CN114132365A - Train operation control method and device, electronic equipment and storage medium - Google Patents
Train operation control method and device, electronic equipment and storage medium Download PDFInfo
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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 target train reaches a target parking position, acquiring running state information of the target train; and when the running state information of the target train is in a stable stop state, determining a target control mode of the target train based on the received information of the target movement authorization information, wherein the target movement authorization information is movement authorization information of a target control level. The method realizes the non-inductive switching of the train between the DTC control level and the CBTC control level on the premise of ensuring the running safety of the train, thereby automatically adapting to ground equipment of different systems and being beneficial to realizing the equipment transformation under the stable operation condition of rail transit.
Description
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
At present, a Train automatic Control (CBTC) system Based on wireless Communication is widely applied in the rail transit industry, and a quasi-mobile block system Based on a Digital Track Circuit (DTC) system is mostly adopted in an urban rail transit line which is still operated in China, and thus, large-scale upgrading and reconstruction are urgently needed.
When the track line is upgraded and modified, the ground equipment with different systems exists on the line, and the train cannot be stopped during modification, so that the train is required to automatically adapt to the ground equipment with different systems in the running process.
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 target train reaches a target parking position, acquiring running state information of the target train;
and when the running state information of the target train is in a stable stop state, determining a target control mode of the target train based on the received information of the target movement authorization information, wherein the target movement authorization information is movement authorization information of a target control level.
According to the train operation control method provided by the invention, the determining of the target control mode of the target train based on the received information of the target movement authorization information comprises the following steps:
and when the received information of the target moving authorization information is the information of the received target moving authorization information, switching the target train from the current control mode to the target control mode.
According to the train operation control method provided by the invention, the determining of the target control mode of the target train based on the received information of the target movement authorization information comprises the following steps:
when the target train is in a manual driving CM mode and the receiving information of the target moving authorization information is the information that the target moving authorization information is not received, keeping the CM mode;
and when the parking duration of the target train is detected to exceed the duration of the target time period, switching the target train from the CM mode to a speed-limiting manual driving RM mode, and outputting an emergency braking instruction to control the target train to perform emergency braking.
According to the train operation control method provided by the invention, the determining of the target control mode of the target train based on the received information of the target movement authorization information comprises the following steps:
and when the target train is in a speed-limiting manual driving RM mode and the received information of the target movement authorization information is the information that the target movement authorization information is not received, maintaining the RM mode.
According to the train operation control method provided by the invention, the target train is in a digital track circuit DTC control level, the target control level is a train control system CBTC control level based on wireless communication, and correspondingly, before acquiring the running state information of the target train, the method further comprises the following steps:
when the target train in the DTC control level passes through a target position correction position in a DTC track area and CBTC positioning is established, a communication connection is established with a ground area controller corresponding to the CBTC control level;
the current position information of the target train is sent to the ground area controller in real time, so that the ground area controller sends the movement authorization information of the CBTC control level to the vehicle-mounted controller of the target train when determining that the distance between the current position information of the target train and the target axle counting equipment is smaller than a target threshold value;
and receiving the mobile authorization information of the CBTC control level sent by the ground area controller.
According to the train operation control method provided by the invention, the target stop position is located in the track switching area, and accordingly, after the running state information of the target train is acquired, the method further comprises the following steps:
and when the running state information of the target train is in an unstable state, the target train is in a manual driving CM mode, and the target train is detected to cross the switching track area, switching the target train from the CM mode to a speed-limiting manual driving RM mode, discarding control level positioning, and outputting an emergency braking instruction to control the target train to perform emergency braking, wherein the switching track area is an area for determining a target control mode of the target train.
The present invention also provides a train operation control device, comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the running state information of a target train when the target train reaches a target parking position;
and the control module is used for determining a target control mode of the target train based on the received information of the target movement authorization information when the running state information of the target train is in a stable stop state, wherein the target movement authorization information is movement authorization information of a target 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.
The train operation control method, the train operation control device, the electronic equipment and the storage medium provided by the embodiment of the invention judge the running state of a target train when the target train reaches a target parking position in a track switching area through a Vehicle-mounted Controller (VOBC), determine the target control mode of the target train by detecting whether the moving authorization information of the target control level is received or not when the running state information of the target train is determined to be in a stable state and the target control level is established for positioning, realize the non-inductive switching of the train between the DTC control level and the CBTC control level On the premise of ensuring the train operation safety, thereby automatically adapting to ground equipment of different systems and being beneficial to realizing the equipment transformation under the stable operation condition of track traffic.
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 of a train operation control method according to an embodiment of the present invention;
fig. 2 is one of implementation scenarios of a train operation control method provided in an embodiment of the present invention;
fig. 3 is a second schematic view of an implementation scenario of the train operation control method according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a train operation control device according to an embodiment of the present invention;
fig. 5 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.
