CN113306600B - Control method under automatic driving fault of first train of virtual coupled high-speed train - Google Patents
Control method under automatic driving fault of first train of virtual coupled high-speed train Download PDFInfo
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- B61—RAILWAYS
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Abstract
The invention provides a control method under the automatic driving fault of a first train of a virtual connected high-speed train, which is characterized by comprising the following steps: when the vehicle-mounted ATO module of the first vehicle fails and cannot be driven automatically, the ground control system dispatches the manual operation of the first vehicle to drive into the lateral line track of the nearest approach station, controls the rest tracking vehicles to drive into the lateral line track, drives the first vehicle behind the last tracking vehicle on the lateral line track, takes the tracking vehicle positioned at the forefront as a new first vehicle, takes the failed first vehicle as a last tracking vehicle, and restores to normal operation after a new virtual coupling is reestablished. The control method can quickly restore the line operation, reduce the influence of the fault on the operation line to the maximum extent, reduce the loss caused by the fault to the maximum extent, reduce the line operation cost and improve the operation efficiency.
Description
Technical Field
The invention relates to the technical field of transportation, in particular to a control method under the automatic driving fault of a first train of a virtual connected high-speed train.
Background
The virtual coupling technology is a train group cooperative operation mode that a plurality of trains operate at the same speed and at extremely small intervals through wireless communication without depending on physical connection, and a virtual coupling high-speed train is a train group adopting the virtual coupling technology. The virtual coupling technology can effectively reduce the tracking interval of train operation, greatly improve the transport capacity without changing the existing facilities such as tracks and lines, and is particularly suitable for busy lines which have saturated transport capacity and are difficult to continuously improve by the prior art.
The single Train running at the forefront in the virtual high-speed Train is generally called a first Train, the single Train running at the back of the first Train is called a tracking Train, a vehicle-mounted ATO (automatic Train operation) module is generally arranged on the first Train, the tracking Train is provided with a tracking control module, in the actual running process, the first Train controls the first Train to run according to an automatic driving curve through the vehicle-mounted ATO module, the tracking Train controls the tracking Train to keep safe tracking distance running with the front Train through the tracking control module, once the vehicle-mounted ATO module of the first Train breaks down, namely the automatic driving of the first Train breaks down, the first Train cannot normally and automatically run, the normal running of the first Train is influenced, the normal running of other tracking trains of the whole virtual high-speed Train is also influenced, and the normal running of other virtual high-speed trains on the same running line is also influenced, therefore, the automatic driving of the virtual high-speed Train at the first Train breaks down, the influence range is wide, the influence degree is deep, and how to quickly recover the operation of the virtual coupled high-speed train under the condition that the automatic driving of the first train of the virtual coupled high-speed train breaks down is a problem to be solved urgently.
Disclosure of Invention
Aiming at the problems of the background art, the invention provides a control method under the automatic driving fault of the first train of a virtual linked high-speed train, which aims to solve the problems that no effective counter measures exist after the automatic driving fault of the first train of the virtual linked high-speed train in the prior art, and the line operation efficiency is seriously influenced.
