CN116080711A

CN116080711A - Automatic end changing method and system for single-set vehicle-mounted equipment control double ends

Info

Publication number: CN116080711A
Application number: CN202310368776.8A
Authority: CN
Inventors: 刘浚锋; 王成; 刘佳; 刘真; 白玉岭; 任现梁; 王睿妍; 谭玉茹; 周凌婧
Original assignee: CRSC Research and Design Institute Group Co Ltd
Current assignee: CRSC Research and Design Institute Group Co Ltd
Priority date: 2023-04-10
Filing date: 2023-04-10
Publication date: 2023-05-09
Anticipated expiration: 2043-04-10
Also published as: CN116080711B

Abstract

The invention provides a method and a system for automatically changing two ends of a single-set vehicle-mounted device control, wherein the method comprises the following steps: the vehicle-mounted equipment is in communication connection with signal equipment at the head end and the tail end of the train; the vehicle-mounted equipment enters a terminal exchange process according to a first head terminal exchange signal of the head terminal, and the head terminal and tail terminal identification of the train is kept in the terminal exchange process: the original head end is always the head end; after the vehicle-mounted equipment collects the second head-end changing signal, the existing driving mode of the head-end cab is maintained and the vehicle-mounted equipment does not enter a standby mode; and the vehicle-mounted equipment completes the terminal exchange process according to the first terminal exchange signal of the tail end. According to the method and the system for controlling the automatic terminal changing of the double ends of the single-set vehicle-mounted equipment, the integration rate of the equipment is improved, the probability of failure in turning back caused by communication among the equipment is reduced, and the efficiency of turning back operation is improved.

Description

Automatic end changing method and system for single-set vehicle-mounted equipment control double ends

Technical Field

The invention belongs to the technical field of rail transit, and particularly relates to an automatic end changing method and system for controlling double ends of a single-set vehicle-mounted device.

Background

With the vigorous development of urban rail transit, large-scale rail transit construction is performed in many cities. Besides ensuring the driving safety, the signal system simultaneously brings new requirements for the efficiency and cost control of the rail traffic signal system. Toward high efficiency and low cost. Urban rail transit line operation shortens the tracking interval in order to ensure the efficiency of operation, and improving the turn-back efficiency is one of the problems that must be considered.

The turning-back operation is the end-changing operation performed by the mutual matching of the vehicle-mounted equipment and the ground equipment. In a system for controlling two terminals by the double-terminal vehicle-mounted equipment, the original head-end descending mode is needed to give up control rights, and the tail end is updated from the original standby mode to an SM mode or an AM mode, namely, the head end and the tail end have ascending and descending processes. The control rights are exchanged between the head end and the tail end of the train so as to ensure that the original tail end of the train is immediately in an SM Mode (Supervised Manual Mode, manual driving Mode under Automatic protection) or an AM Mode (Automatic driving Mode) as long as the control rights are acquired, thereby improving the operation efficiency. In the prior art, the tail end of the train is in a standby mode, no positioning information exists, the train needs to be repositioned after turning back, and then the mobile authorization is acquired, so that the operation efficiency of urban rail transit is greatly reduced.

The turn-back operation is generally divided into automatic terminal exchange and unmanned turn-back, and can be divided into turn-back before the station and turn-back after the station according to the operation.

At present, the vehicle-mounted ATP (auto train protection, ATP) equipment of the urban rail transit train is generally double-set control double ends, namely, the same vehicle-mounted ATP equipment is respectively arranged at the head and tail of the train. In the process of automatic train end changing or unmanned turning-back of a train controlled by the vehicular ATP, the head and tail sets of vehicular ATP need to be communicated, the original head end needs to send information such as positioning, gating, pre-selecting modes, modes and the like to the vehicular ATP at the tail end through CAN or network, the vehicular ATP at the tail end is positioned and gated again, then wireless safety connection with CI (computer interlocking ) or ZC (Zone Control) is initiated again to obtain mobile authorization information, and then the modes CAN be upgraded.

