CN112477926B - Electronic map management system and sending method - Google Patents
Electronic map management system and sending method Download PDFInfo
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- CN112477926B CN112477926B CN202011238097.1A CN202011238097A CN112477926B CN 112477926 B CN112477926 B CN 112477926B CN 202011238097 A CN202011238097 A CN 202011238097A CN 112477926 B CN112477926 B CN 112477926B
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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
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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
- B61L27/50—Trackside diagnosis or maintenance, e.g. software upgrades
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Abstract
The invention belongs to the field of rail transit positioning navigation, and discloses an electronic map management system and a sending method. The electronic map management system comprises vehicle-mounted equipment and ground center equipment, wherein the ground center equipment comprises first ground center equipment and second ground center equipment; the first ground center equipment and the second ground center equipment carry out two-way communication and interact a boundary electronic map; the vehicle-mounted equipment and the ground center equipment are in two-way communication and are used for newly registering train map number and version information interaction, updating vehicle-mounted navigation map data and actively requesting an electronic map. The vehicle-mounted equipment and the ground center equipment are in two-way communication, so that the vehicle-mounted navigation map is updated in real time, and the safety of rail transit is better ensured.
Description
Technical Field
The invention belongs to the field of rail transit positioning navigation, and particularly relates to an electronic map management system and a sending method.
Background
The current common train operation control system comprises CTCS-0 level, CTCS-2 level and CTCS-3 level train control systems. The CTCS-0-level train control system monitors train operation based on a train operation monitoring and recording device LKJ, an electronic map in the system is not transmitted in real time by ground equipment, but is preset on a locomotive, if a line is reconstructed, a complex reloading process needs to be carried out, and LKJ is extracted according to train coordinates when the electronic map is used, so that driving safety is endangered once errors occur. The CTCS-2 level train control system depends heavily on a point type transponder, an electronic map is preset in the transponder, and when a train passes through, the transponder sends the electronic map to vehicle-mounted equipment, so that a large number of transponders need to be laid on the whole line, and the cost of early-stage construction, later-stage modification and upgrading and maintenance of the line is high. In the CTCS-3 level train control system, although the driving permission sent by the ground center device to the vehicle-mounted device includes part of the electronic map, the electronic map cannot meet the requirement of the automatic driving function because the line range covered by each driving permission is small, and static information such as train grade switching still needs to be sent to the train through the point transponder, so the scheme also has an optimization space.
A rail transit electronic map management method and system are disclosed in patent (CN 111003033B). The first ground center equipment and the second ground center equipment can both send and receive the boundary electronic map, so that the maintenance cost is reduced compared with a static overlapped configuration mode of the boundary electronic map, the continuity of the electronic maps of the first ground center equipment and the second ground center equipment is ensured, only map blocks with inconsistent electronic map information are sent to the vehicle-mounted equipment, and wireless bandwidth resources are saved. However, in the actual operation process, the data volume of the electronic map is very large, even if the electronic map blocks are transmitted in the form of the electronic map blocks, a certain time is required for transmitting each electronic map block, if the electronic map blocks are transmitted according to the default sequence, the electronic map blocks required by the train may not be received in time, and when the train runs to a certain position, the corresponding electronic map blocks are not received, so that the running risk of the train is increased.
Disclosure of Invention
In order to solve the problems, the invention discloses an electronic map management system which comprises vehicle-mounted equipment and ground central equipment, wherein the ground central equipment comprises first ground central equipment and second ground central equipment; the first ground center equipment and the second ground center equipment carry out two-way communication and interact a boundary electronic map; the vehicle-mounted equipment and the ground center equipment are in two-way communication and are used for exchanging the number and version information of the newly registered train map, updating the data of the vehicle-mounted navigation map and actively requesting the electronic map.
Further, the electronic map comprises a plurality of map blocks, and the map blocks comprise version information, numbers and specific contents.
Further, when the train reaches the jurisdiction range of the ground center device, the vehicle-mounted device is used for sending a train position report and the numbers and versions of all map blocks in the jurisdiction range of the ground center device to the ground center device; and the ground center equipment is used for receiving the train position report, sending all map blocks in the jurisdiction area of the ground center equipment to the vehicle-mounted equipment, and determining the map block range which is preferentially sent to the vehicle-mounted equipment according to the train position report.
