CN113997986A - Vehicle-mounted train automatic monitoring system and method for train autonomous scheduling - Google Patents
Vehicle-mounted train automatic monitoring system and method for train autonomous scheduling Download PDFInfo
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- CN113997986A CN113997986A CN202111525404.9A CN202111525404A CN113997986A CN 113997986 A CN113997986 A CN 113997986A CN 202111525404 A CN202111525404 A CN 202111525404A CN 113997986 A CN113997986 A CN 113997986A
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- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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Abstract
The invention provides an automatic vehicle-mounted train monitoring system and an automatic train dispatching method for train automatic dispatching. The supervision system comprises: vehicle-mounted ATS unit: communicating with a ground ATS system to obtain train operation data, wherein the train operation data comprises a vehicle access command, a driving plan, vehicle information and the like; an on-vehicle CI unit: communicating with a vehicle ATS unit to perform train operation data interaction; vehicle-mounted ATP unit: communicating with a vehicle ATS unit to perform train operation data interaction; an on-vehicle ZC unit: communicating with the vehicle-mounted CI to acquire a vehicle access state; communicating with the vehicle-mounted ATP unit to transmit the driving permission instruction to the vehicle-mounted ATP unit; the vehicle-mounted ATS unit further includes: and the control mode switching module is used for controlling the vehicle to switch between a vehicle-mounted ATS control mode and a ground ATS control mode. The system and the method realize the dispatching control of the train by the cooperation of the ground ATS system and the vehicle-mounted ATS unit, and can ensure the normal operation of the train.
Description
Technical Field
The invention relates to the technical field of railway vehicles, in particular to a mobile authorization calculation method based on vehicle-to-vehicle communication.
Background
When the traditional CBTC system realizes train dispatching, a central ATS system arranged in a control center needs to generate a route command for a registered train, then a trackside CI is used for handling the route of the train, and finally a ZC calculates MA for the train to realize train running authorization.
Fig. 1a shows a schematic diagram of a CBTC system control in the prior art, in which an information transmission stream is a flow for collecting train information for a ground ATS, designing an access, and then sending an access command to a CI, where the CI performs access handling after receiving the access command, and the ZC completes MA calculation according to the access information and then transmits the MA calculation to the train. The communication pass range comprises backbone network communication and wireless communication, information needs to be transmitted to a trackside from a train and then to a control center, and then the information is reversely transmitted back to the train.
When the actual running chart and the planning chart of the train deviate, the central ATS is required to calculate the new stop time and the interval running grade of the train, the new stop time and the interval running grade are transmitted to the train through the DCS and executed by the train, and the problems of long communication link, long time consumption and low efficiency are also solved. Meanwhile, the generation of all train route commands is completed by a central ATS system which is centrally deployed in a control center, and the central ATS system belongs to a centralized control mode, so that once the central ATS fails, the automatic route handling function of the whole train is lost.
Disclosure of Invention
The present invention is to solve at least one of the above technical problems, and an object of the present invention is to provide an automatic train supervision system with a novel architecture, so as to improve the reliability of train operation scheduling.
In order to achieve the above purpose, the invention provides the following technical scheme:
an on-board train automatic supervision system for train autonomous scheduling, comprising:
vehicle-mounted ATS unit: communicating with a ground ATS system to obtain train operation data, wherein the train operation data comprises a vehicle access command, a driving plan, vehicle information and the like;
an on-vehicle CI unit: communicating with a vehicle ATS unit to perform train operation data interaction;
vehicle-mounted ATP unit: communicating with a vehicle ATS unit to perform train operation data interaction;
an on-vehicle ZC unit: communicating with the vehicle-mounted CI to obtain a vehicle access command; communicating with the vehicle-mounted ATP unit to transmit the driving permission instruction to the vehicle-mounted ATP unit;
the vehicle-mounted ATS unit further includes:
the control mode switching module: the train control system is used for switching between a first control mode and a second control mode, the vehicle-mounted ATS unit transmits operation data of the ground ATS system to the vehicle-mounted CI unit when working in the first control mode, and the train runs according to an operation instruction of the ground ATS system; and when the vehicle-mounted ATS unit works in the second control mode, the vehicle-mounted ATS unit receives the operation data sent by the ground ATS system and autonomously calculates an operation plan according to the driving plan.