The first and the last sets of equipment need to exchange information no matter the automatic terminal exchange or the unmanned turning-back operation is carried out. It is also necessary to keep the sequential timing of certain operations, such as end-to-end connection of CIs and ZCs, end-to-end control of the mode relay of the home terminal, end-to-end activation information, etc. The foldback logic flow is complex, errors are easy to occur, and due to the existence of intermediate communication delay, time sequence is difficult to ensure, so that the foldback operation is failed. In the turning-back process, the first and the last sets of equipment are required to be kept fault-free, and the turning-back operation can be failed only if one set of equipment has faults.

The turn-back operation also needs the cooperation of the ground equipment CI or ZC, and once the turn-back state is entered, the vehicle-mounted equipment at the head end and the tail end can initiate safe connection (initiate operations such as safe connection, safe connection establishment, safe connection disconnection and the like) with the CI or the ZC and report information such as position and mode. The ground equipment needs to process the data from the head to the tail simultaneously, so that the communication traffic of network data and the logic branches processed by the ground equipment are increased, and the error probability is increased intangibly.

In the prior art, for example, patent application CN112092864a (a method and system for controlling unmanned automatic turning-back of platform) and patent ZL201510329467.5 (a method and system for controlling turning-back of train) all belong to the scheme design of the double-set control double-end system in the turning-back process.

How to realize the automatic end replacement of a train with high efficiency and convenience becomes a technical problem to be solved in the field.

Disclosure of Invention

In view of the above problems, the present invention provides a method for automatically changing two ends of a single-set vehicle-mounted device, including:

the vehicle-mounted equipment is in communication connection with signal equipment at the head end and the tail end of the train;

the vehicle-mounted equipment enters a terminal exchange process according to a first head terminal exchange signal of the head terminal, and the head terminal and tail terminal identification of the train is kept in the terminal exchange process: the original head end is always the head end;

after the vehicle-mounted equipment collects the second head-end changing signal, the existing driving mode of the head-end cab is maintained and the vehicle-mounted equipment does not enter a standby mode;

and the vehicle-mounted equipment completes the terminal exchange process according to the first terminal exchange signal of the tail end.

Further, after entering the end-changing flow,

the vehicle-mounted equipment sends a train information frame and an ATO state information frame to the first ground equipment, wherein the train AR state in the train information frame is as follows: in the AR state;

the vehicle-mounted equipment maintains connection with second ground equipment, and the second ground equipment is used for acquiring the route information by the vehicle-mounted equipment.

Further, when the vehicle-mounted equipment collects the second tail end terminal changing signal, the vehicle-mounted equipment starts reversing operation: and changing the driving direction and repositioning.

Further, during the commutation operation, the current,

the vehicle-mounted device sends a train information frame to the first ground device, wherein the train AR state content is in an AR state, the train AR state is sent to the second ground device, and reverse route information is acquired from the second ground device.

Further, if the vehicle-mounted equipment acquires the second tail end terminal exchange signal and obtains the mobile authorization, the CTC operation control level is maintained.

Further, after the vehicle-mounted equipment collects the first tail end changing signal, if the condition of keeping the CTC is not met, the vehicle-mounted equipment is converted into a manual driving mode.

Further, acquiring a first head-end change signal by acquiring triggering action of a turning-back button of a head-end cab;

and acquiring a first tail end change signal by acquiring a trigger action of a turning-back button in the tail end cab.

Further, a second head-end changing signal is obtained by collecting the action of inserting a key into the head-end cab;

and acquiring a second tail end change signal through collecting the action of inserting a key into the tail end cab.

Further, after the vehicle-mounted equipment collects the first head end changing signal, the vehicle-mounted equipment controls the display equipment of the head end cab to display and enter an automatic end changing state;

after the vehicle-mounted equipment collects the second head end changing signal, the vehicle-mounted equipment controls the head end cab display equipment to continuously display the automatic changing state, and the vehicle-mounted equipment controls the display equipment of the tail end cab to display a standby mode;

after the vehicle-mounted equipment collects the first tail end changing signal, the vehicle-mounted equipment controls the display equipment of the tail end cab to display the CM mode or the AM mode, and the vehicle-mounted equipment controls the display equipment of the head end cab to display the standby mode.