Further, the map block range includes all map blocks in the front possible travel path.
Further, the train position report includes a transponder group closest to the train and train direction information.
Further, the ground center device is further configured to perform consistency judgment on versions of the electronic map stored in the ground center device and the vehicle-mounted device, and if the versions are not consistent, continuously send inconsistent map blocks to the vehicle-mounted device until consistency is confirmed or the train is disconnected from the ground center device.
Further, the first ground center device and the second ground center device communicate with each other through a wired communication system; the ground center equipment and the vehicle-mounted equipment are communicated through a wireless communication system.
Further, the wireless communication system adopts GSM-R or LTE-R.
The invention also discloses a method for sending the electronic map, which is characterized by comprising the following steps:
s1: the vehicle-mounted equipment communicates with the ground center equipment to register the train;
s2: the ground center equipment sends all electronic maps in the jurisdiction range of the ground center equipment to the vehicle-mounted equipment, wherein the electronic maps are sent in the form of map blocks;
and when the vehicle-mounted equipment judges that the map blocks which can be effectively used cannot meet the use requirement, sending map block request information to the ground center equipment, wherein the ground center equipment preferentially sends corresponding map blocks corresponding to the request information.
Further, the sending method further includes the following steps:
s3: the vehicle-mounted equipment sends the currently stored map block number and version information to the ground center equipment at regular time, and unknown and incompletely received map blocks are filled according to all zeros; and sending a train position report to the ground center device;
s4: if the position in the received train position report is known and valid, the real-time updating process of the map blocks is started preferentially, and if the position in the received train position report is invalid, the map blocks are sent according to the default sequence of the ground center equipment.
Further, the updating process specifically includes the following steps:
s41: the vehicle-mounted equipment sends the currently stored serial numbers and version information of all the map blocks to the ground center equipment; and sending a location report to the ground center device;
s42: and the ground center equipment determines the range of preferentially sending the map blocks to the vehicle-mounted equipment according to the position report.
Further, in step S3, after the ground center device receives the map block version information sent by the vehicle-mounted device, if the version is not up-to-date, the ground center device preferentially performs continuous reissue until the versions are consistent or the vehicle-mounted device is disconnected from the ground center device.
Further, the ground center device only sends the map block which is not the latest version to the vehicle-mounted device, and the ground center device does not send the map block again after confirming that the vehicle-mounted device receives the map block of the latest version.
Further, the ground center includes a first ground center and a second ground center,
when map blocks in an edge region managed by the first ground center equipment are updated, the first ground center equipment sends corresponding map blocks to the second ground center equipment;
and when map blocks in the border area governed by the second ground center equipment are updated, the second ground center equipment sends corresponding map blocks to the first ground center equipment to complete the updating of the variable-boundary electronic map.
The advantages of the invention are as follows:
1) The ground center equipment and the vehicle-mounted equipment perform real-time communication interaction and are used for newly registering train map numbers and version information interaction thereof, updating vehicle-mounted navigation map data and actively requesting to send the electronic map, so that the real-time updating efficiency and accuracy of the vehicle-mounted navigation map are improved, and the running safety of rail transit is greatly improved.
2) The sending sequence of the map blocks is determined according to the interaction of the ground center equipment and the vehicle-mounted equipment, so that the map blocks required by train navigation are preferentially received, and the running safety of rail transit is ensured.
3) The ground center device sends all map blocks in the possible running path in front to the vehicle-mounted device, and the map blocks possibly needed by rail transit can be stored in the vehicle-mounted device.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
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 structural diagram showing an electronic map management system according to an embodiment of the present invention;
FIG. 2 illustrates an interaction diagram of an in-vehicle device and a ground-based center device in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram showing interaction between the on-board unit and the ground center unit when a train line is branched according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a method for transmitting an electronic map according to an 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.