The following describes a train operation control method, apparatus, electronic device and storage medium provided by the present invention with reference to fig. 1 to 5.
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 a train operation control method according to an embodiment of the present invention, and as shown in fig. 1, an execution subject of the method may be a vehicle-mounted VOBC, and the method includes:
step S1, when the target train reaches the target parking position, acquiring the running state information of the target train;
specifically, the target train described in the embodiment of the present invention refers to a train in which a VOBC system on board is installed.
The target parking position described in the embodiment of the present invention refers to a parking section set in advance in the electronic map of the rail transit line, and may specifically be a section formed by a parking point, a lower edge of a parking window, and an upper edge of a parking window, where a range of the parking window generally takes 2 meters, for example, if one end of the rail where the target parking position is located is set as an origin, and the parking point position is set to be 15 meters away from the origin, the position of the lower edge of the parking window is 14 meters, the position of the upper edge of the parking window is 16 meters, and the target parking position is a section from 14 meters to 16 meters.
The driving state information described in the embodiment of the present invention refers to the moving state of the target train during the driving process, and includes a stable state and an unstable state. In a stable stop state, the running speed of the train is zero, and at the moment, the pulse quantity output by the speed sensor detected by the vehicle-mounted VOBC is a constant quantity; besides the stable state, the other running state information of the train is the unstable state.
In an embodiment of the present invention, the target parking position may be disposed within a transition track area, which may be located in a parking platform line section. Wherein the conversion track area includes a DTC to CBTC control level conversion track area and a CBTC to DTC control level conversion track area.
In order to improve the safety and reliability of train operation control, in the embodiment of the invention, the current control level of the target train operation is determined to be adjusted when the target train is in a stable state.
And when the target train is detected to reach the target parking position, acquiring running state information of the target train and determining whether the target train is in a stable state.
And step S2, when the running state information of the target train is in a stable stop state, determining a target control mode of the target train based on the received information of the target movement authorization information, wherein the target movement authorization information is movement authorization information of a target control level.
Specifically, the target mobile authorization information described in the embodiment of the present invention refers to mobile authorization information of a target control level, which may specifically be mobile authorization information of a DTC control level, and may also be mobile authorization information of a CBTC control level. The mobile authorization information of the DTC control level is sent by a Zone Controller Center (ZCC) device of the DTC track area, and the mobile authorization information of the CBTC control level is sent to a Zone Controller (ZC) device of the CBTC track area by a ZC device after a communication connection is established by initiating registration information from a vehicle-mounted VOBC to the ZC device.
The receiving information of the target mobile authorization information described in the embodiment of the invention comprises the information of receiving the target mobile authorization information and the information of not receiving the target mobile authorization information.
The target control Mode described in the embodiment of the present invention refers to a control Mode in which the target train finally operates in a stationary state, and includes a speed-limited manual (RM) Mode and a Code train operating Mode (CM) Mode at a target control level. The target control levels corresponding to the CM mode include a CBTC control level and a DTC control level, which may also be referred to as a CM-CTC control level and a CM-DTC control level, respectively.
In the embodiment of the invention, the vehicle-mounted VOBC acquires the running state information of the target train and determines that the target train is in a stable state, and the method specifically comprises the steps of monitoring the running speed of the target train and the pulse quantity output by the speed sensor in real time through the vehicle-mounted VOBC through a speed and distance measuring module, when the target train is detected to cross the lower edge of a stop window, continuously reducing the running speed to be less than 8cm/s until the running speed is reduced to zero, keeping the pulse quantity output by the speed sensor unchanged, stopping the train at a target stop position, and determining that the target train is in the stable state through the vehicle-mounted VOBC.
After the target train is in a stable state, the vehicle-mounted VOBC detects the receiving information of the target moving authorization information, and respectively controls the control level of the target train aiming at two different situations of receiving the target moving authorization information and not receiving the target moving authorization information.
Optionally, in an embodiment of the present invention, when the current control level of the target train is the CBTC control level, after reaching the target parking location and stopping stably, the vehicle-mounted VOBC detects the reception information of the target movement authorization information, that is, detects whether the movement authorization information of the DTC control level is received, and further determines whether the target train switches the CBTC control level to the DTC control level according to whether the movement authorization information of the DTC control level is received, for example, when the vehicle-mounted VOBC detects that the movement authorization information of the DTC control level is received, the target train is switched from the CBTC control level to the DTC control level, that is, the target control mode is determined to be the CM mode under the DTC control level, and completes the control of the current control level of the target train;
similarly, for whether the target train is switched to the CBTC control level from the current control level DTC control level or not, the execution logic of the vehicle-mounted VOBC is consistent with the above, and the target control mode of the target train can be finally determined, so that the non-inductive switching of the train between the DTC control level and the CBTC control level can be realized, and the ground equipment of different systems can be automatically adapted.