The invention also provides an automatic end-changing system of a control double end of a single-set vehicle-mounted device, which is used for being arranged in the single-set vehicle-mounted device and comprises the following components:

the communication module is used for keeping communication connection with signal equipment at the head end and the tail end of the train in the automatic end changing process;

the mark setting module is used for entering a head-end changing process according to a first head-end changing signal of the head end, and keeping the mark of the head end and the tail end of the train in the process of changing the end: the original head end is always the head end;

the mode control module is used for keeping the existing driving mode of the head end cab and not entering the standby mode after the second head end changing signal is acquired;

and the end-changing control module is used for completing the end-changing process according to the first end-changing signal of the tail end.

Further, after entering the end-changing flow,

the end-changing control module is used for sending a train information frame and an ATO state information frame to the first ground equipment, and the train AR state in the train information frame is as follows: in the AR state;

the communication module is used for maintaining connection with second ground equipment, and the second ground equipment is used for acquiring route information by the vehicle-mounted equipment.

Further, when the terminal exchange control module is used for acquiring a second tail end terminal exchange signal, the vehicle-mounted equipment starts reversing operation: and changing the driving direction and repositioning.

Further, during the commutation operation, the current,

the end-changing control module is used for sending a train information frame to the first ground equipment, wherein the content of the train AR state is in the AR state, sending the train AR state to the second ground equipment, and acquiring reverse route information from the second ground equipment.

Further, if the end-changing control module collects the second tail end-changing signal and obtains the movement authorization, the mode control module keeps the CTC operation control level.

Further, after the end-changing control module collects the first tail end-changing signal, if the condition of keeping CTC is not met, the mode control module changes the driving mode of the vehicle-mounted equipment into a limited manual driving mode.

According to the method and the system for controlling the automatic terminal changing of the double ends of the single-set vehicle-mounted equipment, the integration rate of the equipment is improved, the probability of failure in turning back caused by communication among the equipment is reduced, and the efficiency of turning back operation is improved. The operation mode is similar to the flow of the double-control double-end external expression, the consistency of the operation of a driver is maintained, and the operation mode is convenient to use.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a vehicle-mounted system with a single set of vehicle-mounted equipment control double ends according to an embodiment of the invention;

FIG. 2 illustrates an automatic end station yard schematic according to an embodiment of the present invention;

FIG. 3 illustrates an auto-end flowchart according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an automatic end-changing system for controlling two ends of a single-set vehicle device according to an embodiment of the invention;

FIG. 5 shows an unmanned switchback yard schematic diagram according to an embodiment of the present invention;

fig. 6 shows an unmanned turn-back flow diagram according to an embodiment of the invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The embodiment of the invention provides a method for automatically changing the ends of a single-set vehicle-mounted device control double end, which can be realized through an automatic end changing system of the single-set vehicle-mounted device control double end without losing generality.

The automatic end-changing method and the unmanned turn-back method can be realized by adopting a vehicle-mounted system with a single set of vehicle-mounted equipment for controlling two ends.

As shown in fig. 1, a set of on-board equipment simultaneously controls the head end and the tail end of a train. The in-vehicle apparatus includes: on-board ATP (ATP for short). The vehicle-mounted equipment is respectively connected with signal equipment of the head end and the tail end, and the head end and the tail end are respectively connected with a train control system, a TCMS (Train Control and Management System, a train control and management system), a driver cab (control console), a display unit and a speed and distance measuring unit of the head end and the tail end without losing generality. Illustratively, the speed and distance measuring unit includes: radar, transponder/TAG antenna and speed sensor, the display unit employs HMI (Human Machine Interface, man-machine interface). The switch value of the cab at the head and tail of the train is provided for the input board of the vehicle-mounted ATP by a signal wire. The vehicle-mounted device further comprises a BTM reader and/or a TAG reader which are used for collecting transponder information at the head end and the tail end of the train and information of a TAG antenna respectively. The in-vehicle apparatus further includes a TRU (train radio unit) for acquiring radio signals from antennas at both ends of the train head and tail. The output of the vehicle-mounted ATP is simultaneously output to the control circuits of the train control systems at the head end and the tail end. The vehicle-mounted ATP determines the attribute of the control end of the train according to whether the key is activated or not, so that the train cab needing to be controlled can be distinguished. In the non-return state (including automatic end-change or return), the activated end is referred to as the control end or headend, and the non-activated end is referred to as the non-activated end or tail end. Embodiments of the present invention allow for inconsistent head-tail and control-end conditions during the fold-back process. In the embodiment of the invention, as long as the turning-back operation is performed, the head end and the tail end of the vehicle are fixed at the beginning, the original head end is always the head end, and the original tail end is always the tail end. The control end can be changed, the control end is the head end of the train when the turning-back starts, and the control end becomes the tail end after the turning-back is finished. The aim of the method is to simplify the design flow, facilitate the interaction between the vehicle-mounted ATP and the IO and HMI of the train, and after the turning-back operation is completed, the head and tail ends of the train are determined by keys, one end activated by the keys is the head end, and the other end activated by the keys is the tail end. Further, the in-vehicle apparatus further includes an ATO (Automatic Train Operation automatic train operation).