In some embodiments of the present invention, the ground ATS system is further configured to send a control mode switching command to the on-board ATS unit;
and the vehicle-mounted ATS unit switches the control mode between a first control mode and a second control mode according to the control mode switching instruction.
In some embodiments of the invention, the supervisory system further comprises:
a communication detection unit: the system is used for detecting whether the vehicle-mounted ATS unit can normally communicate with the ground ATS system;
and when the communication detection unit feeds back the communication abnormal signal, the vehicle-mounted ATS unit switches the control mode to the second control mode.
In some embodiments of the present invention, the train further comprises a positioning unit for acquiring a current position of the train; the operation plan further includes operation route information;
the vehicle-mounted ATS unit further includes:
an operation line distribution module: receiving operation line information sent by a ground ATS system and current vehicle position information sent by a positioning unit, searching a destination platform and a terminal platform of the train, and automatically setting station stopping time according to adjustment time set by a dispatcher through the ground ATS system after the train reaches the destination platform;
the run-line assignment module is further configured to: and when a command of canceling the driving plan of the ground ATS system is obtained, the system is operated to the nearest target platform, and the triggering of the outbound route is stopped.
In some embodiments of the present invention, the operation data further includes shift information, and the shift information includes train operation paths, stop and transit stations, arrival time, and departure time;
the vehicle-mounted ATS unit further includes:
the shift distribution module: acquiring the own shift information sent by a ground ATS system in a subpackage manner, repackaging and recovering the shift information, analyzing the current shift information to obtain the train number information, and autonomously generating a route command and an operation grade according to the train number information;
the shift assignment module is further configured to: updating and generating an access command and an operation grade when receiving new shift information sent by a ground ATS system; when the order of canceling the shift of the ground ATS system is obtained, the system runs to the nearest target station and stops triggering the outbound route.
In some embodiments of the invention, the onboard ATS unit is further configured to autonomously generate a stop time adjustment signal, or an operation level adjustment signal, when the travel pattern plan deviates from the travel plan transmitted by the ground ATS system.
In some embodiments of the present invention, a train autonomous scheduling method is further provided, including the following steps:
the method comprises the following steps that a vehicle-mounted ATS unit communicates with a ground ATS system to obtain train operation data, wherein the train operation data comprises a vehicle access command and a driving plan;
the vehicle-mounted ATS unit controls the train to execute operation according to train operation data sent by the ground ATS system;
or the like, or, alternatively,
the vehicle-mounted ATS unit autonomously calculates operation data according to a driving plan sent by a ground ATS system and executes operation according to the autonomously calculated operation data;
and the vehicle-mounted ATS unit transmits the operation data to the vehicle-mounted ZC unit through the vehicle-mounted CI unit to execute operation.
In some embodiments of the present invention, the autonomous scheduling method further includes a run line allocation method:
s11, the vehicle ATS unit receives the operation line distributed by the ground ATS system; detecting the current position of the train, and searching a destination station and a destination station;
s12, after arriving at the destination station, setting station stopping time according to the station adjusting time set by the dispatcher through the ground ATS system;
s13, when the current station is started, the next station destination station is set independently;
s14, detecting whether the dispatcher cancels the operation plan through the ground ATS system;
if yes, the system runs to the nearest target station and stops triggering the outbound route;
if not, the process continues to the next destination station, and S12 is repeated.
In some embodiments of the present invention, the autonomous scheduling method further includes a run line allocation method:
s21, the ground ATS system sends the information of the shift to be matched to the train to the vehicle ATS unit in packets;
s22, the vehicle ATS unit repackages the packets according to the serial numbers of the packets and recovers the information of the shift;
s23, the vehicle ATS unit analyzes the current shift information to obtain the current train number information of the train and autonomously generates a route command and a running grade;
and S24, judging whether the dispatcher cancels the train shift plan through the ground ATS system, if so, executing S26, otherwise, executing S6.
S25, whether a new shift data packet is received, if yes, executing S22, otherwise executing S23;
s26, moving to the nearest target station and stopping triggering the outbound route.
In some embodiments of the present invention, the autonomous scheduling method further includes an autonomous adjusting method:
the vehicle-mounted ATS unit judges that the actual driving plan deviates from the received driving plan sent by the ground ATS system;
if so, adjusting subsequent operation time;
the method for adjusting the running time comprises the following steps: adjusting the stop time, or modifying the operation level of the next interval.
