CN113320578B

CN113320578B - Vehicle-mounted operation control method of AVCOS system

Info

Publication number: CN113320578B
Application number: CN202110705860.5A
Authority: CN
Inventors: 李玉杰; 李�杰; 孙玉鹏
Original assignee: Traffic Control Technology TCT Co Ltd
Current assignee: Traffic Control Technology TCT Co Ltd
Priority date: 2021-05-27
Filing date: 2021-06-24
Publication date: 2022-09-06
Anticipated expiration: 2041-06-24
Also published as: CN113320578A

Abstract

The invention provides a vehicle-mounted operation control method of an AVCOS system, which comprises the following steps: determining the vehicle-mounted operation level of the AVCOS system for train operation according to the communication state of an intelligent eye system ITE and a train-ground of a train; the AVCOS system on-board operation level comprises: UR level, ltse level, and TES level; the LTES level includes an LTES-CM mode, an LTES-AM mode, and an LTES-RRM mode; TES levels include TES-CM mode, TES-AM mode, TES-CAM mode, TES-FAM mode, and TES-VCM mode. Compared with the traditional CBTC system, the invention adds the TES level and the LTES level, can constantly acquire the front obstacle information of the train, improves the running safety of the train, improves the operation efficiency of the train dispatching system and has important engineering value.

Description

Vehicle-mounted operation control method of AVCOS system

Technical Field

The invention relates to the technical field of rail transit, in particular to a vehicle-mounted operation control method of an AVCOS system.

Background

In an existing Communication-Based Train operation Control system (CBTC), the highest level of Train operation is: under the control of wireless continuous communication, the Train operates under an Automatic Train Protection (ATP) system or an Automatic Train Operation (ATO) system, which is referred to as CBTC level for short. At this level, the ATP obtains the authorization to move through wireless communication, and a Vehicle On-Board Controller (VOBC) controls the train to operate in a CM/AM/FAM mode.

In a traditional CBTC system, if a sudden obstacle appears on a track, the sudden obstacle can only be identified by human eyes of a driver in the running process of a train, certain risks exist in the timeliness and the accuracy of identification, and great hidden dangers are caused to the driving safety of the train.

With the continuous update of Train control systems, the latest Autonomous Virtual marshalling Operation System (AVCOS) is based on multi-sensor and Intelligent analysis technology, so that trains have Autonomous environment sensing and decision-making capabilities, and form Intelligent eye systems (ITE) of trains.

However, in the prior art, a method for realizing vehicle-mounted operation control based on ITE in an AVCOS system is not completely specified.

Disclosure of Invention

The embodiment of the invention provides a vehicle-mounted operation control method of an AVCOS system, aiming at the vehicle-mounted operation control problem of the AVCOS system.

The invention provides a vehicle-mounted operation control method of an AVCOS system, which comprises the following steps: determining the vehicle-mounted operation level of the AVCOS system for train operation according to the communication state of an intelligent eye system ITE and a train-ground of a train; the AVCOS system on-board operation level comprises: UR level, ltse level, and TES level; the UR levels include: when the vehicle-mounted positioning function and the visual movement authorization function are both disabled due to an ITE fault of the intelligent eye system, but the object controller OC is normal, the train enters a mode of visual driving in a telephone blocking mode under manual control; the LTES levels include: an LTES-CM mode, an LTES-AM mode, and an LTES-RRM mode; the TES level includes: TES-CM mode, TES-AM mode, TES-CAM mode, TES-FAM mode, and TES-VCM mode.

According to the vehicle-mounted operation control method of the AVCOS system, the LTES-CM mode is an artificial driving mode in which a train enters the ITP protection of a train intelligent protection system under the conditions that the vehicle-mounted positioning function fails due to the fault of an ITE part, the visual movement authorization function is normal and the communication with a track star link TSL fails; the LTES-AM mode is an automatic driving mode when the train enters into ITP protection under the conditions that the visual movement authorization function is invalid and the vehicle-mounted positioning function is normal due to ITE part faults and the vehicle-ground communication faults occur; the LTES-RRM mode is a remote automatic driving mode which is monitored by a train control center when a train enters a train under the condition that the train positioning function fails and the visual movement authorization function is normal but train-ground communication is normal due to an ITE part fault; the TES-CM mode is a manual driving mode that the train enters into a mode that the train is manually driven at the recommended speed under the condition that ITE is normal and train-ground communication is normal; the TES-AM mode is an automatic driving mode when the train enters the ITO protection of the intelligent train driving system under the condition that ITE is normal and train-ground communication is normal; the TES-CAM mode is a low-speed running mode for the train to enter under the condition of train-ground communication failure or train failure; the TES-FAM mode is a full-automatic running mode for the train to enter; the TES-VCM mode is a consist mode of operation entered by the train.

According to the vehicle-mounted operation control method of the AVCOS system, under the condition that a train operates at the TES level, if a train-ground communication fault is determined, the vehicle-mounted operation level of the AVCOS system is adjusted to the LTES level until the train-ground communication is determined to be normal and then the train-ground communication is restored to the TES level; and under the condition that the train runs in the TES-FAM mode, if the vehicle-mounted positioning function is determined to be invalid, adjusting the vehicle-mounted running level of the AVCOS system to the LTES-RRM mode.

According to the vehicle-mounted operation control method of the AVCOS system provided by the invention, the method further comprises the following steps: under the condition that a train is initially electrified and train position information uploaded by an ITE is obtained, sending an operation plan application to an ITS (intelligent train monitoring system) to obtain an operation plan fed back by the ITS; establishing a link between an ITP and the OC so as to determine a planned path and a safe path according to the operation plan; establishing communication between an intelligent protection system ITP of the train and a track star link TSL to acquire front barrier information of the planned path and the safe path and calculate a mobile authorization MA; switching the AVCOS system on-board operation level to the TES level.

According to the vehicle-mounted operation control method of the AVCOS system provided by the invention, under the condition that a vehicle-mounted communication fault is determined, after the vehicle-mounted operation level of the AVCOS system is adjusted to the LTES level, under the condition that the AVCOS system is determined to be equipped with a train control center (TMC), the method further comprises the following steps: when the communication failure of the intelligent vehicle-mounted controller IVOC and the TSL is determined, the IVOC recalculates the emergency brake trigger speed EBI according to the autonomous visual mobile authorization, and adjusts the vehicle-mounted running level of the AVCOS system to the TES-CM mode or the TES-AM mode.

