CN113830135A

CN113830135A - Train operation control method and device, electronic equipment and storage medium

Info

Publication number: CN113830135A
Application number: CN202111199983.2A
Authority: CN
Inventors: 王磊; 郑志军; 杨迪飞; 周东蕴; 曹学思; 向润梓; 马晓梅; 赵悦彤
Original assignee: CRSC Urban Rail Transit Technology Co Ltd
Current assignee: CRSC Urban Rail Transit Technology Co Ltd
Priority date: 2021-10-14
Filing date: 2021-10-14
Publication date: 2021-12-24
Anticipated expiration: 2041-10-14
Also published as: CN113830135B

Abstract

The invention provides a train operation control method, a train operation control device, electronic equipment and a storage medium, wherein the method comprises the following steps: when a train under a first control level passes through a target position correction position in a conversion track area, establishing second control level positioning and establishing connection with a ground area controller, wherein the first control level is a DTC control level or a CBTC control level; when the authorization information of the second control level positioning sent by the ground area controller is received and the train passes through the target switching position in the switching track area, the train is switched from the first control level to the second control level so as to control the operation of the train according to the second control level, the switching track area is positioned in the track area corresponding to the first control level and is adjacent to the track area corresponding to the second control level.

Description

Train operation control method and device, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of rail transit, in particular to a train operation control method and device, electronic equipment and a storage medium.

Background

With the rapid development of wireless Communication technology and urban rail transit industry, mobile block systems, namely, Train automatic Control (CBTC) systems Based on wireless Communication, have been developed vigorously, and as they have better rail transit operation adjustment capability, CBTC systems have been widely used in rail transit industry. At present, urban rail transit lines which are still operated in China mostly adopt a quasi-mobile block system based on a Digital Track Circuit (DTC) system, and large-scale upgrading and transformation are urgently needed.

However, the train operation control method in the prior art can only support the modification and upgrade of the mobile block system in the non-operation period at night, which causes great modification difficulty and high risk, and cannot realize the equipment modification under the stable operation condition of rail transit.

Therefore, how to better realize the operation control of the train has become an urgent problem to be solved in the industry.

Disclosure of Invention

The invention provides a train operation control method, a train operation control device, electronic equipment and a storage medium, which are used for better realizing train operation control.

The invention provides a train operation control method, which comprises the following steps:

when a train under a first control level passes through a target position correction position in a track conversion area, establishing second control level positioning and establishing connection with a ground area controller, wherein the first control level is a digital track circuit DTC control level or a train automatic control system CBTC control level based on wireless communication;

and when receiving authorization information for positioning a second control level sent by the ground area controller and the train passes through a target switching position in the switching track area, switching the train from the first control level to the second control level to control the operation of the train according to the second control level, wherein the switching track area is located in the track area corresponding to the first control level and is adjacent to the track area corresponding to the second control level.

According to the train operation control method provided by the invention, the target switching position is determined based on the position of the first transponder in the switching track area or the position of the first track counting boundary, and the position of the first track counting boundary is the boundary position of the switching track area and the track area corresponding to the second control level adjacent to the switching track area.

According to the train operation control method provided by the invention, the first control level is a DTC control level, the second control level is a CBTC control level, and when a train in the first control level passes through a target positioning position in a track switching area, the establishment of positioning of the second control level is performed, and the establishment of connection with a ground area controller includes:

when the train under the DTC control level passes through a second transponder corresponding to the target position correction position in the track conversion area, establishing CBTC control level positioning based on the received effective response information of the second transponder;

sending a registration request to the area controller corresponding to the CBTC control level so as to establish connection with the area controller corresponding to the CBTC control level;

when the authorization information of the second control level positioning sent by the ground area controller is received and the train passes through the target switching position in the switching track area, switching the train from the first control level to the second control level comprises:

and when the authorization information of CBTC control level positioning sent by the zone controller corresponding to the CBTC control level is received and the train passes through the target conversion position in the conversion track zone, converting the DTC control level of the train into the CBTC control level.

According to the train operation control method provided by the present invention, the first control level is a CBTC control level, the second control level is a DTC control level, when the train in the first control level passes through a target locating position in a track switching area, the establishment of the second control level locating is performed, and before the establishment of the connection with the ground area controller, the method further includes:

when the train under the CBTC control level passes through a second track counting boundary in a track switching area, receiving first track counting information sent by an area controller corresponding to the DTC control level;

determining expected track information of a next track based on the first track counting information, wherein the next track is a track next to the track where the first track counting information is received;

when the train under the first control level passes through the target position correction position in the track switching area, the establishment of the second control level positioning is carried out, and the connection with the ground area controller is established, and the method comprises the following steps:

when the train under the CBTC control level passes through a third track counting boundary corresponding to the target position correction position in the track conversion area, receiving second track counting information sent by an area controller corresponding to the DTC control level;

when the second track information is consistent with the expected track information, establishing DTC control level positioning, and establishing connection with a ground area controller corresponding to the DTC control level, wherein the second track boundary is the last track boundary of the third track boundary;

and when receiving authorization information for positioning the DTC control level sent by the ground area controller corresponding to the DTC control level and the train passes through a target switching position in the switching track area, switching the train from the CBTC control level to the DTC control level.