Compared with the prior art, the invention has the beneficial effects that:
the patent provides a vehicle-mounted ATS system solution, which is characterized in that a train autonomously realizes access control and operation adjustment functions so as to solve a plurality of problems caused by equipment centralization. The system realizes the dispatching control of the train by the cooperation of a ground ATS system and a vehicle-mounted ATS unit. The vehicle-mounted ATS system has two control modes, and can ensure the normal operation of the vehicle when the ground ATS system fails or the communication between the ground ATS system and the vehicle-mounted ATS unit fails.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1a is a diagram of an automatic train supervision architecture;
FIG. 1b is a diagram of an automatic train supervision system according to the present invention;
FIG. 2 is a diagram of an automated surveillance system framework of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment of the invention provides a vehicle-mounted train automatic supervision system for train autonomous scheduling, which is used for completing scheduling control of a train in cooperation with a ground ATS system.
The structure of the automatic supervision system mainly comprises the following parts.
Vehicle-mounted ATS unit: communicating with a ground ATS system to acquire train operation data, wherein the train operation data comprises a vehicle access command and a driving plan, and the driving plan specifically comprises: route information, station information, schedule information, train status information, and the like; in this embodiment, the vehicle-mounted ATS unit is integrated in the train OBC device, and its external system includes an OBC external system and an OBC internal system; as shown in fig. 2. The vehicle-mounted ATS communicates with information such as a ground ATS timetable and a train position through a backbone network and wireless communication. The vehicle-mounted ATS unit has an autonomous operation function and can realize autonomous route and autonomous adjustment functions of the train.
An on-vehicle CI unit: and communicating with the vehicle-mounted ATS unit to perform train operation data interaction.
Vehicle-mounted ATP unit: and communicating with the vehicle-mounted ATS unit to perform train operation data interaction.
An on-vehicle ZC unit: communicating with the vehicle-mounted CI to obtain a vehicle access command; and communicating with the vehicle-mounted ATP unit to transmit the driving permission instruction to the vehicle-mounted ATP unit.
Different from the prior art, the automatic supervision system provided by the invention has two operation control modes, namely a central ATS control mode (corresponding to a control mode I) and a vehicle-mounted ATS control mode (corresponding to a control mode II).
The vehicle-mounted ATS unit further includes:
the control mode switching module: the train control system is used for switching between a first control mode and a second control mode, the vehicle-mounted ATS unit transmits operation data of the ground ATS system to the vehicle-mounted CI unit when working in the first control mode, and the train runs according to an operation instruction of the ground ATS system; and when the vehicle-mounted ATS unit works in the second control mode, the vehicle-mounted ATS unit receives the operation data sent by the ground ATS system and autonomously calculates an operation plan according to the driving plan.
Specifically, in the state of the control mode one, the train end does not perform planning management, and directly forwards the route command, the destination command, and the like received from the ground ATS to the vehicle-mounted CI and other systems. The automatic handling of the train route can be still realized under the condition of the fault of the vehicle-mounted ATS system.
In the second control mode, the train autonomously calculates and sets a destination, a trigger route, an operation level, and the like according to the assigned travel plan.
The switching between different control modes is realized in the following way, and the reliable running of the vehicle is ensured.
In some embodiments of the present invention, the ground ATS system is further configured to send a control mode switching command to the on-board ATS unit; and the vehicle-mounted ATS unit switches the control mode between the first control mode and the second control mode according to the control mode switching instruction. When manual intervention is needed, a dispatcher can issue a control mode adjustment instruction through a human-computer interface of the ground ATS system.
Further, in some embodiments of the present invention, the monitoring system further comprises:
a communication detection unit: the system is used for detecting whether the vehicle-mounted ATS unit can normally communicate with the ground ATS system; and when the communication detection unit feeds back the communication abnormal signal, the vehicle-mounted ATS unit switches the control mode to the second control mode. In order to improve the reliability, the control can be switched to the vehicle ATS unit mode after further confirmation of a driver.
The autonomous access command generating function is a function in which a train generates an access command for itself without depending on the ground ATS system after receiving the operation line or shift information of the ground ATS system. The process comprises the steps of operation line distribution, shift distribution, manual route entry, automatic adjustment and the like.