According to the method for controlling the vehicle-mounted operation of the AVCOS system, provided by the invention, the step of adjusting the vehicle-mounted operation level of the AVCOS system to the TES-CM mode or TES-AM mode specifically comprises the following steps: sending a non-communication train list to the TMC by the OC, wherein the non-communication train list is a related train list with current train-ground communication faults; the TMC takes the path from the train position determined in the last packet of position information before the communication fault to the platform as a planned path of the train which allows movement, and locks the turnout in the planned path range; the TMC sends the planned path to the ITS for a vehicle dispatching center to call; and commanding a driver to adjust the vehicle-mounted running level of the AVCOS system to an LTES-CM or LTES-AM mode by a driving dispatching center according to the planned path so as to drive the train to run at a speed limit according to the EBI and the signal recommended speed SBI calculated by the ITE autonomous perception mobile authorization.

According to the AVCOS system vehicle-mounted operation control method provided by the invention, after the AVCOS system vehicle-mounted operation level is adjusted to the TES-CM mode or TES-AM mode, the method further comprises the following steps: the ITP judges the position of the platform in front according to the electronic map, and takes the initial end of the platform as the end point of the MA; the IVOC prompts a driver to get in the station through a man-machine interface MMI; and after the ITP receives the determined arrival information fed back by the driver, extending the terminal of the MA to a platform terminal to control the train to automatically arrive at the station.

According to the AVCOS system vehicle-mounted operation control method provided by the invention, under the condition that the vehicle-mounted communication fault is determined, after the AVCOS system vehicle-mounted operation level is adjusted to the LTES level, under the condition that the AVCOS system is equipped with a local OC device, the method further comprises the following steps: commanding a driver to adjust the vehicle-mounted running level of the AVCOS system to an LTES-CM or LTES-AM mode by a driving dispatching center according to the planned path; driving the train to run by the driver according to the EBI and the SBI determined by the IVOC according to the autonomous visual mobile authorization; when the IVOC determines that the train runs to the specified position in front of the turnout, communication is automatically established with the corresponding local OC, and the turnout locking state information provided by the local OC is obtained; automatically extending the autonomous visual movement authority by the IVOC.

According to the vehicle-mounted operation control method of the AVCOS system provided by the invention, under the condition that the vehicle-mounted positioning function is determined to be invalid, after the vehicle-mounted operation level of the AVCOS system is adjusted to the LTES level, under the condition that the AVCOS system is determined to be equipped with the train control center TMC, the method further comprises the following steps: the AVCOS system is stopped by IVOC emergency braking, and the vehicle-mounted operation level of the AVCOS system is adjusted to an LTES-RRM mode when the TMC is applied; receiving a non-communication vehicle list uploaded by an OC (object communication) by TMC (transient traffic control), transacting a non-communication vehicle path reaching a front platform or a turn-back area for a train, and locking a turnout in the non-communication vehicle path for the train; and the ITP autonomously calculates the visible MA in the front according to the TSL and the ITE, and controls the train to continue to run according to the EBI calculated by the speed protection curve, or controls the train to run to a platform or a turn-back area to wait for a driver to get on the train.

According to the vehicle-mounted operation control method of the AVCOS system, under the condition that the non-communication vehicle path does not comprise a platform, applying for transaction of the non-communication vehicle path reaching the platform from TMC to ITS; after the driving dispatching center confirms that the ITS passes the application, the TMC is controlled to be locked to a turnout in a station range, and a station door PDS state and an Electronic Stability Program (ESP) state of a vehicle body electronic stability system are obtained from the OC to judge the station entering condition; under the condition that the arrival condition is determined to be met, the traffic dispatching center authorizes the non-communication vehicle path and displays the non-communication vehicle path through the ITS; and the driving dispatching center remotely confirms that the vehicle-mounted operation level of the AVCOS system is switched to the LTES-RRM mode.

According to the vehicle-mounted operation control method of the AVCOS system, provided by the invention, under the condition that the non-communication vehicle path comprises the platform, the ITP acquires the distance from the train to the platform starting end through the ITE so as to set the terminal point of the MA as the platform starting end and not extend the MA any more.

According to the vehicle-mounted operation control method of the AVCOS system provided by the invention, under the condition that the terminal point of the MA is set as the starting end of the platform and the MA is not extended any more, the method further comprises the following steps: submitting an inbound request by the IVOC to the ITS; when the driving dispatching center confirms that the platform is abnormal, sending an admission command to the ITP; and the ITP automatically extends the MA to a platform terminal and controls the train to enter the station autonomously.

According to the vehicle-mounted operation control method of the AVCOS system provided by the invention, under the condition that the terminal point of the MA is set as the platform initial end and the MA is not extended any more, the method further comprises the following steps: a driver drives a train to enter from a station end door to a boarding train in a rail running area; or the train determines the arrival speed according to the safest distance that the ITE can identify the personnel, and the train enters the station at a low speed according to the arrival speed.

According to the method for controlling the vehicle-mounted operation of the AVCOS system provided by the invention, under the condition that the vehicle-mounted positioning function is determined to be invalid, after the vehicle-mounted operation level of the AVCOS system is adjusted to the LTES level, under the condition that the AVCOS system is determined to be provided with a local OC device, the method further comprises the following steps: emergency braking by IVOC to stop the vehicle and triggering a near field communication broadcast packet; after receiving the response information of the local OC, the IVOC establishes communication connection with the local OC so as to receive the turnout ID and turnout locking state uploaded by the local OC; the IVOC compares the turnout sequence and turnout locking state contained in the operation plan pre-stored in the ITS with the turnout ID and turnout locking state uploaded by the OC on site according to the turnout sequence and turnout locking state and the turnout which has passed through the operation plan; after the ID of the nearest front turnout is successfully matched, determining the corresponding turnout locking state; when the turnout locking state does not meet the requirement, triggering an exclusive turnout command; the local OC forwards the exclusive turnout command to the OC, and the OC sends the turnout locking state, the PDS state and the ESP state to the IVOC through the local OC after the turnout locking state meets the requirement; the ITP autonomously calculates the visible MA ahead, and calculates EBI and SBI for the IVOC to control the train to autonomously run to the platform for accurate parking or run to a turn-back area for waiting for a driver to get on.

The invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of the AVCOS system vehicle-mounted running control method when executing the program.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the AVCOS system on-board operation control method as set forth in any one of the above.

Compared with the traditional CBTC (communication based train control system), the AVCOS system vehicle-mounted operation control method provided by the invention has the advantages that the TES level and the LTES level are added, the information of the obstacles in front of the train can be acquired constantly, the operation safety of the train is improved, the operation efficiency of a train dispatching system is improved, and the method has important engineering value.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for 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 view of the perceived eye distance at TES level in the AVCOS system on-board operation control method provided by the present invention;

FIG. 2 is a schematic view of the LTES level perceived apparent distance in the AVCOS system vehicle operation control method provided by the present invention;

fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, 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.

It should be noted that in the description of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The terms "upper", "lower", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following describes an AVCOS system vehicle-mounted operation control method provided by the embodiment of the present invention with reference to fig. 1 to 3.

The AVCOS system is based on a multi-sensor and intelligent analysis technology, so that the train has autonomous environment perception and decision-making capability to form ITE; and (4) obtaining farther sight distance by combining information interaction with the track star link TSL to realize autonomous safety protection of the train.

The invention provides a vehicle-mounted operation control method of an AVCOS system, and mainly relates to the mode level (level for short), the conversion relation among levels and the scene description of the vehicle-mounted operation of the AVCOS system. Specifically, the AVCOS system vehicle-mounted operation control method provided by the present invention mainly includes the following steps: UR level, ltse level, and TES level. Wherein, UR classes mainly include: when both the vehicle-mounted positioning function and the visual movement authorization function are invalid due to an ITE fault, but the object controller OC is normal, the train enters a telephone blocking visual driving mode under manual control; wherein, the LTES level mainly comprises: an LTES-CM mode, an LTES-AM mode, an LTES-RRM mode and other operation modes; TES grades mainly include: and operation modes such as TES-CM mode, TES-AM mode, TES-CAM mode, TES-FAM mode and TES-VCM mode.

FIG. 1 is a schematic view of the perceived eye distance at TES level in the AVCOS system on-board operation control method provided by the present invention; fig. 2 is a schematic view of the perceived visual distance of the ltse level in the AVCOS system vehicle-mounted operation control method provided by the present invention, as shown in fig. 1 and fig. 2, the TES level refers to a level for obtaining the mobile authorized MA based on the track star link TSL; the ltses level mainly refers to a level of obtaining the MA based on the ITE when the train-ground communication is failed or the train position information is lost due to the failure of the vehicle-mounted positioning function.

In a VCOS system, an ITE installed on a Train is an input and processing module of perception data of an Intelligent Train Protection (ITP) system, is mainly responsible for sensor data acquisition and data fusion, is used for realizing functional operations such as high-precision Train positioning, front active barrier identification and detection and the like, and provides functions of vehicle positioning and autonomous visual movement authorization for the ITP. In addition, a Track Star Link (TSL) is installed beside the Track of the AVCOS system, sensor data can be collected through a safety computer platform to conduct autonomous sensing and data fusion, and therefore collection of clearance detection information can be achieved, and meanwhile the TSL and the ITP can provide an extended visual range function for the ITP through wireless communication.

The AVCOS system comprises a plurality of trackside devices, and communication connection can be established among the trackside devices through a wireless communication technology. The plurality of trackside devices are in communication connection through an ad hoc networking technology and/or a multi-hop networking technology. At this time, a plurality of trackside devices constitute the TSL. Also, the TSL is not limited to trackside equipment and may include ground centers and other terminals. Each trackside device in the TSL may also be referred to as a daisy chain node (or a daisy chain device). And all the star link nodes in the TSL are in communication connection and are converged to the ground center through the star link nodes of the adjacent stations.

It should be noted that the trackside devices in the TSL may be communicatively connected through an ad hoc networking technology and/or a multi-hop networking technology. When the ad hoc network technology is adopted to establish communication connection, each trackside device can automatically establish network connection with trackside devices in the peripheral communication range. When the multi-hop technology is adopted to establish communication connection, the communication between the trackside devices can be hopped from one trackside device to the next trackside device, and the communication is transmitted one by one until the communication reaches the destination, so that the communication of the whole TSL link is realized.

Optionally, each trackside device is in communication connection with at least part of other trackside devices of the TSL where the trackside device is located through a multi-hop networking technology; that is, the trackside device and each other trackside device of the TSL where the trackside device is located are in communication connection through a multi-hop networking technology, or the trackside device and part of trackside devices of the TSL where the trackside device is located are in communication connection through the multi-hop networking technology. Therefore, when part of trackside equipment fails in communication, the multi-hop networking technology can still ensure that data are transmitted to a destination, the reliability of data transmission in the TSL is ensured, and the TSL has expandability.

Compared with the traditional CBTC system, the invention mainly adds the TES level and the LTES level in the AVCOS system vehicle-mounted operation control mode so as to acquire the obstacle information in front of the train at any time in different operation scenes, improve the safety of train operation, improve the operation efficiency of the train dispatching system and have important engineering value.

Based on the content of the above embodiment, as an optional embodiment, the AVCOS system vehicle-mounted operation control method provided by the present invention includes determining a vehicle-mounted operation level of the AVCOS system for train operation according to a state of a smart eye system ITE of a train and a train-ground communication; the vehicle-mounted operation level of the AVCOS system mainly comprises the following three types: UR level, ltse level, and TES level, wherein:

the UR classes mainly include: when both the vehicle-mounted positioning function and the visual movement authorization function are invalid due to an ITE fault, but the object controller OC is normal, the train enters a telephone blocking visual driving mode under manual control; the LTES levels mainly include: an LTES-CM mode, an LTES-AM mode, and an LTES-RRM mode; TES grades mainly include: TES-CM mode, TES-AM mode, TES-CAM mode, TES-FAM mode, and TES-VCM mode.

As an optional embodiment, the ltse-CM mode is a manual driving mode in which the train enters the protection of the train intelligent protection system ITP under the condition that the fault of the ITE part causes the failure of the vehicle-mounted positioning function, the normal visual movement authorization function and the fault of the communication with the track star link TSL.

In combination with the above description of the TSL, the communication failure between the train and each trackside device in the track star link TSL described here means that the train and each trackside device in the TSL cannot realize normal communication, and at this time, because the vehicle-mounted positioning function in ITE fails, the train can only realize safe station entry by means of the visual movement authorization function in ITE, so the vehicle-mounted operation level of the train needs to be switched to the manual driving mode under the ITP protection in this case.

