CN111169511B - Switching method and device for train control right under CBTC (communication based train control) system - Google Patents

Switching method and device for train control right under CBTC (communication based train control) system Download PDF

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Publication number
CN111169511B
CN111169511B CN201811392045.2A CN201811392045A CN111169511B CN 111169511 B CN111169511 B CN 111169511B CN 201811392045 A CN201811392045 A CN 201811392045A CN 111169511 B CN111169511 B CN 111169511B
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handover
mobile authorization
train
takeover
mobile
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CN111169511A (en
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张楠乔
孙晓光
刘鲁鹏
耿鹏
田元
郑志敏
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CRSC Urban Rail Transit Technology Co Ltd
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CRSC Urban Rail Transit Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/20—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

The embodiment of the invention provides a method and a device for switching train control right under a CBTC (communication based train control) system. The method comprises the following steps: when a handover ZC mobile authorization terminal reaches a handover boundary, the handover ZC sends train information to a take-over ZC; taking over own mobile authorization of ZC calculation and sending to a handover ZC; the take-over ZC splices own mobile authorization and mobile authorization sent by the handover ZC into a first mobile authorization and sends the first mobile authorization to the CBTC train; the transfer ZC splices own mobile authorization and the mobile authorization sent by the take-over ZC into a second mobile authorization and sends the second mobile authorization to the CBTC train; the CBTC train calculates the sending time of the first mobile authorization according to the message sequence number and calculates the sending time of the second mobile authorization according to the message sequence number and the ZC-ZC communication delay time; and when the maximum safe front end of the train moves out of the ZC handover control range or returns back to the ZC handover control range, the control right is switched by using the latest moving authorization of the sending time. The embodiment of the invention can eliminate the safety risk caused by communication delay between the ZCs.

Description

Switching method and device for train control right under CBTC (communication based train control) system
Technical Field
The embodiment of the invention relates to the technical field of rail transit control, in particular to a method and a device for switching train control right under a CBTC (communication based train control) system.
Background
In a conventional CBTC (Communication Based Train Control) system, a plurality of ZCs (Zone controllers) are generally installed in a main line Zone according to the length of a line. Each ZC has a certain control range, an overlapping area exists between the control ranges of the ZCs, and a control range demarcation point is called a handover boundary. When a CBTC train enters another ZC control range from one ZC control range, the control right needs to be switched. Wherein, the control ZC of the area where the CBTC train is going out is called a handover ZC, and the control ZC of the area where the train is going into is called a take-over ZC.
As shown in fig. 1, a first ZC is used to control an a zone and a second ZC is used to control a B zone. The zones adjacent to each other in the control range constitute an overlap zone commonly managed by the first ZC and the second ZC. When the train runs from left to right, the first ZC is a handover ZC, and the second ZC is a take-over ZC. And the CBTC train carries out control right switching at a handover boundary.
The ZC provides a Movement Authority (MA) for each train of CBTC trains to ensure that the trains operate safely within the control range of the system. When the CBTC train judges the used mobile authorization according to the position of the CBTC train, if the CBTC train starts to use the mobile authorization for taking over the ZC, then the mobile authorization for taking over the ZC retracts, and the CBTC train receives and uses the retracted mobile authorization to perform safety protection in the existing CBTC train control authorization switching process; if the CBTC train restarts to use the mobile authorization of the handover ZC due to scenes such as backward sliding/rollback or safe envelope retraction and the like of the CBTC train, the mobile authorization sent to the CBTC train by the handover ZC is not retracted due to communication delay between the handover ZC and the takeover ZC, and the CBTC train possibly crosses over a mobile authorization terminal point after actual retraction when safety protection is carried out accordingly, so that safety risk exists.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a method and a device for switching the train control right in a CBTC system.
In a first aspect, an embodiment of the present invention provides a method for switching a train control right in a CBTC system, where the method includes:
when the safety envelope of a CBTC train completely enters the overlapping area range of the handover ZC side, the CBTC train simultaneously establishes communication with the handover ZC and the takeover ZC, and when the mobile authorization terminal point calculated by the handover ZC reaches a handover boundary, the handover ZC sends train information to the takeover ZC, wherein the train information comprises the safety envelope of the train and the mobile authorization calculated by the handover ZC;
the takeover ZC calculates the mobile authorization which can extend into the control range of the takeover ZC according to the train information and sends the calculated mobile authorization to the handover ZC;
the takeover ZC splices the mobile authorization calculated by the takeover ZC and the mobile authorization sent by the handover ZC into a first mobile authorization, and sends the first mobile authorization to the CBTC train;
the handover ZC splices the mobile authorization calculated by the handover ZC and the mobile authorization sent by the take-over ZC into a second mobile authorization and sends the second mobile authorization to the CBTC train;
the CBTC train calculates the sending time of a first mobile authorization according to the message serial number of the takeover ZC, and calculates the sending time of a second mobile authorization according to the communication delay between the takeover ZC and the handover ZC and the message serial number of the handover ZC;
and when the maximum safe front end of the CBTC train drives out of the control range of the handover ZC, comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization, and switching the control right from the handover ZC to the take-over ZC by using the mobile authorization with the latest sending time.
