CN115042838B - Train potential tracking early warning method based on train-to-vehicle communication system - Google Patents
Train potential tracking early warning method based on train-to-vehicle communication system Download PDFInfo
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- CN115042838B CN115042838B CN202210964387.7A CN202210964387A CN115042838B CN 115042838 B CN115042838 B CN 115042838B CN 202210964387 A CN202210964387 A CN 202210964387A CN 115042838 B CN115042838 B CN 115042838B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/34—Control, warnings or like safety means indicating the distance between vehicles or vehicle trains by the transmission of signals therebetween
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/10—Operations, e.g. scheduling or time tables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or vehicle train, e.g. braking curve calculation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/40—Handling position reports or trackside vehicle data
Abstract
The invention discloses a train latent tracking early warning method based on a vehicle-vehicle communication system, which mainly solves the problem that a train running on the front line cannot predict a contact line in a front section or the condition of the train on a line in a station inner side through a train latent tracking early warning technology based on the vehicle-vehicle communication so as to avoid the driving safety problem caused by the failure of the safety guarantee of a computer interlocking system. The train tracking system acquires and receives train position information reported by each train through a train-to-train communication network, acquires the track occupation information condition of the trains on a front contact line or a station track through a train centralized control system, integrates the two train position information for checking, judges potential train tracking of each train based on the checked train position information, monitors the train in real time, and simultaneously carries out early warning prompt through an operation terminal at the end of a driver.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a train potential tracking early warning method based on a train-vehicle communication system.
Background
The railway in China has the characteristic of high concentration, all working links need to be closely connected and cooperatively matched, and the operation scene is very complex, so that multiple safety guarantee means are needed to prevent train operation accidents. At present, in the railway operation process, a station computer interlocking system can ensure the safety of station access and fighting of trains. However, the systems have certain fault probability, and meanwhile, manual misoperation can also occur, so that the computer interlocking system also has the condition of failure of safety guarantee, and the occurrence of train collision accidents can be caused.
The potential follow-up train means that, with respect to a current train approaching a station on the way, there are other trains on the inter-zone contact line or the intra-station side line thereof, and these other trains are potential follow-up trains of the current train. However, when the safety guarantee of the computer interlock system fails, the system cannot determine the driving plan of the train, so that the situations of the train such as the train switching operation and the lateral line receiving and dispatching which may occur in the future cannot be predicted, and the tracking relationship with the train on the front connecting line and the lateral line cannot be determined, thereby affecting the driving safety.
At present, researchers put forward a train approaching early warning system which is used as an independent system for ensuring driving safety when a train operation control system fails. For example, an article "research on vehicle-mounted equipment for a high-speed railway train tracking proximity warning system", spammer, published in the university of transportation in beijing, 7 months in 2013; an article "research on high speed train tracking approach early warning system", written in the university of Beijing transportation in 3 months in 2013, su Yi, author. However, the schemes of the two articles mainly determine whether the early warning information is generated by calculating the dynamic distance between the front train and the rear train, so that the potential tracking train cannot be found out, and the early warning of the potential tracking train cannot be realized naturally.
Therefore, a scheme capable of realizing the potential tracking early warning of the train is needed to be researched to ensure the driving safety.
Disclosure of Invention
The invention aims to provide a train latent tracking early warning method based on a train-to-vehicle communication system, which can predict the contact line in the front section or the train condition on the train line inside a station through a train-to-vehicle communication network, perform tracking early warning and guarantee driving safety.