The LTES-AM mode is: and under the conditions that the visual movement authorization function is invalid, the vehicle-mounted positioning function is normal and the train-ground communication fails due to the ITE part fault, the train enters an automatic driving mode under the ITP protection.

The LTES-RRM mode is: and under the condition that the vehicle-mounted positioning function is failed and the visual movement authorization function is normal due to the ITE part fault, but the train-ground communication is normal, the train enters a remote automatic driving mode supervised by a train control center.

The TES-CM mode is: and under the condition that the ITE is normal and the train-ground communication is normal, the train enters a manual driving mode for manually driving the train at the recommended speed.

The TES-AM mode is: and under the condition that ITE is normal and train-ground communication is normal, the train enters an automatic driving mode under the ITO protection of the train intelligent driving system.

The TES-CAM mode is: and in case of train-ground communication failure or train failure, the train enters a low-speed running mode.

TES-FAM mode is: and a full-automatic running mode for the train to enter.

TES-VCM mode is: a consist mode of operation into which the train enters.

The three levels can be expressed specifically as follows:

(1) regarding UR level.

The UR level mainly comprises a UR-RM mode, which is an operation mode that when an ITE fault (a vehicle-mounted positioning function and a visual mobile authorization function are both failed) but an OC is in normal operation, a driver manually drives a train at a certain speed limit (such as 25kmph) to visually drive the train through a telephone block.

(2) Regarding the ltse level.

The LTES-CM mode mainly refers to: normal or partial ITE failure (normal or failure of an on-board positioning function and normal visual movement authorization function), vehicle-ground communication failure (such as failure of a TSL device), and an operation mode of obtaining front visual range only by relying on the ITE to calculate movement authorization MA and manually driving under the ITP protection by a driver.

The LTES-AM mode mainly refers to: ITE is normal or partially failed (vehicle-mounted positioning function is normal or failed, visual mobile authorization function is normal), vehicle-ground communication failure (such as TSL equipment failure), forward sight distance obtaining and mobile authorization MA calculation only depending on ITE, and automatic driving mode (ITO) under ITP protection.

The LTES-RRM mode mainly refers to driver-free driving, wherein ITE is normal or partially failed (a vehicle-mounted positioning function is failed, and a visual movement authorization function is normal), and under the condition that train-ground communication is normal, a train control center informs manual locking of turnouts and remote driving of a train to automatically operate, and positioning is achieved until positioning is recovered or a platform operation mode is entered.

(3) Regarding TES levels.

The TES level refers to a CM mode if a driver manually drives a train at a recommended speed when each device of the system works normally; the mode of autonomous driving by ITO is called AM mode; the low-speed running mode under the condition that the communication between the vehicle and the signal system fails or the large-area fault inside the vehicle is called a CAM mode; the fully automatic mode of operation is referred to as the FAM mode; grouped mode operation is referred to as VCM mode.

The invention provides a vehicle-mounted operation control method of an AVCOS system, which mainly aims to solve the switching of vehicle-mounted operation modes of the AVCOS system between different levels under different conditions and the specific operation scheme under TES level and LTES level.

Based on the content of the foregoing embodiment, as an optional embodiment, in the case that the train operates at the TES level, if it is determined that the train-ground communication is failed, the vehicle-mounted operation level of the AVCOS system is adjusted to the ltse level until it is determined that the train-ground communication is normal and then the train-ground communication is restored to the TES level. And under the condition that the train runs in the TES-FAM mode, if the vehicle-mounted positioning function is determined to be invalid, adjusting the vehicle-mounted running level of the AVCOS system to the LTES-RRM mode.

The above operation scheme is specifically described as follows:

(1) when the train runs at the TES level and the wireless communication with the ground fails, the running level can be degraded to the LTES level, and automatic driving is continued by means of ITE. In the process of continuing automatic driving, if the wireless communication is recovered to be normal, the train is recovered to continuously operate at the highest TES level so as to recover the train operation efficiency.

(2) When the train runs at a TES-FAM level, if the vehicle-mounted positioning function fails, namely the train loses position (the wireless communication is normal), a train control center dispatcher can remotely authorize the train to continue running in an LTES-RRM mode so as to reduce the influence of the train with communication failure on the operation.

Based on the content of the embodiment, as an optional embodiment, the vehicle-mounted operation control method of the AVCOS system provided by the present invention sends an operation plan application to the intelligent train monitoring system ITS to obtain the operation plan fed back by the ITS, under the condition that the train is initially powered on and the train position information uploaded by ITE is obtained; establishing a link between an ITP and the OC so as to determine a planned path and a safe path according to the operation plan; establishing communication between an intelligent protection system ITP of the train and a track star link TSL to obtain front barrier information of the planned path and the safe path and calculate a mobile authorization MA; switching the AVCOS system on-board operation level to the TES level.

Specifically, after the train is initially powered on, if the following conditions are met, the operation mode of the train is automatically upgraded to the TES level:

1) the train can acquire the train position through ITE;

2) the train applies for an operation plan to the ITS, and the ITS issues the operation plan to the train;

3) the ITP establishes a link with the corresponding OC so as to calculate a planned path and a safety path according to the operation plan;

4) the ITP and the TSL successfully establish communication, and obtain the front obstacle information to calculate the movement authorization;

5) and upgrading the train with the position to a TES level after the train with the position obtains the moving authorization.

Based on the content of the foregoing embodiment, as an optional embodiment, after the adjusting the vehicle-mounted operation level of the AVCOS system to the ltse level in the case of determining the vehicle-to-ground communication failure, in the case of determining that the AVCOS system is equipped with the train control center TMC, the method further includes: when the communication failure of the intelligent vehicle-mounted controller IVOC and the TSL is determined, the IVOC recalculates the emergency brake trigger speed EBI according to the autonomous visual mobile authorization, and adjusts the vehicle-mounted running level of the AVCOS system to the TES-CM mode or the TES-AM mode.

Specifically, when the train operates at the TES level, if a sudden wireless communication failure occurs, the train cannot acquire the front obstacle information from the TSL, and can determine the autonomous visual movement authorization only by using the on-board ITE, and switch the operation mode to the ltse level to continue the operation.