In the embodiment of the invention, after the target train is in a stable state, the vehicle-mounted VOBC can also output a door permission signal according to the vehicle-mounted electronic map, and at the moment, a driver can normally open and close the door manually.
The train operation control method provided by the embodiment of the invention judges the running state of the target train when the target train reaches the target parking position in the track switching area through the vehicle-mounted VOBC, determines the target control mode of the target train by detecting whether the movement authorization information of the target control level is received or not when the running state information of the target train is determined to be in a stable state and the target control level is established for positioning, and can realize the non-inductive switching of the train between the DTC control level and the CBTC control level on the premise of ensuring the train operation safety, thereby automatically adapting to ground equipment of different systems and being beneficial to realizing the equipment transformation under the stable operation condition of track traffic.
Optionally, the determining a target control mode of the target train based on the received information of the target movement authorization information includes:
and when the received information of the target moving authorization information is the information of the received target moving authorization information, switching the target train from the current control mode to the target control mode.
Specifically, in the embodiment of the present invention, before determining the target control mode of the target train, the current control mode in which the target train is located may be a CM mode in a CBTC control level or a CM mode in a DTC control level, and may also be an RM mode.
In the embodiment of the invention, in order to ensure the safety protection of train operation control, whether the receiving information of the target movement authorization information is received or not can be set in a preset target time period, so that the next operation logic judgment is carried out.
Further, in the target time period, the vehicle-mounted VOBC switches the target train from the current control level to the target control level under the condition that the vehicle-mounted VOBC receives the target movement authorization information.
Optionally, fig. 2 is one of implementation scenarios of the train operation control method provided in the embodiment of the present invention, and as shown in fig. 2, the current control level of the target train is a CBTC control level, the target control level is a DTC control level, and the target parking position 23 is in a track area switched from the CBTC control level to the DTC control level.
Before a target train at the CBTC control level enters a CBTC to DTC control level switching track area, the target train continuously passes through a first track boundary 21 and a second track boundary 22, so that the DTC control level positioning is established after the vehicle-mounted VOBC receives different track carrier frequencies.
When a target train enters a CBTC to DTC control level switching track area and arrives at a target parking position 23, after a vehicle-mounted VOBC determines that the target train is in a stable stop state, target movement authorization information, namely receiving information of movement authorization information of a DTC control level, is detected in a target time period, such as 30s after the target train is in a stable stop state, and if the movement authorization information of the DTC control level is received, the target train is switched from the CBTC control level to a CM mode under the DTC control level, namely the target control mode of the target train is determined to be a CM-DTC control level.
Similarly, when the current control level of the target train is the DTC control level and the target control level is the CBTC control level, the target moving authorization information is the moving authorization information of the CBTC control level, when the target train in the DTC control level is positioned and the CBTC control level is established, the target train enters the DTC control level to the CBTC control level conversion track area to reach the target parking position, and the vehicle-mounted VOBC determines that the target train is in the stable stop state, and then detects the receiving information of the moving authorization information of the CBTC control level in the target time interval.
And if the mobile authorization information of the CBTC control level is received, switching the target train from the DTC control level to the CM mode under the CBTC control level, namely determining that the target control mode of the target train is the CM-CBTC control level.
In the method of the embodiment of the invention, based on the actual operation environment of the rail transit, the vehicle-mounted VOBC is set to switch the target train from the current control level to the target control level only when the target train is detected to receive the target movement authorization information in the target time period after the target train is judged to be in the stable stop state at the target stop position, so that the non-inductive switching of the train between the DTC control level and the CBTC control level can be realized more safely and effectively.
Optionally, the determining a target control mode of the target train based on the received information of the target movement authorization information includes:
when the target train is in a manual driving CM mode and the receiving information of the target moving authorization information is the information that the target moving authorization information is not received, keeping the CM mode;
and when the fact that the parking time of the target train exceeds the time of a target time period is detected, the target train is switched from the CM mode to a speed-limiting manual driving RM mode, and an emergency braking instruction is output to control the target train to carry out emergency braking.
Specifically, the manual driving CM mode described in the embodiments of the present invention generally refers to a manual driving mode under supervision of an on-board ATP, in which the on-board ATP gives recommended speed information and a driver needs only to drive a train according to the given speed information, and the CM mode may include a CM mode at a CBTC control level (abbreviated as CM-CTC) and a CM mode at a DTC control level (abbreviated as CM-DTC).