The purpose of the invention is realized by the following technical scheme:
a train potential tracking early warning method based on a train-vehicle communication system comprises the following steps:
constructing a car-to-car communication system, the car-to-car communication system comprising: the system comprises a vehicle-to-vehicle communication server, an electronic map server and vehicle-mounted early warning processing equipment on a train; constructing a vehicle-vehicle communication network through the vehicle-vehicle communication server to realize data interaction among the vehicle-vehicle communication server, the electronic map server and the vehicle-mounted early warning processing equipment;
the train running position information is calculated in real time by combining a vehicle-mounted early warning processing device with a track electronic map provided by an electronic map server in a multi-source fusion positioning mode, and is reported to the vehicle-to-vehicle communication server in real time;
when the train runs on the main line and the distance between the train and the station in front is smaller than a set value, the vehicle-mounted early warning processing equipment receives the running position information of other trains from the vehicle-to-vehicle communication server, takes other trains positioned on the contact line in the front section or the inner side line of the station as potential tracking trains, and sends out potential tracking early warning prompts.
According to the technical scheme provided by the invention, the train information of the potential tracking train is provided based on the train-to-train communication system, the trains in the sections and stations can determine the self running positions through the train-to-train communication system and send the self running positions to the trains which are possibly in tracking relation with the trains on the main line, and the trains running on the main line can judge whether other trains are potential tracking trains or not according to the positions of other trains and send potential tracking early warning prompts, so that the running safety is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a train potential tracking early warning method based on a vehicle-to-vehicle communication system according to an embodiment of the present invention;
fig. 2 is a flowchart of a train potential tracking early warning method based on a vehicle-to-vehicle communication system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a potential tracked train provided by an embodiment of the present invention;
fig. 4 is a flowchart of generating a potential tracking list according to the location of other trains by the current train according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The terms that may be used herein are first described as follows:
the terms "comprising," "including," "containing," "having," or other similar terms of meaning should be construed as non-exclusive inclusions. For example: including a feature (e.g., material, component, ingredient, carrier, formulation, material, dimension, part, component, mechanism, device, process, procedure, method, reaction condition, processing condition, parameter, algorithm, signal, data, product, or article of manufacture), is to be construed as including not only the particular feature explicitly listed but also other features not explicitly listed as such which are known in the art.
The train potential tracking early warning method based on the train-to-vehicle communication system provided by the invention is described in detail below. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art. Those not specifically mentioned in the examples of the present invention were carried out according to the conventional conditions in the art or conditions suggested by the manufacturer. The reagents or instruments used in the examples of the present invention are not specified by manufacturers, and are all conventional products available by commercial purchase.
The embodiment of the invention provides a train latent tracking early warning method based on a train-to-vehicle communication system, which mainly solves the problem that a train running on the front line cannot predict the contact line in the front section or the train condition on the inner side line of a station through a train latent tracking early warning technology based on the train-to-vehicle communication so as to avoid the driving safety problem caused by the failure of the safety guarantee of a computer interlocking system. As shown in fig. 1, a schematic diagram of a train potential tracking and early warning method based on a train-to-vehicle communication system is shown, which shows main components of the train-to-vehicle communication system, and includes: the system comprises a vehicle-to-vehicle communication server, an electronic map server and vehicle-mounted early warning processing equipment.
The respective working contents of the three parts are as follows:
the train-vehicle communication server is used for receiving train running position information reported by the vehicle-mounted early warning processing equipment on each train in the jurisdiction range; and respectively constructing a vehicle-to-vehicle communication network based on the 5G network in a set range by taking the running position information of each train as a center, so that the vehicle-mounted early warning processing equipment can be accessed and train running position information of other trains can be acquired.
And the electronic map server is used for providing a track electronic map downloading service of a train running line for the vehicle-mounted early warning processing equipment.
The vehicle-mounted early warning processing equipment is used for calculating train running position information by combining a track electronic map and using a multi-source fusion positioning mode, and reporting the train running position information calculated in real time to the vehicle-to-vehicle communication server; when the current train to which the vehicle-mounted early warning processing equipment belongs runs on the main line and approaches a front station, receiving train running position information of other trains through a train-vehicle communication network, taking other trains on a contact line of the front section or an inner side line of the station as potential tracking trains, and sending potential tracking early warning prompts.