The invention discloses an electronic map management system, which comprises vehicle-mounted equipment and ground center equipment as shown in figure 1. The ground center equipment can be provided with a plurality of pieces according to needs, exemplarily, the ground center equipment comprises first ground center equipment and second ground center equipment, and the first ground center equipment and the second ground center equipment carry out two-way communication and interact with a boundary electronic map.
Specifically, the first ground center device communicates with the second ground center device through a wired communication system, the first ground center device sends all the locally stored boundary electronic maps to the second ground center device, and the second ground center device sends all the locally stored boundary electronic maps to the first ground center device, so as to complete the interaction task of the boundary electronic maps. And when the boundary electronic map locally stored by the first ground center equipment or the second ground center equipment is updated, actively sending the electronic map with the latest version to the opposite side.
The ground center equipment and the vehicle-mounted equipment are communicated through a wireless communication system, and therefore the interaction of the map number and version information of the newly registered train, the real-time updating of the data of the vehicle-mounted navigation map and the active request of the electronic map are achieved. Illustratively, the wireless communication system employs GSM-R or LTE-R.
The vehicle-mounted equipment sends a position report to the ground center equipment at regular time, the ground center equipment sends an electronic map, and the electronic map is sent to the vehicle-mounted equipment in the form of map blocks. Specifically, the map block includes version information, a number, and specific content. The train location report includes the transponder group closest to the train and train heading information. The train location may or may not be valid. Specifically, the train determines its own position according to the nearest transponder group, but when the onboard device is restarted or for other reasons, the onboard device cannot know the nearest transponder group, and then the train position report is invalid, otherwise the train position report is valid.
Further, the map block range comprises all map blocks in a possible running path in front of the train. For example, a bifurcation appears in front of the train running direction, and the ground center device does not know which way the train will go next, so the ground center device sends all the road-related map blocks which may be run by the train in the jurisdiction range to the vehicle-mounted device.
And the ground center equipment is also used for carrying out consistency judgment on the versions of the electronic map stored in the ground center equipment and the vehicle-mounted equipment, and if the versions are not consistent, the ground center equipment continuously sends inconsistent map blocks to the vehicle-mounted equipment until the consistency is confirmed or the train is disconnected from the ground center equipment. Specifically, the vehicle-mounted device sends locally stored map block version information and numbers to the ground center device at regular time, and unknown map blocks and incompletely received map blocks are filled in according to all zeros. And after receiving the map block version information and the serial number, the vehicle-mounted equipment compares the map block version information with the version information of the vehicle-mounted equipment, if the map block version stored by the vehicle-mounted equipment is determined not to be the latest one and some map blocks are missing, the vehicle-mounted equipment preferentially sends the corresponding map blocks to the vehicle-mounted equipment and continuously sends the map blocks until the map blocks stored by the vehicle-mounted equipment are complete and the versions of the map blocks are the latest or the vehicle-mounted equipment is disconnected from the ground center equipment. Illustratively, a disconnection refers to a train leaving an area under jurisdiction of the ground center facility.
Illustratively, as shown in fig. 2, a train travels from platform a to platform C and passes by platform B. The section administered by the first ground center equipment is an interval [1-4]. The interval [1-4] refers to the range between the transponder group 1 and the transponder group 4, and if other interval ranges appear below, the meaning is consistent with the above, and is not described again. And when the train runs to the section [1-2], the first ground center equipment sends the electronic map of the section [1-3] to the vehicle-mounted equipment. And when the train runs to the section [2-3], the first ground center equipment sends the electronic map in the section [2-4] to the vehicle-mounted equipment. Specifically, the electronic map is sent to the vehicle-mounted device in the form of map blocks, and the map blocks comprise numbers, version information and specific content. Since the map blocks are transmitted through a wireless communication system and the specific information of the map blocks contains more contents, in actual operation, one map block needs several seconds to several tens of seconds of transmission time. The vehicle-mounted device receives the map blocks and stores the map blocks to the local, on the other hand, the vehicle-mounted device sends the locally stored map blocks to the first ground center device at regular time, and preferably, the map blocks sent by the vehicle-mounted device to the first ground center device only include numbers and version information. And after receiving the map blocks sent by the vehicle-mounted equipment, the first ground center equipment compares the map blocks with the number and version information of the map blocks stored locally, and if the map block version stored by the vehicle-mounted equipment is found to be not up-to-date or missing, the first ground center equipment preferentially sends the corresponding map blocks to the vehicle-mounted equipment. Until the version information is consistent or the train is driven out of the jurisdiction range of the first ground center equipment.
