CN114407977A

CN114407977A - Control method, control system and storage medium for train and zone controller

Info

Publication number: CN114407977A
Application number: CN202210047305.2A
Authority: CN
Inventors: 陈彬
Original assignee: Siemens Mobility Technologies Beijing Co Ltd
Current assignee: Siemens Mobility Technologies Beijing Co Ltd
Priority date: 2022-01-17
Filing date: 2022-01-17
Publication date: 2022-04-29
Anticipated expiration: 2042-01-17
Also published as: CN114407977B

Abstract

The invention relates to the technical field of rail transit, in particular to a control method, a control system and a storage medium for a train and a zone controller. The method comprises the following steps: upon receiving (S11) a first movement authorization from a zone controller (13) and a communication address of a preceding train (12), establishing a communication connection with the preceding train (12) and acquiring an operation parameter of the preceding train (12) to control (S14) the train (11) to travel in a manner of maintaining a safe distance with the preceding train (12); when a second movement authorization is received from the zone controller (13) and a type indication indicating that the second movement authorization is generated based on factors other than a preceding train (12), controlling the train (11) to operate within a range of the second movement authorization indication. Therefore, the rail operation efficiency is improved on the premise of ensuring the safe running of the train (11).

Description

Control method, control system and storage medium for train and zone controller

Technical Field

The invention relates to the technical field of rail transit, in particular to a control method, a control system and a storage medium for a train and a zone controller.

Background

In a Communication Based Train Control (CBTC) system, a Train periodically reports its location to a Zone Controller (ZC), and the Zone controller periodically calculates and assigns a Movement Authorization (MA) to the Train in conjunction with information such as an interlock route status of a Computer Interlock (CI) subsystem. The movement authorization represents the range of the track route between the train tail and the front parking point, and only the train with the operation authorization can operate on the track route within the valid time of the movement authorization.

When the mobile authorization is calculated, equipment state information on an access road needs to be traversed, obstacles on a train access road are found out, and the train position, the route equipment information and the access road information are integrated, so that the mobile authorization is calculated for the train. The obstacle in front of the train includes a static obstacle such as a switch in a failure state, a train route end point, a track in a failure state, and a traffic signal in a failure state on a route ahead, and a dynamic obstacle such as a train in front of the route.

Under the condition of moving block, no fixed barrier exists between the train and the train in front of the train, and the train tracks the running of the train in front, and at the moment, the moving authorization of the train is generated based on the train in front. Specifically, a protection distance behind the front train and a distance in which the train runs by emergency braking after the train is accelerated out of control at the current speed are the moving block subareas, the train cannot cross the moving block subareas in the current running state, and the moving block subareas are adjusted in real time along with the speed of the train and the position change of the front train.

Under the above-mentioned movement blocking condition, the generation of the movement authorization needs to be based on the position reported to the zone controller periodically by the front train, the movement authorization has hysteresis for the rear train because the time interval is between when the rear train receives the movement authorization and when the front train reports the position, the actual running interval between the two trains is much larger than the required safe distance when the trains are tracked, and the running efficiency of the track line is limited.

Disclosure of Invention

In view of this, the present invention provides a control method, a control system and a storage medium for a train and a zone controller, which aim to reduce an actual operation interval between a train in a tracking mode and a train ahead on the premise of ensuring safe running of the train, so as to improve the operation efficiency of a track line.

In a first aspect, in an embodiment of a train control method provided by the present invention, the train control method includes: receiving a first movement authorization and a communication address of a front train from the zone controller; establishing communication connection with the front train based on the communication address, and acquiring the running parameters of the front train based on the communication connection; controlling the train to travel at a safe distance from the train in front based on the operating parameters of the train in front, and allowing the train to travel beyond the range of the first movement authorization indication; and during the communication connection between the train and the front train, if a second movement authorization and a type indication indicating that the second movement authorization is generated based on other factors except the front train are received from the zone controller, disconnecting the communication connection with the front train and controlling the train to operate within the range of the second movement authorization indication.

For example, when the train recognizes that the message information sent by the zone controller contains the first moving authorization and the communication address of the train other than the train, the train may determine that the first moving authorization is generated based on the position of the train ahead, and the communication address is the communication address of the train ahead, where the train is in the train tracking mode.

When the train establishes communication connection with the front train based on the communication address, the train can directly send a communication connection request to the front train according to the communication address, and the train can establish communication connection with the front train after the front train receives the communication connection request. In addition, the zone controller can also inform the communication address or name of the train to the train in front in a message mode, and when the train in front receives the communication connection request of the train after inspection and confirms that the communication address or name of the train informed by the zone controller is consistent with the communication address or name of the train, the train in front is allowed to establish communication connection with the train in front.

The operational parameters of the train may include current position, travel speed, acceleration, tractive effort, braking effort, etc. When the train is controlled to travel in a mode of keeping a safe distance with the front train, the safe distance can be determined according to the positions and the operation parameters of the front train and the train. Specifically, the train can correspondingly determine the running speed and the acceleration of the train according to the current position, the running speed and the acceleration of the train in front, so that the actual distance between the train and the train in front is shortened, and the actual distance is kept within a safe distance range. Meanwhile, as the traction and the braking force of the train have influence on the running speed and the acceleration of the train, the train can adjust the traction and the braking force of the train by referring to the traction and the braking force of the train in front. In this way, the purpose of keeping the actual distance between the train and the front train within the safe distance range by controlling the operation parameters of the train can be realized more easily.

Compared with the mode that the region controller receives the position information of the front train firstly and then sends the movement authorization generated based on the position information of the front train to the train, when the train moves in a mode of keeping a safe distance with the front train based on the operation parameters of the front train, the hysteresis of the movement authorization is overcome, and meanwhile, the limitation of the range indicated by the first movement authorization can be avoided, so that the actual distance between the train and the front train is not too large even if the actual distance is kept within the safe distance range, and the operation efficiency of a track line is improved.

In the present embodiment, when the second moving authorization is generated based on other factors than the train ahead, the other factors may be a switch on the route ahead, a train route end point, a track in a fault state, a signal in a fault state, and the like. When the train receives an indication that the second movement authorization is generated based on factors other than the train ahead, indicating that the train is no longer in the train tracking mode, the train needs to operate within the range allowed by the second movement authorization. Therefore, the train can control the actual distance between the train and the front train according to the running parameters of the front train in the train tracking mode, and the train can still keep in a safe distance range with the front train according to the second movement authorization after exiting the train tracking mode. Therefore, the method is also beneficial to judging whether the train can move according to the operation parameters of the front train so as to improve the track operation efficiency and whether the train must move within the range of the second movement authorization indication so as to ensure safe driving.

In a preferred implementation manner of the control method provided in the foregoing embodiment, during the period when the train maintains the communication connection with the train ahead, the method further includes: receiving state information of trackside elements from the zone controller; wherein the state information of the trackside element at least comprises state information of trackside elements related to movement authorization of the train and movement authorization of the train ahead; and controlling the train to move in a mode of keeping a safe distance from the train in front according to prompt information indicating the deceleration or stop of the train in front of the state information of the trackside element.