In the embodiment of the invention, all trains mostly need to report the train running position information calculated in real time to the train-to-train communication server through the vehicle-mounted early warning processing equipment, and the train-to-train communication server constructs a train-to-train communication network in a set range by taking the train position in each train running position information as the center, so that other trains in the set range of each train can be accurately obtained, and further, when the trains run and are on the main track, other trains positioned on a front section contact line or a train inner side line can be screened out; of course, since the position of the train is dynamically changed in the form process, the coverage area of the inter-vehicle communication network corresponding to the train is also dynamically changed.
In the embodiment of the invention, when the distance between the train running on the main track and the front station is less than a set value, the train is close to the front station, and the set value can be 8 kilometers for example; of course, the specific size of the setting value can be adjusted by the user according to the actual situation or experience, and the present invention is not limited specifically.
It should be noted that the number of each part in the system shown in fig. 1 is exemplary and not limiting; in practical application, the data of each part can be set according to actual conditions or needs.
As shown in fig. 2, the main process of the train potential tracking early warning method based on the train-to-vehicle communication system provided by the invention includes:
And 2, calculating the running position information of the train in real time by combining the vehicle-mounted early warning processing equipment with a track electronic map provided by an electronic map server in a multi-source fusion positioning mode, and reporting the running position information to the vehicle-to-vehicle communication server in real time.
And 3, when the train runs on the main track and the distance between the train and the front station is smaller than a set value, receiving the running position information of other trains from the train-to-vehicle communication server through the vehicle-mounted early warning processing equipment, taking other trains positioned on the contact line of the front section or the inner side line of the station as potential tracking trains, and sending out potential tracking early warning prompts.
The train latent tracking early warning method provided by the invention can provide a part of functions similar to computer interlocking of a station through a train-vehicle communication system, but can not replace interlocking, and provides train latent tracking early warning service under the condition that the interlocking fails, thereby ensuring the driving safety.
For ease of understanding, the train potential tracking warning method will be described in detail below with reference to each part of the train-to-vehicle communication system.
1. And a vehicle-to-vehicle communication server.
In the embodiment of the invention, each railway bureau can be used as a node to be respectively provided with a vehicle-to-vehicle communication server, and the vehicle-to-vehicle communication server is accessed into a 5G core network. The train-to-train communication server is used for collecting train position information reported by all trains in the jurisdiction range, and establishing a train-to-train communication network in the set range by taking each train position as a center, the vehicle-to-train early warning processing equipment arranged on each train can be accessed to the train-to-train communication network, and the vehicle-to-train early warning processing equipment accessed to the same train-to-train communication network can acquire the train position information of other trains.
In the embodiment of the invention, the vehicle-vehicle communication server can be accessed to a train centralized control system (CTC system) server to acquire train number tracking information of the train centralized control system; acquiring the number of the train number occupied by the track circuit according to the train number tracking information, matching the train number of the corresponding train with the number of the train number occupied by the track circuit when the train drives into a section connecting line or a station, and acquiring red light band information corresponding to the train number corresponding to the corresponding train as track occupation information; the track occupation information also belongs to train position information, so that the acquired train position information of other trains comprises train position information reported by corresponding trains and track occupation information determined by train number tracking information, and the two types of train position information need to be checked in subsequent judgment.
Based on the above description, for the car-to-car communication server, the train position information will be acquired through two channels: 1) The method includes the steps that train position information reported by each train is received, the train position information mainly comprises a contact line or a kilometer post of a station, a station track number and the like, and certainly train information corresponding to the contact line or the station track number, such as train speed, train number and the like, so that the train which runs on the main line and is close to the contact line or the station track can acquire the condition of the corresponding train, and the condition is prompted to a driver. 2) The CTC system server sends a front contact line or the track occupation information condition of a station to the train-vehicle communication system, and the train running on the main line receives the track occupation information through the train-vehicle communication system. On one hand, checking two types of train position information corresponding to the train entering the section connecting line or the station; on the other hand, track occupation information is also prompted to the driver.
