without manual participation under the condition of meeting the returning condition.
Description
Technical Field
The invention relates to the field of rail transit control, in particular to a terminal returning and switching method and a remote terminal returning and switching method based on a full-automatic operation system.
Background
In the conventional CBTC system operation, the scenario of the turn-back is mainly divided into a pre-station turn-back (as shown in fig. 1 and 2) and a post-station turn-back (as shown in fig. 3). Wherein post-station foldback may enable unmanned foldback depending on line conditions (as shown in fig. 4). In the operation of the traditional CBTC system, no matter the turn-back before the station, the turn-back after the station or the turn-back without people, the cooperation of drivers is needed to be completed.
In the operation of the traditional CBTC system, the driver is required to press an AR button to confirm that the turning-back is started when an AR lamp of a driving platform flickers during the turning-back before the station/after the station. Under the condition of unmanned return, a driver firstly presses a return button on the train to close a driving end at the side, the driver presses an unmanned automatic return button on a platform after getting off the train, the train can automatically drive to enter and fold a return line from the arrival platform under the condition of unmanned driving, finally enters a departure station track and stops at a fixed point, a train door and a platform door are automatically opened, and the driver gets on the train at the platform to open a reverse driving end.
The operation mode of the fully-automatic CBTC system GOA4 is defined as an unattended operation mode, so the above-mentioned conventional foldback method is not applicable to the operation mode of the fully-automatic CBTC system GOA 4.
In the operation of the traditional CBTC system, a driver must drive and cooperate to complete the retrace change end, and the automatic retrace change end of the equipment cannot be realized, usually under a manned driving mode, one to two drivers are equipped, if one driver needs to press a retrace button in the retrace change end process, the driver quickly walks to the other end to open a key to complete the retrace flow, the response time of the driver is required to be 2 seconds for completing the retrace process, and the passing time of the driver from one end to the other end is 30 seconds, and the retrace completion needs at least 32 seconds; if two drivers are provided, the response time of the driver is about 4s for completing the turn-back process.
In the operation of the traditional CBTC system, if operation change operation occurs, central scheduling personnel are required to carry out route change operation in advance, so that VOBC can be successfully folded back; if the vehicle enters the turn-back area and does not handle the turn-back approach, the driver needs to manually change the end to complete the change, and the automatic end change cannot be realized.
Under the operation mode of the full-automatic operation CBTC system GOA4, the automatic system back-turning switching end without driver participation needs to be solved, and the back-turning switching operation without driver participation is realized.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a terminal switching method based on a full-automatic operation system, and the terminal switching method provided by the invention can complete automatic terminal switching without manual participation under the condition of meeting the terminal switching requirement.
In order to achieve the purpose, the invention provides the following technical scheme:
in a first aspect, the present invention provides a method for switching back ends based on a fully automatic operation system, including:
the method comprises the steps that a VOBC (vehicle mounted controller) at a control end checks whether the position of a train meets a foldback line condition, if so, the train is continuously checked whether the position of the train meets the FAM mode foldback condition, if so, a FAM mode foldback change end mark is set to be effective, an emergency brake EB (electronic beam) is output, meanwhile, a foldback logout command is sent to a ZC (zone controller), whether a foldback logout confirmation command fed back by the ZC is received within a specified time period is judged, if so, an AR (alarm) relay is controlled to fall down, and otherwise;
the waiting end VOBC receives the FAM mode operation level of the control end VOBC, whether the home end has the back-turn terminal-changing condition is checked, if yes, the FAM mode is output to the train, the home end AR relay is sucked up, and the back-turn terminal-changing is completed; otherwise, judging whether the time waiting for turning back currently exceeds a preset waiting threshold, if so, determining that turning back fails, otherwise, continuously checking whether the local terminal has a turning back and end changing condition until the local terminal has the turning back and end changing condition or determining that the time waiting for turning back currently exceeds the preset waiting threshold.
Further, the foldback line condition includes the following conditions ① and ②:
① MA terminal range contains parking area with folding attribute;
② the train head has been parked at the retrace stop.
Further, the FAM mode folding condition is a condition that the VOBC at the standby end has normal vehicle control after folding is completed.
Further, the condition that the waiting end VOBC has normal vehicle control after the turn-back is completed means that the waiting end VOBC has no fault described by a-h:
a. the waiting end presets that the highest driving mode is not FAM;
b. waiting for ATP or ATO equipment failure;
c. the communication between the ATP and the ATO at the waiting end is abnormal;
d. the head and tail data versions are inconsistent;
e. waiting for a speed measurement fault at the terminal;
f. head-to-tail communication failures;
g. waiting for the auxiliary driving unit AOM to be abnormal;
h. waiting for the end-kill switch to be in the kill position.