In order to achieve the purpose of the invention, the invention provides a control method under the automatic driving fault of a first train of a virtual coupled high-speed train, wherein the virtual coupled high-speed train consists of a plurality of single trains, the single trains keep interval formation running, the single train running at the front is marked as the first train, the single train running behind the first train is marked as a tracking train, and the innovation point is that: each single train is provided with a vehicle-mounted control module, a vehicle-mounted ATO module, a tracking control module and a communication module; the vehicle-mounted ATO module, the tracking control module and the communication module are all connected with the vehicle-mounted control module; the single trains are in wireless communication connection with each other through respective communication modules; each single train can also realize wireless communication connection with a ground control system through a respective communication module;
the vehicle-mounted ATO module comprises a driving curve generation module, and can control the automatic operation of the single train according to the automatic driving curve generated by the driving curve generation module;
the tracking control module can control the corresponding tracking vehicle and the adjacent front vehicle to keep safe tracking distance operation; the adjacent front train is a single train in front of the single train adjacent to the single train;
the vehicle-mounted control module can control the first vehicle to operate through the vehicle-mounted ATO module, and can also control the tracking vehicle to operate through the tracking control module;
the control method comprises the following steps:
recording a plurality of stations between a starting station and a terminal station on a virtual coupling high-speed train operation line as path stations, wherein the track of each path station comprises a main track and a lateral track, and the front end and the rear end of the lateral track are connected with the main track through turnouts;
when the vehicle-mounted ATO module of the first vehicle breaks down,
firstly), the vehicle-mounted ATO module of the first vehicle controls the first vehicle to brake emergently and stop and generate a fault report, then the vehicle-mounted ATO module transmits the fault report data to the vehicle-mounted control module of the first vehicle, and then the vehicle-mounted control module of the first vehicle transmits the fault report data to the ground control system through the communication module of the first vehicle;
secondly), the ground control system processes the received fault report data, if the fault type is a fault which can be temporarily recovered, the step III) is carried out, and if the fault type is a fault which needs manual intervention, the step IV) is carried out;
thirdly) sending an automatic driving restart instruction to a communication module of the first vehicle, then sending the received automatic driving restart instruction to a vehicle-mounted control module of the first vehicle by the communication module of the first vehicle, transmitting the received automatic driving restart instruction to a corresponding vehicle-mounted ATO module by the vehicle-mounted control module of the first vehicle, trying to restart the vehicle-mounted ATO module after receiving the automatic driving restart instruction, if the restart is successful, regenerating an automatic driving curve by a driving curve generation module of the first vehicle, then controlling the first vehicle to run to a destination by the vehicle-mounted ATO module according to the regenerated automatic driving curve, controlling the corresponding tracking vehicle and an adjacent front vehicle to keep a safe distance to run to the destination by a tracking control module of each tracking vehicle, and ending the program;
if the vehicle-mounted ATO module of the first vehicle fails to restart, the vehicle-mounted control module of the first vehicle generates a restart failure signal and sends the restart failure signal to the ground control system, and then the fourth step is carried out;
fourthly) the ground control system sends a virtual coupling release instruction to the communication module of each single train, the communication module of each single train transmits the received virtual coupling release instruction to the corresponding vehicle-mounted control module, and the vehicle-mounted control module of each single train controls the corresponding single train to release the virtual coupling with other single trains;
fifthly) the ground control system dispatches a driver for each single train to carry out manual driving respectively, the driver of the first train drives the first train into a lateral line track of the next approach station, then the drivers of all the tracking vehicles drive the respective controlled tracking vehicles into a main line track of the approach station same as the first train, and then the driver of the first train drives the first train to the rear of the last tracking vehicle on the main line track;
the ground control system takes the single train positioned at the forefront as a new first train, and takes a plurality of single trains positioned behind the new first train as new tracking trains, the ground control system sends virtual linkage reconstruction instructions to the communication modules of the single trains, the communication modules of the single trains transmit the received virtual linkage reconstruction instructions to the corresponding vehicle-mounted control modules, and the vehicle-mounted control modules of the single trains control the corresponding single trains to reestablish virtual linkage with other single trains;
and seventhly) generating a new automatic driving curve by a driving curve generating module of the new first vehicle, controlling the first vehicle to drive to the terminal station by a vehicle-mounted ATO module of the new first vehicle according to the new automatic driving curve, and controlling the new tracking vehicle and the adjacent front vehicle to keep a safe distance to drive to the terminal station by the tracking control module of each new tracking vehicle.
The principle of the invention is as follows:
the virtual coupling technology belongs to a new technology in the high-speed train control technology at present, is in an immature primary stage, has many aspects needing to be perfected, and has no ideal counter measures to quickly remove faults and recover operation under the condition that the virtual coupling high-speed train, particularly the first train, has an automatic driving fault. In the prior art, the machine maintenance facility of train usually sets up the terminal station in the circuit, after the autopilot trouble appears in the first car, need the manual work to control the first car deceleration and go to the terminal station and just can inspect the on-vehicle ATO module of first car, arrange the obstacle and maintain, with the autopilot function of recovering the first car, whole process needs the manual work to protect and send the first car through a plurality of ways station, just can go off the production line at the terminal station at last, whole time of going off the production line is very long, can cause the adjustment by a wide margin of scheduling timetable, large tracts of land passenger night, not only influence the passenger of first car, also influence the passenger punctuality that other tracked cars and arrive the destination, but also can influence the normal operating of other virtual even high-speed train that links of same operation circuit, the train operating efficiency of whole circuit receives the serious influence.