2. An electronic map server.
And the electronic map server is used for providing a track electronic map downloading service of a train running line for the vehicle-mounted early warning processing equipment. The electronic map server stores all the full-track electronic maps of all the high-speed railways on the whole road, and one high-speed railway can be administered by two or more railroads in sections, so that the electronic map server adopts a centralized setting mode and adopts a strategy of remote redundant backup, and 1 set of electronic map server is respectively arranged at two remote railroads and mutually checked.
3. Vehicle-mounted early warning processing equipment.
The vehicle-mounted early warning processing equipment also belongs to vehicle-mounted equipment and is arranged on a train. The vehicle-mounted early warning processing equipment calculates train operation position information by combining a track electronic map and using a multi-source fusion positioning mode, and specifically combines the track electronic map with the acquired satellite positioning information, passive transponder information and train operation speed information to calculate the train operation position information.
As mentioned above, the vehicle-mounted early warning processing device can be accessed to a vehicle-to-vehicle communication network, so that data interaction with a vehicle-to-vehicle communication server, an electronic map server and other trains in a 5G network is realized. The preferable mode for the vehicle-mounted early warning processing equipment to acquire the satellite positioning information, the passive transponder information and the train running speed information is as follows: (1) acquiring the satellite positioning information comprises: and acquiring the longitude and latitude information of the train by adopting a Beidou satellite positioning or GPS positioning mode. (2) acquiring the passive transponder information comprises: and acquiring passive transponder information from the ground through vehicle-mounted equipment on the train. (3) the step of obtaining the train running speed information comprises the following steps: and obtaining the train running speed information acquired by the sensor by accessing the train network.
When the current train to which the vehicle-mounted early warning processing equipment belongs runs on the main track and the distance between the current train and the front station is smaller than a set value, acquiring train running position information of other trains through a train-vehicle communication network, taking other trains positioned in a front section contact line or on a station inner side line as potential tracking trains, and sending potential tracking early warning prompts. The current train is any train on the route, and the other trains are trains relative to the current train.
As will be understood by those skilled in the art, the forward section refers to an area between a rear station and a forward station (i.e., a section), and the tie line refers to a tie line in the section, and the tie line mainly refers to a tie line at the time of a turn.
Fig. 3 shows a schematic diagram of a potential tracking train, which refers to other trains on the section tie line or the station inner side line in front of the main train, and the other train B is the potential tracking train of the train a with the train a as the current train.
Referring to the previous description, when a current train runs on the main track and approaches a station ahead, a potential tracking train needs to be determined, where two types of train position information of other trains (i.e., train running position information reported by vehicle-mounted early warning processing equipment of other trains and track occupation information of a corresponding train in the train number tracking information) need to be checked, and the checking principle is as follows: the track occupation information of the train obtained according to the train number tracking information of the CTC system has lower precision compared with the train running position information reported by the train, so the track occupation information is mainly used as the supplement of train positioning and is used for verifying the reported train running position information; when the train tracking position information and the train tracking position information are matched, the train operation position information reported by other trains can be used as the train operation position information after checking so as to judge whether the corresponding train is a potential tracking train or not; when the train number tracking information and the train number tracking information are not matched, the train number tracking information of the CTC system is more stable, and therefore the track occupation information of the corresponding train in the train number tracking information is used as the train running position information after the corresponding train is checked.
Fig. 4 shows a flowchart of using other trains located on the front section tie line or the station inner side line as potential tracking trains, and through the flowchart shown in fig. 4, the selected potential tracking trains are placed in a potential tracking list and displayed to drivers through an operation terminal, and the relevant train number, station number, train position information, speed, etc. can be displayed as required. When a train leaves the inter-zone contact line or the station inner side line, the train position information is transmitted to other trains (realized by the train-to-vehicle communication server). Other trains need to inquire whether the train is in the potential tracking list and process after receiving the train (see the subsequent step C). The main flow of fig. 4 includes:
and step A, determining train operation position information of a train i in other trains. The train operation position information described in this step is train position information checked in the manner described above, and the train i here refers to any one of the other trains.