The RM mode described in the embodiments of the present invention refers to a speed-limited manual driving mode, in which the vehicle ATP limits the train to run at a certain fixed low speed, for example, 25km/h, and the driver displays to drive the train according to the dispatching command and the ground signal, and the train running speed exceeds the fixed speed limit, and the vehicle ATP applies emergency braking to the train to force the train to stop.
The target time interval described in the present invention may be a preconfigured time threshold, the starting time of the target time interval is the time when the target train is in the stationary state, and the configured threshold may be 30s, 40s, and the like, and is specifically configured according to the actual application situation.
If the current control level of the target train is a control level in a CM mode, such as a CM-CTC control level or a CM-DTC control level, in a target time period, such as 30s after the target train is stopped, the receiving information of the target moving authorization information is information that the target moving authorization information is not received, namely the vehicle-mounted VOBC does not receive the target moving authorization information, and at the moment, the vehicle-mounted VOBC continuously keeps the target train in the CM mode;
further, if the vehicle-mounted VOBC detects that the stopping time of the target train exceeds the time of the target time period, for example, 30s, at this time, the vehicle-mounted VOBC downgrades the target train from the CM mode to the RM mode, outputs an emergency braking instruction, controls the target train to perform emergency braking, and simultaneously prompts a message of 'control level switching failure' on a Human Machine Interface (HMI).
According to the method provided by the embodiment of the invention, after the vehicle-mounted VOBC judges that the target train is in the stable parking state at the target parking position, the target train is degraded to the RM mode and the emergency braking is implemented by detecting that the target movement authorization information is not received in the target time period and the parking time length exceeds the target time period, so that the safety and the reliability of the train operation control are improved.
Optionally, the determining a target control mode of the target train based on the received information of the target movement authorization information includes:
and when the target train is in a speed-limiting manual driving RM mode and the received information of the target movement authorization information is the information that the target movement authorization information is not received, maintaining the RM mode.
Specifically, in the embodiment of the present invention, in consideration of an unexpected abnormal condition during actual running of the train, such as occurrence of positioning loss, excessive running accumulated error, and other abnormal conditions, the target train is degraded to the RM mode before entering the track switching area or after entering the track switching area, and cannot be recovered to the CM mode all the time, and when the target train reaches the target parking position and stops stably, the vehicle-mounted VOBC detects that the reception information of the target movement authorization information is the information that the target movement authorization information is not received in the target time period, and then continues to maintain the target train in the RM mode.
Optionally, in the embodiment of the present invention, if the target train cannot be restored to the CM-CTC control level after entering the CBTC to DTC control level conversion track area, when the target train reaches the target parking position and is parked stably, the vehicle-mounted VOBC detects that the CBTC location of the target train is established, but the movement authorization information of the DTC control level is not received within the target time period, the target train operates in the RM mode;
similarly, if the target train cannot be restored to the CM-DTC control level after entering the DTC to CBTC control level switching track area, when the target train reaches the target parking position and stops stably, the on-board VOBC detects that the CBTC location of the target train is established, but does not receive the movement authorization information of the CBTC control level within the target time period, the target train operates in the RM mode.
According to the method provided by the embodiment of the invention, based on the consideration of the sudden abnormal condition in the actual running process of the train, the target train is degraded to the RM mode before entering the switching track area or after entering the switching track area, and the vehicle-mounted VOBC keeps the target train in the RM mode to run by detecting that the target movement authorization information is not received in the target time period, so that the train can run safely and stably.
Optionally, the target train is in a digital track circuit DTC control level, the target control level is a train control system CBTC control level based on wireless communication, and accordingly, before acquiring the driving state information of the target train, the method further includes:
when the target train in the DTC control level passes through a target position correction position in a DTC track area and CBTC positioning is established, a communication connection is established with a ground area controller corresponding to the CBTC control level;
the current position information of the target train is sent to the ground area controller in real time, so that the ground area controller sends the movement authorization information of the CBTC control level to the vehicle-mounted controller of the target train when determining that the distance between the current position information of the target train and the target axle counting equipment is smaller than a target threshold value;
and receiving the mobile authorization information of the CBTC control level sent by the ground area controller.
Specifically, the target seek position described in the embodiment of the present invention refers to a track position located in the conversion track area, which may trigger the vehicle VOBC to establish CBTC control level positioning, and specifically may be a position of a transponder in the conversion track area, where the conversion track area is located in the DTC track area and is adjacent to the CBTC track area.
The target threshold described in the embodiment of the present invention refers to a preset judgment threshold, and may be a minimum train length, for example, 20 meters, which is used to trigger the ZC device to perform head screening on the target train, and after the head screening is completed and it is ensured that no other train is on the route ahead of the target train in the track switching area, and the ZC device calculates the movement authorization information of the vehicle-mounted ATP after the train is in a safe state.