According to the train operation control method provided by the invention, after the establishment of the second control level positioning, the method further comprises the following steps:

when third track counting information sent by a zone controller corresponding to the DTC control level is not consistent with the current track information of the train, obtaining the track offset of the train according to the current position information of the train and the third track counting information;

the current position information is determined based on position information of a third transponder and a preset ranging module when the train passes through a fourth track counting boundary, the position information of the third transponder is position information of a transponder which is received last time before the train passes through the fourth track counting boundary, and the current track information is determined based on the current position information of the train;

when the track offset of the train exceeds a carrier frequency receiving tolerance window, discarding DTC control level positioning, keeping CBTC control level positioning, and outputting an emergency braking instruction to control the train to perform emergency braking, wherein the carrier frequency receiving tolerance window is determined based on at least one of the installation error of the third transponder, the fuzzy section length corresponding to the DTC control level positioning, the measurement error of the preset ranging module and the preset line fixed envelope.

According to the train operation control method provided by the invention, the first control level is a DTC control level, the second control level is a CBTC control level, and after the establishment of the second control level positioning, the method further comprises the following steps:

and when the CBTC control level positioning is lost or the train enters a preset area in the track switching area, generating a DTC positioning control command so as to execute DTC control level positioning according to the DTC positioning control command.

The present invention also provides a train operation control device, including:

the system comprises an establishing unit, a control unit and a control unit, wherein the establishing unit is used for establishing second control level positioning and establishing connection with a ground area controller when a train under a first control level passes through a target position correction position in a conversion track area, and the first control level is a digital track circuit DTC control level or a train automatic control system CBTC control level based on wireless communication;

and the conversion unit is used for converting the train from the first control level to a second control level when the authorization information for positioning the second control level sent by the ground area controller is received and the train passes through a target conversion position in the conversion track area, so as to control the train to operate according to the second control level, wherein the conversion track area is located in the track area corresponding to the first control level, and the conversion track area is adjacent to the track area corresponding to the second control level.

The invention also provides an electronic device, 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 executes the program to realize the steps of the train running control method.

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 train operation control method as described in any one of the above.

The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of any of the above-described train operation control methods.

When a train in a first control level, namely a DTC control level or a CBTC control level passes through a target school location in a conversion track area, a Vehicle-mounted Controller (VOBC) updates location parameter information such as a position, a school location mode, a CBTC location mark or a DTC location mark of the train according to the location information of the school location equipment at the target school location, establishes second control level location, namely the CBTC location or the DTC location, establishes connection with a corresponding ground area Controller, and after the connection is successful and a CBTC location or DTC location movement authorization is received, and the train passes through a target conversion position in the track conversion area, the Vehicle-mounted VOBC converts the train from the first control level to the second control level to control the operation of the train according to the second control level, the method and the device have the advantages that a set of train position information, two positioning marks and one position correcting mode variable are used, so that the train can realize non-inductive switching between the DTC control level and the CBTC control level, the logic is simple, the consumed resources are less, and the device transformation under the stable operation condition of the rail transit is facilitated.

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 flow chart illustrating a first control level positioning during a train start according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a train operation control method according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a train operation control device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of 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.

A train operation control method, apparatus, electronic device, and storage medium according to the present invention will be described with reference to fig. 1 to 4.

It should be noted that, in the embodiment of the present invention, an Automatic Train Protection subsystem (ATP) and an Automatic Train Operation system (ATO) device are disposed in the vehicle VOBC, the vehicle VOBC device is simultaneously installed with a wireless Communication device, a Track Circuit receiving antenna, and a transponder receiving antenna, and the vehicle ATP generates a safety Protection curve according to a fixed line speed limit and a temporary speed limit, and supervises that the Train operates under the safety Protection curve, Based on a wireless Communication-Based Train Automatic Control system (CBTC) mobile authorization from the wireless Communication device, a mobile authorization from a Digital Track Circuit (DTC), or a point mobile authorization from the transponder. The vehicle-mounted ATO has the main functions of completing Automatic operation control of a Train, efficiently, economically and reasonably controlling traction and braking of the Train according to an instruction of an Automatic Train monitoring system (ATS) under the safety protection of an ATP subsystem, realizing Automatic driving of the Train, Automatic adjustment of section operation, accurate parking, energy-saving control, Automatic door opening and closing, Automatic station reporting and the like, and ensuring that the requirements of design interval and travel speed are met.

Fig. 1 is a schematic flow chart of positioning a first control level when a train starts according to an embodiment of the present invention, and as shown in fig. 1, the first control level is a DTC control level or a CBTC control level. When a train is started, the vehicle-mounted VOBC is electrified, the train starts to run, the vehicle-mounted VOBC judges whether the train passes through a track counting boundary or not firstly, if the vehicle-mounted VOBC judges that the train passes through two continuous track counting boundaries and the section identifications in the received two continuous track circuit information frames are consistent with those in the electronic map, the position information of the track counting boundary is used for updating the position information of the train, meanwhile, a DTC positioning mark is set to be effective, the last time position correcting mode is assigned to the track counting boundary, the safety envelope of the train is calculated by using a line fixed envelope, the fuzzy section length of the train and the accumulated error of the running distance of the train, and at the moment, the vehicle-mounted VOBC establishes a first control level positioning, namely DTC control level positioning. After receiving a DTC location movement authorization sent by a Zone Controller Center (ZCC) device of the DTC track area, the vehicle-mounted VOBC executes a first control level, that is, a DTC control level, to perform operation control on the train.