B, judging whether the train i exists in a potential tracking list of the current train to which the vehicle-mounted early warning processing equipment belongs; if yes, turning to step C; if not, the step D is carried out.
Step C, judging whether the train i is currently on a positive line; if yes, deleting the train i from the potential tracking list; if not, selecting another train in other trains as the train i and turning to the step A.
D, judging whether the train i is on the inner side line of the station, and if so, turning to the step E; if not, selecting another train in other trains as the train i and turning to the step A.
E, judging whether the train i runs on the same route as the current train or not; if yes, turning to step F; if not, selecting another train in other trains as the train i and turning to the step A.
Step F, judging whether the train i is positioned at a front station or a front section tie line; if yes, turning to step G; if not, selecting another train in other trains as the train i and turning to the step A. Since the station inner side line where the train i is located, which is determined in step D, may be located in the rear station, it is also necessary to perform screening in this step.
And G, adding the train i into the potential tracking list of the current train, selecting another train in other trains as the train i and turning to the step A.
All trains in other trains are judged through the processes of the steps A to G, a potential tracking list containing a plurality of potential tracking trains is obtained, a potential tracking early warning prompt is sent out, and the prompt mode can output corresponding early warning audio signals besides the display mode introduced in the foregoing.
The scheme provided by the embodiment of the invention can solve the problem of traffic safety caused by the fact that the prior art cannot predict the possible conditions of train line-switching operation, side line receiving and sending and the like in the future and cannot predict the train determination tracking relation on a front connecting line and a side line. In order to guarantee the driving safety, the train position information reported by each train is received through the train-vehicle communication network, the track occupation information condition of the trains on the front contact line or the station inner station track is obtained through the train centralized control system, the two pieces of train position information are integrated to check, each train is judged to track the trains potentially based on the checked train position information, real-time monitoring is carried out, and meanwhile, early warning prompt is carried out through an operation terminal at the driver end.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A train potential tracking early warning method based on a train-to-vehicle communication system is characterized by comprising the following steps:
constructing a car-to-car communication system, the car-to-car communication system comprising: the system comprises a vehicle-to-vehicle communication server, an electronic map server and vehicle-mounted early warning processing equipment on a train; constructing a vehicle-vehicle communication network through the vehicle-vehicle communication server to realize data interaction among the vehicle-vehicle communication server, the electronic map server and the vehicle-mounted early warning processing equipment;
the train running position information is calculated in real time by combining a vehicle-mounted early warning processing device with a track electronic map provided by an electronic map server in a multi-source fusion positioning mode, and is reported to the vehicle-vehicle communication server in real time;
when the train runs on the main line and the distance between the train and the front station is smaller than a set value, receiving train running position information of other trains from the train-to-train communication server through the vehicle-mounted early warning processing equipment, taking other trains on a contact line of a front section or an inner side line of the station as potential tracking trains, and sending potential tracking early warning prompts;
the method further comprises the following steps: the train-vehicle communication server is accessed to a train centralized control system server to acquire train number tracking information of a train centralized control system, acquires a train number occupied by a track circuit according to the train number tracking information, and when a train enters a section connecting line or a station, matches the train number of the corresponding train with the train number occupied by the track circuit to acquire red light band information corresponding to the train number of the corresponding train as track occupation information;
the train-vehicle communication server checks train operation position information reported by a vehicle-mounted early warning processing device on a train running into an inter-zone connecting line or a station and track occupation information of a corresponding train, and when the train operation position information reported by the vehicle-mounted early warning processing device is not matched with the track occupation information of the corresponding train, the track occupation information of the corresponding train is used as the train operation position information after the corresponding train is checked;
the step of receiving train operation position information of other trains from the train-to-train communication server through the vehicle-mounted early warning processing device, and using other trains on the front section contact line or the station inner side line as potential tracking trains comprises the following steps:
step A, determining train operation position information of a train i in other trains, wherein the train operation position information of the train i is train operation position information after checking;
b, judging whether the train i exists in a potential tracking list of the current train to which the vehicle-mounted early warning processing equipment belongs; if yes, turning to step C; if not, switching to the step D;
step C, judging whether the train i is currently on a positive line; if yes, deleting the train i from the potential tracking list; if not, selecting another train in other trains as the train i and turning to the step A;
d, judging whether the train i is on the inner side line of the station, if so, turning to the step E; if not, selecting another train in other trains as a train i and turning to the step A;
e, judging whether the train i runs on the same route as the current train or not; if yes, turning to step F; if not, selecting another train in other trains as a train i and turning to the step A;
step F, judging whether the train i is positioned at a front station or a front section tie line; if yes, turning to step G; if not, selecting another train in other trains as the train i and turning to the step A;
and G, adding the train i into the potential tracking list of the current train, selecting another train in other trains as the train i and turning to the step A.