To realize the above functions, the vehicle-mounted ATS unit is further configured as follows.
In some embodiments of the present invention, the train further comprises a positioning unit for acquiring a current position of the train; the operation plan further includes operation route information;
the vehicle-mounted ATS unit further includes:
an operation line distribution module: receiving operation line information sent by a ground ATS system and current vehicle position information sent by a positioning unit, searching a destination platform and a terminal platform of the train, and automatically setting station stopping time according to adjustment time set by a dispatcher through the ground ATS system after the train reaches the destination platform;
the run-line assignment module is further configured to: and when a command of canceling the driving plan of the ground ATS system is obtained, the system is operated to the nearest target platform, and the triggering of the outbound route is stopped.
In some embodiments of the present invention, the operation data further includes shift information, and the shift information includes train operation paths, stop and transit stations, arrival time, and departure time;
the vehicle-mounted ATS unit further includes:
the shift distribution module: acquiring the own shift information sent by a ground ATS system in a subpackage manner, repackaging and recovering the shift information, analyzing the current shift information to obtain the train number information, and autonomously generating a route command and an operation grade according to the train number information;
the shift assignment module is further configured to: updating and generating an access command and an operation grade when receiving new shift information sent by a ground ATS system; when the order of canceling the shift of the ground ATS system is obtained, the system runs to the nearest target station and stops triggering the outbound route.
In some embodiments of the invention, the on-board ATS unit is further configured to autonomously generate a stop time adjustment signal, or an operation level adjustment signal, when the travel pattern plan deviates from the travel plan transmitted by the ground ATS system.
The system can be matched with a TACS system architecture, realizes communication with devices such as mobile authorization calculation and the like in a backboard communication mode, realizes the whole process of train running authorization on a train, shortens the time of information interaction, and improves the running efficiency.
The second embodiment of the present invention further provides an autonomous train scheduling method, which is as follows.
(1) A method of controlling mode switching.
The vehicle-mounted ATS unit is communicated with a ground ATS system to acquire train operation data, wherein the train operation data comprises a vehicle access command and a driving plan;
the vehicle-mounted ATS unit controls the train to execute operation according to train operation data sent by the ground ATS system;
or the like, or, alternatively,
the vehicle-mounted ATS unit autonomously calculates operation data according to a driving plan sent by a ground ATS system and executes operation according to the autonomously calculated operation data;
and the vehicle-mounted ATS unit transmits the operation data to the vehicle-mounted ZC unit through the vehicle-mounted CI unit to execute operation.
(2) A line allocation method is run.
The travel line is a sequence of a series of stop points and may or may not be a loop. The parking spots are all stations, including physical stations and virtual stations.
For the operation line forming the loop, the train can continuously operate according to the path cycle of the operation line.
One operation line is composed of a plurality of operation line segments in sequence, and the operation line segments comprise information of a current platform, a target platform, an approach from the current platform to the target platform, an operation direction and the like.
The operation line distribution method specifically includes the following steps.
S11, the vehicle ATS unit receives the operation line distributed by the ground ATS system, and the operation line can be distributed by the dispatcher; detecting the current position of the train, and searching a destination station and a destination station; the destination station mentioned here refers to the next stopped destination station closest to the current operation position;
s12, after arriving at the destination station, setting station stopping time according to the station adjusting time set by the dispatcher through the ground ATS system; specifically, the train operation plan includes the stop time at each destination station (defined as the default stop time), but the on-board ATS system can adjust the stop time of the vehicle at the station according to the new set requirements on the ground;
s13, when the current station is started, the next station destination station is set independently;
s14, detecting whether the dispatcher cancels the operation plan through the ground ATS system;
if yes, the system runs to the nearest target station and stops triggering the outbound route; specifically, the train stops triggering the outbound route continuously; for the routes which are effective, the train needs to run to the current target platform, or the routes are cancelled by cancelling the route command;
if not, the process continues to the next destination station, and S12 is repeated.
(3) The shift distribution method.
The shift includes the path the train travels, and the arrival time and departure time for each arrival at the station. The shift may cross zero, but not more than 24 hours.