It should be noted that, in the DTC control level, when the train passes through the track counting boundary, the location can be corrected according to the effective over-insulated node information frame, that is, the location information in the effective over-insulated node information frame is used to determine the location of the track counting boundary, and then the location information of the track counting boundary is used to correct the location of the train.

When a train is started, a vehicle-mounted VOBC is electrified, the train starts to run, if the train is judged not to pass through a track counting boundary, the vehicle-mounted VOBC judges whether the train passes through a transponder on a track bed or not, if the vehicle-mounted VOBC judges that the train continuously passes through two continuous transponders and the two transponders are effective transponders, and when the measured distance between the two transponders and the distance deviation obtained in an electronic map are within a certain threshold range, the position information of the train is updated by using the position information of the second effective transponder, meanwhile, a CBTC (channel based temperature coefficient) positioning mark is set to be effective, the last positioning mode is assigned as the transponder, the safety envelope of the train is calculated by using a fixed envelope of a line, the installation error of the transponder and the accumulated error of the running distance of the train, and at the moment, the vehicle-mounted VOBC establishes a first control level positioning, namely the CBTC (CBTC) control level positioning. After establishing connection with a Zone Controller (ZC) device in a CBTC track area and receiving a CBTC positioning movement authorization sent by the ZC device, the vehicle-mounted VOBC executes a first control level, that is, a CBTC control level, and controls the operation of the train.

Fig. 2 is a schematic flow chart of a train operation control method provided in an embodiment of the present invention, and as shown in fig. 2, the method includes:

step S1, when a train under a first control level passes through a target position correction position in a track switching area, establishing second control level positioning and establishing connection with a ground area controller, wherein the first control level is a digital track circuit DTC control level or a train automatic control system CBTC control level based on wireless communication;

specifically, the first control level described in the embodiment of the present invention is a DTC control level or a CBTC control level, where in the DTC control level, based on different carrier frequencies of DTCs on each track, a vehicle-mounted VOBC performs position correction on a current position of a train through track counting boundary position information when the train passes through a track counting boundary; under the control level of the CBTC, the current position of the train is calibrated through the position information of the transponder laid on the track bed, wherein the transponder can adopt an active transponder and a passive transponder. It is understood that, at this time, the second control level may be a CBTC control level or a DTC control level.

The second control level localization described in the embodiment of the present invention includes CBTC control level localization and DTC control level localization, where CBTC control level localization refers to localization established by a transponder of a vehicle-mounted VOBC, and DTC control level localization refers to localization established by a track count boundary of the vehicle-mounted VOBC.

The conversion track area described in the embodiment of the present invention refers to an area for simultaneously establishing CBTC control level positioning and DTC control level positioning for the vehicle-mounted VOBC, and realizes the non-inductive switching between the CBTC control level and the DTC control level in the process of smooth operation of the train.

The target seek position described in the embodiment of the present invention refers to a track position located in the converted track area, and may trigger the vehicle VOBC to establish CBTC control level positioning or DTC control level positioning, which may specifically be a position of a transponder in the converted track area, or a position of a track count boundary in the converted track area.

The ground area controller described in the embodiment of the present invention refers to a ground area controller ZC device of a CBTC track area and a ground area controller ZCC device of a DTC track area.

In an embodiment of the invention, when a train under a first control level, such as a DTC control level, passes through a transponder at a target position of a school location in a switched track area and receives a response message that the transponder is valid, the vehicle-mounted VOBC will establish a second control level, namely a CBTC control level, at which time the vehicle-mounted VOBC will update the position information of the train using the position information of the transponder to school the position of the train, and at the same time, the CBTC positioning flag is set to be valid, the last school location mode is assigned to be a transponder school location, and the train position error and the safety envelope of the train are recalculated using the transponder installation error, the train traveling accumulated error and the line fixed error. After the establishment of the CBTC control level positioning is completed, the vehicle VOBC sends a registration request to the ZC equipment to apply for establishing connection with the ZC equipment.

In the embodiment of the invention, when a train under a first control level, such as a CBTC control level, passes through a track counting boundary at a target track counting position in a switched track area, under the condition of meeting the condition of establishing DTC control level positioning, the vehicle-mounted VOBC establishes a second control level, namely DTC control level positioning, at the moment, because the error of the DTC control level positioning is larger than that of the CBTC control level positioning, the vehicle-mounted VOBC enables a DTC positioning mark to be effective, but does not use position information of the track counting boundary to update the position of the train, the last positioning mode is still maintained as a responder positioning mode, and meanwhile, the responder installation error, the train running accumulated error and the line fixed error are continuously used to calculate the safety envelope of the train. After completing the establishment of the DTC control level location, the vehicle VOBC will wait for DTC mobile authorization information sent by the ZCC device.

In the embodiment of the invention, when the vehicle-mounted VOBC establishes CBTC control level positioning or DTC control level positioning, the corresponding positioning mark is set to be effective, the position of the train is updated at the same time, the latest position correcting mode is assigned, and if the latest position correcting mode is responder position correcting, the positioning error of the train is calculated through the responder installation error, the train self fixed envelope and the train running distance accumulated error; if the latest position correction mode is track counting boundary position correction, the train positioning error is calculated through the train self fixed envelope, the fuzzy section length and the train running distance accumulated error.