The vehicle-mounted ATP stores line data, the line data comprises track information, annunciator information, transponder/TAG information, retrace track information, parking spot information and the like of the running line, and the information provides a basis for positioning and movement authorization calculation for the vehicle-mounted ATP in the driving process.

The system for controlling the double ends of the single-set vehicle-mounted equipment is only exemplified above, and any system capable of realizing the double ends of the single-set vehicle-mounted equipment can be applied to the automatic terminal changing method and the unmanned turning-back method of the embodiment of the invention.

The automatic end-changing method for controlling the double ends of the single-set vehicle-mounted equipment provided by the embodiment of the invention comprises the following steps: the vehicle-mounted equipment is in communication connection with signal equipment at the head end and the tail end of the train; the vehicle-mounted equipment enters a terminal exchange process according to a first head terminal exchange signal of the head terminal, and the head terminal and tail terminal identification of the train is kept in the terminal exchange process: the original head end is always the head end; after the vehicle-mounted equipment collects the second head-end changing signal, the existing driving mode of the head-end cab is maintained, and the vehicle-mounted equipment does not enter a standby mode; and the vehicle-mounted equipment completes the terminal exchange process according to the first terminal exchange signal of the tail end.

Without loss of generality, in the embodiment of the invention, a first head-end change signal is obtained by collecting triggering actions of a turning-back button in a head-end cab; acquiring a first tail end change signal by acquiring a trigger action of a turning-back button in a tail end cab; acquiring a second head-end change signal by acquiring the action of inserting a key into the head-end cab; and acquiring a second tail end change signal through collecting the action of inserting a key into the tail end cab.

The unmanned turn-back method for controlling the double ends of the single-set vehicle-mounted equipment provided by the embodiment of the invention comprises the following steps: the vehicle-mounted equipment enters an unmanned turn-back flow according to a first head-end turn-back signal of the head end, and the head-end and tail-end identification of the train is kept in the unmanned turn-back flow; after the vehicle-mounted equipment collects the second head-end turn-back signal, the existing driving mode of the head-end cab is maintained, and the vehicle-mounted equipment does not enter a standby mode; after receiving the unmanned turn-back instruction, the vehicle-mounted equipment automatically completes the unmanned turn-in and turn-out by the vehicle-mounted ATO of the vehicle-mounted equipment; the vehicle-mounted equipment completes an unmanned turn-back flow according to the first tail turn-back signal and the second tail turn-back signal of the tail end; in the unmanned turn-back flow, the vehicle-mounted equipment is in communication connection with signal equipment at the head end and the tail end of the train.

In the embodiment of the invention, in the automatic end changing and unmanned turning-back processes, the existing driving mode is kept, including the SM mode. In other words, the vehicle-mounted equipment is in an SM mode when the head and tail control car rights are interacted in the automatic end changing or unmanned turning-back process. And then the vehicle-mounted equipment is upgraded to an AM mode according to the current line conditions and the preselected mode of the vehicle-mounted equipment. Illustratively, the end-changing is preceded by an AM mode, and once the end-changing system begins to be lowered to the SM mode, but does not enter the standby mode, then the end-changing operation is performed, and then the end-changing operation is performed, and the end-changing operation is performed, so that from the result, if the end-changing is preceded by the AM mode, the AM mode is maintained in a state of not being standby.