S21, the ground ATS system sends the information of the shift to be matched to the train to the vehicle ATS unit in packets;
s22, the vehicle ATS unit repackages the packets according to the serial numbers of the packets and recovers the information of the shift;
s23, the vehicle ATS unit analyzes the current shift information to obtain the current train number information of the train and autonomously generates a route command and a running grade;
and S24, judging whether the dispatcher cancels the train shift plan through the ground ATS system, if so, executing S26, otherwise, executing S6.
S25, whether a new shift data packet is received, if yes, executing S22, otherwise executing S23;
s26, moving to the nearest target station and stopping triggering the outbound route; specifically, the train will stop triggering the outbound route. For the routes that have been validated, the train needs to travel to the current target platform or cancel by canceling the route command.
(4) An autonomous adjustment method.
The on-board ATS can respond to manual schedule adjustment commands of the dispatcher, including modifying the stop time and modifying the operation grade. When the vehicle-mounted ATS receives the operation shift and no central ATS manual adjustment command exists, if the actual operation time of the train deviates from the plan, the operation time can be automatically adjusted. The adjustment method is as follows.
The vehicle-mounted ATS unit judges that the actual driving plan deviates from the received driving plan sent by the ground ATS system;
if so, adjusting subsequent operation time;
the method for adjusting the running time comprises the following steps: adjusting the stop time, or modifying the operation level of the next interval.
The above adjustment method is performed in the following priority:
firstly, adjusting the station stopping time within a specified range;
consider modifying the operating level of the next interval.
And when the deviation is overlarge, the vehicle-mounted ATS sends an alarm to the central ATS to ask a dispatcher to intervene. The dispatcher may reassign the plan.
(5) Provided is a manual route method.
The dispatcher can set a destination platform for the train through the central ATS interface and send an access command. Under the vehicle ATS control mode, the train can check the platform passing through the path, divide the platform into various small sections according to the platform, and sequentially trigger the route command according to the position of the train.
The dispatcher may cancel the route through the central ATS interface. And canceling the route, wherein the train stops triggering the route, cancels the route authorization and reservation which are in effect, and closes the opened signaler.
Manual routes take precedence over operational lines and shift plans. When the train has a running line or a shift plan, the dispatcher sets an access route manually and then preferentially executes the access route. And if the route does not conflict with the original plan of the train, continuing to execute the original plan after the route is finished. And if the route command conflicts with the original plan of the train, clearing the original plan.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides an on-vehicle train automatic supervision system of train autonomous scheduling which characterized in that includes:
vehicle-mounted ATS unit: communicating with a ground ATS system to obtain train operation data, wherein the train operation data comprises a vehicle access command, a driving plan and vehicle information;
an on-vehicle CI unit: communicating with a vehicle ATS unit to perform train operation data interaction;
vehicle-mounted ATP unit: communicating with a vehicle ATS unit to perform train operation data interaction;
an on-vehicle ZC unit: communicating with the vehicle-mounted CI to acquire a vehicle access state; communicating with the vehicle-mounted ATP unit to transmit the driving permission instruction to the vehicle-mounted ATP unit;
the vehicle-mounted ATS unit further includes:
the control mode switching module: the train control system is used for switching between a first control mode and a second control mode, the vehicle-mounted ATS unit transmits operation data of the ground ATS system to the vehicle-mounted CI unit when working in the first control mode, and the train runs according to an operation instruction of the ground ATS system; and when the vehicle-mounted ATS unit works in the second control mode, the vehicle-mounted ATS unit receives the operation data sent by the ground ATS system and autonomously calculates an operation plan according to the driving plan.
2. The on-board train automatic supervision system for autonomous scheduling of trains of claim 1, wherein the ground ATS system is further configured to send a control mode switching instruction to an on-board ATS unit;
and the vehicle-mounted ATS unit switches the control mode between a first control mode and a second control mode according to the control mode switching instruction.
3. The on-board train automatic supervision system for train autonomous dispatch of claim 1, characterized in that the supervision system further comprises:
a communication detection unit: the system is used for detecting whether the vehicle-mounted ATS unit can normally communicate with the ground ATS system;
and when the communication detection unit feeds back the communication abnormal signal, the vehicle-mounted ATS unit switches the control mode to the second control mode.