Illustratively, when the train tracks the front train, the actual running distance between the train and the front train can be optimized by controlling the train to run according to the running parameters of the front train. Meanwhile, in the actual running process of the train, the running state of the train is also influenced by the state information of trackside elements and the like. The state information of the trackside elements comprises turnout states, temporary speed limit information, platform door states, signal machine states and the like, wherein the temporary speed limit information is a speed limit command dynamically sent by a train control center according to operation needs. In one embodiment, the range of the state information of the trackside element may include the state information of the trackside element between the train and the configured distance in front of the movement authorized guard point of the train in front. The mobile authorization protection point is a mobile authorization terminal point, the configuration distance is a certain distance from the mobile authorization terminal point of the train in front to the front, and the configuration distance may be a fixed value or a value dynamically determined according to the operation parameters of the train in front.

The area controller can firstly send the state information of the trackside elements to the train before generating the movement authorization according to the state information of the trackside elements, and the train can judge in real time according to the state information of the trackside elements so as to control the running state of the train more safely and reliably. In one exemplary scenario, the zone controller gives the move grant based on the state of a certain trackside element, but since the move grant has hysteresis, the train may have already passed through the trackside element at this time, and the train's running state is not actually affected by the trackside element. Therefore, the running state of the train can be determined more accurately and reliably by combining the state information of the trackside elements. Meanwhile, in the embodiment, the train can also know the state information of the trackside elements related to the movement authorization of the train in front, and when the train in front needs to decelerate or stop, the train can take measures in advance, so that the train can run more safely.

In a preferred implementation of the control method provided in the foregoing embodiment, the control method further includes: and when the train is in communication connection with the front train, if the running parameters of the front train are not received within preset time, disconnecting the communication connection with the front train and enabling the train to run within the latest movement authorization range sent by the zone controller. In the embodiment, when the train does not receive the operation parameters sent by the front train within the preset time, the safe running of the train can still be ensured.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: and when the train adjusts the running direction or line while the train keeps the communication connection with the front train, disconnecting the communication connection with the front train and enabling the train to run in the range of the latest movement authorization sent by the zone controller. In this embodiment, since the train actively changes its running direction or route, the train no longer tracks the train running ahead, and does not need to receive the running parameter information of the train ahead, and at this time, it needs to run according to the latest movement authorization to ensure the safe running of the train.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: if the train receives a new movement authorization from a zone controller and the communication address of other trains different from the communication address of the front train during the communication connection between the train and the front train; the communication connection with the front train is disconnected, and the communication connection with the corresponding train is established based on the communication addresses of the other trains. In this embodiment, when a new movement authorization is generated based on other trains ahead, the train can timely disconnect the communication connection with the old train ahead and establish the communication connection with the new train ahead to ensure the safe driving of the train.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: and after the communication connection between the train and the front train is established, if the communication connection between the train and the front train is interrupted unexpectedly, controlling the train to operate within the latest movement authorization range sent by the zone controller. In this embodiment, when the communication connection between the train and the preceding train is unexpectedly interrupted, the train can travel in accordance with the latest movement authorization while ensuring safe travel of the train.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: continuously receiving a third movement authorization from the zone controller during the time that the train maintains the communication connection with the lead train, and indicating that the third movement authorization is based on the type indication generated by the lead train; and controlling the train to travel in a manner of keeping a safe distance with the front train based on the running parameter of the front train, and allowing the train to travel beyond the range of the third movement authorization indication. As can be seen from this embodiment, after the communication connection is established between the train and the train in front of the train, the communication between the train and the train in front does not need the communication address of the train in front, and at this time, it is only necessary for the zone controller to inform it that the third moving authorization is generated based on the train in front. Therefore, the method is beneficial to reducing the information quantity of the message sent by the regional controller and improving the message information sending efficiency.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: acquiring a timestamp carried by the train in front when the train in front sends the running parameters; and the step of controlling the train to travel a safe distance from the train ahead further comprises: and correcting the operation parameters received from the front train based on the timestamp, and controlling the train to travel in a manner of keeping a safe distance from the front train based on the corrected operation parameters of the front train.

Modifying the operational parameters received from the lead train based on the time stamp. For example, in order to better maintain the actual distance between the train and the train in the safety distance range, the current position of the train in the front direction may be corrected according to the time stamp and the time when the train receives the operation parameter information of the train in the front direction, in combination with the traveling speed and the acceleration of the train in the front direction, so that the actual distance between the train and the train in the front direction can be more accurately determined, thereby being beneficial to better controlling the operation parameters of the train, and keeping the actual distance between the train and the train in the front direction within the safety distance range.

In a preferred implementation manner of the control method provided in the foregoing embodiment, during the period when the train maintains the communication connection with the train ahead, the method further includes: and when receiving the information which is sent by the zone controller and used for indicating the emergency braking of the front train, controlling the front train to move in a mode of keeping a safe distance with the front train. In the embodiment, the train can know the information of the emergency braking of the front train in advance and prepare for deceleration in advance so as to improve the safety and stability of train operation.

In a second aspect, in one embodiment of the control system for a train provided by the present invention, the control system includes: the receiving module is used for receiving a first movement authorization from the zone controller and a communication address of a front train; the connection establishing module is used for establishing communication connection with the front train based on the communication address; the acquisition module is used for acquiring the running parameters of the front train based on the communication connection; a control module for controlling the train to travel in a manner of keeping a safe distance from the train ahead based on the operation parameters of the train ahead and allowing the train to travel beyond the range of the first movement authorization indication; a disconnection module, configured to, while the train is in communication connection with the train ahead, disconnect the communication connection with the train ahead if the reception module receives a second movement authorization from the zone controller and a type indication indicating that the second movement authorization is generated based on a factor other than the train ahead, and the control module is further configured to control the train to operate within a range of the second movement authorization indication.

In a preferred implementation manner of the control system provided in the foregoing embodiment, during the period when the train maintains the communication connection with the train ahead, the control system further includes: the receiving module is also used for receiving the state information of trackside elements from the regional controller; wherein the state information of the trackside element at least comprises state information of trackside elements related to movement authorization of the train and movement authorization of the train ahead; the control module is further used for indicating prompt information of deceleration or stop of the train in front according to the state information of the trackside elements and controlling the train to move in a mode of keeping a safe distance from the train in front.

In a preferred implementation manner of the control system provided in the above embodiment, during a period when the train maintains a communication connection with the train in front, if the receiving module does not receive the operation parameters of the train in front within a preset time, the disconnecting module is further configured to disconnect the communication connection with the train in front, and the control module is further configured to control the train to operate within a range of a latest movement authorization sent by the zone controller; or, during the period that the train keeps communication connection with the train in front, if the train adjusts the running direction or line, the disconnection module is further configured to disconnect the communication connection with the train in front, and the control module is further configured to control the train to run within the latest movement authorization range sent by the zone controller; or, during the communication connection between the train and the front train, if the receiving module receives a new movement authorization from a zone controller and the communication address of other trains different from the communication address of the front train; the disconnection module is further configured to disconnect the communication connection with the train ahead, and the connection establishment module is further configured to establish a communication connection with the corresponding train based on the communication addresses of the other trains; or after the communication connection between the train and the train in front is established, if the communication connection between the train and the train in front is interrupted unexpectedly, the control module is further configured to control the train to operate within the latest movement authorization range sent by the zone controller.