Acquiring a first head-end turn-back signal by acquiring a trigger action of a turn-back button of a head-end cab without losing generality; acquiring a first tail-end turn-back signal by acquiring a trigger action of a turn-back button in a tail-end cab; acquiring a second head-end turn-back signal through collecting the action of inserting a key into the head-end cab; and acquiring a second tail turn-back signal by acquiring the action of inserting a key into the tail cab.

In the automatic terminal exchange process and the unmanned turn-back process, the vehicle-mounted equipment is always connected with the first ground equipment and the second ground equipment. Without loss of generality, the first ground device is an ATS (Automatic Train Supervision, train automatic monitoring system) and the second ground device is a ZC or CI. In the embodiment of the invention, ZC and CI are combined into a system, namely an STC (Train safety control system ) system with the functions of a train control system and a computer interlocking system.

The embodiment of the invention provides a method for automatically changing the ends of a single-set vehicle-mounted device control double end, which omits the process of information interaction between the head end and the tail end in the process of turning back the ends; the process of initiating the safety connection between the original tail-end vehicle-mounted ATP and the ZC or CI or STC is omitted, the efficiency is greatly improved, and the cost is reduced.

The terminal changing operation of the vehicle-mounted equipment comprises automatic terminal changing and unmanned turning.

An exemplary description of a single set of on-board equipment controlled double ended auto-end-change process is provided below.

The automatic end changing is to change the running direction of the train, namely up and down change under the condition of keeping the existing modes (SM, AM) unchanged after the train enters the automatic end changing track to stop and stop. The mode is maintained unchanged during this process to improve efficiency. As shown in fig. 2, the train is stopped at 5 tracks, and the 5 tracks are tracks having an automatic end-changing property. The vehicle-mounted equipment controls the train to automatically change ends on the track. In the embodiment of the invention, the vehicle-mounted equipment determines whether to perform automatic terminal exchange or unmanned turn-back operation by acquiring the track attribute configuration from the vehicle-mounted data configuration. After the end exchange is completed, the vehicle-mounted ATP keeps the SM mode or the AM mode. But in the opposite direction, the train may exit with the opposite aisle. In this process, the in-vehicle device maintains wireless connection with the ZC, CI, or STC, and the ATS.

The automatic end-changing process is as shown in fig. 3:

and the vehicle-mounted ATP controls the train to enter the automatic end-changing rail to stop and steady in an SM mode or an AM mode, and controls the HMI display of the head end cab to enter the automatic end-changing icon after the vehicle-mounted ATP judges that the train meets the automatic end-changing condition.

The in-vehicle apparatus controls the AR (Automatic Reversing, unmanned turn-back) lamp to blink. When the vehicle-mounted equipment acquires a signal that a driver presses a turn-back button of the head-end cab, the head-end cab AR lamp is controlled to start to be normally on, and the head-end cab HMI is controlled to display to enter an automatic end-changing state.

In the automatic end changing process, the head end mark and the tail end mark of the train are fixed, and the head end is always the head end. In the prior art, when the factory leaves the factory and the driver extracts the key from the head end cab, the factory directly enters the standby mode.

The vehicle-mounted ATP controls the AR lamp of the tail end cab to flash, and keeps sending a train information frame and an ATO state information frame to the ATS, wherein the train AR state in the train information frame is as follows: in the AR state. The on-board ATP maintains a connection with ZC/CI/STC.

When the in-vehicle device acquires a signal that the driver pulls out the key of the head end cab, the ATP does not enter the STB mode (standby mode), and maintains the existing mode (SM mode or AM mode). At this time, the train control terminal is also the head terminal, the ATP controls the HMI of the head terminal cab to display normally (i.e., continue to display the icon for entering the automatic terminal), and the tail terminal cab HMI continues to display the STB mode. In the embodiment of the invention, the display device HMI displays a black screen in the STB mode.

When the signal of the driver inserting the key into the tail cab is collected, the vehicle-mounted ATP starts reversing operation, changes the driving direction and relocates. And simultaneously transmitting a train information frame to the ATS, wherein the train AR state is in the AR state, and synchronously transmitting the train AR state to the ZC/CI/STC, wherein the ZC/CI/STC starts to calculate reverse route information. The in-vehicle apparatus acquires reverse route information from the ZC/CI/STC.