In the embodiment of the invention, the vehicle-mounted VOBC can carry out position correction through a track counting boundary or a responder under the DTC control level, the position correction through the track counting boundary is consistent with the position correction mode of the existing DTC system, and meanwhile, the latest position correction mode is assigned as the track counting boundary position correction; when the responder is used for position correction, the train DTC is firstly used for controlling the grade positioning to judge the effectiveness of the responder, if the responder is effective, the position of the responder is used for train position correction, and meanwhile, the latest position correction mode is assigned as the responder position correction, otherwise, the responder is discarded and is not processed.

In the embodiment of the invention, as the DTC control level positioning has larger positioning error compared with the CBTC control level positioning, the vehicle-mounted VOBC is under the non-DTC control level and the CBTC control level positioning is established, when a train passes through a track counting boundary, the train position is not corrected, and only the DTC positioning mark is set to be effective. The non-DTC Control level includes an Interlock Control (ILC) Control level, a Continuous Train Control (CTC) Control level, and an Intermittent Train Control (ITC) Control level.

It should be noted that the vehicle-mounted VOBC has a condition for updating the CTC control level and the ITC control level only when the CBTC control level location is provided, and has a condition for updating the DTC control level only when the DTC control level location is provided.

In the embodiment of the invention, the vehicle-mounted VOBC is positioned under the non-DTC control level (including the ILC control level) and the CBTC control level is not established, the position can be corrected through the track counting boundary and the responder, the corresponding positioning mark is set to be effective, the position correcting mode is assigned correspondingly, and the train position information is updated.

In the embodiment of the invention, the CBTC control level positioning and the DTC control level positioning are fused in the vehicle-mounted ATP software by maintaining the train position, the CBTC positioning mark and the DTC positioning mark as well as the variable of the latest position correcting mode; in the ILC control level, positioning and position correction can be established through a track counting boundary or a responder, in the CTC and ITC control levels, the position correction is carried out through the responder and in the DTC control level, the position correction is carried out through the track counting boundary and the responder; under the control level of ILC or DTC, if the train uses the number track boundary position correction latest, the safety envelope of the train is calculated by adopting a digital track circuit mode, and if the train uses the transponder position correction latest, the safety envelope of the train is calculated by adopting a transponder mode;

in an ILC control level, namely a speed-limiting Manual (RM) mode, if DTC control level positioning and CBTC control level positioning are established, and if two transponders are continuously lost, removing train positioning information, including DTC control level positioning and CBTC control level positioning; in the ILC control level, namely the RM mode, if DTC control level positioning is established but CBTC control level positioning is not established, the position information of a transponder is used for positioning the train position when the CBTC control level positioning is established; in an ILC control level, namely an RM mode, if CBTC control level positioning is established but DTC control level positioning is not established, track counting information is not used for train position correction when the DTC control level positioning is established; in ILC control level, namely RM mode, if DTC control level positioning is established but CBTC control level positioning is not established, two or more transponders are continuously lost at the moment and no processing is carried out; under the DTC control level, if two or more transponders are continuously lost, the positioning information of the transponders is cleared, the DTC positioning information is not cleared, and the emergency braking treatment is not carried out.

Step S2, when receiving authorization information for positioning at a second control level sent by the ground area controller and the train passes through a target transition position in the transition track area, transitioning the train from the first control level to the second control level to perform operation control on the train according to the second control level, where the transition track area is located in a track area corresponding to the first control level, and the transition track area is adjacent to a track area corresponding to the second control level.

Specifically, the authorization information described in the embodiment of the present invention refers to the second control level positioning movement authorization received after the connection relationship between the vehicle-mounted VOBC and the ground area controller is established, and the authorization information is authorized to switch from the first control level to the second control level when the vehicle-mounted VOBC passes through the target switching position.

The target switching position described in the embodiment of the present invention refers to a preset position located in the switching track area, and the vehicle-mounted VOBC switches the train from the first control level to the second control level when the train passes through the preset position. Which may specifically be determined by performing a ranging calculation based on the position of the transponder within the switching track area or the position of the track number boundary.

In the embodiment of the present invention, when the first control level is a CBTC control level and the second control level is a DTC control level, the track area corresponding to the first control level is a CBTC track area, and the track area corresponding to the second control level is a DTC track area; and when the first control level is a DTC control level and the second control level is a CBTC control level, the track area corresponding to the first control level is a DTC track area and the track area corresponding to the second control level is a CBTC track area.

In an embodiment of the present invention, the switching track area is located in a track area corresponding to the first control level, and the switching track area is adjacent to a track area corresponding to the second control level. When the first control level is a CBTC control level and the second control level is a DTC control level, the conversion track area is positioned in the CBTC track area and is adjacent to the DTC track area; when the first control level is a DTC control level and the second control level is a CBTC control level, the switching track area is located within the DTC track area and the switching track area is adjacent to the CBTC track area.

In the embodiment of the invention, under the condition that the vehicle-mounted VOBC has established the CBTC positioning and receives the CBTC positioning movement authorization sent by the ZC device, when a train passes through a track counting boundary at a target conversion position, the vehicle-mounted VOBC converts the train from a DTC control level to a CBTC control level, and at the moment, the train controls the operation of the train according to the CBTC control level. Likewise, in the case where the on-board VOBC has established the DTC fix and received the DTC fix movement authorization transmitted from the ZCC device, when the train passes through the target switching position, the on-board VOBC switches the train from the CBTC control level to the DTC control level, at which time the train will perform operation control on the train according to the DTC control level.