In a second aspect, an embodiment of the present invention provides a device for switching train control right under a CBTC system, where the device includes:
a sending unit, configured to send train information to a takeover ZC when a safety envelope of a CBTC train completely enters an overlapping area of a handover ZC side, the CBTC train simultaneously establishes communication with the handover ZC and the takeover ZC, and a mobile authorization endpoint calculated by the handover ZC reaches a handover boundary, the train information including the safety envelope of the train and a mobile authorization calculated by the handover ZC;
a first calculating unit, configured to take over a mobile authorization that can extend into a control range of the take-over ZC according to the train information, and send the calculated mobile authorization to the handover ZC;
the first splicing unit is used for taking over the mobile authorization calculated by the ZC and splicing the mobile authorization sent by the handover ZC into a first mobile authorization, and sending the first mobile authorization to the CBTC train;
the second splicing unit is used for the handover ZC to splice the mobile authorization calculated by the handover ZC and the mobile authorization sent by the take-over ZC into a second mobile authorization and send the second mobile authorization to the CBTC train;
a second calculation unit, the CBTC train calculating the transmission time of the first mobile authorization according to the message sequence number of the takeover ZC, and calculating the transmission time of the second mobile authorization according to the communication delay between the takeover ZC and the hand-over ZC and the message sequence number of the hand-over ZC;
the first comparison unit is used for comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization when the maximum safe front end of the CBTC train exits the ZC handover control range;
and the first switching unit is used for switching the control right from the handover ZC to the takeover ZC by using the mobile authorization with the latest sending time after the maximum safe front end of the CBTC train exits the control range of the handover ZC.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method provided in the first aspect is implemented.
In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method provided in the first aspect.
The embodiment of the invention calculates the time for the handover ZC to send the mobile authorization and the time for the takeover ZC to send the mobile authorization, and the CBTC train uses the mobile authorization with the latest sending time when the control right is switched at the handover boundary, thereby avoiding the safety risk caused by the communication delay between the takeover ZC and the handover ZC.
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 described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a CBTC train control range provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of the components of a CBTC train safety envelope according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a CBTC train movement authorization provided by an embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for switching train control right in a CBTC system according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a switching device for train control right in a CBTC system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to yet 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.
FIG. 2 shows a schematic composition of a CBTC train safety envelope.
The safe position of the train is generally obtained by adding a section of train safety envelope on the basis of the estimated position (which is the safe position) of the train obtained by a high-precision positioning method. The safety envelope refers to a distance added to an unsafe position to ensure the safety of the train position. The train safety envelope in fig. 2 is the current possible position of the train considered by the signal system after the error of the position of the head and tail of the train is taken into consideration. As shown in fig. 2, the train safety envelope consists of four points, including a maximum safety front end, a minimum safety front end, a maximum safety back end, and a minimum safety back end. The maximum safety rear end is calculated by subtracting the length of the train from the position of the maximum safety front end, and the minimum safety rear end is calculated by subtracting the length of the train from the position of the minimum safety front end.
Fig. 3 shows a schematic diagram of CBTC train movement authorization.
As shown in fig. 3, a movement authorization is that a train is authorized to enter and pass through a particular track segment in a given direction of travel. The mobile authorization mainly comprises an MA direction, an MA starting point position and an MA ending point position. The MA direction is a train route direction, the MA starting point is the position where the minimum safety rear end in the train position report received by the ZC is located, and the MA ending point is a safety protection point corresponding to the front danger point. The train calculates an emergency braking profile according to the MA, and the line data within the MA coverage area.
Fig. 4 shows a schematic flow chart of a method for switching the train control right in the CBTC system according to an embodiment of the present invention.
As shown in fig. 4, the method for switching the train control right in the CBTC system provided by the embodiment of the present invention specifically includes the following steps:
s11, when the safety envelope of the CBTC train completely enters the overlapping area range of the handover ZC side, the CBTC train simultaneously establishes communication with the handover ZC and the takeover ZC, and when the mobile authorization terminal point calculated by the handover ZC reaches the handover boundary, the handover ZC sends train information to the takeover ZC, wherein the train information comprises the safety envelope of the train and the mobile authorization calculated by the handover ZC;
specifically, the CBTC train safety envelope does not enter the handover ZC overlap area range, communication is established only with the handover ZC, and the handover procedure is not started. The CBTC train is completely controlled by the handover ZC, and runs by using the MA transmitted by the handover ZC.
The maximum safe front end of the CBTC train enters the overlapped area range of the handover ZC, communication is only established with the handover ZC, and the handover process is not started.
After the safety envelope of the CBTC train completely enters the overlapping area range of the handover ZC, registration is initiated to the take-over ZC, and communication is established with the handover ZC and the take-over ZC at the same time. At this time, the mobile authorized terminal has not reached the handover boundary, and the handover procedure is not started.
And the transfer ZC starts a transfer process when the mobile authorization terminal calculated by the CBTC train reaches a transfer boundary, and the train information sent by the transfer ZC to the take-over ZC contains the CBTC train.
S12, the takeover ZC calculates the mobile authorization which can extend into the control range of the takeover ZC according to the train information, and sends the calculated mobile authorization to the handover ZC;
specifically, after receiving the CBTC train information sent by the handover ZC, the takeover ZC calculates a mobile authorization for the CBTC train, and if the mobile authorization can extend into a control range of the takeover ZC, the takeover ZC calculates an extended mobile authorization for the CBTC train and sends the extended mobile authorization to the handover ZC. The handover ZC extends the mobile authorization of the CBTC train into the control range of the take-over ZC, and the mobile authorization terminal point calculated by the take-over ZC cannot be crossed farthest.
S13, the take-over ZC splices the mobile authorization calculated by the take-over ZC and the mobile authorization sent by the handover ZC into a first mobile authorization and sends the first mobile authorization to the CBTC train;
specifically, the takeover ZC sends the mobile authorization, which can extend into the control range of the present party, to the handover ZC, and simultaneously splices the mobile authorization sent by the handover ZC into a complete mobile authorization to send to the CBTC train.