If the ATP judges that the conditions for keeping the CTC are met (the mobile authorization sent by the ZC/CI/STC is obtained and the tail key is inserted), the ATP keeps the SM mode of the CTC operation control level, the tail AR lamp starts to be normally on, the HMI keeps the black screen, and at the moment, the vehicle control end is replaced by the tail cab.

After the driver presses the tail cab turning button, turning is finished, and ATP keeps the SM mode of CTC grade; if the condition for keeping CTC is not satisfied (no movement authorization is obtained or movement is lost), ATP is converted to RM mode (manual driving restriction mode).

The train AR state content in the train information frames sent by the ATP to the ATS and the ZC/CI/STC is changed into a non-AR state. The AR lamp at the control tail end of the vehicle-mounted equipment is extinguished, the HMI displays the CM mode or the AM mode, the HMI at the head end displays the STB mode, the AR lamp at the head end is extinguished, the automatic end-changing flow is finished, and then the identification of the head end and the tail end is redetermined according to the current train control end.

The embodiment of the invention adopts a single-set control double-end system, and in the automatic end-changing process, a single-set vehicle-mounted ATP does not need to carry out head-end and tail-end information interaction, and the vehicle-mounted ATP itself has the information of the positioning information, the gate control information, the preselected mode, the mode and the like of the current direction. The vehicle ATP collects IO states of turning back buttons, keys and the like of cabs of drivers at two ends at the same time. The vehicle-mounted ATP can simultaneously control the turn-back indicator lamps (AR lamps) of the cabs of the drivers at the two ends.

And the vehicle-mounted ATP can simultaneously send display information to HMIs of driver cabs at two ends, and display contents are respectively sent according to whether the vehicle control end is in or not. The control terminal sends normal HMI display information, and the HMI displays according to a normal state; the non-vehicle control end displays the STB state.

In the automatic terminal exchange process, the vehicle-mounted equipment keeps connection with the ZC/CI/STC, and the operations of chain breaking and chain building are not needed. If the safety connection is disconnected, the automatic end-changing operation is exited.

When the vehicle-mounted ATP enters an automatic end-changing operation state, the head end and the tail end of the train are fixed, namely the original head end is always the head end from the moment of entering the automatic end-changing operation state, the original tail end is always the tail end, and the head end and the tail end are not determined again by using the key activation end until the turning back exits. The design is beneficial to IO control and state control of the head end and the tail end. Specifically, when the automatic end-changing operation is not performed, the head-end and tail-end cab of the system is confirmed by taking the key insertion end as the head end and the other end as the tail end. In this way, the IO quantity output to the head end and the tail end in the system design process, or the IO quantity of the two ends can be distinguished by the head end and the tail end, and the head end and the tail end HMI can be distinguished conveniently. Because the two HMI displays are not identical. When the turning-back operation is performed, the head end and the tail end are not changed along with the removal or insertion of the key, the original head end is always marked as the head end, and the original tail end is always marked as the tail end. This keeps consistent in various data transmission methods and directions until automatic end-changing is not started. The design flow can be simplified. The control of the turning-back state is facilitated. For example: the head end output cutting traction is further continued to output cutting traction operation for the original head end structural body. It is not necessary to consider that the head and tail ends have changed. The same applies to the data sent to the first and last HMIs.

Before the key is inserted into the tail end cab, the vehicle-mounted ATP does not perform reversing operation, so that the usability is improved, and a driver can insert the key into the original head end again to exit from automatic end changing operation, so that the vehicle can continue driving. In the embodiment of the invention, because the single-set control double ends are adopted, the information interaction like the double-set control is not needed. Therefore, the commutation timing can be set to: the reversing operation is started after the tail end is inserted into the key, instead of starting reversing after turning back at the beginning, so that the usability of the system is improved.

In the reversing positioning process, the SM mode or the AM mode is kept unchanged all the time, reversing operation needs to be repositioned according to the reverse running direction, a vehicle control end is replaced, new positioning information and direction are sent to the ZC/CI/STC after reversing is finished, and the automatic end replacement process is prompted. The ZC/CI/STC may give a movement authorization of the corresponding direction.