Further, the wrap switch end conditions include the following conditions ① and ②:
① the VOBC at the waiting end normally communicates with the AOM at the waiting end;
② receives the switch completion flag sent by ZC to the waiting peer.
In a second aspect, the present invention further provides a remote end-switching method based on a fully automatic operation system, including:
when a train runs to a turn-back area in an FAM mode, a central automatic train monitoring system (TIAS) issues a remote turn-back end-changing instruction, wherein the remote turn-back end-changing instruction comprises head code information opposite to the current running direction of the train;
and after receiving the remote turn-back end-changing instruction, the VOBC judges whether the current condition of the remote turn-back end-changing is met, if so, the turn-back end-changing method based on the full-automatic operation system is adopted to carry out turn-back end-changing, otherwise, the turn-back end-changing is not carried out.
Further, the remote foldback commutation end condition includes the following condition ① -condition ⑤:
① the running direction issued by TIAS is different from the current running direction of the train;
② the train is parked steadily at a stopping point and the current parking area attribute is a fold-back parking area;
③ the train is not in the process of a return change;
④ the train is not currently out of FAM mode;
⑤ the next stop ID sent by the TIAS to the VOBC is valid and is not the current stop.
Further, before determining whether the remote foldback swap-end condition is currently satisfied, the method further comprises:
judging whether the train position stops at a window of the platform, if so, firstly executing door opening and closing operation, and then executing judgment of the remote end returning and changing condition; and if the vehicle window is not stopped at the platform, namely the door opening and closing operation is not required, the VOBC keeps a door closing state to carry out remote turn-back, and the judgment of the remote turn-back end-changing condition is directly carried out.
Further, the remote terminal switching method based on the fully-automatic operation system further includes:
under the condition that the operation return change passes, the central TIAS is also used for issuing a remote return change end stop instruction, wherein the remote return change end stop instruction comprises head code information in the same direction as the current running direction of the train;
correspondingly, the train VOBC controls the train not to execute the turn-back operation after receiving the remote turn-back change-end stopping instruction.
According to the technical scheme, the terminal switching method based on the full-automatic operation system realizes automatic terminal switching through communication between the control terminal and the waiting terminal of the vehicle-mounted VOBC equipment without manual participation. The invention provides a terminal switching method based on a full-automatic operation system, which realizes the automatic terminal switching function under the operation mode of an unattended full-automatic operation CBTC system GOA4, improves the switching efficiency, can be completed within 400ms under the condition of good communication of the terminal switching, can be completed within 6s under the condition of considering the most unfavorable communication delay of equipment, and omits the reaction time of a driver and the time of moving the driver from one end to the other end.
In addition, the remote back-end changing method based on the full-automatic operation system enables the vehicle-mounted VOBC equipment to realize remote automatic end changing through issuing the head code information with opposite directions by the central TIAS. For example, when the operation work is changed to return, the center TIAS may update the header information to allow the train to perform the return work, and the train may be driven according to the operation instruction of the center, thereby improving the operation efficiency. In addition, when the operation return is changed to pass, the head code information can be updated through the center TIAS, so that the train does not execute the return operation, the train can run according to the operation instruction of the center, and the train is prevented from changing the end again after automatically changing the end. Therefore, the remote terminal switching method based on the full-automatic operation system can enable the operation dispatching center to directly control the train to switch back, and the center can intervene under the condition of operation change operation, so that the availability and the flexibility of the full-automatic operation system are greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic illustration of a pre-station turnaround;
FIG. 2 is another schematic illustration of a pre-station turnaround;
FIG. 3 is a schematic illustration of a post-station fold back;
FIG. 4 is a schematic view of an unmanned reentry;
FIG. 5 is a flowchart of a wrap-around swap-end method based on a fully-automatic operation system according to an embodiment of the present invention;
fig. 6 is a flowchart of a remote wrap-around switch-end method based on a fully-automatic operation system according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As can be seen from the description in the background section, in the fully automatic CBTC system GOA4 operation mode, there is a need to solve the problem of automatic system switchback without driver involvement. In order to solve the problem, the invention provides a terminal switching method based on a full-automatic operation system, which realizes automatic terminal switching through the communication between a control terminal and a waiting terminal of vehicle-mounted VOBC equipment without manual participation and can be applied to a GOA4 operation mode of a full-automatic operation CBTC system. The method for switching back based on the fully automatic operation system provided by the invention will be described in detail by specific embodiments.