4. The on-board train automatic supervision system for autonomous scheduling of a train according to claim 1, characterized in that the train further comprises a positioning unit for acquiring a current position of the train; the operation plan further includes operation route information;
the vehicle-mounted ATS unit further includes:
an operation line distribution module: receiving operation line information sent by a ground ATS system and current vehicle position information sent by a positioning unit, searching a destination platform and a terminal platform of the train, and automatically setting station stopping time according to adjustment time set by a dispatcher through the ground ATS system after the train reaches the destination platform;
the run-line assignment module is further configured to: and when a command of canceling the driving plan of the ground ATS system is obtained, the system is operated to the nearest target platform, and the triggering of the outbound route is stopped.
5. The on-board train automatic supervision system for train autonomous scheduling according to claim 1, characterized in that the operation data further includes shift information including train running path, stop of passage, arrival time and departure time; the vehicle-mounted ATS unit further includes:
the shift distribution module: acquiring the own shift information sent by a ground ATS system in a subpackage manner, repackaging and recovering the shift information, analyzing the current shift information to obtain the train number information, and autonomously generating a route command and an operation grade according to the train number information;
the shift assignment module is further configured to: updating and generating an access command and an operation grade when receiving new shift information sent by a ground ATS system; when the order of canceling the shift of the ground ATS system is obtained, the system runs to the nearest target station and stops triggering the outbound route.
6. The on-board train automatic supervision system for autonomous scheduling of a train according to claim 1, wherein the on-board ATS unit is further configured to autonomously generate a stop time adjustment signal or a running grade adjustment signal when a deviation of a running form plan from a running plan transmitted by a ground ATS system occurs.
7. An autonomous train dispatching method implemented based on the automatic train supervision system for autonomous train dispatching according to any one of claims 1 to 6, comprising the steps of:
the method comprises the steps that a vehicle-mounted ATS unit communicates with a ground ATS system to obtain train operation data, wherein the train operation data comprises a vehicle access command, a running plan and vehicle information;
the vehicle-mounted ATS unit controls the train to execute operation according to train operation data sent by the ground ATS system;
or the like, or, alternatively,
the vehicle-mounted ATS unit autonomously calculates operation data according to a driving plan sent by a ground ATS system and executes operation according to the autonomously calculated operation data;
and the vehicle-mounted ATS unit transmits the operation data to the vehicle-mounted ZC unit through the vehicle-mounted CI unit to execute operation.
8. The train autonomous scheduling method of claim 7, wherein the autonomous scheduling method further comprises an operation line allocating method of:
s11, the vehicle ATS unit receives the operation line distributed by the ground ATS system; detecting the current position of the train, and searching a destination station and a destination station;
s12, after arriving at the destination station, setting station stopping time according to the station adjusting time set by the dispatcher through the ground ATS system;
s13, when the current station is started, the next station destination station is set independently;
s14, detecting whether the dispatcher cancels the operation plan through the ground ATS system;
if yes, the system runs to the nearest target station and stops triggering the outbound route;
if not, the process continues to the next destination station, and S12 is repeated.
9. The train autonomous scheduling method of claim 7, wherein the autonomous scheduling method further comprises an operation line allocating method of:
s21, the ground ATS system sends the information of the shift to be matched to the train to the vehicle ATS unit in packets;
s22, the vehicle ATS unit repackages the packets according to the serial numbers of the packets and recovers the information of the shift;
s23, the vehicle ATS unit analyzes the current shift information to obtain the current train number information of the train and autonomously generates a route command and a running grade;
and S24, judging whether the dispatcher cancels the train shift plan through the ground ATS system, if so, executing S26, otherwise, executing S6.
S25, whether a new shift data packet is received, if yes, executing S22, otherwise executing S23;
s26, moving to the nearest target station and stopping triggering the outbound route.
10. The train autonomous scheduling method of any one of claims 7 to 9, wherein the autonomous scheduling method further comprises an autonomous adjusting method:
the vehicle-mounted ATS unit judges that the actual driving plan deviates from the received driving plan sent by the ground ATS system;
if so, adjusting subsequent operation time;
the method for adjusting the running time comprises the following steps: adjusting the stop time, or modifying the operation level of the next interval.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115158408A (en) * | 2022-06-30 | 2022-10-11 | 通号城市轨道交通技术有限公司 | Train conflict detection method, train conflict detection device and electronic equipment |
| CN116176662A (en) * | 2023-04-26 | 2023-05-30 | 北京全路通信信号研究设计院集团有限公司 | Train control system and method for CTCS and CBTC line crossing operation |
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