The target axle counting device described in the embodiment of the invention refers to an axle counting device which is closest to a target train on a front access of the target train, and can be arranged at one end of a conversion track area to realize the occupancy check of the conversion track.
Fig. 3 is a second implementation scenario of the train operation control method according to the embodiment of the present invention, as shown in fig. 3, the current control level of the target train is a DTC control level, the target control level is a CBTC control level, and the target parking position 33 is in a track area switched from the DTC control level to the CBTC control level.
Before a target train in the DTC control level enters the DTC-to-CBTC control level conversion track area, the target train continuously passes through the first transponder 31 and the second transponder 32, and the vehicle-mounted VOBC can establish the CBTC control level positioning after receiving effective response information of the first transponder 31 and the second transponder 32. And after the vehicle VOBC judges that the effective ZC equipment exists in the electronic map, the registration information is initiated to the ZC equipment to establish communication connection with the ZC equipment.
And after the communication connection is established between the vehicle-mounted VOBC and the ZC equipment, the current position information of the target train is sent to the ZC equipment in real time. And when the distance between the current position information of the target train and the target axle counting device in the access direction is determined to be smaller than a target threshold value, the ZC device conducts head screening on the target train.
After the head screen is finished, the ZC device calculates the mobile authorization information of the CBTC control level according to the state of the outbound signal machine, and then sends the mobile authorization information of the CBTC control level to the vehicle-mounted VOBC. Therefore, the vehicle-mounted VOBC can receive the moving authorization information of the CBTC control level transmitted by the ZC device.
According to the method, before the running state information of the target train is acquired, the CBTC control level positioning is established, the communication connection is established with the ZC equipment of the ground area controller, the CBTC control level movement authorization information is guaranteed to be received in time, the conversion from the DTC control level to the CBTC control level of the target train is favorably and efficiently completed, and therefore the non-inductive switching of the control levels is achieved.
Optionally, the target parking position is located in a track switching area, and accordingly, after the obtaining of the running state information of the target train, the method further includes:
and when the running state information of the target train is in an unstable state, the target train is in a manual driving CM mode, and the target train is detected to cross the switching track area, switching the target train from the CM mode to a speed-limiting manual driving RM mode, discarding control level positioning, and outputting an emergency braking instruction to control the target train to perform emergency braking, wherein the switching track area is an area for determining a target control mode of the target train.
Specifically, the switching track area described in the embodiment of the present invention is an area for determining a target control mode of the target train, and the vehicle-mounted VOBC acquires the driving state information of the target train when detecting that the target train reaches a target stop position in the switching track area.
In the embodiment of the invention, when the running state information of the target train is in an unstabilized state, the current control level is an artificial driving CM mode, such as a CM-DTC control level, the vehicle-mounted VOBC detects that the target train enters a DTC-to-CBTC control level conversion track area and does not stop when reaching the target parking position, the maximum safe front end position of the target train crosses the DTC-to-CBTC control level conversion track area, and when the target train directly crosses the DTC-to-CBTC control level conversion track area, the target train is switched from the CM-DTC control level to a target control mode RM mode, established control level positioning, such as CBTC control level positioning and/or DTC control level positioning, is discarded, and an emergency braking instruction is output to control the target train to perform emergency braking.
Similarly, when the running state information of the target train is in an unstabilized state, the current control level is the CM-CBTC control level, the vehicle-mounted VOBC detects that the target train enters the CBTC to DTC control level conversion track area and does not stop when reaching the target parking position, the maximum safe front position of the target train crosses the CBTC to DTC control level conversion track area, and when the target train directly crosses the DTC to CBTC control level conversion track area, the target train is switched from the CM-DTC control level to the target control mode RM mode, established control level positioning such as CBTC control level positioning and/or DTC control level positioning is abandoned, and an emergency braking instruction is output to control the target train to perform emergency braking.
According to the method provided by the embodiment of the invention, the vehicle-mounted VOBC determines that the target train directly crosses the switching track area by detecting that the running state information of the target train is in an unstable state, switches the control level of the target train to an RM mode, discards the control level positioning and implements emergency braking, thereby ensuring the running safety of the train to the maximum extent and realizing the running control of the train in a safe and stable state.
In the embodiment of the invention, the method can specifically process four different operation scenes of the target train, and can realize automatic conversion between the DTC control level and the CBTC control level without influencing the normal driving of a driver. The method comprises the following specific steps:
the first scenario is a scenario in which a target train is normally switched from a CBTC control level to a DTC control level, and in this scenario:
(1) before entering a CBTC to DTC control grade conversion track area, the target train can receive ground digital track circuit information, and after receiving a new carrier frequency through a track circuit boundary, the target train establishes DTC lower positioning.