In addition, a first train for replacement can be backed up at each approach station, so that the first train of the virtual coupled high-speed train can be replaced at the next approach station when an automatic driving fault occurs on the first train on the line, and the running of the whole virtual coupled high-speed train is quickly recovered. Although the method is high in efficiency, each station performs train backup, the idle rate of trains is high, the occupied resources are large, and the running cost is very high.
Aiming at the problems in the prior art, the inventor of the application skillfully configures a vehicle-mounted ATO module and a tracking control module for each single train of the virtual coupled high-speed train, so that each single train can be used as a first train and a tracking train to run, and the formation flexibility of train groups governed by the virtual coupled high-speed train is greatly improved; as a matched measure, a siding track is arranged beside a main siding track of each approach station, so that each approach station has the capacity of adjusting the virtual connected high-speed train group. When the first train of the virtual coupled high-speed train has an automatic driving fault, the whole virtual coupled high-speed train is not required to be driven to a terminal station for maintenance treatment, only the first train is manually controlled to drive to a side track of a nearest approach station for waiting, then other tracking trains are manually controlled to be on the main track, then the first train is manually controlled to drive to the rear of the last tracking train on the main track, then each single train is controlled to reestablish the virtual coupling, the tracking train arranged at the forefront in the front is converted into the first train, the first train is controlled to drive by using an automatic driving curve through a vehicle-mounted ATO module, the previous first train is converted into the tracking train, the tracking control module is used for controlling the tracking train to keep a safe tracking distance with the adjacent previous train to run, the control modes of the other tracking trains are kept unchanged, and the train is formed into a new virtual coupled high-speed train again, the operation of the whole virtual coupling high-speed train can be quickly recovered. The control method can quickly recover the line operation, reduce the influence of train faults on the line operation to the maximum extent and greatly improve the efficiency of fault handling and coping. On the other hand, although the redundant design of double configuration of the vehicle-mounted ATO module and the tracking control module is adopted for each single train, the cost is increased compared with the cost of a train with one of the single configuration, but the cost is greatly reduced compared with the case that a backup train is configured for each approach station, the loss of the train at a later point is reduced because the line operation can be quickly recovered, and the operation benefit of the virtual coupled high-speed train is greatly improved.
Therefore, the invention has the following beneficial effects: by adopting the control method, the operation of the virtual coupling high-speed train can be quickly recovered, the influence of faults on the operation line is reduced to the maximum extent, the operation efficiency of the line is greatly improved, the loss caused by the faults is reduced to the maximum extent, the line operation cost is reduced, and the operation efficiency is improved.
Drawings
The drawings of the present invention are described below.
FIG. 1 is a schematic connection diagram of a virtual coupled high-speed train according to the present invention;
fig. 2 is a schematic track diagram of a pathway station according to the present invention.
In the figure: 1. a vehicle-mounted control module; 2. a vehicle-mounted ATO module; 3. a tracking control module; 4. a communication module; 5. a ground control system; 21. and a driving curve generation module.
Detailed Description
The present invention will be further described with reference to the following examples.