At this time, two cases are involved, one is the case where the AVCOS system is equipped with the train control center TMC, and the other is the case where the AVCOS system is equipped with the on-site OC device.

Next, the actual operation control method of the train will be described separately for the above two cases.

As an optional embodiment, after the AVCOS system on-board operation level is adjusted to the ltse level in the case of determining the vehicle-to-ground communication failure, in the case of determining that the AVCOS system is equipped with TMC, the method further includes: when the communication fault of the intelligent vehicle-mounted controller IVOC and the TSL is determined, the IVOC recalculates the emergency brake trigger speed EBI according to the autonomous visual mobile authorization, and adjusts the vehicle-mounted running level of the AVCOS system to a TES-CM mode or a TES-AM mode.

The steps mainly comprise: sending a non-communication vehicle list to TMC by OC, wherein the non-communication vehicle list is a related train list with current train-ground communication fault; taking a path from the train position determined in the last packet of position information before the communication fault to the platform as a planned path of the train, which allows movement, by TMC, and locking a turnout in the planned path range; sending the planned path to the ITS by TMC for a vehicle dispatching center to call; and commanding a driver to adjust the vehicle-mounted operation level of the AVCOS system to an LTES-CM or LTES-AM mode by the driving dispatching center according to the planned path so as to drive the train to operate at a speed limit according to the EBI and the signal recommended speed SBI calculated by the ITE autonomous perception mobile authorization.

Further, after adjusting the AVCOS system on-board operation level to the TES-CM mode or TES-AM mode, the method further comprises: the ITP judges the position of the platform in front according to the electronic map, and takes the initial end of the platform as the end point of the MA; the IVOC prompts a driver to get in the station through a man-machine interface MMI; and after the ITP receives the determined arrival information fed back by the driver, extending the terminal of the MA to a platform terminal to control the train to automatically arrive at the station.

The above whole process is described as follows:

1) when the IVOC and the TSL have communication failure in the TES-CM/AM/FAM or CAM mode of the train, the IVOC recalculates the EBI speed limit according to the autonomous visual mobile authorization and converts the EBI speed limit into the LTES-CM/AM mode.

2) The OC reports a list of non-communicating vehicles to TMC, which contains the faulty train.

3) TMC takes the position information of the last packet before the train fault as the path for allowing the train to move between the stations, locks the turnout in the range of the path, and reports the path to ITS, and ITS displays the path information.

4) And the driver reports the fault to the center, and the driving dispatching center instructs the driver to drive at the speed recommended according to the signal after confirming the display path range.

5) And the driver confirms to enter the LTES-CM/AM mode and drives the train to run at a speed limit according to the EBI and the SBI calculated by the ITE autonomous perception mobile authorization. The vehicle-mounted ITP and ITO calculate an EBI curve and an SBI curve according to the visual allowable movement authorization so as to carry out overspeed protection and automatic driving, and the train running speed is dynamically adjusted according to the visual allowable movement authorization change.

6) Because the position information of the train can be obtained at the moment, the ITP can judge the position of the platform in front according to the electronic map, the ITP can use the distance from the platform starting end as the MA end point, and the MA is not extended any more, and the station can be entered in the following two ways:

firstly, the IVOC prompts a driver to confirm whether the train enters the station or not through the MMI, and when the driver confirms that the platform is abnormal, the driver can press a confirmation entering button, the train automatically extends to the MA to the platform terminal, and the train automatically enters the station;

and secondly, the speed-limiting low-speed station entering and parking can be calculated according to the safest distance of the personnel which can be identified by ITE.

As another optional embodiment, in the case that it is determined that the AVCOS system is equipped with an OC device on site after the AVCOS system on-board operation level is adjusted to the ltse level in the case that it is determined that the vehicle-to-ground communication is faulty, the method further includes:

the driving dispatching center orders a driver to adjust the vehicle-mounted running level of the AVCOS system to an LTES-CM or LTES-AM mode according to the planned path; driving the train to run by the driver according to the EBI and the SBI determined by the IVOC according to the autonomous visual mobile authorization; when the IVOC determines that the train runs to the specified position in front of the turnout, communication is automatically established with the corresponding local OC, and the turnout locking state information provided by the local OC is acquired; automatically extending the autonomous visual movement authority by the IVOC.

Specifically, when the AVCOS system is equipped with a local OC device (not equipped with a TMC device), the operation control method in the case of a vehicle-ground communication failure is as follows:

1) and reporting the fault to a driving dispatching center by a driver, and indicating the driver to drive according to the running plan and the signal recommendation speed by the driving dispatching center.

2) The driver confirms that the vehicle is converted into an LTES-CM or LTES-AM mode, and the train is driven to run according to EBI and SBI speed limit provided by IVOC autonomous visual mobile authorization. When the IVOC checks that the train runs to the specified position in front of the turnout, the IVOC automatically establishes communication with the local OC, obtains the turnout locking state from the local OC, and automatically extends the visible movement authorization after obtaining the turnout locking information.

3) When the IVOC checks that the train runs to the designated position in front of the turnout and judges that the turnout position needs to be obtained, communication is established with the local OC, an operation turnout command is issued to the local OC, and when the turnout locking state is obtained from the local OC, the IVOC automatically extends the visible movement authorization after the turnout locking information is obtained.

4) Communication with the trackside local OC is established only when the IVOC determines that communication with the OC is interrupted. Otherwise the OC is now in standby mode.

Specifically, when a TES-FAM train loses position, a dispatcher of the train dispatching center remotely authorizes the train to continue to operate in the LTES-RRM mode, and the AVCOS system is provided with TMC and the AVCOS system is provided with local OC equipment.

As another optional embodiment, in the case that it is determined that the vehicle-mounted positioning function is disabled, after the vehicle-mounted operation level of the AVCOS system is adjusted to the ltse level, in the case that it is determined that the AVCOS system is equipped with the train control center TMC, the method further includes:

the AVCOS system is stopped by IVOC emergency braking, and the vehicle-mounted operation level of the AVCOS system is adjusted to an LTES-RRM mode when the TMC is applied; receiving a non-communication vehicle list uploaded by an OC (object communication) by TMC (transient traffic control), transacting a non-communication vehicle path reaching a front platform or a turn-back area for a train, and locking a turnout in the non-communication vehicle path for the train; and the ITP autonomously calculates the visible MA in the front according to the TSL and the ITE, and controls the train to continue to run according to the EBI calculated by the speed protection curve, or controls the train to run to a platform or a turn-back area to wait for a driver to get on the train.