2. The train latent tracking early warning method based on train-to-vehicle communication system as claimed in claim 1,
the train-to-train communication server is used for receiving train running position information reported by the vehicle-mounted early warning processing equipment on each train in the jurisdiction range; respectively constructing a train-to-train communication network within a set range by taking the running position information of each train as a center, providing access of the on-board early warning processing equipment and acquiring the running position information of other trains;
the electronic map server is used for providing a track electronic map downloading service of a train running line for the vehicle-mounted early warning processing equipment;
the vehicle-mounted early warning processing equipment is used for calculating the train running position information in real time by combining a track electronic map and using a multi-source fusion positioning mode, and reporting the train running position information calculated in real time to the vehicle-to-vehicle communication server; and when the train runs on the main line and the distance between the train and the station in front is less than a set value, receiving train running position information of other trains from the train-to-vehicle communication server through a train-to-vehicle communication network, taking other trains positioned on the contact line in the front section or the inner side line of the station as potential tracking trains, and sending potential tracking early warning prompts.
3. The train potential tracking and early warning method based on the train-to-vehicle communication system as claimed in claim 1, wherein the calculating the train operation position information in real time by using a multi-source fusion positioning mode in combination with a track electronic map provided by an electronic map server comprises: and combining the track electronic map with the acquired satellite positioning information, the passive transponder information and the train running speed information to calculate the train running position information.
4. The train latent tracking and early warning method based on the train-to-train communication system as claimed in claim 3, wherein the mode of acquiring the satellite positioning information, the passive transponder information and the train running speed information by the vehicle-mounted early warning processing device comprises:
acquiring the satellite positioning information includes: acquiring longitude and latitude information of the train by adopting a Beidou satellite positioning or GPS positioning mode;
acquiring the passive transponder information includes: acquiring passive transponder information from the ground through vehicle-mounted equipment on a train;
the obtaining of the train operation speed information includes: and obtaining the train running speed information acquired by the sensor by accessing the train network.
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| JP5467914B2 (en) * | 2010-04-21 | 2014-04-09 | 東日本旅客鉄道株式会社 | Wireless alarm system |
| CN102923167B (en) * | 2012-10-25 | 2015-10-14 | 北京交通大学 | Train is followed the trail of close to forewarn system |
| CN203864711U (en) * | 2014-01-29 | 2014-10-08 | 李浩勤 | Train pullin siding track code verification and caution device |
| JP2016049906A (en) * | 2014-09-01 | 2016-04-11 | 東日本旅客鉄道株式会社 | Train approach warning device |
| CN104442933B (en) * | 2014-10-09 | 2016-06-08 | 兰州交通大学 | A kind of train is formed into columns and is run the method organized |
| CN110312230B (en) * | 2019-07-08 | 2023-01-24 | 中国科学院计算机网络信息中心 | Communication method and device of train system and train system |
| CN110466566B (en) * | 2019-07-25 | 2022-04-05 | 北京全路通信信号研究设计院集团有限公司 | Method and system for screening front idle state of train head based on train tracking relationship |
| CN110435719B (en) * | 2019-08-29 | 2021-08-10 | 湖南中车时代通信信号有限公司 | Train position processing method based on position report and track occupation |
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