The train operation control method provided by the embodiment of the invention updates the position, the position correcting mode, the CBTC positioning mark or the DTC positioning mark and other positioning parameter information of the train by the vehicle-mounted controller VOBC according to the position information of the position correcting equipment at the target position correcting position when the train at the first control level, namely the DTC control level or the CBTC control level passes through the target position correcting position in the conversion track area, establishes the second control level positioning, namely the CBTC positioning or the DTC positioning, establishes connection to the corresponding ground area controller, and after the connection is successful and the CBTC positioning or DTC positioning moving authorization is received, and after the train passes through the target conversion position in the track conversion area, the vehicle-mounted VOBC converts the train from the first control level to the second control level to control the train operation according to the second control level, thereby realizing the purpose of using a set of train position information, two positioning marks and a position correcting mode variable, the train can realize the non-inductive switching between the DTC control level or the CBTC control level, the logic is simple, the resource consumption is less, and the equipment transformation under the stable operation condition of the rail transit is facilitated.

Optionally, the target transition position is determined based on a position of a first transponder within the transition track area or a position of a first track counting boundary, where the position of the first track counting boundary is a boundary position of a track area corresponding to the second control level adjacent to the transition track area.

In particular, the first transponder device described in the embodiments of the present invention refers to a transponder within the transition track area that is close to the DTC track area.

The first track number boundary described in the embodiment of the present invention refers to a digital track boundary close to the CBTC track area in the conversion track area, that is, a boundary position of the conversion track area and the adjacent CBTC track area.

In an embodiment of the present invention, the target conversion position is a preset position located in the conversion track area, and may be set as a train platform stop position on the electronic map. When the train passes through the first transponder or the first track counting boundary, the vehicle-mounted VOBC performs position correction on the position of the train through the position information of the first transponder or the position information of the first track counting boundary, and then performs real-time calculation and monitoring on the running distance of the train through the distance measuring module to determine whether the train reaches the target conversion position. After the train passes through the target switching position, the vehicle-mounted VOBC switches the current control level of the train, and the non-inductive switching of the train between the DTC control level and the CBTC control level is realized.

According to the method provided by the embodiment of the invention, the target switching position in the switching track area is determined, so that the switching between the DTC control level and the CBTC control level is completed in the switching track area after the train is positioned at the second control level, and the non-inductive switching from the first control level to the second control level is realized when the train enters the track area corresponding to the second control level.

Optionally, the first control level is a DTC control level, the second control level is a CBTC control level, and when the train in the first control level passes through the target positioning position in the track switching area, the second control level is established to establish a positioning, and establish a connection with the ground area controller, where the method includes:

Specifically, the second transponder described in the embodiment of the present invention refers to a transponder at a target calibration position in a switching track area, which is within a transponder windowing range and is an effective transponder, wherein the transponder windowing range refers to a normal radiation range of a transponder signal, which is specifically a sum of the normal radiation range of the transponder signal and a ranging error of a train.

The valid response information of the second transponder described in the present invention means that the response information of the second transponder can be determined to be valid response information when the second transponder is determined to be valid.

In the embodiment of the invention, under the DTC control level, the train has DTC control level positioning, the DTC positioning mark is effective at the moment, the last positioning mark is a track counting boundary, and the safety envelope of the train is obtained by calculating the accumulated error of the fixed envelope of the line, the fuzzy section length of the train and the running distance. When a train in the DTC control level passes through a second transponder corresponding to the target position correction position in the track switching area, the position information of the second transponder can be determined based on the received response information of the second transponder; and the vehicle-mounted VOBC calculates the running distance of the train by using the latest received track counting boundary position correcting information to determine the current position of the train, and windows a second transponder according to the current position of the train, wherein the size of the window needs to consider the mounting error of the transponder, the fixed envelope and fuzzy section length of the line and the running distance accumulated error of the last position correcting of the train distance. Furthermore, the vehicle-mounted VOBC can calculate the distance between the current position of the train and the second transponder, and under the condition that the distance is smaller than the windowing range of the transponder, the second transponder can be determined to be a valid transponder.

Further, after the valid response information of the second transponder is received, the position information of the train is updated by using the position information of the second transponder, the CBTC positioning mark is set to be valid, the last positioning mode is assigned to be the transponder positioning mode, the position error and the safety envelope of the train are recalculated by using the mounting error of the transponder, the running accumulated error of the train and the line fixed error, and therefore CBTC control level positioning is established.

After the CBTC control level positioning is finished, the vehicle-mounted VOBC sends a registration request to ZC equipment of a ground area controller, the registration request is connected with the ZC equipment, when authorization information of the CBTC control level positioning sent by the ZC equipment is received and a train passes through a target conversion position in a conversion track area, the vehicle-mounted VOBC converts the DTC control level of the train into the CBTC control level, and the non-inductive switching from the DTC control level to the CBTC control level when the train enters the CBTC track area is realized.

According to the method provided by the embodiment of the invention, when the first control level is a DTC control level and the second control level is a CBTC control level, when a train in the first control level passes through a target position correction position in a track conversion area, CBTC control level positioning is established by judging that a second responder at the target position correction position is an effective responder, so that CBTC positioning can be established by passing through one responder under the DTC control level; and then when receiving the authorization information of CBTC control level positioning sent by the ZC equipment and the train passes through the target switching position in the switching track area, realizing the non-inductive switching from the DTC control level to the CBTC control level when the train enters the CBTC track area.