Specifically, when the AVCOS system is TMC equipped:

1) when the position information of the train is lost (positioning is lost) in the LTES-FAM mode, the IVOC emergency brake stops, and the train control center TMC application is switched to the LTES-RRM mode. The OC reports a non-communication vehicle list to the TMC, and the TMC handles a non-communication vehicle path reaching a front platform/turning-back area for the train and locks a turnout in the non-communication vehicle path for the train; and finally, independently calculating the front visible movement authorization by the ITP by relying on the TSL and the ITE, calculating a speed protection curve, and controlling the train to continuously run according to the EBI. In the process of operation, the positioning can be tried to be recovered, or the operation is carried out to a platform, or the operation is carried out to a return area to wait for a driver to get on the train.

2) In the process that the train continues to operate according to the LTES-RRM mode, if the positioning of the train is completed again and the self-checking of the equipment is normal, the train can be automatically upgraded to the TES-FAM mode and continuously operated according to the TES-FAM mode.

3) In the process of continuous operation, the vehicle-mounted ITP and the ITO can calculate an EBI curve and an SBI curve according to the visual permission movement authorization so as to carry out overspeed protection and automatic driving, and the train operation speed is dynamically adjusted according to the visual permission movement authorization change.

As an alternative embodiment, in the case that the non-communication vehicle path does not include a station platform, applying for the transaction of the non-communication vehicle path to the station platform by TMC to the ITS; after the driving dispatching center confirms that the ITS passes the application, controlling TMC to lock a turnout in a station range, and obtaining a station door PDS state and a vehicle body electronic stability system ESP state from the OC to judge the station entering condition; under the condition that the arrival condition is determined to be met, the traffic dispatching center authorizes the non-communication vehicle path and displays the non-communication vehicle path through the ITS; and the vehicle-mounted operation level of the AVCOS system is remotely confirmed to be switched to the LTES-RRM mode by the vehicle dispatching center.

4) Specifically, when the non-communication vehicle path does not include the station, the TMC applies for the transaction of the non-communication vehicle path reaching the station to the ITS, and after the transaction is manually performed by the vehicle dispatching center through the ITS, the TMC locks the switch within the station range, and obtains the PDS state, the ESP state, and the like from the OC. And when the arrival conditions are met, the paths of the non-communication vehicles are successfully transacted, the paths of the non-communication vehicles can be displayed through an ITS interface, the remote control of the dispatching is confirmed to enter an LTES-RRM mode, and the trains automatically enter the station by virtue of ITE.

5) When the IVOC of the train completely passes through the TSL area, the TSL reports the clear state to the OC, the OC reports the TMC, and the TMC automatically shortens the path protection range of the non-communication vehicles and sends the protection range to the ITS for displaying.

Further, in a case where the non-communicating vehicle path includes a platform, the ITP acquires a distance from the train to the platform starting end through ITE to set the end point of MA as the platform starting end and no longer extend MA.

In the case where the end point of the MA is set as the station start point and the MA is no longer extended, the method further includes: submitting an inbound request by the IVOC to the ITS; when the driving dispatching center confirms that the platform is abnormal, sending an admission command to the ITP; and the ITP automatically extends the MA to the platform terminal and controls the train to enter the station autonomously.

In the case where the end point of the MA is set as the station start point and the MA is no longer extended, the method further includes: a driver drives a train to enter from a station end door to a boarding train in a rail running area; or the train determines the arrival speed according to the safest distance that the ITE can identify the personnel, and the train enters the station at a low speed according to the arrival speed.

On the basis of the above embodiment, the method further includes:

6) when ITE senses that a certain distance ahead is a platform, but a train still cannot be positioned normally, because the states of ESB, PSD and the like of the platform are unknown, the station entering has safety risk, the distance from the platform starting end is provided for ITP, the ITP sets the MA terminal point as the platform starting end and does not extend MA any more, and at the moment, the following modes can be selected for station entering:

(1) the IVOC applies for entering the station to the central ITS, when the train dispatching center confirms that the station platform is abnormal, the command of allowing entering the station is issued, the train automatically extends MA to the station platform terminal, and the train automatically enters the station;

(2) the train dispatching center dispatches drivers to get on the train to get on the station from the station end doors.

(3) And calculating the speed limit low-speed entering and parking according to the ITE to identify the safest distance of the personnel.

As another alternative embodiment, in the case that it is determined that the on-board positioning function is disabled, after the adjusting the on-board operation level of the AVCOS system to the ltse level, in the case that it is determined that the AVCOS system is equipped with an on-site OC device, the method further includes: emergency braking by IVOC to stop the vehicle and triggering a near field communication broadcast packet; after receiving the response information of the local OC, the IVOC establishes communication connection with the local OC so as to receive the turnout ID and turnout locking state uploaded by the local OC; the IVOC compares the turnout sequence and turnout locking state contained in the operation plan pre-stored in the ITS with the turnout ID and turnout locking state uploaded by the OC on site according to the turnout sequence and turnout locking state and the turnout which has passed through the operation plan; after the ID of the nearest front turnout is successfully matched, determining the corresponding turnout locking state; when the turnout locking state does not meet the requirement, triggering an exclusive turnout command; the local OC forwards the exclusive turnout command to the OC, and the OC sends the turnout locking state, the PDS state and the ESP state to the IVOC through the local OC after the turnout locking state meets the requirement; and the ITP autonomously calculates the visible MA in front, and calculates EBI and SBI for the IVOC to control the train to autonomously operate to a platform for accurate parking or operate to a turn-back area for waiting for a driver to get on the train.

Specifically, when it is determined that the vehicle-mounted positioning function is failed, but the AVCOS system is equipped with a local OC device, the operation control method of the train includes:

1) when the train is in an LTES-FAM or LTES-CAM mode and the positioning is lost, the IVOC emergency brake stops;

2) because the IVOC can not communicate with the OC, the near field communication broadcast packet is triggered, the local OC nearby receives the broadcast packet and then responds to the IVOC, and after the link establishment between the two parties is successful, the corresponding local OC provides the IVOC with the turnout ID and the locking state in the jurisdiction range of the IVOC.