S14, the handover ZC splices the mobile authorization calculated by the handover ZC and the mobile authorization sent by the take-over ZC into a second mobile authorization and sends the second mobile authorization to the CBTC train;
specifically, the handover ZC combines the mobile authorization calculated for the CBTC train by the handover ZC with the mobile authorization sent by the take-over ZC to splice into a complete mobile authorization and send the complete mobile authorization to the CBTC train.
S15, the CBTC train calculates the sending time of the first mobile authorization according to the message serial number of the takeover ZC, and calculates the sending time of the second mobile authorization according to the communication delay between the takeover ZC and the hand-over ZC and the message serial number of the hand-over ZC;
specifically, a takeover ZC mobile grant (first mobile grant) transmission time calculated from the message sequence number, a handover ZC mobile grant (second mobile grant) transmission time calculated from the message sequence number and a ZC-ZC communication delay time.
S16, when the maximum safe front end of the CBTC train exits the control range of the handover ZC, comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization, and using the mobile authorization with the latest sending time to switch the control right from the handover ZC to the takeover ZC.
Specifically, the CBTC train runs forward, the maximum safe front end runs out of the ZC handover control range, the CBTC train judges that control power switching is needed at the moment, and the sending time of handover ZC mobile authorization and takeover ZC mobile authorization is judged:
1) if the transfer ZC mobile authorization sending time calculated according to the message sequence number and the ZC-ZC communication delay time is more updated than the takeover ZC mobile authorization sending time calculated according to the message sequence number, continuing to use the mobile authorization sent by the transfer ZC;
2) if the taking over of the ZC mobile authorization sending time calculated according to the message sequence number is more updated than the hand-over of the ZC mobile authorization sending time calculated according to the message sequence number and the ZC-ZC communication delay time, then the mobile authorization taking over the sending of the ZC is used;
3) when the CBTC train receives a new handover ZC mobile authorization or takes over the ZC mobile authorization, the comparison is carried out again and the updated mobile authorization is used until the control authorization switching process is exited.
The embodiment of the invention calculates the time for the handover ZC to send the mobile authorization and the time for the takeover ZC to send the mobile authorization, and the CBTC train uses the mobile authorization with the latest sending time when the control right is switched at the handover boundary, thereby avoiding the safety risk caused by the communication delay between the takeover ZC and the handover ZC.
On the basis of the foregoing embodiment, S15 specifically includes:
the method comprises the steps that a CBTC train calculates first time consumption for a take-over ZC to send a first mobile authorization to the CBTC train to receive the first mobile authorization according to a message serial number of the take-over ZC, and obtains time for the take-over ZC to send the first mobile authorization according to the first time consumption;
calculating second time consumption for transmitting a second mobile authorization to a CBTC train and receiving the second mobile authorization by a handover ZC according to a message sequence number of the handover ZC, wherein the second time consumption plus communication delay between the handover ZC and the handover ZC is total time consumption of the second mobile authorization, and calculating the transmission time of the second mobile authorization according to the total time consumption.
In particular, the calculation of the mobile authorization transmission time is explained in detail in connection with fig. 1.
In the train transfer process, the ZC calculates the MA of the section A for a VOBC (Vehicle On-Board Controller), the takeover ZC calculates the MA of the section B for the VOBC, the ZC and the takeover ZC interact with each other, and finally the MA of the section A and the MA of the section B are spliced together and then sent to the VOBC. If the section B MA taking over the ZC calculation is suddenly retracted, the VOBC needs to judge whether the section B MA taking over the ZC calculation is a newly sent MA or not. When the VOBC receives the MA sent by the take-over ZC, because the section B MA only passes through the time delay between the VOBC and the ZC, the new and old degree of the section B MA of the source can be calculated only by the sequence number (the time consumption in wireless communication from the moment that the section B MA is sent out from the take-over ZC to the moment that the section B is received can be calculated by the sequence number); when the VOBC receives the MA transmitted by the handover ZC, because the section B MA passes through the delay between ZC-ZC and the delay between VOBC-ZC, the transmission time of the section B MA of the source needs to be calculated through the serial number and the ZC-ZC delay time (when the MA transmitted by the ZC is the splicing MA, the delay calculated by the ZC in the period is filled in the 'ZC-ZC communication delay' field in the MA) (the wireless communication time consumption calculated through the serial number is added with the ZC-ZC communication time consumption, namely the total time consumption of the section B MA). After the time consumption of the section B MA from two sources is obtained through calculation, the VOBC can judge which is newer according to the time shaft of the VOBC, namely the time of the section B MA taking over the ZC is respectively calculated by taking the time shaft of the VOBC as the reference.
On the basis of the above embodiment, the method further includes:
when the maximum safe front end of the CBTC train returns to the ZC control handover range, comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization;
the handover of the control right from the takeover ZC to the handover ZC is performed using the mobile grant whose transmission time is latest.
Specifically, if the maximum safe front end of the CBTC train returns to the ZC control zone for handover (i.e., does not cross the handover boundary) due to scenarios such as rollback/rollback or safe envelope retraction, the CBTC train determines that the control right needs to be switched at this time, and determines the time for handing over ZC movement authorization and taking over transmission of ZC movement authorization:
1) if the taking over of the ZC mobile authorization sending time calculated according to the message sequence number is more updated than the hand-over of the ZC mobile authorization sending time calculated according to the message sequence number and the ZC-ZC communication delay time, continuing to use the mobile authorization sent by the taking over of the ZC;
2) if the transfer ZC mobile authorization sending time calculated according to the message sequence number and the ZC-ZC communication delay time is more updated than the takeover ZC mobile authorization sending time calculated according to the message sequence number, using the mobile authorization sent by the transfer ZC;
3) when the CBTC train receives a new handover ZC mobile authorization or takes over the ZC mobile authorization, the comparison is carried out again and the updated mobile authorization is used until the control authorization switching process is exited.