The priority order is specifically as follows: when the train runs to the range of the interval [1-2],
(1) If the train operation mode is known, the ground center equipment preferentially sends the map block A and the map block in front of the train operation to the vehicle-mounted equipment. The principle of specifically sending the number of map blocks is to meet the requirement of the highest speed running of the train.
(2) If the running direction of the train is unknown, the ground center equipment preferentially sends the map block A, the map block in the forward direction of the train and the map block in the reverse direction of the train to the vehicle-mounted equipment.
And a plurality of transponder groups are distributed along the line in the interval [1-4], the transponder groups are in wireless communication with the vehicle-mounted equipment, and the train is positioned in real time through the transponder groups. When the vehicle-mounted equipment is restarted in an interval or other reasons cause that the vehicle-mounted equipment cannot acquire the nearest transponder group, the train position report is invalid, and when the train position report received by the first ground center equipment is invalid, the first ground center equipment sends map blocks according to a default sequence. And when the train report is effective, the first ground center equipment preferentially sends the area where the train position is located in the train position report and the relevant map blocks of the areas to be arrived.
As shown in fig. 3, there are two routes after the train passes through the platform B, which may be to the platform D or the platform E. At this time, the first ground center device sends the map block to which the platform D belongs and the map block to which the platform E belongs to the vehicle-mounted device, so that the safety of train operation is further improved.
In order to ensure that all required map blocks of a front road section are stored on the vehicle-mounted equipment, the vehicle-mounted equipment carries out data analysis on a possible front road section, and when a missing map block is found, the vehicle-mounted equipment actively requests the ground center equipment to send the corresponding map block. And the ground center equipment preferentially transmits the corresponding map blocks.
The invention also discloses a method for sending the electronic map, which comprises the following steps as shown in fig. 4.
S1: the vehicle-mounted equipment communicates with the ground center equipment to register the train.
Specifically, the vehicle-mounted device sends authentication information to the ground center device, the ground center device completes registration work on the train after verification, and the vehicle-mounted device establishes a two-way communication connection with the ground center device.
S2: and the ground center equipment transmits all electronic maps in the jurisdiction range of the ground center equipment to the vehicle-mounted equipment. Specifically, the electronic map is sent in the form of map blocks. The map block includes a number, version information, and specific content.
S3: the vehicle-mounted equipment sends the currently stored map block number and version information to the ground center equipment at regular time, the positions and the incompletely received map blocks are filled according to all zeros, and a train position report is sent to the ground center equipment.
Specifically, after the vehicle-mounted device receives the map block sent by the ground center device, the map block is stored locally. And then sending the version information and the number of the map block stored locally to the ground center equipment, and informing the ground center equipment of the map block stored in the vehicle-mounted equipment. And the vehicle-mounted equipment sends unknown map blocks and incompletely received map blocks to the ground center equipment in a filling mode of all zeros according to the map block numbers. On the other hand, the vehicle-mounted equipment synchronously sends a train position report to the ground center equipment, and the train position report comprises a transponder group closest to the train and train direction information. The train determines the position of the train according to the nearest transponder group, but when the vehicle-mounted equipment is restarted or other reasons exist, the vehicle-mounted equipment cannot acquire the nearest transponder group, the train position report is invalid at the moment, and otherwise, the train position report is valid.
And S3, after the ground center equipment receives the map block version information sent by the vehicle-mounted equipment, if the version is not the latest version, the ground center equipment preferably performs continuous reissue until the versions are consistent or the vehicle-mounted equipment is disconnected with the ground center equipment. Further, the ground center device only sends the map block which is not the latest version to the vehicle-mounted device, and the ground center device does not send the map block again after confirming that the vehicle-mounted device receives the map block of the latest version.
S4: if the position in the received train position report is known and valid, starting an updating process preferentially, and if the position in the received train position report is invalid, sending map blocks according to the default sequence of the ground center equipment.