In a preferred implementation of the control system provided in the above embodiment, the receiving module is further configured to continuously receive a third moving authorization from the zone controller while the train maintains a communication connection with the train ahead, and indicate that the third moving authorization is a type indication generated based on the train ahead; the control module is further configured to control the train to travel at a safe distance from the train ahead based on the operating parameters of the train ahead and allow the train to travel beyond the range of the third movement authorization indication.

In a preferred implementation manner of the control system provided in the above embodiment, the obtaining module is further configured to obtain a timestamp carried by the train in front when the train in front sends its operation parameter; and a correction module for correcting the operation parameters received from the train ahead (12) based on the time stamp so that the control module (24) controls the train (11) to travel in a manner of keeping a safe distance from the train ahead (12) based on the corrected operation parameters of the train ahead (12).

In a third aspect, in an embodiment of the control method of the zone controller provided by the present invention, the method includes: after generating a first movement authorization of a train based on a front train, sending the first movement authorization and a communication address of the front train to the train so that the train can establish communication connection with the front train based on the communication address; after a second movement authorization generated based on factors other than the train ahead, the second movement authorization and type indication information indicating that the second movement authorization is generated based on other factors are sent to the train.

In this embodiment, when the zone controller generates the first movement authorization based on the train ahead, it can also determine that the train is tracking the train ahead, and at this time, the communication address of the train ahead can be sent to the train, so that the train can establish a communication connection with the train ahead, and obtain the operation parameters of the train ahead based on the communication connection, and further control the train according to the operation parameters of the train ahead, so as to improve the safety and the operation efficiency of the train. Meanwhile, when the train is not in the tracking mode, the zone controller also informs the train of type indication information that the second movement authorization is generated based on other factors, and the train can only travel within the range indicated by the second movement authorization. Therefore, the method is also beneficial to judging whether the train can move according to the operation parameters of the front train so as to improve the track operation efficiency and whether the train must move within the range of the second movement authorization indication so as to ensure safe driving.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: after transmitting a first movement authorization generated based on the position of the front train and the communication address of the front train to the train, continuously transmitting a third movement authorization generated based on the front train and type indication information indicating that the third movement authorization is generated based on the front train to the train.

In this embodiment, after the communication connection between the train and the train ahead is established, the communication address of the train ahead is not needed in the communication process between the train and the train ahead, and at this time, the zone controller only needs to inform that the third moving authorization is generated based on the train ahead. Therefore, the method is beneficial to reducing the information quantity of the message sent by the regional controller and improving the message information sending efficiency.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: when a third mobile authorization is sent to the train and the type indication information generated based on the front train indicates the third mobile authorization, state information of trackside elements is also sent to the train; wherein the state information of the trackside element at least comprises state information of trackside elements related to movement authorization of the train and movement authorization of the train ahead; or when a third movement authorization is sent to the train and the type indication information generated based on the front train indicates the third movement authorization, information indicating emergency braking of the front train is also sent to the front train and the train.

In this embodiment, since the zone controller knows the position of the train in front to generate the movement authorization with a certain hysteresis, before the zone controller generates the movement authorization according to the state information of the trackside element, the state information of the trackside element can be sent to the train, so that the train can perform real-time judgment according to the state information of the trackside element and ensure safe and efficient operation. Meanwhile, in the embodiment, the state information of the trackside element related to the movement authorization of the front train is sent to the train, so that the train can take measures in advance when the front train needs to decelerate or stop, and the train can run more safely. In addition, the information indicating the emergency braking of the front train is sent to the front train and the train, so that the train can be prepared for deceleration in advance, and the safety and the stability of train operation are improved.

In a fourth aspect, in an embodiment of a computer-readable storage medium provided by the present invention, the storage medium has stored thereon computer instructions, which, when executed by a processor, cause the processor to execute the control method according to any one of the embodiments in the first aspect.

Drawings

The foregoing and other features and advantages of the invention will become more apparent to those skilled in the art to which the invention relates upon consideration of the following detailed description of a preferred embodiment of the invention with reference to the accompanying drawings, in which:

FIG. 1 is a schematic illustration of a train tracking a train ahead in accordance with one embodiment of the present invention;

FIG. 2 is a schematic flow chart of a train control method provided by the present invention;

fig. 3 is a schematic diagram of the control process in steps S1 to S4 in the train control method provided by the present invention;

FIG. 4 is a schematic diagram of the present train control process in the event of a front train emergency brake application provided by the present invention;

fig. 5 is a schematic diagram of a control system of a train provided by the present invention.

Wherein the reference numbers are as follows:

s11: receiving a first movement authorization and a communication address of a front train from the zone controller;

s12: establishing communication connection with the front train based on the communication address;

s13: acquiring operation parameters of a front train based on communication connection;

s14: controlling the train to travel in a manner of keeping a safe distance from the train in front based on the running parameters of the train in front, and allowing the train to travel to a range beyond the first movement authorization indication;

s15: and during the communication connection between the train and the front train, if a second movement authorization and a type indication indicating that the second movement authorization is generated based on other factors except the front train are received from the zone controller, disconnecting the communication connection with the front train and controlling the train to operate within the range of the second movement authorization indication.

11-train 12-front train 13-zone controller

14-semaphore 15-turnout 16-third train

21-receiving module 22-connection establishing module 23-obtaining module

24-control module 25-disconnection module 26-correction module

MA 1-authorized range of movement of train MA 2-authorized range of movement of train ahead

Range of State information for OE-trackside elements D-configuration distance

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail by referring to the following examples.

A Communication Based Train Control (CBTC) system is composed of a CBTC ground device and a CBTC vehicle-mounted device. An Automatic Train Protection (ATP) system is a subsystem of an Automatic Train Control (ATC) system, and has a function of ensuring that a Train running speed does not exceed a target speed. A Zone Controller (ZC) subsystem is a trackside part of the ATP system, and is also a ground core control device in the CBTC system, and is a hub for ground vehicle information interaction. The interlocking system is used for realizing an interlocking relationship, establishing a route, controlling the conversion of turnouts, opening a signal machine and unlocking the route so as to ensure the safety of a train.

The area controller is mainly responsible for calculating and generating Movement Authority (MA) for the trains in the control range according to the position information reported by the communication trains and the track occupation/idle information provided by the access and trackside equipment arranged in the interlocking system, and ensuring the safe operation of the communication trains in the control area. Under the condition that a plurality of trains exist on the line at the same time, the trains need to be separated, each section of area belonging to each train is a block, the block of each train dynamically changes along with the movement of the train, and the block form is called as 'moving block'.