Optionally, the first control level is a CBTC control level, the second control level is a DTC control level, when the train in the first control level passes through the target positioning location in the track transfer area, the second control level is established, and before establishing a connection with the ground area controller, the method further includes:

Specifically, the third track count boundary described in the embodiment of the present invention refers to a track count boundary at the target position of the correction location in the switching track area, and when a train passes through the track count boundary, the train-mounted VOBC may be triggered to establish DTC control level positioning.

The second track boundary described in the embodiments of the present invention refers to a track boundary immediately preceding a third track boundary in the transition track area.

The track counting information described in the embodiment of the invention refers to track counting information sent by ZCC equipment and received after a train passes through a track counting boundary, wherein the track counting information comprises current track identification information, direction information, target brake information, temporary speed limit, turnout information and the like.

The first track counting information described in the embodiment of the present invention refers to track counting information sent by the ZCC device and received when the train passes through the second track counting boundary, and the second track counting information refers to track counting information sent by the ZCC device and received when the train passes through the third track counting boundary.

The expected track information described in the embodiment of the present invention refers to expected information of a track corresponding to track identification information in the second track information, which is calculated based on the first track counting information received when the train passes through the second track boundary, and which can be specifically calculated by the vehicle-mounted VOBC according to the track identification information and the direction information in the first track counting information.

In the embodiment of the invention, under the CTC control level, the train has CBTC control level positioning, the CBTC positioning mark is effective at the moment, the last positioning mark is a transponder, and the train safety envelope is obtained by calculating the line fixed envelope, the transponder installation error and the train running distance accumulated error. After the train passes through the second track counting boundary, the vehicle-mounted VOBC receives the first track counting information sent by the ZCC equipment, the DTC control level positioning initialization is completed by using the track identification information and the direction information in the track counting information, and the expected track information of the next track in front can be calculated.

When the train passes through a third track counting boundary and receives second track counting information, namely actual track counting information of a next track, sent by ZCC equipment, the vehicle-mounted VOBC uses the DTC positioning mark to be valid after judging that the received actual track counting information of the next track is consistent with the calculated expected track information of the next track, but does not use the position of the third track counting boundary to update the position of the train, the last time position correcting mode still remains as a responder position correcting mode, and safety envelope information of the train is calculated by continuously using a line fixed envelope, a responder installation error and a train running distance accumulated error, so that DTC control level positioning is established.

In the embodiment of the invention, before the train passes through the second track boundary, the situation that the DTC control level positioning is not established exists, at the moment, the vehicle-mounted VOBC can reuse the received track identification information and the direction information to carry out DTC control level positioning initialization and calculate the expected track in front.

In the embodiment of the invention, after the establishment of the DTC control level location is completed, the vehicle-mounted VOBC searches a DTC access road by using the target brake information and the access road information of the current track so as to calculate the next expected track information, and when a train passes through the next track number boundary, if the received track number information is the same as the next expected track information, the DTC location mark is continuously kept valid.

Further, after the DTC control level location is established, when the vehicle-mounted VOBC receives authorization information of the DTC control level location sent by the ground area controller ZCC and the train passes through a target switching position in the switching track area, the vehicle-mounted VOBC switches the train from the CBTC control level to the DTC control level, and the non-inductive switching from the CBTC control level to the DTC control level when the train enters the DTC track area is realized.

In the embodiment of the invention, the accuracy difference between the CBTC control level positioning and the DTC control level positioning is comprehensively considered, and the train position is corrected by always using a more accurate mode, namely a transponder position correction mode, so that the accuracy of the train position is improved.

According to the method, when a train in the first control level passes through a target position correction position in a track switching area, second track information received by the train passing through a third track boundary at the target position correction position is judged to be consistent with expected track information, so that DTC control level positioning is established, and under the DTC control level positioning, the train position is corrected by always using a more accurate responder position correction mode, so that the accuracy of the train position is improved; when the authorization information of DTC control level positioning sent by ZCC equipment is received and a train passes through a target switching position in a track switching area, the noninductive switching from the CBTC control level to the DTC control level is realized when the train enters the DTC track area.

Optionally, after the establishing of the second control level positioning, the method further includes:

Specifically, the fourth track boundary described in the embodiment of the present invention refers to a track boundary in the transition track area or a track boundary in the DTC track area.

The third transponder described in the embodiment of the present invention is an effective transponder that is received last before the train passes through the fourth track boundary.

The third track counting information described in the embodiment of the present invention refers to track counting information sent by the ZCC device, which is received by the vehicle-mounted VOBC when the train passes through the fourth track counting boundary after the second control level positioning is established.

The current location information described in the embodiment of the present invention refers to location information obtained by updating based on a ranging output result of a preset ranging module when the third track counting information sent by the ZCC device is received.

The track offset described in the embodiment of the present invention refers to a distance offset determined according to the current position information when the vehicle-mounted VOBC receives the third track counting information and the preset receiving position information corresponding to the third track counting information.

The current track information described in the embodiment of the present invention refers to track information determined according to current location information of a train, and may be specifically obtained by calculating a track identification number and direction information in the current location information of the train.