(2) The target train enters the CBTC to DTC control grade conversion track area to stop and stop accurately in a CM mode (CM-CTC), namely when the target stop position is in a stop and stop state, the permission of a vehicle door is output according to a vehicle-mounted electronic map, and a driver can normally and manually open and close the vehicle door.
(3) The vehicle-mounted ATP judges that the train passes over the lower edge of a stop window to be stopped stably in a track area converted from the CBTC to the DTC control level, namely when the target stop position is in a stable stop state, if the digital track circuit movement authorization information is received, the target train can be converted from the CBTC control level to a CM mode under the DTC control level (note: the internal degradation is RM and then the upgrading is CM mode, and the external degradation is invisible);
if the vehicle-mounted ATP can not acquire the movement authorization information from the digital track circuit, the vehicle-mounted ATP keeps the target train at the CBTC control level. And when the target train stopping time exceeds the target time period duration, such as 30s, and the target train is not switched to the DTC control level, the target train is degraded from the CM-CTC control level to the RM mode, emergency braking is output, and information of 'control level switching failure' is prompted on the HMI.
(4) After the vehicle-mounted ATP upgrades the target train from the CM-CTC to a CM-DTC-off CM mode (CM-DTC), the driving mode of the HMI upper train is displayed as CM, the control level is displayed as DTC, and meanwhile, a prompting information that the train is converted to the DTC is displayed on a left-lower prompting column of the HMI, so that the automatic switching of the control level is completed. At this point, the train starts to initiate a logout to the ZC device.
(5) The ATS uses CBTC interlocking occupancy information in the CBTC track area, and the DTC track area uses ZCC occupancy information.
The second scenario is an abnormal switching scenario from the CBTC control level to the DTC control level of the target train, and in the scenario:
(1) the target train is downgraded to an RM mode before entering the CBTC to DTC control level transition track area or after entering the CBTC to DTC control level transition track area: if the target train can be restored to the CTC level after entering the CTC to DTC control level switching track, for example, the target train receives the movement authorization information of the CBTC control level during the driving process and can be upgraded from the RM mode to the CM-CTC control level, and the switching logic of the subsequent control level is the same as the normal switching scene.
If the target train cannot be recovered to the CBTC grade after entering the CBTC-DTC control grade conversion track area and the target train has obtained the movement authorization information of the DTC control grade, the target train can be converted from the CBTC control to the DTC control grade after crossing the lower edge of the stop window and being in a stable state, namely, the target stop position is in the stable state. If the target train has CBTC control level positioning, the position report of the target train is the same as the normal switching scene, the communication connection is kept between the position report of the target train and the ZC equipment, and the real-time position information of the target train is reported to the ZC equipment.
If the target train cannot be restored to the CTC level after entering the CBTC to DTC control level conversion track area and the train does not obtain the movement authorization under the DTC, the target train keeps operating in the RM mode:
a) if the target train has DTC control level positioning, and the movement authorization information of the DTC control level is received in the running process, the target train is converted into the DTC control level from the CBTC control level after passing over the lower edge of the stop window and stopping stably, namely, after the target stop position is in a stable stop state.
b) And if the target train has DTC positioning but does not receive the movement authorization information of the DTC control level, the target train continues to operate in an RM mode after crossing the lower edge of the stop window and stopping stably.
c) And if the target train has DTC positioning but does not stop, the target train continues to operate in an RM mode. The target train may switch from the CBTC control level to the DTC control level after entering the next track to obtain movement authorization information for the DTC control level.
If the target train is degraded to the RM mode for some reasons, such as abnormal conditions of losing control level positioning and the like, after the target train is converted to the DTC control level, the target train is converted to the DTC control level after meeting the condition of upgrading the DTC control level and is not converted to the CBTC control level any more.
(2) The target train does not stop in the CBTC to DTC control grade conversion track area and directly passes through the CBTC to DTC control grade conversion track area:
and when the vehicle-mounted ATP judges that the maximum safe front end position of the target train crosses the CBTC to DTC control level switching track area, applying emergency braking to stop the train, and abandoning control level positioning.
And the target train runs in the RM mode in the running process, and is converted into the DTC control level from the RM mode after receiving the movement authorization information of the DTC control level.
(3) When the target train is in a track area converted from the CBTC to the DTC control level, and the vehicle-mounted ATP is converted from the cut-off mode to the activation mode, the target train runs in an RM mode, DTC control level positioning is established on the next track, and the target train is converted into the DTC control level after receiving the movement authorization information of the DTC control level.
The third scenario is a scenario in which the target train is normally switched from the DTC control level to the CBTC control level, and in this scenario:
(1) before a target train enters a DTC-CBTC control grade conversion track area, CBTC control grade positioning is established under the condition of continuously receiving two effective transponders, and after judging that effective ZC equipment exists in an electronic map, a registration request is initiated to the ZC equipment to establish communication connection with the ZC equipment.