The virtual coupled high-speed train shown in the attached figure 1 consists of a plurality of single trains, wherein the single trains keep moving in a group at intervals, the single train moving at the forefront is marked as a first train, and the single train moving behind the first train is marked as a tracking train; each single train is provided with a vehicle-mounted control module 1, a vehicle-mounted ATO module 2, a tracking control module 3 and a communication module 4; the vehicle-mounted ATO module 2, the tracking control module 3 and the communication module 4 are all connected with the vehicle-mounted control module 1; the single trains are in wireless communication connection with each other through respective communication modules 4; each single train can also realize wireless communication connection with a ground control system 5 through a respective communication module 4;
the vehicle-mounted ATO module 2 comprises a driving curve generation module 21, and the vehicle-mounted ATO module 2 can control the single train to automatically run according to an automatic driving curve generated by the driving curve generation module 21;
the tracking control module 3 can control the corresponding tracking vehicle and the adjacent front vehicle to keep safe tracking distance operation; the adjacent front train is a single train in front of the single train adjacent to the front train;
the vehicle-mounted control module 1 can control the first vehicle to operate through the vehicle-mounted ATO module 2, and the vehicle-mounted control module 1 can also control the tracking vehicle to operate through the tracking control module 3;
in this embodiment, the vehicle-mounted control module 1 is further provided with a speed measurement positioning module, the speed measurement positioning module can monitor the running state information (including speed information, position information and the like) of the corresponding single train in real time, and the vehicle-mounted control module can respectively transmit the running state information of the corresponding single train to the corresponding vehicle-mounted ATO module 2, the tracking control module 3 and the communication module 4 in real time; each single train can share the running state information of the single train with other single trains through the communication module 4 of the single train;
when the virtual coupled high-speed train normally runs, the vehicle-mounted control module 1 of the first train controls the corresponding vehicle-mounted ATO module 2 to control the first train to run according to the automatic driving curve generated by the driving curve generating module 21; the tracking control module 3 of each tracking vehicle controls the corresponding tracking vehicle and the adjacent front vehicle to keep safe tracking distance operation according to the running state information of the tracking vehicle and the running state information of the adjacent front vehicle; the train group virtual coupling establishing and removing method, the automatic driving curve generating method and the control method of the tracking module for the tracking train can all adopt the methods in the prior art, and the technical personnel in the field can obtain the methods from the related documents in the prior art.
The control method comprises the following steps:
marking a plurality of stations between a starting station and a terminal station on a virtual coupling high-speed train operation line as path stations, wherein the track of each path station comprises a main track and a lateral track as shown in fig. 2, the main track is a track which is connected with each station and penetrates through or straightly extends into the station, the lateral track is arranged at one side of the main track, and the lateral track is connected with the main track through a turnout for temporarily stopping the train;
when the vehicle-mounted ATO module 2 of the first vehicle breaks down,
firstly), the vehicle-mounted ATO module 2 of the first vehicle controls the first vehicle to brake emergently and stop and generate a fault report, then the vehicle-mounted ATO module 2 transmits the fault report data to the vehicle-mounted control module 1 of the first vehicle, and then the vehicle-mounted control module 1 of the first vehicle transmits the fault report data to the ground control system 5 through the communication module 4 of the first vehicle;
secondly), the ground control system 5 processes the received fault report data, if the fault type is a temporary recovery type fault, the step III) is carried out, and if the fault type is a fault needing manual intervention, the step IV) is carried out;
thirdly) sending an automatic driving restart instruction to the communication module 4 of the first vehicle, then sending the received automatic driving restart instruction to the vehicle-mounted control module 1 of the first vehicle by the communication module 4 of the first vehicle, transmitting the received automatic driving restart instruction to the corresponding vehicle-mounted ATO module 2 by the vehicle-mounted control module 1 of the first vehicle, trying to restart the vehicle-mounted ATO module 2 after receiving the automatic driving restart instruction, if the restart is successful, regenerating an automatic driving curve by the driving curve generation module 21 of the first vehicle, then controlling the first vehicle to run to a destination by the vehicle-mounted ATO module 2 according to the regenerated automatic driving curve, controlling the corresponding tracking vehicle and the adjacent front vehicle to keep a safe distance to run to the destination by the tracking control module 3 of each tracking vehicle, and ending the program;