The carrier frequency reception tolerance window described in the embodiment of the present invention refers to an allowed track offset threshold when a carrier frequency signal is received on a DTC track, and may be specifically determined based on at least one of an installation error of a third transponder, a fuzzy segment length corresponding to DTC control level positioning, a measurement error of a preset ranging module, and a preset line fixed envelope, that is, one or two or three of the installation error of the third transponder, the fuzzy segment length corresponding to DTC control level positioning, the measurement error of the preset ranging module, and the preset line fixed envelope may be arbitrarily selected to calculate the carrier frequency reception tolerance window, and preferably, to improve accuracy of a calculation result, four items may be selected together to calculate the carrier frequency reception tolerance window.

In the embodiment of the invention, under the DTC control level and the ILC control level, if CBTC control level positioning is established, namely a CBTC positioning mark is effective at the moment, the vehicle-mounted VOBC sets a 'position limit state' as 'position limit effective', then when a train passes through a fourth track boundary, the train position is automatically updated by using the distance measurement output of the distance measurement module according to the position information of a third transponder without using a track boundary, and the DTC position error is required to be tolerated at the moment, because the condition that the vehicle-mounted VOBC receives the track counting information of a next track in advance or still receives the track counting information of a previous track after entering the next track possibly exists, the vehicle-mounted VOBC needs to determine the current position information of the train according to the track information of the train calculated according to the position information of the third transponder in the CBTC control level positioning so as to determine the current track information, when the current track information is inconsistent with the track ID information in the received third track counting information, at the moment, the vehicle-mounted VOBC calculates a carrier frequency receiving tolerance window according to the fuzzy zone length corresponding to the DTC control level positioning, the installation error of the third transponder and the measurement error of the ranging module, namely the speed measuring and ranging error and the line fixed envelope, if the track offset of the train is in the carrier frequency receiving tolerance window, namely the track information inconsistent scene appears in the window, the train is considered to belong to a normal carrier frequency receiving scene, otherwise, the track carrier frequency receiving is considered to be wrong, namely the DTC control level positioning is considered to be wrong, emergency braking is output, the DTC control level positioning processing is abandoned, but the TC CBcontrol level positioning is maintained, so that the CTC control level is updated later.

In the embodiment of the invention, under the control level of the CBTC, if two DTC track sections are passed continuously, at this time, the "track count locating flag" is set to be valid, that is, DTC control level location is considered to be established, but at this time, track count location is not used to change the train position, that is, position information calculated by using the DTC location principle is not used to calibrate the train position, at this time, because there may be a case that the vehicle-mounted VOBC receives track count information of the next track in advance or still receives track count information of the previous track after entering the next track, there is also a problem that the track information where the train is located calculated by using the position information of the third transponder in the CBTC control level location is inconsistent with the track ID information in the received third track count information, and similarly, the above-mentioned scenes are distinguished by using the calculation of the track offset and the carrier frequency receiving tolerance window of the train, if the track offset of the train is in the carrier frequency receiving tolerance window, namely the scene of the track information inconsistency appears in the window, the train is considered to belong to a normal carrier frequency receiving scene, otherwise, the track number carrier frequency receiving is considered to be wrong, namely the DTC control level positioning is considered to be wrong, the track number positioning is lost, namely the DTC positioning mark is cleared, and the variables related to the establishment of the DTC control level positioning are cleared.

According to the method provided by the embodiment of the invention, after the second control level positioning is established, when the train passes through the track counting boundary again, the normal carrier frequency receiving scene and the wrong scene of the track carrier frequency receiving are judged by calculating the track offset and the carrier frequency receiving tolerance window of the train, so that the tolerance processing of the DTC control level position correcting error is realized, and the safety of train operation control is ensured.

Optionally, the first control level is a DTC control level, the second control level is a CBTC control level, and after the establishing of the second control level positioning, the method further includes:

Specifically, the CBTC control level location loss described in the embodiment of the present invention refers to that CBTC control level location is abnormal, and may specifically be CBTC control level location loss caused by abnormal conditions such as receiving wrong transponder information after CBTC control level location is established, receiving an invalid transponder, or accumulating an error in train running distance.

The preset area described in the embodiment of the present invention refers to a special track area set in the electronic map in advance.

The DTC locate control instruction described in the embodiment of the present invention refers to an instruction to control the on-vehicle VOBC to perform DTC control level locating.

Further, when the CBTC control level localization is lost or the train enters a preset area within the switch track area, a DTC localization control command is generated to control the on-vehicle VOBC to perform the DTC control level localization without performing the CBTC control level localization.

In the embodiment of the invention, if the CBTC control level positioning is lost, the vehicle-mounted VOBC sets the "position restriction state" to "position restriction invalid", and at this time, the DTC control level positioning can be used to update and modify the train position information, i.e. to perform position correction on the train by using the track counting boundary.

In the embodiment of the invention, a 'position correction limit reset special track' can be added in the track attribute in the vehicle-mounted ATP software in advance, the special track is configured in advance in the electronic map, and after a train enters the special track, the vehicle-mounted VOBC sets the 'position correction limit state' to 'no position correction limit for the special track', at this time, under the condition that CBTC control level positioning exists, the DTC control level positioning is used for updating and modifying the train position information, namely, the train is corrected by using a track counting boundary.

According to the method provided by the embodiment of the invention, when CBTC control level positioning is lost or a train enters a preset area in a track switching area, DTC control level positioning can be used for updating and positioning train position information, and after CBTC control level positioning is established, the function of DTC control level positioning can be realized, so that the availability of the train in different systems is increased.