On the basis of the above embodiment, the method further includes:
when the safety envelope of the CBTC train completely moves out of the handoff boundary, communication with the handoff ZC is disconnected.
Specifically, when the CBTC train safety envelope passes the handoff border and completely exits the handoff ZC control range, the CBTC train disconnects communication with the handoff ZC. So far, the CBTC train completes the switching of the control right from the handover ZC to the takeover ZC.
The following describes the implementation of the embodiments of the present invention in different scenarios.
First, train safety envelope retraction scene
After the safety envelope of the CBTC train completely enters the overlapping area range of the handover ZC, registration is initiated to the take-over ZC, and communication is established with the handover ZC and the take-over ZC at the same time. And the transfer ZC starts a transfer process when the mobile authorization terminal calculated by the CBTC train reaches a transfer boundary, and the train information sent by the transfer ZC to the take-over ZC contains the CBTC train. After receiving the CBTC train information sent by the handover ZC, the takeover ZC calculates a mobile authorization which can extend into the control range of the party and sends the mobile authorization to the handover ZC, and meanwhile, the mobile authorization sent by the handover ZC is spliced into a complete mobile authorization which is sent to the CBTC train; meanwhile, the handover ZC combines the mobile authorization calculated for the CBTC train with the mobile authorization sent by the take-over ZC to splice into a complete mobile authorization and send the complete mobile authorization to the CBTC train. The CBTC train moves forwards, when the maximum safe front end moves out of the ZC handing-over control range, the CBTC train compares the mobile authorization sent by the ZC handing-over and the ZC taking over, and the updated mobile authorization sent by the ZC taking over is used.
At the moment, the open annunciator in front of the CBTC train is manually closed, ZC retraction movement authorization is taken over, and the CBTC train recalculates an emergency braking curve for safety protection according to the received retraction movement authorization; because communication delay exists between the handover ZC and the takeover ZC, the mobile authorization for calculating splicing for the CBTC train by the handover ZC is still unretracted. When the CBTC train passes through the transponder, the train position correction is completed, the uncertainty of the train position is reduced, and the maximum safe front end of the train returns to the handoff ZC control range (namely, the handoff boundary is not crossed). In this scenario, the CBTC train compares the mobile authorization sent by the handover ZC and the takeover ZC, and the CBTC train continues to use the retraction mobile authorization sent by the takeover ZC because the sending time of the takeover ZC mobile authorization is updated and still effective. And the CBTC train continues to move forwards, and when the maximum safe front end crosses the handover boundary again, the CBTC train compares the handover ZC with the movement authorization sent by the takeover ZC, and uses the updated retraction movement authorization sent by the takeover ZC.
Second, train rollback/back-sliding scene
After the safety envelope of the CBTC train completely enters the overlapping area range of the handover ZC, registration is initiated to the take-over ZC, and communication is established with the handover ZC and the take-over ZC at the same time. And the transfer ZC starts a transfer process when the mobile authorization terminal calculated by the CBTC train reaches a transfer boundary, and the train information sent by the transfer ZC to the take-over ZC contains the CBTC train. After receiving the CBTC train information sent by the handover ZC, the takeover ZC calculates a mobile authorization which can extend into the control range of the party and sends the mobile authorization to the handover ZC, and meanwhile, the mobile authorization sent by the handover ZC is spliced into a complete mobile authorization which is sent to the CBTC train; meanwhile, the handover ZC combines the mobile authorization calculated for the CBTC train with the mobile authorization sent by the take-over ZC to splice into a complete mobile authorization and send the complete mobile authorization to the CBTC train. The CBTC train moves forwards, stops after the maximum safe front end drives out of the ZC handover control range, compares the mobile authorization sent by the ZC handover and the ZC takeover, and uses the updated mobile authorization sent by the ZC takeover.
At the moment, the open annunciator in front of the CBTC train is manually closed, ZC retraction movement authorization is taken over, and the CBTC train recalculates an emergency braking curve for safety protection according to the received retraction movement authorization; because communication delay exists between the handover ZC and the takeover ZC, the mobile authorization for calculating splicing for the CBTC train by the handover ZC is still unretracted. When a CBTC train rolls back/rolls back but does not exceed the allowable distance range, the CBTC train does not degrade to trigger an emergency brake whose maximum safe front end falls back within the handoff ZC control range (i.e., does not cross the handoff boundary). In this scenario, the CBTC train compares the mobile authorization sent by the handover ZC and the takeover ZC, and the CBTC train continues to use the retraction mobile authorization sent by the takeover ZC because the sending time of the takeover ZC mobile authorization is updated and still effective. And the CBTC train continues to move forwards, and when the maximum safe front end crosses the handover boundary again, the CBTC train compares the handover ZC with the movement authorization sent by the takeover ZC, and uses the updated retraction movement authorization sent by the takeover ZC.
Third, vehicle-ground communication delay scene
After the safety envelope of the CBTC train completely enters the overlapping area range of the handover ZC, registration is initiated to the take-over ZC, and communication is established with the handover ZC and the take-over ZC at the same time. And the transfer ZC starts a transfer process when the mobile authorization terminal calculated by the CBTC train reaches a transfer boundary, and the train information sent by the transfer ZC to the take-over ZC contains the CBTC train. After receiving the CBTC train information sent by the handover ZC, the takeover ZC calculates a mobile authorization which can extend into the control range of the party and sends the mobile authorization to the handover ZC, and meanwhile, the mobile authorization sent by the handover ZC is spliced into a complete mobile authorization which is sent to the CBTC train; meanwhile, the handover ZC combines the mobile authorization calculated for the CBTC train with the mobile authorization sent by the take-over ZC to splice into a complete mobile authorization and send the complete mobile authorization to the CBTC train. And when the CBTC train does not cross the handover boundary, the CBTC train calculates an emergency braking curve by using the mobile authorization sent by the handover ZC to perform safety protection.