In a conventional train control method, when a movement authorization range of a running train is only affected by a 'movement block' of a front train, a zone controller needs to acquire position information of the front train according to a VOBC of the front train, and a ZC calculates the movement authorization range of a rear train according to the position of the front train and sends the movement authorization range to the VOBC of the rear train, so that the movement authorization received by the rear train has a certain hysteresis.

In view of the above, the present embodiment provides a method, a system and a storage medium for train control, which aim to reduce the actual running interval between two trains in a train tracking mode to improve the running efficiency of a track line.

As shown in fig. 1, a train 11 and a preceding train 12 run on a track at the same time, and a traffic signal 14 and a switch 15 and a zone controller 13 are provided beside the track. The local train 11 and the preceding train 12 periodically report the positions thereof to the zone controller 13, and the zone controller 13 periodically transmits message information including the movement authorization to the local train 11 and the preceding train 12 according to the interlock information and the train position. As shown in fig. 1, the range of the movement authorization generated by the third train 16, which is issued by the zone controller to the train 11 on the basis of the front train 12, is MA1, and the range of the movement authorization generated by the zone controller to the train 12 on the basis of the front train 12 is MA 2. When the train 11 tracks the train 12 ahead, the zone controller 13 further sends the state information of the trackside elements to the train 11 in a message form, where the state information of the trackside elements includes turnout states, temporary speed limit information, platform door states, signal machine states, and the like, and the temporary speed limit information is a speed limit command dynamically sent by the train control center according to operation needs. The range OE of the status information of the wayside element may include the distance D from the train 11 to the front train 12 in front of the movement authorization guard point. At this time, the range OE of the state information of the trackside element received by the train 11 includes the movement authorized range MA1 of the train 11, the range from the guard point of the movement authorized range MA1 of the train 11 to the guard point of the movement authorized range MA2 of the front train 12, and the range of the arrangement distance D before the guard point of the movement authorized range MA2 of the front train 12. The arrangement distance D is a distance set for ensuring safer running of the train.

In view of this, the present embodiment provides a control method, a control system and a storage medium for a train 11 and a zone controller 13, which are intended to reduce an actual operation interval between the train 11 in the tracking mode and a preceding train 12 on the premise of ensuring safe running of the train 11, so as to improve the operation efficiency of the track line.

In a first aspect, the present embodiment provides a train control method, as shown in fig. 2, the train control method includes:

s11, receiving the first movement authorization from the zone controller 13 and the communication address of a front train 12;

s12, establishing communication connection with the front train 12 based on the communication address;

s13, acquiring the operation parameters of the front train 12 based on the communication connection;

s14, controlling the train 11 to travel in a way of keeping a safe distance with the front train 12 based on the operation parameters of the front train 12, and allowing the train 11 to travel beyond the range of the first movement authorization indication;

s15, while the train 11 is in communication connection with the preceding train 12, if a second movement authorization and a type indication indicating that the second movement authorization is generated based on factors other than the preceding train 12 are received from the zone controller 13, the communication connection with the preceding train 12 is disconnected and the train 11 is controlled to operate within the range of the second movement authorization indication.

For example, referring to fig. 1, when the local train 11 recognizes that the message information sent by the zone controller 13 includes a first moving authorization and a communication address of a train other than the local train 11, the local train 11 may determine that the first moving authorization is generated based on the position of the train 12 ahead and that the communication address is the communication address of the train 12 ahead, and then the train 11 tracks the train 12 ahead. Meanwhile, in another alternative embodiment, in step S11, a type indication indicating that the first movement authorization is generated based on the front train (12) may be simultaneously received from the zone controller 13, and after the train (11) checks the type indication, step S12 is performed.

When the own train 11 establishes a communication connection with the preceding train 12 based on the communication address, the own train 11 can directly send a communication connection request to the preceding train 12 based on the communication address, and the own train 11 can establish a communication connection with the preceding train 12 after the preceding train 12 receives the communication connection request. In addition, the zone controller 13 may also notify the communication address or name of the train 11 to the train 12 ahead in the form of a message, and when the train 12 ahead receives the communication connection request of the train 11 after the check and confirms that the communication address or name of the train 11 notified by the zone controller 13 is consistent with the communication address or name of the train 11, the train 12 ahead allows the train 11 to establish communication connection with the train.

The operating parameters of the train 11 may include current position, travel speed, acceleration, tractive effort, braking effort, and the like. When the train 11 is controlled to travel at a safe distance from the train 12 ahead, the safe distance may be determined based on the positions of the train 12 ahead and the train 11 and the operation parameters. Specifically, the present train 11 can determine its own running speed and acceleration according to the current position, running speed, and acceleration of the preceding train 12, so as to shorten the actual distance from the preceding train 12 and keep the actual distance within the safe distance range. Meanwhile, since the traction and braking force of the train have an influence on the running speed and acceleration of the train, the train 11 can adjust the traction and braking force thereof with reference to the traction and braking force of the train 12 in front. In this way, the purpose of keeping the actual distance between the own train 11 and the preceding train 12 within the safe distance range by controlling the operation parameters of the own train 11 can be achieved more easily.

Although the present embodiment is described in the order of step S11 to step S15, in an actual application scenario, the train may first execute step S15, in which case, of course, since the train 11 has not previously established a connection with the train 12 ahead, the step of disconnecting the communication connection with the train 12 ahead is omitted, and then, when the corresponding conditions are satisfied, step S11 to step S14 are executed. The embodiment thus modified does not change the basic concept of the present embodiment and thus falls within the scope of the present invention.

The above steps S11 to S14 are further illustrated in conjunction with fig. 3, and this process can be implemented by the following steps:

s21, after receiving the location information of the train 11, the area controller 13 periodically sends message information containing mobile authorization and trackside element information within the mobile authorization range to the train 11;

s22, after receiving the position information of the front train 12, the zone controller 13 periodically sends message information containing the movement authorization to the front train 12;

s23, the zone controller 13 calculates that the front train 12 is the only obstacle in front of the train 11;

s24, the zone controller 13 sends information such as the movement authorization generated based on the front train 12, the type of the movement authorization is train tracking, the communication address of the front train and the like to the train 11 in the form of messages;

s25, the train 11 transmits a communication connection request to the front train 12;

s26, the front train 12 sending authorization information agreeing to establish communication connection to the train 12, so that communication connection is established between the train 11 and the front train 12;

s27, the train 11 sends information to the area controller 13 that it is ready to enter the train tracking mode;

s28, the front train 12 periodically sends the operation parameter information to the train 11;

s29, the zone controller 13 records that the train 11 tracks the running of the front train 12;

s30, the zone controller 13 periodically sends a message including the movement authorization, the trackside element information between the train 11 and the configuration distance D in front of the movement authorization guard point of the train 12 ahead, and the like to the train 11;

s31, the train 11 enters a train tracking mode;

and S32, the train 11 judges the running trend of the front train 12 based on the running parameters sent by the front train 12 and the trackside element information sent by the area controller 13, and controls the train 11 to move in a way of keeping a safe distance from the front train 12, and the speed protection is not carried out by using movement authorization in the process.