The automatic end-changing method for the control double ends of the single-set vehicle-mounted equipment in the embodiment of the invention can meet the flow requirement of a system, maintain the consistency with the original double-set control double-end operation mode, improve the efficiency and reduce the failure rate.

Based on the same inventive concept, the embodiment of the present invention further provides a single-set vehicle-mounted device control double-end automatic end exchange system, as shown in fig. 4, where the system is configured to be disposed in the single-set vehicle-mounted device, and includes: the device comprises a communication module, an identification setting module, a mode control module and a terminal exchange control module.

After entering a terminal exchange flow, the terminal exchange control module sends a train information frame and an ATO state information frame to the first ground equipment, wherein the train AR state in the train information frame is as follows: in the AR state;

the communication module is connected with second ground equipment, and the second ground equipment is used for acquiring route information by the vehicle-mounted equipment.

When the terminal exchange control module collects a second tail terminal exchange signal, the vehicle-mounted equipment starts reversing operation: and changing the driving direction and repositioning.

And in the reversing operation process, the end-changing control module is used for sending a train information frame to the first ground equipment, wherein the content of the train AR state is in the AR state, sending the train AR state to the second ground equipment, and acquiring reverse route information from the second ground equipment.

If the terminal exchange control module acquires the second tail terminal exchange signal and obtains the mobile authorization, the mode control module keeps the CTC operation control level.

After the end-changing control module collects the end-changing signal of the first tail end, if the condition of keeping CTC is not met, the mode control module changes the driving mode of the vehicle-mounted equipment into a limited manual driving mode.

In addition, the system includes a display control module (not shown). The display control module performs display control according to the flow of the terminal changing control module and the set mode of the mode control module. The mark setting module is used for fixing marks or re-identifying the head and the tail according to the flow of the end changing control module. The mode control module controls the operation level and the mode according to the acquired information and the like of the end-changing control module. The terminal exchange control module performs information interaction with an external system through the communication module.

The specific implementation of the function of the automatic end-changing system of the control double ends of the single-set vehicle-mounted equipment can be obtained by the automatic end-changing method of the control double ends of the vehicle-mounted equipment, and the description is omitted.

An exemplary description of an unmanned turn-back flow of a single set of on-board equipment control double ends follows.

The unmanned turn-back is that after the train enters the unmanned automatic turn-back departure track to stop and stop, the train automatically completes turn-in and turn-out by ATO under the protection of ATP in the existing mode (AM mode or SM mode, in AM-C pre-mode) and finally stops and stops at the unmanned turn-back departure track to finish the operation of up-down exchange. The unmanned turn-back is initiated by a driver, and the whole process is automatically completed by ground equipment (ZC and/or CI and/or STC and ATS) matched with vehicle-mounted equipment.

As shown in fig. 5, the train is stopped and stopped stably on the unmanned turn-back departure track 3, and the driver pushes the turn-back button of the head end cab to pull out the key, and then pushes the confirmation button on the train or the unmanned turn-back button of the platform to trigger unmanned turn-back operation. ATO is controlled to enter the unmanned turn-back parking track 2 tracks for parking under the protection of the vehicular ATP, the vehicular ATP finishes the direction exchange, and then the train is controlled to enter the opposite side unmanned turn-back parking track 6 tracks for stable parking from the opposite direction. And in the unmanned turn-back process, the wireless safety connection between the vehicle-mounted ATP and the ZC/CI/STC and the wireless safety connection between the vehicle-mounted ATP and the ATS are kept.

The unmanned turn-back flow is shown in fig. 6, and the process is described as follows:

the vehicle-mounted ATP judges that the safety envelope of the train completely enters an unmanned turn-back departure track, the train stops stably and stops accurately, the vehicle-mounted ATP controls the AR lamp of the head end cab to flash, and simultaneously controls the head end cab HMI to display an unmanned turn-back state.