And at the moment, a route with the same-direction signal machine in front of the CBTC train as the starting end is handled, the condition is met and opened after the route is successfully handled, the ZC extension mobile authorization is taken over and sent to the handover ZC, and meanwhile, the mobile authorization sent by the handover ZC is spliced into a complete mobile authorization to be sent to the CBTC train. If the CBTC train has received the extended mobile authorization sent by the handover ZC but still does not receive the extended mobile authorization sent by the take-over ZC due to a large delay in communication with the take-over ZC, when the CBTC train continues to move forward to enable the maximum safe front end to cross the handover boundary, the mobile authorization sent by the handover ZC and the take-over ZC are compared, and the CBTC train continues to use the extended mobile authorization sent by the handover ZC due to the fact that the sending time of the handover ZC mobile authorization is updated and still valid. The CBTC train continues to move forward, and when the mobile authorization sent by the take-over ZC is judged to be more updated than the mobile authorization sent by the handover ZC, the CBTC train uses the updated extended mobile authorization sent by the take-over ZC.
The embodiment of the invention solves the problem of misuse of dangerous side mobile authorization possibly occurring in a train rollback/back-sliding scene or a train safety envelope retraction scene, thereby improving the safety of the system; the problem that misuse of non-extended mobile authorization possibly occurs under the scene that large delay exists in vehicle-ground communication is solved, and therefore the usability of the system is improved.
Fig. 5 is a schematic structural diagram illustrating a switching device for train control right in a CBTC system according to an embodiment of the present invention.
As shown in fig. 5, the switching device of train control right in the CBTC system provided in the embodiment of the present invention includes a sending unit 11, a first calculating unit 12, a first splicing unit 13, a second splicing unit 14, a second calculating unit 15, a first comparing unit 16, and a first switching unit 17, where:
the sending unit 11 is configured to send train information to the takeover ZC by the handover ZC when the safety envelope of the CBTC train completely enters the overlapping area of the handover ZC side, the CBTC train establishes communication with the handover ZC and the takeover ZC at the same time, and the handover ZC sends train information to the takeover ZC when the mobile authorization endpoint calculated by the handover ZC reaches a handover boundary, where the train information includes the safety envelope of the train and the mobile authorization calculated by the handover ZC;
specifically, the CBTC train safety envelope does not enter the handover ZC overlap area range, communication is established only with the handover ZC, and the handover procedure is not started. The CBTC train is completely controlled by the handover ZC, and runs by using the MA transmitted by the handover ZC.
The maximum safe front end of the CBTC train enters the overlapped area range of the handover ZC, communication is only established with the handover ZC, and the handover process is not started.
After the safety envelope of the CBTC train completely enters the overlapping area range of the handover ZC, registration is initiated to the take-over ZC, and communication is established with the handover ZC and the take-over ZC at the same time. At this time, the mobile authorized terminal has not reached the handover boundary, and the handover procedure is not started.
And the transfer ZC starts a transfer process when the mobile authorization terminal calculated by the CBTC train reaches a transfer boundary, and the train information sent by the transfer ZC to the take-over ZC contains the CBTC train.
The first calculating unit 12 is configured to take over a mobile authorization that can extend into a control range of the ZC according to the train information, and send the calculated mobile authorization to the ZC for handover;
specifically, after receiving the CBTC train information sent by the handover ZC, the takeover ZC calculates a mobile authorization for the CBTC train, and if the mobile authorization can extend into a control range of the takeover ZC, the takeover ZC calculates an extended mobile authorization for the CBTC train and sends the extended mobile authorization to the handover ZC. The handover ZC extends the mobile authorization of the CBTC train into the control range of the take-over ZC, and the mobile authorization terminal point calculated by the take-over ZC cannot be crossed farthest.
The first splicing unit 13 is configured to take over the mobile authorization calculated by the ZC and the mobile authorization sent by the handover ZC to splice the mobile authorization and the handover ZC into a first mobile authorization, and send the first mobile authorization to the CBTC train;
specifically, the takeover ZC sends the mobile authorization, which can extend into the control range of the present party, to the handover ZC, and simultaneously splices the mobile authorization sent by the handover ZC into a complete mobile authorization to send to the CBTC train.
The second splicing unit 14 is configured to handover the ZC to splice the mobile grant calculated by the ZC and the mobile grant sent by the takeover ZC into a second mobile grant, and send the second mobile grant to the CBTC train;
specifically, the handover ZC combines the mobile authorization calculated for the CBTC train by the handover ZC with the mobile authorization sent by the take-over ZC to splice into a complete mobile authorization and send the complete mobile authorization to the CBTC train.
The second calculating unit 15 is configured to calculate, by the CBTC train, a transmission time of the first mobile grant according to the message sequence number of the takeover ZC, and calculate a transmission time of the second mobile grant according to the communication delay between the takeover ZC and the handover ZC and the message sequence number of the handover ZC;
specifically, a takeover ZC mobile grant (first mobile grant) transmission time calculated from the message sequence number, a handover ZC mobile grant (second mobile grant) transmission time calculated from the message sequence number and a ZC-ZC communication delay time.
The first comparison unit 16 is used for comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization when the maximum safe front end of the CBTC train exits the ZC handover control range;
the first switching unit 17 is configured to switch the control right from the handover ZC to the takeover ZC using a mobile grant with the latest transmission time after the maximum safe front end of the CBTC train exits the control range of the handover ZC.