3) And the IVOC compares the stored ITS plan with the stored turnout sequence and position and the turnout and position which have passed through the operation with the turnout provided by the local OC, and judges whether the turnout is the required specified position after successfully matching the nearest turnout ID in front. If not, triggering an exclusive turnout command.

4) And the OC transmits a control command to the OC on site, after the turnout is successfully locked, the OC transmits the turnout locking state, the PDS state and the ESP state to the IVOC on site, and the train enters the station by means of sensing equipment. And D, calculating the EBI curve and the SBI curve by the ITP self-calculated forward visual movement authorization, and continuously running to a platform accurate parking area or a turn-back area to wait for a driver to get on the vehicle.

5) And the ITS interface displays the occupation state of the orbital star chain area.

6) And in the process of continuing running of the train, if the positioning is completed again and the self-inspection of the equipment is normal, the train can be automatically upgraded to a TES-FAM mode, and the train can continue running according to the TES-FAM mode.

7) And the vehicle-mounted ITP and the ITO calculate an EBI curve and an SBI curve according to the autonomous visual allowable movement authorization so as to perform overspeed protection and automatic driving, and the train running speed is dynamically adjusted according to the visual allowable movement authorization change.

Fig. 3 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 3, the electronic device may include: a processor (processor)310, a communication Interface (communication Interface)320, a memory (memory)330 and a communication bus 340, wherein the processor 310, the communication Interface 320 and the memory 330 communicate with each other via the communication bus 340. The processor 310 may invoke logic instructions in memory 330 to perform the AVCOS system on-board operation control method, wherein the AVCOS system on-board operation levels include: UR level, ltse level, and TES level; the UR levels include: when the vehicle-mounted positioning function and the visual movement authorization function are both disabled due to an ITE fault of the intelligent eye system, but the object controller OC is normal, the train enters a mode of visual driving in a telephone blocking mode under manual control; the LTES levels include: an LTES-CM mode, an LTES-AM mode, and an LTES-RRM mode; the TES level includes: TES-CM mode, TES-AM mode, TES-CAM mode, TES-FAM mode, and TES-VCM mode.

In addition, the logic instructions in the memory 330 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention also provides a 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 AVCOS system on-board operation control method provided by the above methods, wherein the AVCOS system on-board operation level comprises: UR level, ltse level, and TES level; the UR levels include: when the vehicle-mounted positioning function and the visual movement authorization function are both disabled due to an ITE fault of the intelligent eye system, but the object controller OC is normal, the train enters a mode of visual driving in a telephone blocking mode under manual control; the LTES levels include: an LTES-CM mode, an LTES-AM mode, and an LTES-RRM mode; the TES level includes: TES-CM mode, TES-AM mode, TES-CAM mode, TES-FAM mode, and TES-VCM mode.

In another aspect, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the AVCOS system on-board operation control method provided in the above embodiments, wherein the AVCOS system on-board operation level includes: UR level, ltse level, and TES level; the UR levels include: when the vehicle-mounted positioning function and the visual movement authorization function are both disabled due to an ITE fault of the intelligent eye system, but the object controller OC is normal, the train enters a mode of visual driving in a telephone blocking mode under manual control; the LTES levels include: an LTES-CM mode, an LTES-AM mode, and an LTES-RRM mode; the TES level includes: TES-CM mode, TES-AM mode, TES-CAM mode, TES-FAM mode, and TES-VCM mode.

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 this 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, and 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

1. A vehicle-mounted operation control method of an AVCOS system is characterized in that,

determining the vehicle-mounted operation level of the AVCOS system for train operation according to the communication state of an intelligent eye system ITE and a train-ground of a train;

the AVCOS system vehicle-mounted operation level comprises: UR level, ltse level, and TES level;

the UR levels include: when both the vehicle-mounted positioning function and the visual movement authorization function are invalid due to an ITE fault, but the object controller OC is normal, the train enters a telephone blocking visual driving mode under manual control;

the LTES levels include: an LTES-CM mode, an LTES-AM mode, and an LTES-RRM mode;

the TES level includes: TES-CM mode, TES-AM mode, TES-CAM mode, TES-FAM mode, and TES-VCM mode;

under the condition that a train is initially electrified and train position information uploaded by an ITE is obtained, sending an operation plan application to an ITS (intelligent train monitoring system) to obtain an operation plan fed back by the ITS;

establishing a link between an ITP and the OC so as to determine a planned path and a safety path according to the operation plan;

establishing communication between the ITP and a track star link TSL to acquire front obstacle information of the planned path and the safe path and calculate a mobile authorization MA;

switching the AVCOS system on-board operation level to the TES level.

2. The AVCOS system vehicle-mounted operation control method of claim 1, wherein the LTES-CM mode is a manual driving mode in which a train enters into an ITP protection of a train intelligent protection system under the condition that an ITE part fault causes a vehicle-mounted positioning function to be invalid, a visual movement authorization function is normal, and a TSL communication fault with a track star chain is caused;

the LTES-AM mode is an automatic driving mode when the train enters into ITP protection under the conditions that the visual movement authorization function is invalid and the vehicle-mounted positioning function is normal due to ITE part faults and the vehicle-ground communication faults occur;

the LTES-RRM mode is a remote automatic driving mode which is monitored by a train dispatching center when a train enters a train under the condition that the train positioning function fails and the visual movement authorization function is normal but the train-ground communication is normal due to an ITE part fault;

the TES-CM mode is a manual driving mode that the train enters into a mode that the train is manually driven at the recommended speed under the condition that ITE is normal and train-ground communication is normal;

the TES-AM mode is an automatic driving mode when the train enters the ITO protection of the intelligent train driving system under the condition that ITE is normal and train-ground communication is normal;

the TES-CAM mode is a low-speed running mode for the train to enter under the condition of train-ground communication failure or train failure;

the TES-FAM mode is a full-automatic running mode for the train to enter;

the TES-VCM mode is a consist mode of operation entered by the train.

3. The AVCOS system on-board operation control method of claim 2, further comprising:

under the condition that the train runs at the TES level, if the train-ground communication is determined to be in fault, adjusting the vehicle-mounted running level of the AVCOS system to the LTES level until the train-ground communication is determined to be normal and then recovering to the TES level;

and under the condition that the train runs in the TES-FAM mode, if the vehicle-mounted positioning function is determined to be invalid, adjusting the vehicle-mounted running level of the AVCOS system to the LTES-RRM mode.