An embodiment of the present invention provides a method for switching back ends based on a fully-automatic operating system, and referring to fig. 5, the method includes:
the method comprises the steps that a VOBC (vehicle mounted controller) at a control end checks whether the position of a train meets a foldback line condition, if so, the train is continuously checked whether the position of the train meets the FAM mode foldback condition, if so, a FAM mode foldback change end mark is set to be effective, an emergency brake EB (electronic beam) is output, meanwhile, a foldback logout command is sent to a ZC (zone controller), whether a foldback logout confirmation command fed back by the ZC is received within a specified time period is judged, if so, an AR (augmented reality) relay is controlled to fall down, otherwise, the foldback is determined to;
the waiting end VOBC receives the FAM mode operation level of the control end VOBC, whether the home end has the back-turn terminal-changing condition is checked, if yes, the FAM mode is output to the train, the home end AR relay is sucked up, and the back-turn terminal-changing is completed; otherwise, judging whether the current time waiting for turning back exceeds a preset waiting threshold (can be set manually according to needs), if so, determining that the turning back fails, and controlling the AR relay to fall down, otherwise, continuously checking whether the local terminal has a turning back and end changing condition until the local terminal has the turning back and end changing condition or determining that the current time waiting for turning back exceeds the preset waiting threshold.
It will be appreciated that the automatic end-change procedure described above is implemented when the train is operating in FAM mode to a point of a turnaround and the current approach is a turnaround approach.
In the present embodiment, the foldback line condition includes the following conditions ① and ②:
① MA terminal range contains parking area with folding attribute;
② the train head has been parked at the retrace stop.
In this embodiment, the FAM mode folding condition is a condition that the VOBC at the standby end has normal vehicle control after folding is completed.
Further, the condition that the waiting end VOBC has normal vehicle control after the turn-back is completed means that the waiting end VOBC has no fault described by a-h:
a. the waiting end presets that the highest driving mode is not FAM;
b. waiting for ATP or ATO equipment failure;
c. the communication between the ATP and the ATO at the waiting end is abnormal;
d. the head and tail data versions are inconsistent;
e. waiting for a speed measurement fault at the terminal;
f. head-to-tail communication failures;
g. waiting for the auxiliary driving unit AOM to be abnormal;
h. waiting for the end-kill switch to be in the kill position.
Further, the wrap switch end conditions include the following conditions ① and ②:
① the VOBC at the waiting end normally communicates with the AOM at the waiting end;
② receives the switch completion flag sent by ZC to the waiting peer.
As can be seen from the above description, the back-end switching method based on the fully automatic operation system provided in this embodiment implements automatic back-end switching through communication between the control end and the waiting end of the vehicle-mounted VOBC device, without human intervention. The terminal switching method based on the full-automatic operation system provided by the embodiment realizes the automatic terminal switching function under the operation mode of the unattended full-automatic operation CBTC system GOA4, improves the switching efficiency, can be completed within 400ms under the condition of good communication of the terminal switching, can be completed within 6s under the condition of considering the most unfavorable communication delay of equipment, and omits the reaction time of a driver and the time of the driver moving from one end to the other end.
Another embodiment of the present invention provides a remote switch back method based on a fully automatic operation system, and referring to fig. 6, the method includes:
when a train runs to a turn-back area in an FAM mode, a central automatic train monitoring system (TIAS) issues a remote turn-back end-changing instruction, wherein the remote turn-back end-changing instruction comprises head code information opposite to the current running direction of the train;
after receiving the remote terminal-switching instruction, the train vehicle-mounted controller VOBC judges whether the current condition of remote terminal-switching is met, if so, the terminal-switching method based on the full-automatic operation system is adopted to switch the terminal back, otherwise, the terminal-switching is not carried out.
It can be understood that, when the operation passes the turn-back (turn-back immediately after passing), the head code information can be updated through the center TIAS, so that the train can execute the turn-back operation, and the train can be driven according to the operation instruction of the center, thereby improving the operation efficiency.
Therefore, the remote terminal switching method based on the full-automatic operation system provided by the embodiment can enable the operation dispatching center to directly control the train to switch back, and the center can intervene under the condition of operation change operation, so that the availability and the flexibility of the full-automatic operation system are greatly improved.
Further, the remote foldback commutation end condition includes the following condition ① -condition ⑤:
① the running direction issued by TIAS is different from the current running direction of the train;
② the train is parked steadily at a stopping point and the current parking area attribute is a fold-back parking area;
③ the train is not in the process of a return change;
④ the train is not currently out of FAM mode;
⑤ the next stop ID sent by the TIAS to the VOBC is valid and is not the current stop.