Thus, compared with the mode that the zone controller 13 receives the position information of the front train 12 first and then sends the movement authorization generated based on the position information of the front train 12 to the train 11, when the train 11 controls the train to move in a way of keeping a safe distance with the front train 12 based on the operation parameters of the front train 12, the hysteresis of the movement authorization is overcome, and meanwhile, the limitation of the range indicated by the first movement authorization can be avoided, so that even if the actual distance between the train 11 and the front train 12 is kept in the safe distance range, the actual distance cannot be too large, and the operation efficiency of the track line is improved.

In the case where the second movement authorization is generated based on factors other than the preceding train 12 in the present embodiment, the factors may be the switch 15 on the preceding route, the end point of the route of the train 11, the track in the failure state, the signal 14 in the failure state, and the like. When the train 11 receives an indication that the second movement authorization is generated based on factors other than the train 12 ahead, indicating that the train 11 is no longer in the train tracking mode, the train 11 needs to operate within the range allowed by the second movement authorization. Therefore, the train 11 can control the train 11 according to the operation parameters of the front train 12 in the train tracking mode to reduce the actual distance between the train 11 and the front train 12, and the train 11 can still keep in the safe distance range with the front train 12 according to the second movement authorization after exiting the train tracking mode. In this manner, it is also advantageous for the train 11 to determine whether it can travel according to the operating parameters of the preceding train 12 to improve the efficiency of track operation and whether it must travel within the range of the second movement authorization indication to ensure safe travel.

In a preferred implementation of the control method provided in the above embodiment, during the period when the train 11 maintains the communication connection with the front train 12, that is, during the control of the train according to step S14, the method further includes: receiving state information of trackside elements from the zone controller 13; wherein the state information of the trackside elements at least includes state information of trackside elements related to the movement authorization of the train 11 and the movement authorization of the front train 12; and controlling the train 11 to travel in a manner of keeping a safe distance from the train 12 in front according to prompt information indicating that the train 12 in front decelerates or stops of the state information of the trackside elements.

For example, when the train 11 tracks the train 12 ahead, the actual distance between the train 11 and the train 12 ahead can be optimized by controlling the train 11 to travel according to the operation parameters of the train 12 ahead. Meanwhile, during the actual operation of the train 11, the operation state of the train 11 is also affected by the state information of the trackside elements and the like. The state information of the trackside elements comprises turnout 15 states, temporary speed limit information, platform door states, signal machine 14 states and the like, wherein the temporary speed limit information is a speed limit command dynamically sent by a train control center according to operation needs. In one embodiment, the range of state information OE for the wayside element may include the state information for the wayside element between the train 11 and the front train 12 at the configured distance D in front of the movement authority guard point. The movement authorization protection point is a movement authorization end point, the configuration distance is a certain distance from the movement authorization end point of the front train 12 to the front, and the configuration distance may be a fixed value or a value dynamically determined according to the operation parameters of the front train 12.

Since the zone controller 13 knows the position of the train 12 ahead to generate the movement authorization with a certain hysteresis, before the zone controller 13 generates the movement authorization according to the state information of the trackside element, the zone controller 13 may first send the state information of the trackside element to the train 11, and the train 11 may perform real-time judgment according to the state information of the trackside element to control the running state of the train 11 more safely and reliably. In an exemplary scenario, the zone controller 13 gives the movement authorization based on the state of a certain trackside element, but since the movement authorization has hysteresis, at which time the train 11 may have passed the trackside element, the running state of the train 11 is not actually affected by the trackside element. It can be seen that the operating state of the train 11 can be determined more accurately and reliably in conjunction with the state information of the trackside elements. Meanwhile, in this embodiment, the train 11 can also know the state information of the trackside element related to the movement authorization of the train 12 in front, and when the train 12 in front needs to decelerate or stop, the train 11 can take measures in advance, so that the train 11 runs more safely.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the control method further includes: while the train 11 is in communication with the preceding train 12, that is, while the train is being controlled in accordance with step S14, if the operation parameters of the preceding train 12 are not received within the preset time, the communication with the preceding train 12 is disconnected and the train 11 is operated within the range of the latest movement authorization transmitted from the zone controller 13. In this embodiment, when the train 11 does not receive the operation parameters transmitted by the train 12 ahead within the preset time, the safe running of the train 11 can still be ensured.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: while the train 11 is in communication with the preceding train 12, that is, while the train is controlled in step S14, if the train 11 adjusts the travel direction or route, the communication with the preceding train 12 is disconnected and the train 11 is operated within the range of the latest movement authorization transmitted from the zone controller 13. In this embodiment, since the train 11 actively changes its running direction or route, the train 11 no longer tracks the running of the train 12 ahead, and there is no need to receive the running parameter information of the train 12 ahead, and it is also necessary to run according to the latest movement authorization to ensure the safe running of the train 11.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: after the communication connection between the train 11 and the preceding train 12 is established, that is, during the control of the train in accordance with step S14, if the communication connection between the train 11 and the preceding train 12 is unexpectedly interrupted, the train 11 is controlled to operate within the range of the latest movement authorization transmitted from the zone controller 13. In this embodiment, when the communication connection between the train 11 and the preceding train 12 is unexpectedly interrupted, the safe travel of the train 11 can be ensured even when the train travels in accordance with the latest movement authorization.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: continuously receiving the third moving authorization from the zone controller 13 and indicating that the third moving authorization is the type indication generated based on the front train 12 during the time when the train 11 maintains the communication connection with the front train 12, i.e., during the train control according to step S14; based on the operating parameters of the preceding train 12, the train 11 is controlled to travel at a safe distance from the preceding train 12, and the train 11 is allowed to travel beyond the range of the third movement authorization instruction. As can be seen from this embodiment, after the train 11 establishes a communication connection with the train 12 ahead thereof, the communication between the train 11 and the train 12 ahead does not need the communication address of the train 12 ahead, and it is only necessary for the zone controller 13 to inform it that the third moving authorization is generated based on the train 12 ahead. Thus, the information amount of the message sent by the zone controller 13 is reduced, and the message information sending efficiency is improved.

In a preferred implementation of the control method provided in the above embodiment, the zone controller 13 may also continuously send the communication address of the train 12 ahead to the train 11, during which the train ahead of the train 11 may change, and at this time, the train 11 may determine whether the received communication address of the train 12 ahead is the same as the communication address of the train 12 ahead of the train 11 currently maintaining communication connection; if the communication addresses are the same, the current communication connection is maintained, and if the communication addresses are different, the current communication connection with the train 12 ahead is disconnected, and a communication connection with another train ahead is established based on the received new communication address. In other words, when the train 11 receives a new movement authorization from the zone controller 13 and a communication address of another train different from the communication address of the train 12 before the train 11 and the train 12 are in communication connection; the communication connection with the preceding train 12 is disconnected and a communication connection with the corresponding train is established based on the communication addresses of the other trains.