4. The AVCOS system on-board operation control method of claim 1, wherein, in case of determining that the AVCOS system is equipped with a train control center TMC after the AVCOS system on-board operation level is adjusted to the ltse level in case of determining that an on-board communication failure occurs, further comprising:

when the communication failure of the intelligent vehicle-mounted controller IVOC and the TSL is determined, the IVOC recalculates the emergency brake trigger speed EBI according to the autonomous visual mobile authorization, and adjusts the vehicle-mounted running level of the AVCOS system to the TES-CM mode or the TES-AM mode.

5. The method of claim 4, wherein adjusting the AVCOS system onboard operation level to the TES-CM mode or TES-AM mode comprises:

sending a non-communication train list to the TMC by the OC, wherein the non-communication train list is a related train list with current train-ground communication faults;

the TMC takes the path from the train position determined in the last packet of position information before the communication fault to the platform as a planned path of the train which allows movement, and locks the turnout in the planned path range;

sending the planned path to the ITS by the TMC so as to be called by a vehicle dispatching center;

and commanding a driver to adjust the vehicle-mounted operation level of the AVCOS system to an LTES-CM or LTES-AM mode by a driving scheduling center according to the planned path so as to drive the train to operate at a speed limit according to the EBI and the signal recommended speed SBI calculated by ITE autonomous perception mobile authorization.

6. The AVCOS system on-board operation control method of claim 4, further comprising, after adjusting the AVCOS system on-board operation level to the TES-CM mode or TES-AM mode:

judging the position of the platform in front by the ITP according to the electronic map, and taking the initial end of the platform as the end point of the MA;

the IVOC prompts a driver to get in the station through a man-machine interface MMI;

and after the ITP receives the determined arrival information fed back by the driver, extending the terminal of the MA to a platform terminal to control the train to automatically arrive at the station.

7. The AVCOS system on-board operation control method of claim 1, wherein in the event that it is determined that an on-board communication failure is determined, after adjusting the AVCOS system on-board operation level to the ltse level, in the event that it is determined that the AVCOS system is equipped with a local OC device, further comprising:

commanding a driver to adjust the vehicle-mounted running level of the AVCOS system to an LTES-CM or LTES-AM mode by a driving dispatching center according to the planned path;

driving the train to run by the driver according to the EBI and the SBI determined by the IVOC according to the autonomous visual movement authority;

when the IVOC determines that the train runs to the specified position in front of the turnout, communication is automatically established with the corresponding local OC, and the turnout locking state information provided by the local OC is acquired; automatically extending the autonomous visual movement authority by the IVOC.

8. The AVCOS system on-board operation control method of claim 1, wherein in case it is determined that an on-board location function is disabled, after adjusting the AVCOS system on-board operation level to the ltse level, in case it is determined that the AVCOS system is equipped with a train control center TMC, further comprising:

the AVCOS system is stopped by IVOC emergency braking, and the vehicle-mounted operation level of the AVCOS system is adjusted to an LTES-RRM mode when the TMC is applied;

receiving a non-communication vehicle list uploaded by the OC by the TMC, transacting a non-communication vehicle path of a platform or a turn-back area in front for the train, and locking a turnout in the non-communication vehicle path for the train;

and the ITP autonomously calculates the MA visible in the front according to the TSL and the ITE, and controls the train to continue to run according to the EBI calculated by the speed protection curve, or controls the train to run to a platform or a turn-back area to wait for a driver to get on the train.

9. The on-vehicle operation control method of the AVCOS system of claim 8, wherein in case that the non-communication vehicle path does not include a platform, the TMC applies for the ITS to handle the non-communication vehicle path to the platform;

after the driving dispatching center confirms that the ITS passes the application, the TMC is controlled to be locked to a turnout in a station range, and a station door PDS state and an Electronic Stability Program (ESP) state of a vehicle body electronic stability system are obtained from the OC to judge the station entering condition;

under the condition that the arrival condition is determined to be met, the traffic dispatching center authorizes the non-communication vehicle path and displays the non-communication vehicle path through the ITS;

and the driving dispatching center remotely confirms that the vehicle-mounted operation level of the AVCOS system is switched to the LTES-RRM mode.

10. The AVCOS system vehicle-mounted operation control method of claim 8, wherein, in case that the non-communicating vehicle path includes a platform, the ITP obtains a distance from the train to a platform start end through ITE to set an end point of MA as the platform start end and no longer extends MA.

11. The AVCOS system on-board operation control method of claim 10, further comprising, in the case of setting the end point of the MA as the platform start point and no longer extending the MA:

submitting an inbound request by the IVOC to the ITS;

when the driving dispatching center confirms that the platform is abnormal, sending an admission command to the ITP;

and the ITP automatically extends the MA to the platform terminal and controls the train to enter the station autonomously.

12. The AVCOS system on-board operation control method of claim 10, further comprising, in the case of setting the end point of the MA as the platform start point and no longer extending the MA:

a driver drives a train to enter from a station end door to a boarding train in a rail running area;

or the train determines the arrival speed according to the safest distance that the ITE can identify the personnel, and the train enters the station at a low speed according to the arrival speed.

13. The AVCOS system on-board operation control method of claim 1, further comprising, in the event that it is determined that an on-board position location function is disabled, after adjusting the AVCOS system on-board operation level to the ltse level, in the event that it is determined that the AVCOS system is equipped with a local OC device:

emergency braking by IVOC to stop the vehicle and triggering a near field communication broadcast packet;

after receiving the response information of the local OC, the IVOC establishes communication connection with the local OC so as to receive the turnout ID and turnout locking state uploaded by the local OC;

the IVOC compares the turnout sequence and turnout locking state contained in the operation plan pre-stored in the ITS with the turnout ID and turnout locking state uploaded by the OC on site according to the turnout sequence and turnout locking state and the turnout which has passed through the operation plan;

after the ID of the nearest front turnout is successfully matched, determining the corresponding turnout locking state;

when the turnout locking state does not meet the requirement, triggering an exclusive turnout command;

the local OC forwards the exclusive turnout command to the OC, and the OC sends the turnout locking state, the PDS state and the ESP state to the IVOC through the local OC after the turnout locking state meets the requirement;

the ITP autonomously calculates the visible MA ahead, and calculates EBI and SBI for the IVOC to control the train to autonomously run to the platform for accurate parking or run to a turn-back area for waiting for a driver to get on.