Further, before determining whether the remote foldback swap-end condition is currently satisfied, the method further comprises:
judging whether the train position stops at a window of the platform, if so, firstly executing door opening and closing operation, and then executing judgment of the remote end returning and changing condition; and if the vehicle window is not stopped at the platform, namely the door opening and closing operation is not required, the VOBC keeps a door closing state to carry out remote turn-back, and the judgment of the remote turn-back end-changing condition is directly carried out.
In an optional embodiment, the fully-automatic operation system based remote back-end-change method further includes:
under the condition that the operation return change passes, the central TIAS is also used for issuing a remote return change end stop instruction, wherein the remote return change end stop instruction comprises head code information in the same direction as the current running direction of the train;
correspondingly, the train VOBC controls the train not to execute the turn-back operation after receiving the remote turn-back change-end stopping instruction.
For example, when the operation returns to pass (immediately after returning), the head code information may be updated by the center TIAS so that the train does not perform the return operation, and the train may be driven according to the operation instruction of the center to avoid changing the end again after the train automatically changes the end. Therefore, the remote terminal switching method based on the full-automatic operation system provided by the embodiment can enable the operation dispatching center to directly control the train to switch back, and the center can intervene under the condition of operation change operation, so that the availability and the flexibility of the full-automatic operation system are greatly improved.
As can be seen from the above description, the remote terminal-switching method based on the fully-automatic operating system provided in this embodiment enables the vehicle-mounted VOBC device to implement remote automatic terminal switching by issuing the header information with the opposite direction through the central TIAS. For example, when the operation work passes the switch back (switch back immediately after passing), the center TIAS can update the header information to allow the train to perform the switch back work, and the train can be driven according to the operation instruction of the center, thereby improving the operation efficiency. In addition, when the operation return changes to pass (immediately passes after the return), the head code information can be updated through the center TIAS, so that the train does not execute the return operation, the train can run according to the operation instruction of the center, and the train is prevented from changing the end again after automatically changing the end. Therefore, the remote terminal switching method based on the full-automatic operation system provided by the embodiment can enable the operation dispatching center to directly control the train to switch back, and the center can intervene under the condition of operation change operation, so that the availability and the flexibility of the full-automatic operation system are greatly improved.
By combining the two embodiments, the invention provides an automatic terminal switching method for the FAM mode vehicle-mounted subsystem and a remote terminal switching method for the FAM mode vehicle-mounted subsystem through the central TIAS, so that automatic terminal switching can be completed without manual participation under the condition of meeting the terminal switching requirement, and when the operation emergency needs to be changed, the central operator can remotely control the train terminal switching, thereby achieving the purpose of effective operation organization.
The above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A full-automatic operation system-based terminal switching method for a switch back device is characterized by comprising the following steps:
the method comprises the steps that a VOBC (vehicle mounted controller) at a control end checks whether the position of a train meets a foldback line condition, if so, the train is continuously checked whether the position of the train meets the FAM mode foldback condition, if so, a FAM mode foldback change end mark is set to be effective, an emergency brake EB (electronic beam) is output, meanwhile, a foldback logout command is sent to a ZC (zone controller), whether a foldback logout confirmation command fed back by the ZC is received within a specified time period is judged, if so, an AR (alarm) relay is controlled to fall down, and otherwise;
the waiting end VOBC receives the FAM mode operation level of the control end VOBC, whether the home end has the back-turn terminal-changing condition is checked, if yes, the FAM mode is output to the train, the home end AR relay is sucked up, and the back-turn terminal-changing is completed; otherwise, judging whether the time waiting for turning back currently exceeds a preset waiting threshold, if so, determining that turning back fails, otherwise, continuously checking whether the local terminal has a turning back and end changing condition until the local terminal has the turning back and end changing condition or determining that the time waiting for turning back currently exceeds the preset waiting threshold.
2. A fully automatically operating system based foldback terminal method as recited in claim 1, wherein the foldback line conditions comprise the following conditions ① and ②:
① MA terminal range contains parking area with folding attribute;
② the train head has been parked at the retrace stop.
3. A foldback change-end method based on a fully automatic operation system as claimed in claim 1, wherein the FAM mode foldback condition is a condition that the VOBC at the standby end has a normal car control after the foldback is completed.
4. A foldback change-end method based on a fully automatic operation system according to claim 3, wherein the condition that the waiting end VOBC has normal vehicle control after the foldback is completed means that the waiting end VOBC has no fault described by a-h:
a. the waiting end presets that the highest driving mode is not FAM;
b. waiting for ATP or ATO equipment failure;
c. the communication between the ATP and the ATO at the waiting end is abnormal;
d. the head and tail data versions are inconsistent;
e. waiting for a speed measurement fault at the terminal;
f. head-to-tail communication failures;
g. waiting for the auxiliary driving unit AOM to be abnormal;
h. waiting for the end-kill switch to be in the kill position.