(2) The target train enters a DTC-CBTC control grade conversion track area to be stopped and stopped accurately in a CM mode (CM-DTC), namely, the target train is in a stable stopping state at a target stopping position, and the permission of a vehicle door is output according to a vehicle-mounted electronic map, so that a driver can normally open and close the vehicle door manually.
(3) After the distance between the target train and the target axle counting device in the DTC-CBTC control grade conversion track area is less than a minimum train length (such as 20 meters), the ZC device finishes a head screen, and the ZC calculates the movement authorization of the vehicle-mounted ATP according to the state of the outbound signal machine.
(4) And the vehicle-mounted ATP judges that the target train is in a DTC-to-CBTC control level conversion track area, and after the target train passes over the lower edge of a parking window and is stopped stably, if the movement authorization information of the CBTC control level sent by the ZC equipment is received, the target train is converted into a CM mode under the CTC (note: the inner part is degraded into RM and then upgraded into the CM mode, and the inner part is invisible to the outside).
If the vehicle-mounted ATP cannot acquire the movement authorization information from the ZC equipment, the vehicle-mounted ATP keeps the target train at a DTC control level. When the stopping time of the target train exceeds the target time interval duration (such as 30s) and the CBTC control level is not switched yet, the control system is degraded to the RM mode, the emergency brake is output, and information of 'control level switching failure' is prompted on the HMI.
(5) After the vehicle-mounted ATP is upgraded to a CM mode (CM-CTC) under the CBTC, the target train driving mode on the HMI is displayed as CM, the control level is displayed as CTC, and meanwhile, a prompting column at the lower left of the HMI displays prompting information that the train is converted into the CTC, so that the automatic switching of the control level is completed.
(6) The ATS uses CBTC interlocking occupancy information in a CBTC track area and ZCC occupancy information in a DTC track area.
The fourth scenario is an abnormal switching scenario of the target train from the DTC control level to the CBTC control level, and in this scenario:
(1) before entering a DTC-to-CBTC control level conversion track area or after entering the DTC-to-CBTC control level conversion track area, the target train is degraded to an RM mode:
if the target train can be recovered to the DTC control level after entering the DTC-to-CBTC control level conversion track area, the switching logic is the same as the normal switching scene.
If the target train cannot be recovered to the DTC grade after entering the DTC-to-CBTC control grade conversion track area and the target train already obtains the movement authorization information of the CBTC control grade, the target train is converted to the CBTC control grade after crossing the lower edge of the stop window and stopping stably.
If the train can not be recovered to the DTC grade after entering the DTC-to-CBTC control grade conversion track area and the target train does not obtain the movement authorization information of the CBTC control grade, the target train operates in an RM mode:
a) and if the target train has CBTC control level positioning and has received the movement authorization information of the CBTC control level, converting the target train into the CBTC control level after the target train passes over a stop window and stops stably.
b) And if the target train has CBTC positioning but does not receive the movement authorization information of the CBTC control level, the target train continues to operate in an RM mode after crossing the lower edge of the stop window and stopping stably.
c) And if the target train has CBTC positioning but does not stop, the target train continues to operate in an RM mode. And the target train enters the next rail to obtain the movement authorization information of the CBTC control level and then is converted into the CBTC control level.
If the target train is degraded to the RM mode for some reasons, such as the occurrence of abnormal conditions of control level loss positioning and the like, after the target train is converted to the CBTC control level, the target train is converted to the CBTC control level after the condition of upgrading the CBTC control level and is not converted to the DTC control level any more.
(2) The target train does not stop in the DTC-CBTC control grade conversion track area and directly passes through the DTC-CBTC control grade conversion track area:
and when the vehicle-mounted ATP judges that the maximum safe front end position of the target train crosses the DTC-CBTC control level switching track area, applying emergency braking to stop the train, and abandoning control level positioning.
And the target train runs in RM in the running process, and is converted into the CBTC control grade after receiving the movement authorization information of the CBTC control grade.
When the target train is in a DTC-to-CBTC control level conversion track area and the vehicle-mounted ATP is converted into an activation mode from a cutting mode, the target train runs in an RM mode, CBTC control level positioning is established, and after mobile authorization information of the CBTC control level is received, the target train is converted into the CBTC control level.
The method provided by the embodiment of the invention realizes automatic conversion between the CBTC control level and the DTC control level, thereby automatically adapting to ground equipment of different systems, being beneficial to accelerating equipment transformation progress and saving transformation cost, not influencing the operation of the existing track line system, and realizing non-inductive transformation.
The following describes the train operation control device provided in the embodiment of the present invention, and the train operation control device described below and the train operation control method described above may be referred to in correspondence with each other.