Specifically, the CBTC train runs forward, the maximum safe front end runs out of the ZC handover control range, the CBTC train judges that control power switching is needed at the moment, and the sending time of handover ZC mobile authorization and takeover ZC mobile authorization is judged:
1) if the transfer ZC mobile authorization sending time calculated according to the message sequence number and the ZC-ZC communication delay time is more updated than the takeover ZC mobile authorization sending time calculated according to the message sequence number, continuing to use the mobile authorization sent by the transfer ZC;
2) if the taking over of the ZC mobile authorization sending time calculated according to the message sequence number is more updated than the hand-over of the ZC mobile authorization sending time calculated according to the message sequence number and the ZC-ZC communication delay time, then the mobile authorization taking over the sending of the ZC is used;
3) when the CBTC train receives a new handover ZC mobile authorization or takes over the ZC mobile authorization, the comparison is carried out again and the updated mobile authorization is used until the control authorization switching process is exited.
The embodiment of the invention calculates the time for the handover ZC to send the mobile authorization and the time for the takeover ZC to send the mobile authorization, and the CBTC train uses the mobile authorization with the latest sending time when the control right is switched at the handover boundary, thereby avoiding the safety risk caused by the communication delay between the takeover ZC and the handover ZC.
Specifically, the second calculation unit 15 includes:
the first calculation submodule is used for calculating first time consumption for the takeover ZC to send the first mobile authorization to the CBTC train to receive the first mobile authorization according to the message serial number of the takeover ZC, and obtaining time for the takeover ZC to send the first mobile authorization according to the first time consumption;
and the second calculating submodule is used for calculating second consumed time for the handover ZC to send the second mobile authorization to the CBTC train to receive the second mobile authorization according to the message sequence number of the handover ZC, the second consumed time plus the communication delay between the takeover ZC and the handover ZC is the total consumed time of the second mobile authorization, and the sending time of the second mobile authorization is calculated according to the total consumed time.
In particular, the calculation of the mobile authorization transmission time is explained in detail in connection with fig. 1.
In the train transfer process, the ZC calculates the MA of the section A for a VOBC (Vehicle On-Board Controller), the takeover ZC calculates the MA of the section B for the VOBC, the ZC and the takeover ZC interact with each other, and finally the MA of the section A and the MA of the section B are spliced together and then sent to the VOBC. If the section B MA taking over the ZC calculation is suddenly retracted, the VOBC needs to judge whether the section B MA taking over the ZC calculation is a newly sent MA or not. When the VOBC receives the MA sent by the take-over ZC, because the section B MA only passes through the time delay between the VOBC and the ZC, the new and old degree of the section B MA of the source can be calculated only by the sequence number (the time consumption in wireless communication from the moment that the section B MA is sent out from the take-over ZC to the moment that the section B is received can be calculated by the sequence number); when the VOBC receives the MA transmitted by the handover ZC, because the section B MA passes through the delay between ZC-ZC and the delay between VOBC-ZC, the transmission time of the section B MA of the source needs to be calculated through the serial number and the ZC-ZC delay time (when the MA transmitted by the ZC is the splicing MA, the delay calculated by the ZC in the period is filled in the 'ZC-ZC delay time' field in the MA) (the wireless communication time consumption calculated through the serial number is added with the ZC-ZC communication time consumption, namely the total time consumption of the section B MA). After the time consumption of the section B MA from two sources is obtained through calculation, the VOBC can judge which is newer according to the time shaft of the VOBC, namely the time of the section B MA taking over the ZC is respectively calculated by taking the time shaft of the VOBC as the reference.
Specifically, the apparatus further comprises:
the second comparison unit is used for comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization when the maximum safe front end of the CBTC train returns to the ZC control handover range;
a second switching unit for performing control right switching from the takeover ZC to the handover ZC using the mobile grant whose transmission time is latest.
Specifically, if the maximum safe front end of the CBTC train returns to the ZC control zone for handover (i.e., does not cross the handover boundary) due to scenarios such as rollback/rollback or safe envelope retraction, the CBTC train determines that the control right needs to be switched at this time, and determines the time for handing over ZC movement authorization and taking over transmission of ZC movement authorization:
1) if the taking over of the ZC mobile authorization sending time calculated according to the message sequence number is more updated than the hand-over of the ZC mobile authorization sending time calculated according to the message sequence number and the ZC-ZC communication delay time, continuing to use the mobile authorization sent by the taking over of the ZC;
2) if the transfer ZC mobile authorization sending time calculated according to the message sequence number and the ZC-ZC communication delay time is more updated than the takeover ZC mobile authorization sending time calculated according to the message sequence number, using the mobile authorization sent by the transfer ZC;
3) when the CBTC train receives a new handover ZC mobile authorization or takes over the ZC mobile authorization, the comparison is carried out again and the updated mobile authorization is used until the control authorization switching process is exited.
Specifically, the apparatus further comprises:
and a disconnection unit for disconnecting communication with the handover ZC when the safety envelope of the CBTC train completely exits the handover boundary.
Specifically, when the CBTC train safety envelope passes the handoff border and completely exits the handoff ZC control range, the CBTC train disconnects communication with the handoff ZC. So far, the CBTC train completes the switching of the control right from the handover ZC to the takeover ZC.
An embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method shown in fig. 4 is implemented.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
As shown in fig. 6, the electronic device provided by the embodiment of the present invention includes a memory 21, a processor 22, a bus 23, and a computer program stored on the memory 21 and executable on the processor 22. The memory 21 and the processor 22 complete communication with each other through the bus 23. The electronic device is located in a handover ZC and a takeover ZC.
The processor 22 is configured to call program instructions in the memory 21 to implement the steps of calculating a mobile authorization as in fig. 4 when the program is executed.