In this embodiment, although the train is still in the train tracking mode, the train in front is changed, and after the train establishes a communication connection with another train in front, the operation state of the train can be controlled according to the operation parameters of the another train in front so that the train and the another train in front are kept within the safe distance range, and the step S14 is substantially executed, so that the actual distance is not too large, and the operation efficiency of the track line is improved. Meanwhile, when the new movement authorization is generated based on other trains in front, the train can timely disconnect the communication connection with the old train in front and establish the communication connection with the new train in front so as to ensure the safe running of the train.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: acquiring a timestamp carried by the train 12 in front when the train transmits the operation parameters; the step of controlling the train 11 to travel at a safe distance from the front train 12 further comprises: the operation parameter received from the preceding train 12 is corrected based on the time stamp, and the train 11 is controlled to travel at a safe distance from the preceding train 12 based on the corrected operation parameter of the preceding train 12. For example, in order to better keep the actual distance between the train 11 and the train 12 in the safe distance range when the train 11 receives the operation parameter information transmitted by the train 12 ahead, the current position of the train 12 ahead may be corrected according to the time stamp and the time when the train 11 receives the operation parameter information of the train 12 ahead, in combination with the traveling speed and the acceleration of the train 12 ahead, so that the actual distance between the train 11 and the train 12 ahead can be more accurately determined, which is advantageous for better controlling the operation parameters of the train 11 to keep the actual distance between the train 11 and the train 12 ahead in the safe distance range.

In a preferred implementation of the control method provided in the above embodiment, during the period when the train 11 maintains the communication connection with the front train 12, that is, during the control of the train according to step S14, the method further includes: upon receiving the information indicating the emergency braking of the preceding train 12 transmitted from the zone controller 13, the train 11 is also controlled to travel at a safe distance from the preceding train 12. In this embodiment, the train 11 can know the message of emergency braking of the front train 12 in advance and prepare for deceleration in advance, so as to improve the safety and stability of the train 11.

Referring to fig. 4, a control procedure of the present train 11 in the case of emergency braking of the front train 12 in the above embodiment is exemplarily described, and the procedure may include the following steps:

s41, the zone controller 13 determines that an emergency situation occurs in front of the track where the front train 12 travels and that an emergency braking command needs to be sent to the front train 13;

s42, the area controller 13 monitors that the train 11 tracks the front train 12 to run;

s43, the area controller 13 sends an emergency braking command to the front train 12;

s44, the zone controller 13 sends information indicating emergency braking of the preceding train 12 to the train 11;

s45, controlling the train 11 in advance in response to the emergency braking of the preceding train 12;

s46, emergency braking of the lead train 12.

Although the detailed steps of the method of the present embodiment are described in detail above, those skilled in the art can combine, split and exchange the order of the above steps without departing from the basic principle of the present embodiment, and the modified embodiment does not change the basic concept of the present embodiment, and therefore, the present invention also falls within the protection scope of the present invention.

It should be noted that the control system of the train described in the second aspect below corresponds to the control method of the train in the foregoing embodiment, and the system in the following embodiment may be understood by referring to the embodiment of the foregoing method, and the same contents will not be described again.

In a second aspect, in the control system of the train 11 provided in the present embodiment, as shown in fig. 5, the control system includes: a receiving module 21, a connection establishing module 22, an obtaining module 23, a control module 24 and a disconnection module 25. The receiving module 21 is configured to receive a first movement authorization from the zone controller 13 and a communication address of a preceding train 12; the establishing connection module 22 is used for establishing communication connection with the front train 12 based on the communication address; the obtaining module 23 is configured to obtain an operation parameter of the train 12 ahead based on the communication connection; the control module 24 is used for controlling the train 11 to travel in a way of keeping a safe distance with the front train 12 based on the operation parameters of the front train 12 and allowing the train 11 to travel beyond the range of the first movement authorization indication; the disconnection module 25 is configured to disconnect the communication connection with the preceding train 12 if the reception module 21 receives the second moving authorization and the type indication indicating that the second moving authorization is generated based on the factor other than the preceding train 12 from the zone controller 13 while the train 11 maintains the communication connection with the preceding train 12, and the control module 24 is further configured to control the train 11 to operate within the range of the second moving authorization indication.

In the present embodiment, the receiving module 21 may be configured to execute the step S11 in the above method embodiment, the connection establishing module 22 may be configured to execute the step S12 in the above method embodiment, the obtaining module 23 may be configured to execute the step S13 in the above method embodiment, the control module 24 may be configured to execute the step S14 in the above method embodiment, and the disconnection module 25 may be configured to execute the step S15 in the above method embodiment.

In a preferred implementation of the control system provided in the above embodiment, the receiving module 21 is further configured to receive status information of the trackside element from the zone controller 13 while the train 11 is in communication with the front train 12; wherein the state information of the trackside elements at least includes state information of trackside elements related to the movement authorization of the train 11 and the movement authorization of the front train 12; the control module 24 is also used for controlling the train 11 to travel in a way of keeping a safe distance with the front train 12 according to the prompt message of the state information of the trackside element indicating that the front train 12 decelerates or stops.

In a preferred implementation manner of the control system provided in the above embodiment, during the communication connection between the train 11 and the train 12 ahead, if the receiving module 21 does not receive the operation parameters of the train 12 ahead within the preset time, the disconnecting module 25 is further configured to disconnect the communication connection with the train 12 ahead, and the control module 24 is further configured to control the train 11 to operate within the range of the latest movement authorization sent by the zone controller 13.

In a preferred embodiment of the control system provided in the above embodiment, when the train 11 adjusts the operation direction or route while the train 11 maintains the communication connection with the train 12 ahead, the disconnection module 25 is further configured to disconnect the communication connection with the train 12 ahead, and the control module 24 is further configured to control the train 11 to operate within the range of the latest movement authorization sent by the zone controller 13.

In a preferred implementation of the control system provided in the above embodiment, when the receiving module 21 receives a new movement authorization from the zone controller 13 and a communication address of another train different from the communication address of the train 12 before the train 11 and the train 12 before the train are in communication connection; the disconnection module 25 is also used to disconnect the communication connection with the train 12 ahead and the establishment connection module 22 is also used to establish a communication connection with the corresponding train based on the communication addresses of the other trains.

In a preferred implementation manner of the control system provided in the above embodiment, after the communication connection between the train 11 and the train 12 in front is established, if the communication connection between the train 11 and the train 12 in front is unexpectedly interrupted, the control module 24 is further configured to control the train 11 to operate within the range of the latest movement authorization sent by the zone controller 13.

In a preferred implementation of the control system provided in the above embodiment, the receiving module 21 is further configured to continuously receive the third moving authorization from the zone controller 13 and indicate that the third moving authorization is a type indication generated based on the train 12 ahead while the train 11 maintains the communication connection with the train 12 ahead; the control module 24 is also configured to control travel of the train 11 at a safe distance from the lead train 12 based on the operating parameters of the lead train 12 and allow the train 11 to travel beyond the range of the third movement authorization indication.