if the vehicle-mounted ATO module 2 of the first vehicle fails to restart, the vehicle-mounted control module 1 of the first vehicle generates a restart failure signal and sends the restart failure signal to the ground control system 5, and then the fourth step is carried out);
fourthly) the ground control system 5 sends a virtual coupling release instruction to the communication module 4 of each single train, the communication module 4 of each single train transmits the received virtual coupling release instruction to the corresponding vehicle-mounted control module 1, and the vehicle-mounted control module 1 of each single train controls the corresponding single train to release the virtual coupling with other single trains;
fifthly) the ground control system 5 dispatches a driver for each single train to carry out manual driving, the driver of the first train drives the first train into a lateral line track of the next approach station, then the drivers of all the tracked vehicles drive the tracked vehicles controlled by the drivers into a main line track of the approach station same as the first train, and then the driver of the first train drives the first train to the rear of the last tracked vehicle on the main line track;
sixth), the ground control system 5 takes the single train positioned at the forefront as a new first train, and takes a plurality of single trains positioned behind the new first train as new tracking trains, the ground control system 5 sends virtual linkage reconstruction instructions to the communication modules 4 of the single trains, the communication modules 4 of the single trains transmit the received virtual linkage reconstruction instructions to the corresponding vehicle-mounted control modules 1, and the vehicle-mounted control modules 1 of the single trains control the corresponding single trains to be in virtual linkage with other single trains again;
and seventhly) the driving curve generating module 21 of the new first vehicle generates a new automatic driving curve, the vehicle-mounted ATO module 2 of the new first vehicle controls the first vehicle to drive to the terminal station according to the new automatic driving curve, and the tracking control module 3 of each new tracking vehicle controls the corresponding new tracking vehicle to keep a safe distance from the adjacent previous vehicle to drive to the terminal station.
Claims (1)
1. A control method under the automatic driving fault of a first train of a virtual coupled high-speed train is characterized in that the virtual coupled high-speed train consists of a plurality of single trains, the single trains keep a distance group to run, the single train running at the front is recorded as the first train, and the single train running behind the first train is recorded as a tracking train, and the control method is characterized in that: each single train is provided with a vehicle-mounted control module (1), a vehicle-mounted ATO module (2), a tracking control module (3) and a communication module (4); the vehicle-mounted ATO module (2), the tracking control module (3) and the communication module (4) are all connected with the vehicle-mounted control module (1); the single trains are in wireless communication connection with each other through respective communication modules (4); each single train can also realize wireless communication connection with a ground control system (5) through a respective communication module (4);
the vehicle-mounted ATO module (2) comprises a driving curve generation module (21), and the vehicle-mounted ATO module (2) can control the single train to automatically run according to an automatic driving curve generated by the driving curve generation module (21);
the tracking control module (3) can control the corresponding tracking vehicle and the adjacent front vehicle to keep safe tracking distance operation; the adjacent front train is a single train in front of the single train adjacent to the front train;
the vehicle-mounted control module (1) can control the first vehicle to operate through the vehicle-mounted ATO module (2), and the vehicle-mounted control module (1) can also control the tracking vehicle to operate through the tracking control module (3);
the control method comprises the following steps:
recording a plurality of stations between a starting station and a terminal station on a virtual coupling high-speed train operation line as path stations, wherein the track of each path station comprises a main track and a lateral track, and the front end and the rear end of the lateral track are connected with the main track through turnouts;
when the vehicle-mounted ATO module (2) of the first vehicle breaks down,
firstly), a vehicle-mounted ATO module (2) of a first vehicle controls the first vehicle to brake for emergency and stop and generates a fault report, then the vehicle-mounted ATO module (2) transmits the fault report data to a vehicle-mounted control module (1) of the first vehicle, and then the vehicle-mounted control module (1) of the first vehicle transmits the fault report data to a ground control system (5) through a communication module (4) of the first vehicle;