Specifically, the update process specifically includes the following steps:
s41: the vehicle-mounted equipment sends the currently stored serial numbers and version information of all the map blocks to the ground center equipment; and sending a location report to the ground center equipment;
s42: and the ground center equipment determines the range of the map block to be sent preferentially according to the position report.
The range of the map block to be sent preferentially refers to the position of the train at the moment and the map block at the position to be reached.
In order to further ensure the safety of the train and ensure that all the running roads of the train are provided with electronic map blocks for navigation. The vehicle-mounted equipment can count the map blocks of the line to be operated at regular time, when the vehicle-mounted equipment judges that the map blocks which can be effectively used cannot meet the use requirement, map block request information is actively sent to the ground center equipment to request the ground center equipment to send the corresponding map blocks, and the ground center equipment preferentially sends the corresponding map blocks corresponding to the request information. Specifically, the method for the vehicle-mounted device to determine whether the map block that can be effectively used meets the requirement for use includes: and the vehicle-mounted equipment calculates and obtains a map block which can be moved ahead according to the content of the electronic map stored locally and the current train position, and judges that a request needs to be made to the ground center equipment when the map block cannot be found in the locally stored information.
Furthermore, the ground center equipment comprises a plurality of sub ground center equipment, and all the sub ground center equipment are communicated with each other to exchange the boundary electronic map in the jurisdiction range of the institute.
Illustratively, the ground center includes a first ground center and a second ground center,
when a map block in an edge region governed by the first ground center equipment is updated, the first ground center equipment sends the corresponding map block to the second ground center equipment;
and when the map blocks in the edge region governed by the second ground center equipment are updated, the second ground center equipment sends the corresponding map blocks to the first ground center equipment to complete the updating of the boundary electronic map.
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 (12)
1. An electronic map management system including an in-vehicle apparatus and a ground center apparatus,
the ground center equipment comprises first ground center equipment and second ground center equipment;
the first ground center equipment and the second ground center equipment carry out two-way communication and interact a boundary electronic map;
the vehicle-mounted equipment and the ground center equipment are in two-way communication and are used for newly registering train map number and version information interaction, updating vehicle-mounted navigation map data and actively requesting an electronic map;
the electronic map comprises a plurality of map blocks, wherein each map block comprises version information, a number and specific content;
when the train arrives within the jurisdiction of the ground center equipment,
the vehicle-mounted equipment is used for sending a train position report and the numbers and versions of all map blocks in the jurisdiction area of the ground center equipment to the ground center equipment;
the ground center equipment is used for receiving the train position report, sending all map blocks in the administration area of the ground center equipment to the vehicle-mounted equipment, and determining the map block range which is sent to the vehicle-mounted equipment preferentially according to the train position report;
the priority order is:
if the train running mode is known, the ground center equipment preferentially sends a map block A and a map block in front of the train running to the vehicle-mounted equipment;
if the running direction of the train is unknown, the ground center equipment preferentially sends the map block A, the map block in the forward direction of the train and the map block in the reverse direction of the train to the vehicle-mounted equipment.
2. The electronic map management system according to claim 1,
the map block range comprises all map blocks in the front possible travel path.
3. The electronic map management system according to claim 2,
the train position report includes the transponder group closest to the train and train direction of travel information.
4. The electronic map management system according to claim 2,
and the ground center equipment is also used for carrying out consistency judgment on the versions of the electronic map stored in the ground center equipment and the vehicle-mounted equipment, and if the versions are not consistent, the ground center equipment continuously sends inconsistent map blocks to the vehicle-mounted equipment until the consistency is confirmed or the train is disconnected from the ground center equipment.
5. The electronic map management system according to claim 1,
the first ground center equipment and the second ground center equipment are communicated through a wired communication system;
the ground center equipment and the vehicle-mounted equipment are communicated through a wireless communication system.
6. The electronic map management system of claim 5,
the wireless communication system adopts GSM-R or LTE-R.