In a preferred implementation manner of the control system provided in the foregoing embodiment, the obtaining module 23 is further configured to obtain a timestamp carried by the train 12 in front when sending the operation parameter thereof; and further comprises a correction module 26 for correcting the operation parameters received from the train 12 ahead based on the time stamp, so that the control module 24 controls the train 11 to travel at a safe distance from the train 12 ahead based on the corrected operation parameters of the train 12 ahead.

In a third aspect, in an embodiment of the control method of the zone controller 13 provided by the present invention, the control method includes: after generating a first movement authorization of the train 11 based on the front train 12, sending the first movement authorization and the communication address of the front train 12 to the train 11 so that the train 11 can establish communication connection with the front train 12 based on the communication address; after the second movement authorization generated based on other factors than the preceding train 12, the second movement authorization and the type indication information indicating that the second movement authorization is generated based on other factors are transmitted to the train 11.

In this embodiment, even when the zone controller 13 generates the first movement authorization based on the front train 12, it can determine that the own train 11 is following the front train 12 and is traveling, and at this time, the communication address of the front train 12 can be transmitted to the own train 11, so that the own train 11 can establish a communication connection with the front train 12, acquire the operation parameters of the front train 12 based on the communication connection, and further control the own train 11 according to the operation parameters of the front train 12, thereby improving the operation safety and the operation efficiency of the own train 11. Meanwhile, when the train 11 is not in the tracking mode, the zone controller 13 also notifies the train 11 of type indication information that the second movement authorization is generated based on other factors, and the train 11 can travel only within the range indicated by the second movement authorization. In this manner, it is also advantageous for the train 11 to determine whether it can travel according to the operating parameters of the preceding train 12 to improve the efficiency of track operation and whether it must travel within the range of the second movement authorization indication to ensure safe travel.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the method further includes: after the first movement authorization generated based on the position of the preceding train 12 and the communication address of the preceding train 12 are transmitted to the train 11, the third movement authorization generated based on the preceding train 12 and the type indication information indicating that the third movement authorization is generated based on the preceding train 12 are continuously transmitted to the train 11.

In this embodiment, after the train 11 establishes the communication connection with the train 12 ahead of the train 11, the communication address of the train 12 ahead is not needed in the communication process between the train 11 and the train 12 ahead, and it is only necessary for the zone controller 13 to inform that the third moving authorization is generated based on the train 12 ahead. Thus, the information amount of the message sent by the zone controller 13 is reduced, and the message information sending efficiency is improved.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the control method further includes: when a third mobile authorization is sent to the train 11 and the type indication information generated based on the front train 12 indicates the third mobile authorization, the state information of the trackside element is also sent to the train 11; wherein the state information of the trackside elements includes at least state information of trackside elements related to the movement authority of the train 11 and the movement authority of the preceding train 12.

In a preferred implementation manner of the control method provided in the foregoing embodiment, the control method further includes: when the third moving authorization is transmitted to the train 11 and the type indication information indicating that the third moving authorization is generated based on the train 12 ahead, information indicating emergency braking of the train 12 ahead is also transmitted to the train 11 and the train 12 ahead.

In this embodiment, since the zone controller 13 knows the position of the train 12 ahead to generate the movement authorization with a certain hysteresis, before the zone controller 13 generates the movement authorization according to the state information of the trackside element, the zone controller 13 may first send the state information of the trackside element to the train 11, so that the train 11 can perform real-time judgment according to the state information of the trackside element and ensure safe and efficient operation. Meanwhile, in this embodiment, the state information of the trackside element related to the movement authorization of the front train 12 is sent to the train 11, so that the train 11 can take measures in advance when the front train 12 needs to decelerate or stop, and the train 11 can run more safely. In addition, by transmitting the information indicating the emergency braking of the train 12 ahead to the train 12 ahead and the train 11, the train 11 can be prepared for deceleration in advance, and the safety and stability of the train 11 can be improved.

In a fourth aspect, in an embodiment of a computer-readable storage medium provided by the present invention, the storage medium has stored thereon computer instructions, which, when executed by a processor, cause the processor to execute the control method of any one of the embodiments in the first aspect.

In this case, the computer instructions read from the storage medium may themselves implement the functions of any of the above-described embodiments, and thus the computer instructions and the storage medium storing the computer instructions form part of the present invention. Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the computer instructions may be downloaded from a server computer over a communications network.

Further, it should be clear that the functions of any of the above embodiments can be realized not only by executing computer instructions read out by a computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations by the computer instructions.

Further, it is to be understood that the functions of any of the above-described embodiments are realized by writing computer instructions read out from a storage medium to a memory provided in an expansion board inserted into a computer or to a memory provided in an expansion unit connected to the computer, and then causing a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on the instructions of the computer instructions.

It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together.

In the above embodiments, the hardware unit may be implemented mechanically or electrically. For example, a hardware unit may include permanently dedicated circuitry or logic (e.g., a dedicated processor, FPGA or AIC) to perform the corresponding operations. The hardware elements may also comprise programmable logic or circuitry, such as a general purpose processor or other programmable processor, that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.

The invention relates to the technical field of rail transit, in particular to a control method, a control system and a storage medium for a train and a zone controller. The method comprises the following steps: after receiving a first movement authorization and a communication address of a front train 12 from a zone controller 13, establishing communication connection with the front train 12 and acquiring operation parameters of the front train 12 so as to control the train 11 to move in a manner of keeping a safe distance from the front train 12; when a second movement authorization and a type indication indicating that the second movement authorization is generated based on factors other than the preceding train 12 are received from the zone controller 13, the train 11 is controlled to operate within the range of the second movement authorization indication. Therefore, the track operation efficiency is improved on the premise of ensuring the safe running of the train 11.

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, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A method of controlling a train, comprising:

receiving (S11) a first movement authorization from the zone controller (13) and a communication address of a lead train (12);

establishing (S12) a communication connection with the lead train (12) based on the communication address, and acquiring (S13) operating parameters of the lead train (12) based on the communication connection;

controlling (S14) the train (11) to travel at a safe distance from the lead train (12) and to allow the train to travel beyond the first movement authorization indication based on the operating parameters of the lead train (12);

if a second movement authorization and an indication of a type indicating that the second movement authorization is generated based on factors other than the train (12) ahead are received from the zone controller (13) while the train (11) maintains the communication connection with the train (12) ahead, the communication connection with the train (12) ahead is disconnected (S15), and the train (11) is controlled to operate within the range of the second movement authorization indication.

2. The control method according to claim 1, characterized by further comprising, while the train (11) is in communication connection with the lead train (12):

receiving state information of trackside elements from the zone controller (13); wherein the state information of the trackside elements comprises at least state information of trackside elements related to a movement authorization of the train (11) and a movement authorization of the lead train (12);

and controlling the train (11) to travel in a manner of keeping a safe distance with the train (12) in front according to prompt information indicating that the train (12) in front decelerates or stops of the state information of the trackside elements.