secondly), the ground control system (5) processes the received fault report data, if the fault type is a fault which can be temporarily recovered, the step III is carried out, and if the fault type is a fault which needs manual intervention, the step IV is carried out);
thirdly), an automatic driving restarting instruction is sent to the communication module (4) of the first vehicle, then the communication module (4) of the first vehicle sends the received automatic driving restarting instruction to the vehicle-mounted control module (1) of the first vehicle, the vehicle-mounted control module (1) of the first vehicle transmits the received automatic driving restarting instruction to the corresponding vehicle-mounted ATO module (2), the vehicle-mounted ATO module (2) tries to restart after receiving the automatic driving restarting instruction, if the restarting is successful, the driving curve generating module (21) of the first vehicle regenerates an automatic driving curve, then the vehicle-mounted ATO module (2) controls the first vehicle to run to a terminal according to the regenerated automatic driving curve, the tracking control module (3) of each tracking vehicle controls the corresponding tracking vehicle to keep a safe distance between the tracking vehicle and an adjacent front vehicle to run to the terminal, and the program is finished;
if the vehicle-mounted ATO module (2) of the first vehicle fails to restart, the vehicle-mounted control module (1) of the first vehicle generates a restart failure signal and sends the restart failure signal to the ground control system (5), and then the fourth step is carried out;
fourthly) the ground control system (5) sends a virtual coupling release instruction to the communication module (4) of each single train, the communication module (4) of each single train transmits the received virtual coupling release instruction to the corresponding vehicle-mounted control module (1), and the vehicle-mounted control module (1) of each single train controls the corresponding single train to release the virtual coupling with other single trains;
fifthly) the ground control system (5) dispatches a driver for each single train to carry out manual driving, the driver of the first train drives the first train into a siding track of the next approach station, then the drivers of all the tracking vehicles drive the respective controlled tracking vehicles into a main track of the approach station same as the first train, and then the driver of the first train drives the first train to the rear of the last tracking vehicle on the main track;
sixthly), the ground control system (5) takes the single train positioned at the forefront as a new first train, a plurality of single trains positioned behind the new first train as new tracking trains, the ground control system (5) sends virtual coupling reconstruction instructions to the communication modules (4) of the single trains, the communication modules (4) of the single trains transmit the received virtual coupling reconstruction instructions to the corresponding vehicle-mounted control modules (1), and the vehicle-mounted control modules (1) of the single trains control the corresponding single trains to be in virtual coupling with other single trains again;
and seventhly), generating a new automatic driving curve by a driving curve generating module (21) of the new first vehicle, controlling the first vehicle to drive to the terminal station by a vehicle-mounted ATO module (2) of the new first vehicle according to the new automatic driving curve, and controlling the corresponding new tracking vehicle and the adjacent front vehicle to keep a safe distance to drive to the terminal station by a tracking control module (3) of each new tracking vehicle.
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| CN113734244B (en) * | 2021-09-14 | 2023-10-20 | 重庆交通大学 | Control method of virtual continuous high-speed train under communication fault |
| CN113788049B (en) * | 2021-11-15 | 2022-02-08 | 北京城建智控科技股份有限公司 | Train safety protection method and system based on cooperative formation |
| CN114162178B (en) * | 2021-12-03 | 2023-02-28 | 中车唐山机车车辆有限公司 | Virtual marshalling train control method, equipment and storage medium based on time reference |
| CN115432030B (en) * | 2022-10-17 | 2023-06-16 | 重庆交通大学 | Control method for accelerating running of virtual continuous train in mountain area environment |
| CN115432038B (en) * | 2022-10-17 | 2023-06-16 | 重庆交通大学 | Control method of virtual train connected in series under fault of track circuit |
| CN117002574A (en) * | 2023-08-14 | 2023-11-07 | 无锡时代智能交通研究院有限公司 | Method for realizing dynamic virtual linkage by adopting tail-queue mode |
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| CN107878468B (en) * | 2016-12-27 | 2019-03-29 | 比亚迪股份有限公司 | Train, train marshalling list operating system and method |
| US10168167B2 (en) * | 2017-01-25 | 2019-01-01 | Via Transportation, Inc. | Purposefully selecting longer routes to improve user satisfaction |
| CN107685749B (en) * | 2017-08-11 | 2021-05-11 | 中国铁道科学研究院通信信号研究所 | Virtual coupling small marshalling train control system and method based on vehicle-vehicle communication |
| CN108791366B (en) * | 2018-05-31 | 2020-02-14 | 北京全路通信信号研究设计院集团有限公司 | Multi-train cooperative control method and system adopting virtual coupling |
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