Fig. 4 is a schematic structural diagram of a train operation control device according to an embodiment of the present invention, and as shown in fig. 4, the train operation control device includes:
the obtaining module 410 is configured to obtain running state information of a target train when the target train reaches a target parking position;
a control module 420, configured to determine a target control mode of the target train based on received information of target movement authorization information when the driving state information of the target train is a stationary state, where the target movement authorization information is movement authorization information of a target control level.
The train operation control device described in this embodiment may be used to implement the above-mentioned train operation control method embodiment, and its principle and technical effect are similar, and are not described here again.
The train operation control device provided by the embodiment of the invention judges the running state of the target train when the target train reaches the target parking position in the track switching area through a Vehicle On-Board Controller (VOBC), determines the target control mode of the target train by detecting whether the running state information of the target train is in a stable state and establishing target control level positioning or not when the target control level positioning is established, and realizes the non-inductive switching of the train between the DTC control level and the CBTC control level On the premise of ensuring the train operation safety, thereby automatically adapting to ground equipment of different systems and being beneficial to realizing the equipment transformation under the stable operation condition of track traffic.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 5, the electronic device may include: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a train operation control method comprising: when a target train reaches a target parking position, acquiring running state information of the target train; and when the running state information of the target train is in a stable stop state, determining a target control mode of the target train based on the received information of the target movement authorization information, wherein the target movement authorization information is movement authorization information of a target control level.
Furthermore, the logic instructions in the memory 530 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 target train reaches a target parking position, acquiring running state information of the target train; and when the running state information of the target train is in a stable stop state, determining a target control mode of the target train based on the received information of the target movement authorization information, wherein the target movement authorization information is movement authorization information of a target 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 target train reaches a target parking position, acquiring running state information of the target train; and when the running state information of the target train is in a stable stop state, determining a target control mode of the target train based on the received information of the target movement authorization information, wherein the target movement authorization information is movement authorization information of a target 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 (10)
1. A train operation control method, characterized by comprising:
when a target train reaches a target parking position, acquiring running state information of the target train;
and when the running state information of the target train is in a stable stop state, determining a target control mode of the target train based on the received information of the target movement authorization information, wherein the target movement authorization information is movement authorization information of a target control level.
2. The train operation control method according to claim 1, wherein the determining of the target control mode of the target train based on the reception information of the target movement authorization information includes:
and when the received information of the target moving authorization information is the information of the received target moving authorization information, switching the target train from the current control mode to the target control mode.
3. The train operation control method according to claim 1, wherein the determining of the target control mode of the target train based on the reception information of the target movement authorization information includes:
when the target train is in a manual driving CM mode and the receiving information of the target moving authorization information is the information that the target moving authorization information is not received, keeping the CM mode;
and when the fact that the parking time of the target train exceeds the time of a target time period is detected, the target train is switched from the CM mode to a speed-limiting manual driving RM mode, and an emergency braking instruction is output to control the target train to carry out emergency braking.
4. The train operation control method according to claim 1, wherein the determining of the target control mode of the target train based on the reception information of the target movement authorization information includes:
and when the target train is in a speed-limiting manual driving RM mode and the received information of the target movement authorization information is the information that the target movement authorization information is not received, maintaining the RM mode.
5. The train operation control method according to claim 2, wherein the target train is at a digital track circuit DTC control level, the target control level is a train control system CBTC control level based on wireless communication, and accordingly, before acquiring the running state information of the target train, the method further comprises:
when the target train in the DTC control level passes through a target position correction position in a DTC track area and CBTC positioning is established, a communication connection is established with a ground area controller corresponding to the CBTC control level;
the current position information of the target train is sent to the ground area controller in real time, so that the ground area controller sends the movement authorization information of the CBTC control level to the vehicle-mounted controller of the target train when determining that the distance between the current position information of the target train and the target axle counting equipment is smaller than a target threshold value;
and receiving the mobile authorization information of the CBTC control level sent by the ground area controller.
6. The train operation control method according to claim 1, wherein the target stop position is located in a switching track area, and accordingly, after the acquiring the running state information of the target train, further comprises:
and when the running state information of the target train is in an unstable state, the target train is in a manual driving CM mode, and the target train is detected to cross the switching track area, switching the target train from the CM mode to a speed-limiting manual driving RM mode, discarding control level positioning, and outputting an emergency braking instruction to control the target train to perform emergency braking, wherein the switching track area is an area for determining a target control mode of the target train.
7. A train operation control device characterized by comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the running state information of a target train when the target train reaches a target parking position;
and the control module is used for determining a target control mode of the target train based on the received information of the target movement authorization information when the running state information of the target train is in a stable stop state, wherein the target movement authorization information is movement authorization information of a target control level.
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.
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