For example, the processor executes the program to implement the following steps:
when the safety envelope of a CBTC train completely enters the overlapping area range of the handover ZC side, the CBTC train simultaneously establishes communication with the handover ZC and the takeover ZC, and when the mobile authorization terminal point calculated by the handover ZC reaches a handover boundary, the handover ZC sends train information to the takeover ZC, wherein the train information comprises the safety envelope of the train and the mobile authorization calculated by the handover ZC;
the takeover ZC calculates the mobile authorization which can extend into the control range of the takeover ZC according to the train information and sends the calculated mobile authorization to the handover ZC;
the takeover ZC splices the mobile authorization calculated by the takeover ZC and the mobile authorization sent by the handover ZC into a first mobile authorization, and sends the first mobile authorization to the CBTC train;
and the handover ZC splices the mobile authorization calculated by the handover ZC and the mobile authorization sent by the take-over ZC into a second mobile authorization and sends the second mobile authorization to the CBTC train.
Fig. 7 is a schematic structural diagram of an electronic device according to still another embodiment of the present invention.
As shown in fig. 7, the electronic device provided by the embodiment of the present invention includes a memory 31, a processor 32, a bus 33, and a computer program stored on the memory 31 and executable on the processor 32. The memory 31 and the processor 32 complete communication with each other through the bus 33. The electronic equipment is located in a VOBC of the CBTC train.
The processor 32 is configured to call the program instructions in the memory 31 to implement the steps of performing control right switching as shown in fig. 4 when executing the program.
For example, the processor executes the program to implement the following steps:
the CBTC train calculates the sending time of a first mobile authorization according to the message serial number of the takeover ZC, and calculates the sending time of a second mobile authorization according to the communication delay between the takeover ZC and the handover ZC and the message serial number of the handover ZC;
and when the maximum safe front end of the CBTC train drives out of the control range of the handover ZC, comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization, and switching the control right from the handover ZC to the take-over ZC by using the mobile authorization with the latest sending time.
According to the electronic equipment provided by the embodiment of the invention, the time for handing over the ZC to send the mobile authorization and the time for taking over the ZC to send the mobile authorization are calculated, and the CBTC train uses the mobile authorization with the latest sending time when the control right is switched at a handing-over boundary, so that the safety risk caused by the communication delay between the taking over ZC and the handing-over ZC can be avoided.
Embodiments of the present invention also provide a non-transitory computer readable storage medium, on which a computer program is stored, and the program, when executed by a processor, implements the steps of fig. 4.
For example, the processor executes the program to implement the following steps:
when the safety envelope of a CBTC train completely enters the overlapping area range of the handover ZC side, the CBTC train simultaneously establishes communication with the handover ZC and the takeover ZC, and when the mobile authorization terminal point calculated by the handover ZC reaches a handover boundary, the handover ZC sends train information to the takeover ZC, wherein the train information comprises the safety envelope of the train and the mobile authorization calculated by the handover ZC;
the takeover ZC calculates the mobile authorization which can extend into the control range of the takeover ZC according to the train information and sends the calculated mobile authorization to the handover ZC;
the takeover ZC splices the mobile authorization calculated by the takeover ZC and the mobile authorization sent by the handover ZC into a first mobile authorization, and sends the first mobile authorization to the CBTC train;
and the handover ZC splices the mobile authorization calculated by the handover ZC and the mobile authorization sent by the take-over ZC into a second mobile authorization and sends the second mobile authorization to the CBTC train.
Embodiments of the present invention also provide another non-transitory computer readable storage medium, on which a computer program is stored, and the program, when executed by a processor, implements the steps of fig. 4.
For example, the processor executes the program to implement the following steps:
the CBTC train calculates the sending time of a first mobile authorization according to the message serial number of the takeover ZC, and calculates the sending time of a second mobile authorization according to the communication delay between the takeover ZC and the handover ZC and the message serial number of the handover ZC;
and when the maximum safe front end of the CBTC train drives out of the control range of the handover ZC, comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization, and switching the control right from the handover ZC to the take-over ZC by using the mobile authorization with the latest sending time.
The non-transitory computer readable storage medium provided by the embodiment of the present invention calculates the time for the handover ZC to transmit the mobile grant and the time for the takeover ZC to transmit the mobile grant, and the CBTC train uses the mobile grant with the latest transmission time when performing control right handover at a handover boundary, thereby avoiding a security risk caused by a communication delay between the takeover ZC and the handover ZC.
An embodiment of the present invention discloses a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to perform the methods provided by the above-mentioned method embodiments, for example, including:
when the safety envelope of a CBTC train completely enters the overlapping area range of the handover ZC side, the CBTC train simultaneously establishes communication with the handover ZC and the takeover ZC, and when the mobile authorization terminal point calculated by the handover ZC reaches a handover boundary, the handover ZC sends train information to the takeover ZC, wherein the train information comprises the safety envelope of the train and the mobile authorization calculated by the handover ZC;
the takeover ZC calculates the mobile authorization which can extend into the control range of the takeover ZC according to the train information and sends the calculated mobile authorization to the handover ZC;
the takeover ZC splices the mobile authorization calculated by the takeover ZC and the mobile authorization sent by the handover ZC into a first mobile authorization, and sends the first mobile authorization to the CBTC train;
and the handover ZC splices the mobile authorization calculated by the handover ZC and the mobile authorization sent by the take-over ZC into a second mobile authorization and sends the second mobile authorization to the CBTC train.