7. An electronic map sending method is characterized by comprising the following steps:
s1: the vehicle-mounted equipment communicates with the ground center equipment to register the train;
s2: the ground center equipment sends all electronic maps in the jurisdiction range of the ground center equipment to the vehicle-mounted equipment, and the electronic maps are sent in the form of map blocks;
when the vehicle-mounted equipment judges that the map blocks which can be effectively used cannot meet the use requirement, sending map block request information to the ground center equipment, wherein the ground center equipment preferentially sends corresponding map blocks corresponding to the request information;
the priority order is:
if the train running mode is known, the ground center equipment preferentially sends a map block A and a map block in front of the train running to the vehicle-mounted equipment;
if the running direction of the train is unknown, the ground center equipment preferentially sends the map block A, the map block in the forward direction of the train and the map block in the reverse direction of the train to the vehicle-mounted equipment.
8. The electronic map transmission method according to claim 7,
the transmission method further comprises the following steps:
s3: the vehicle-mounted equipment sends the currently stored map block number and version information to the ground center equipment at regular time, and unknown and incompletely received map blocks are filled according to all zeros; and sending a train position report to the ground center equipment;
s4: if the position in the received train position report is known and valid, the real-time updating process of the map blocks is started preferentially, and if the position in the received train position report is invalid, the map blocks are sent according to the default sequence of the ground center equipment.
9. The electronic map transmission method according to claim 8,
the updating process specifically comprises the following steps:
s41: the vehicle-mounted equipment sends the currently stored serial numbers and version information of all the map blocks to the ground center equipment; and sending a location report to the ground center equipment;
s42: and the ground center equipment determines the range of preferentially sending the map blocks to the vehicle-mounted equipment according to the position report.
10. The electronic map transmission method according to claim 8,
in step S3, after the ground center device receives the map block version information sent by the vehicle-mounted device, if the version is not up-to-date, the ground center device preferentially performs continuous reissuing until the versions are consistent or the vehicle-mounted device is disconnected from the ground center device.
11. The electronic map transmission method according to claim 10,
the ground center device only sends the map blocks which are not the latest version to the vehicle-mounted device, and the ground center device does not resend the map blocks after confirming that the vehicle-mounted device receives the map blocks of the latest version.
12. The electronic map transmission method according to claim 8,
the ground center includes a first ground center and a second ground center,
when a map block in an edge region governed by the first ground center equipment is updated, the first ground center equipment sends the corresponding map block to the second ground center equipment;
and when the map blocks in the marginal area governed by the second ground center equipment are updated, the second ground center equipment sends the corresponding map blocks to the first ground center equipment to complete the updating of the variable-boundary electronic map.
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| CN114148379B (en) * | 2021-12-28 | 2023-12-01 | 卡斯柯信号有限公司 | Electronic map sending method capable of dynamically adjusting transmission rate |
| CN115402375B (en) * | 2022-08-30 | 2024-06-14 | 通号城市轨道交通技术有限公司 | Driving electronic map acquisition method and system |
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| CN109677466A (en) * | 2019-01-18 | 2019-04-26 | 卡斯柯信号有限公司 | A kind of lightweight train automatic controlling system towards Chinese heavy haul railway |
| BR102019002822A2 (en) * | 2019-02-12 | 2020-09-29 | Carlos Alberto Sanches | AUTOMATIC SENDING SYSTEM FOR CLOSED, OPEN LEVEL PASSAGE AND AVERAGE CLOSING TIME, FOR MAP APPLICATIONS AND DIRECTLY TO VEHICLES, SERVING AID TO THE INDIVIDUAL AND COLLECTIVE PROTECTION OF THE PEOPLE, AS WELL AS ASSISTANCE AND ASSISTANCE TO WELFARE . |
| CN111003033A (en) * | 2020-03-06 | 2020-04-14 | 北京全路通信信号研究设计院集团有限公司 | Rail transit electronic map management method and system |
| CN111866739A (en) * | 2020-06-30 | 2020-10-30 | 通号城市轨道交通技术有限公司 | Electronic map real-time transmission method and system suitable for CBTC (communication based train control) system |
| CN111885116A (en) * | 2020-06-30 | 2020-11-03 | 通号城市轨道交通技术有限公司 | Electronic map remote downloading method and system suitable for CBTC (communication based train control) system |
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