3. The control method according to claim 1, characterized by further comprising:

if the running parameters of the front train (12) are not received within a preset time while the train (11) is in communication connection with the front train (12), the communication connection with the front train (12) is disconnected, and the train (11) is operated within the range of the latest movement authorization sent by the zone controller (13); alternatively, the first and second electrodes may be,

when the train (11) adjusts the running direction or line while the train (11) is in communication connection with the front train (12), the communication connection with the front train (12) is disconnected, and the train (11) is operated within the range of the latest movement authorization sent by the zone controller (13); alternatively, the first and second electrodes may be,

if the train (11) receives a new movement authorization from a zone controller (13) and the communication address of other trains different from the communication address of the front train (12) during the communication connection between the train (11) and the front train (12); disconnecting the communication connection with the front train (12) and establishing the communication connection with the corresponding train based on the communication addresses of the other trains; alternatively, the first and second electrodes may be,

after the communication connection between the train (11) and the front train (12) is established, if the communication connection between the train (11) and the front train (12) is interrupted unexpectedly, the train (11) is controlled to operate within the range of the latest movement authorization sent by the zone controller (13).

4. The control method according to claim 1, characterized by further comprising:

continuously receiving a third movement authorization from the zone controller (13) during the time that the train (11) maintains the communication connection with the lead train (12), and indicating that the third movement authorization is a type indication generated based on the lead train (12);

controlling (11) the train to travel at a safe distance from the lead train (12) based on the operational parameters of the lead train and allowing the train to travel beyond the range of the third movement authorization indication.

5. The control method according to claim 1, characterized by further comprising:

acquiring a timestamp carried by the train (12) in front when the train sends the running parameters; and is

The step of controlling the train (11) to travel at a safe distance from the lead train (12) further comprises: and correcting the operation parameters received from the front train (12) based on the time stamp, and controlling the train (11) to travel in a manner of keeping a safe distance from the front train (12) based on the corrected operation parameters of the front train (12).

6. The control method according to claim 1, characterized by further comprising, while the train (11) is in communication connection with the lead train (12):

when receiving the information which is sent by the zone controller (13) and used for indicating the emergency braking of the front train (12), the train (11) is also controlled to travel in a mode of keeping a safe distance with the front train (12).

7. A control system for a train, comprising:

-a receiving module (21) for receiving a first movement authorization from the zone controller (13) and a communication address of a preceding train (12);

a connection establishing module (22) for establishing a communication connection with the lead train (12) based on the communication address;

an acquisition module (23) for acquiring operating parameters of the lead train (12) based on the communication connection;

a control module (24) for controlling the train (11) to travel at a safe distance from the lead train (12) and allowing the train to travel beyond the first movement authorization indication based on an operating parameter of the lead train (12);

a disconnection module (25) for disconnecting the communication connection with the train ahead (12) if the reception module (21) receives a second movement authorization from the zone controller (13) and a type indication indicating that the second movement authorization is generated based on factors other than the train ahead (12) during the communication connection between the train (11) and the train ahead (12), and the control module (24) is further configured to control the train (11) to operate within the range of the second movement authorization indication.

8. Control system according to claim 7, characterized in that during the communication connection of the train (11) with the train (12) ahead,

the receiving module (21) is also used for receiving the state information of trackside elements from the regional controller (13); wherein the state information of the trackside elements comprises at least state information of trackside elements related to a movement authorization of the train (11) and a movement authorization of the lead train (12);

the control module (24) is also used for controlling the train (11) to travel in a mode of keeping a safe distance with the train (12) in front according to prompt information indicating that the train (12) in front decelerates or stops according to the state information of the trackside elements.

9. The control system of claim 7,

during the communication connection between the train (11) and the front train (12), if the receiving module (21) does not receive the operation parameters of the front train (12) within a preset time, the disconnection module (25) is further used for disconnecting the communication connection with the front train (12), and the control module (24) is further used for controlling the train (11) to operate within the range of the latest movement authorization sent by the zone controller (13); alternatively, the first and second electrodes may be,

the disconnection module (25) is also used for disconnecting the communication connection with the front train (12) if the train (11) adjusts the running direction or line during the communication connection between the train (11) and the front train (12), and the control module (24) is also used for controlling the train (11) to run within the range of the latest movement authorization sent by the zone controller (13); alternatively, the first and second electrodes may be,

if the receiving module (21) receives a new movement authorization from a zone controller (13) and the communication address of other trains different from the communication address of the front train (12) during the communication connection between the train (11) and the front train (12); the disconnection module (25) is further configured to disconnect the communication connection with the train ahead (12), and the connection establishing module (22) is further configured to establish a communication connection with the corresponding train based on the communication addresses of the other trains; alternatively, the first and second electrodes may be,

after the communication connection between the train (11) and the train (12) in front is established, if the communication connection between the train (11) and the train (12) in front is interrupted unexpectedly, the control module (24) is further configured to control the train (11) to operate within the range of the latest movement authorization sent by the zone controller (13).

10. The control system of claim 7,

the receiving module (21) is further used for continuously receiving a third movement authorization from the zone controller (13) during the communication connection between the train (11) and the front train (12), and indicating that the third movement authorization is a type indication generated based on the front train (12);

the control module (24) is further configured to control the train (11) to travel at a safe distance from the lead train (12) based on the operating parameters of the lead train and to allow the train to travel beyond the range of the third movement authorization indication.

11. The control system of claim 7, further comprising:

the acquisition module (23) is further used for acquiring a timestamp carried by the train (12) in front when the train sends the operation parameters; and is

And the correction module (26) is used for correcting the operation parameters received from the front train (12) based on the time stamp so that the control module (24) controls the train (11) to travel in a manner of keeping a safe distance with the front train (12) based on the corrected operation parameters of the front train (12).

12. A control method of a zone controller, comprising:

after generating a first movement authorization of a train (11) based on a front train (12), sending the first movement authorization and a communication address of the front train (12) to the train (11) so that the train (11) can establish communication connection with the front train (12) based on the communication address;

after a second movement authorization generated based on factors other than the train (12) ahead, the second movement authorization and type indication information indicating that the second movement authorization is generated based on other factors are transmitted to the train (11).

13. The control method according to claim 12, characterized by further comprising:

after transmitting to the train (11) a first movement authorization generated based on the position of the train ahead (12) and the communication address of the train ahead (12), continuing to transmit to the train (11) a third movement authorization generated based on the train ahead (12) and type indication information indicating that the third movement authorization is generated based on the train ahead (12).

14. The control method according to claim 12, characterized by further comprising: when a third movement authorization is transmitted to the train (11) and type indication information indicating that the third movement authorization is generated based on the front train (12),

-also sending status information of trackside elements to the train (11); wherein the state information of the trackside elements comprises at least state information of trackside elements related to a movement authorization of the train (11) and a movement authorization of the lead train (12); alternatively, the first and second electrodes may be,

information indicating emergency braking of the train (12) ahead is also sent to the train (12) ahead and to the train (11).

15. A computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the control method of any one of claims 1 to 6.