Another computer program product is disclosed in an embodiment of the present invention, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, enable the computer to perform the methods provided by the above-described method embodiments, for example, including:
the CBTC train calculates the sending time of a first mobile authorization according to the message serial number of the takeover ZC, and calculates the sending time of a second mobile authorization according to the communication delay between the takeover ZC and the handover ZC and the message serial number of the handover ZC;
and when the maximum safe front end of the CBTC train drives out of the control range of the handover ZC, comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization, and switching the control right from the handover ZC to the take-over ZC by using the mobile authorization with the latest sending time.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; 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 (8)

1. A method for switching train control right under a CBTC system is characterized by comprising the following steps:
when the safety envelope of a CBTC train completely enters the overlapping area range of the handover ZC side, the CBTC train simultaneously establishes communication with the handover ZC and the takeover ZC, and when the mobile authorization terminal point calculated by the handover ZC reaches a handover boundary, the handover ZC sends train information to the takeover ZC, wherein the train information comprises the safety envelope of the train and the mobile authorization calculated by the handover ZC;
the takeover ZC calculates the mobile authorization which can extend into the control range of the takeover ZC according to the train information and sends the calculated mobile authorization to the handover ZC;
the takeover ZC splices the mobile authorization calculated by the takeover ZC and the mobile authorization sent by the handover ZC into a first mobile authorization, and sends the first mobile authorization to the CBTC train;
the handover ZC splices the mobile authorization calculated by the handover ZC and the mobile authorization sent by the take-over ZC into a second mobile authorization and sends the second mobile authorization to the CBTC train;
the CBTC train calculates the sending time of a first mobile authorization according to the message serial number of the takeover ZC, and calculates the sending time of a second mobile authorization according to the communication delay between the takeover ZC and the handover ZC and the message serial number of the handover ZC;
the CBTC train calculating the sending time of the first mobile authorization according to the message sequence number of the takeover ZC comprises the following steps:
calculating first time consumption for the takeover ZC to send a first mobile authorization to a CBTC train to receive the first mobile authorization according to the message sequence number of the takeover ZC, and obtaining the time for the takeover ZC to send the first mobile authorization according to the first time consumption;
the calculating, by the CBTC train, a transmission time of the second mobile grant according to a communication delay between the takeover ZC and the handover ZC and a message sequence number of the handover ZC includes:
calculating second time consumption for transmitting a second mobile authorization to a CBTC train and receiving the second mobile authorization by a handover ZC according to a message sequence number of the handover ZC, wherein the second time consumption plus communication delay between the handover ZC and the handover ZC is total time consumption of the second mobile authorization, and calculating the transmission time of the second mobile authorization according to the total time consumption;
and when the maximum safe front end of the CBTC train drives out of the control range of the handover ZC, comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization, and switching the control right from the handover ZC to the take-over ZC by using the mobile authorization with the latest sending time.
2. The method of claim 1, further comprising:
when the maximum safe front end of the CBTC train returns to the ZC control handover range, comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization;
the handover of the control right from the takeover ZC to the handover ZC is performed using the mobile grant whose transmission time is latest.
3. The method of claim 1, further comprising:
when the safety envelope of the CBTC train completely moves out of the handoff boundary, communication with the handoff ZC is disconnected.
4. A switching device of train control right under a CBTC system is characterized by comprising:
a sending unit, configured to send train information to a takeover ZC when a safety envelope of a CBTC train completely enters an overlapping area of a handover ZC side, the CBTC train simultaneously establishes communication with the handover ZC and the takeover ZC, and a mobile authorization endpoint calculated by the handover ZC reaches a handover boundary, the train information including the safety envelope of the train and a mobile authorization calculated by the handover ZC;
a first calculating unit, configured to take over a mobile authorization that can extend into a control range of the take-over ZC according to the train information, and send the calculated mobile authorization to the handover ZC;
the first splicing unit is used for taking over the mobile authorization calculated by the ZC and splicing the mobile authorization sent by the handover ZC into a first mobile authorization, and sending the first mobile authorization to the CBTC train;
the second splicing unit is used for the handover ZC to splice the mobile authorization calculated by the handover ZC and the mobile authorization sent by the take-over ZC into a second mobile authorization and send the second mobile authorization to the CBTC train;
a second calculation unit, the CBTC train calculating the transmission time of the first mobile authorization according to the message sequence number of the takeover ZC, and calculating the transmission time of the second mobile authorization according to the communication delay between the takeover ZC and the hand-over ZC and the message sequence number of the hand-over ZC;
the second calculation unit further includes:
the first calculation submodule is used for calculating first time consumption for the takeover ZC to send the first mobile authorization to the CBTC train to receive the first mobile authorization according to the message serial number of the takeover ZC, and obtaining time for the takeover ZC to send the first mobile authorization according to the first time consumption;
a second calculating submodule, configured to calculate, according to a message sequence number of the handover ZC, second time consumed for the handover ZC to send the second mobile grant to the CBTC train and receive the second mobile grant, where the second time consumed plus a communication delay between the takeover ZC and the handover ZC is total time consumed for the second mobile grant, and calculate, according to the total time consumed, transmission time of the second mobile grant;
the first comparison unit is used for comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization when the maximum safe front end of the CBTC train exits the ZC handover control range;
a first switching unit for performing a control right switching from the handover ZC to the takeover ZC using the mobile grant whose transmission time is latest.
5. The apparatus of claim 4, further comprising:
the second comparison unit is used for comparing the sending time of the first mobile authorization with the sending time of the second mobile authorization when the maximum safe front end of the CBTC train returns to the ZC control handover range;
a second switching unit for performing control right switching from the takeover ZC to the handover ZC using the mobile grant whose transmission time is latest.
6. The apparatus of claim 4, further comprising:
and a disconnection unit for disconnecting communication with the handover ZC when the safety envelope of the CBTC train completely exits the handover boundary.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of switching control authority under a CBTC system as claimed in any one of claims 1 to 3.
8. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of switching control of a train under a CBTC system according to any of claims 1 to 3.
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