The train operation control device provided by the invention is described below, and the train operation control device described below and the train operation control method described above can be referred to correspondingly.

Fig. 3 is a schematic structural diagram of a train operation control device according to an embodiment of the present invention, and as shown in fig. 3, the train operation control device includes:

the establishing unit 310 is configured to establish second control level positioning and establish connection with a ground area controller when a train in a first control level passes through a target positioning position in a converted track area, where the first control level is a digital track circuit DTC control level or a train automatic control system CBTC control level based on wireless communication;

a converting unit 320, configured to, when receiving authorization information for positioning a second control level sent by the ground area controller and the train passes through a target conversion position in the conversion track area, convert the train from the first control level to the second control level, so as to perform operation control on the train according to the second control level, where the conversion track area is located in a track area corresponding to the first control level, and the conversion track area is adjacent to a track area corresponding to the second control level.

The apparatus described in this embodiment may be used to implement the above method embodiments, and the principle and technical effect are similar, which are not described herein again.

The train operation control device provided by the embodiment of the invention updates the position, the position correcting mode, the CBTC positioning mark or the DTC positioning mark and other positioning parameter information of the train according to the position information of the position correcting equipment at the target position correcting position when the train at the first control level, namely the DTC control level or the CBTC control level passes through the target position correcting position in the conversion track area by the vehicle-mounted controller VOBC, establishes the second control level positioning, namely the CBTC positioning or the DTC positioning, establishes connection to the corresponding ground area controller, receives the CBTC positioning or DTC positioning movement authorization after the connection is successful and the train passes through the target conversion position in the track conversion area, converts the train from the first control level to the second control level by the vehicle-mounted VOBC, controls the operation of the train according to the second control level, and realizes that one set of train position information, two positioning marks and one position correcting mode variable are used, the train can realize the non-inductive switching between the DTC control level or the CBTC control level, the logic is simple, the resource consumption is less, and the equipment transformation under the stable operation condition of the rail transit is facilitated.

Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 4, the electronic device may include: a processor (processor)410, a communication Interface 420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 can call the logic instructions in the memory 430 to execute the train operation control method provided by the above methods, and the method includes: when a train under a first control level passes through a target position correction position in a track conversion area, establishing second control level positioning and establishing connection with a ground area controller, wherein the first control level is a digital track circuit DTC control level or a train automatic control system CBTC control level based on wireless communication; and when receiving authorization information for positioning a second control level sent by the ground area controller and the train passes through a target switching position in the switching track area, switching the train from the first control level to the second control level to control the operation of the train according to the second control level, wherein the switching track area is located in the track area corresponding to the first control level and is adjacent to the track area corresponding to the second control level.

In addition, the logic instructions in the memory 430 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, the computer program product including a computer program, the computer program being stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, a computer is capable of executing the train operation control method provided by the above methods, the method including: when a train under a first control level passes through a target position correction position in a track conversion area, establishing second control level positioning and establishing connection with a ground area controller, wherein the first control level is a digital track circuit DTC control level or a train automatic control system CBTC control level based on wireless communication; and when receiving authorization information for positioning a second control level sent by the ground area controller and the train passes through a target switching position in the switching track area, switching the train from the first control level to the second control level to control the operation of the train according to the second control level, wherein the switching track area is located in the track area corresponding to the first control level and is adjacent to the track area corresponding to the second control level.

In yet another aspect, 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 a train operation control method provided by the above methods, the method including: when a train under a first control level passes through a target position correction position in a track conversion area, establishing second control level positioning and establishing connection with a ground area controller, wherein the first control level is a digital track circuit DTC control level or a train automatic control system CBTC control level based on wireless communication; and when receiving authorization information for positioning a second control level sent by the ground area controller and the train passes through a target switching position in the switching track area, switching the train from the first control level to the second control level to control the operation of the train according to the second control level, wherein the switching track area is located in the track area corresponding to the first control level and is adjacent to the track area corresponding to the second control level.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A train operation control method, characterized by comprising:

2. The train operation control method according to claim 1, wherein the target switch position is determined based on a position of a first transponder within the switched track area or a position of a first track counting boundary, the position of the first track counting boundary being a boundary position of a track area corresponding to the second control level to which the switched track area is adjacent.

3. The train operation control method according to claim 1, wherein the first control level is a DTC control level, the second control level is a CBTC control level, and the establishing of the second control level positioning is performed to establish a connection with the ground area controller when the train in the first control level passes through the target positioning position in the switching track area, including:

4. The train operation control method according to claim 1, wherein the first control level is a CBTC control level, the second control level is a DTC control level, and the establishing of the second control level positioning is performed when the train in the first control level passes through the target positioning position in the switching track area, and before the establishing of the connection with the ground area controller, further includes:

5. The train operation control method according to claim 1, further comprising, after said establishing of the second control level positioning:

6. The train operation control method according to claim 1, wherein the first control level is a DTC control level, the second control level is a CBTC control level, and after the establishing of the second control level positioning, further comprising:

7. A train operation control device characterized by comprising:

8. An electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the steps of the train operation control method according to any one of claims 1 to 6 are implemented when the processor executes the program.

9. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the train operation control method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program, wherein the computer program when executed by a processor implements the steps of the train operation control method according to any one of claims 1 to 6.