5. A wrap switch method based on a fully automatically operating system according to claim 1, wherein said wrap switch conditions comprise the following conditions ① and ②:
① the VOBC at the waiting end normally communicates with the AOM at the waiting end;
② receives the switch completion flag sent by ZC to the waiting peer.
6. A remote terminal switching method based on a full-automatic operation system is characterized by comprising the following steps:
when a train runs to a turn-back area in an FAM mode, a central automatic train monitoring system (TIAS) issues a remote turn-back end-changing instruction, wherein the remote turn-back end-changing instruction comprises head code information opposite to the current running direction of the train;
after receiving the remote terminal-switching instruction, the train vehicle-mounted controller VOBC judges whether the remote terminal-switching condition is met currently, if so, the terminal-switching method based on the full-automatic operation system is adopted to switch the terminal back, and otherwise, the terminal-switching is not carried out.
7. The fully automatically operating system based remote foldback zapping method of claim 6, wherein the remote foldback zapping conditions comprise the following conditions ① -conditions ⑤:
① the running direction issued by TIAS is different from the current running direction of the train;
② the train is parked steadily at a stopping point and the current parking area attribute is a fold-back parking area;
③ the train is not in the process of a return change;
④ the train is not currently out of FAM mode;
⑤ the next stop ID sent by the TIAS to the VOBC is valid and is not the current stop.
8. The fully automatically operating system based remote foldback zapping method of claim 7, wherein prior to determining whether a remote foldback zapping condition is currently met, the method further comprises:
judging whether the train position stops at a window of the platform, if so, firstly executing door opening and closing operation, and then executing judgment of the remote end returning and changing condition; and if the vehicle window is not stopped at the platform, namely the door opening and closing operation is not required, the VOBC keeps a door closing state to carry out remote turn-back, and the judgment of the remote turn-back end-changing condition is directly carried out.
9. The fully automatically operated system based remote terminal re-entry method according to claim 6, further comprising:
under the condition that the operation return change passes, the central TIAS is also used for issuing a remote return change end stop instruction, wherein the remote return change end stop instruction comprises head code information in the same direction as the current running direction of the train;
correspondingly, the train VOBC controls the train not to execute the turn-back operation after receiving the remote turn-back change-end stopping instruction.
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| CN112208589B (en) * | 2020-09-29 | 2022-10-18 | 通号城市轨道交通技术有限公司 | Cross-line operation method, system, device, electronic equipment and storage medium |
| CN112590869B (en) * | 2020-12-21 | 2023-07-14 | 中国铁道科学研究院集团有限公司通信信号研究所 | Automatic control method for train returning route |
| CN112977557B (en) * | 2021-04-27 | 2022-07-26 | 卡斯柯信号有限公司 | Method for improving automatic return efficiency of short marshalling train in CTCS2+ ATO system |
| CN113548097B (en) * | 2021-07-28 | 2023-04-07 | 通号城市轨道交通技术有限公司 | Interconnection train turn-back processing method and system |
| CN113715870B (en) * | 2021-09-06 | 2023-11-24 | 青岛海信微联信号有限公司 | Train turning-back method, device, equipment and medium |
| CN114407978B (en) * | 2021-12-27 | 2023-08-25 | 交控科技股份有限公司 | Method, device, electronic equipment and computer program product for turning back train |
| CN114872759B (en) * | 2022-04-29 | 2024-02-06 | 中车株洲电力机车有限公司 | Rail transit vehicle and automatic turning-back control method and system thereof |
| CN115158409B (en) * | 2022-06-30 | 2023-10-17 | 通号城市轨道交通技术有限公司 | Control method and system for train turning back |
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| CN103010271A (en) * | 2012-12-24 | 2013-04-03 | 北京交控科技有限公司 | Train unmanned turning-back method based on CBTC (communication based train control) system |
| DE102014219817A1 (en) * | 2014-09-30 | 2016-03-31 | Siemens Aktiengesellschaft | traffic safety |
| CN104742943B (en) * | 2015-04-16 | 2017-03-01 | 北京全路通信信号研究设计院集团有限公司 | Control method and system for automatic turning back of train |
| CN104859685B (en) * | 2015-06-15 | 2017-02-01 | 北京全路通信信号研究设计院集团有限公司 | Train turning back control method and system |
| CN105083339B (en) * | 2015-09-10 | 2017-04-05 | 株洲南车时代电气股份有限公司 | A kind of two ends load the method for turning back automatically of the CBTC trains of mobile unit |
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