After the driver sees that the AR lamp flashes at the front end of the cab, the driver can press the turn-back button, when the vehicle-mounted ATP collects signals of the turn-back button pressed, the AR lamp at the front end is controlled to be always on, and the HMI displays the signals to enter an unmanned automatic turn-back state. At this time, the head end identifier is fixed by the vehicle-mounted ATP, the current head end is always the head end in the whole unmanned turn-back flow, and the other end is always defined as the tail end. And the current control end is the head end.

After the vehicle-mounted equipment collects signals that a driver pulls out a head end key, the vehicle-mounted ATP keeps the SM mode, and the vehicle-mounted ATP does not enter the STB mode. And the HMI of the ATP control head end cab normally displays (namely displays an icon for entering unmanned automatic turning back); the on-board ATP control tail HMI displays STB mode, i.e. a black screen.

Vehicle-mounted ATP waits for an unmanned turn-back command: the turn-back confirmation button of the head-end cab is pressed or the station unmanned turn-back button is pressed, and the button state is sent to the vehicle-mounted ATP by the ZC/CI/STC. The vehicle-mounted ATP informs ZC/CI/STC, and the unmanned turn-back button of the control station is always on.

After receiving an unmanned turn-back command (a signal that a head-end cab confirmation button or a platform unmanned turn-back button is triggered is acquired), the vehicle-mounted ATP sucks up a turn-back mode relay of a head-end cab (a control end), replaces the key effective and direction handle forward state of the head-end cab, gives out hard ATO permission, and waits for the ATO to be turned into an unmanned turn-back parking track. The ATO begins the autonomous train operation to the unmanned turn-back parking track. After the train is started to drive by ATO after the vehicle-mounted ATP is collected, the unmanned turn-back button of the control platform is turned off.

After the train is confirmed to stop accurately and stably by the vehicle-mounted ATP, the train information frame and the ATO state information frame are sent to the ATS by the vehicle-mounted ATP, wherein the train AR state in the train information frame is as follows: in the AR state. Meanwhile, the vehicle-mounted ATP sends train information frames representing that the train is in an AR state to the ZC/CI/STC, and controls the falling head-end foldback mode relay and the falling ATO hard permission relay.

The vehicle-mounted ATP performs reversing operation, reverses the current running direction, performs positioning according to the positioning reversal of the current train, and then reports the positioning state to the ZC/CI/STC. And waiting for reverse movement authorization information, if effective reverse movement authorization is received from ZC/CI/STC, maintaining CTC operation control level, controlling AR lamp of tail end cab to be always on, and displaying and entering unmanned automatic turn-back state by HMI, displaying information according to normal activated mode, and upgrading tail end to control end. The original HMI of the head end cab displays STB mode (black screen), keeps the AR lamp always on and pulls up the tail end turn back mode relay to provide conditions for train travel (in place of key valid and steering handle forward). The vehicle-mounted ATP outputs hard ATO permission, and sends an unmanned turn-back command to the ATO through network communication to wait for the ATO to turn out an unmanned turn-back parking track.

After the approach of the unmanned turn-back parking track (namely, the unmanned turn-back departure track comprises a platform part) is opened, the ATO automatically drives the train to arrive at the platform to park in the parking window.

After the train stops in the stop window of the platform, the vehicle ATP controls the falling tail end turning back mode relay and the falling ATO hard allowing relay. When the key switch of the tail cab is activated by the collected driver, the tail cab turn-back button is pressed, the head-to-tail AR lamp is turned off, the HMI bright screen is normally displayed, the head-to-HMI is turned off, the AR lamp is turned off, and unmanned turn-back operation is completed.

Because the design aims at a single-set control double-end system, in the unmanned turn-back flow, the single-set vehicle-mounted ATP does not need to carry out head-tail end information interaction, and the vehicle-mounted ATP itself has the information of positioning information, gating information, preselected modes, modes and the like in the current direction. The vehicle ATP collects IO states of turning back buttons, keys and the like of cabs of drivers at two ends at the same time. The vehicle-mounted ATP can simultaneously control the turn-back indicator lamps and the turn-back mode relays of the driver cabs at two ends, and can effectively ensure the operation time sequence of the head-tail turn-back mode relays.

The vehicle-mounted ATP simultaneously sends display information to HMIs of driver cabs at two ends, and display contents are respectively sent according to whether the vehicle control end is in or not. The control terminal sends normal HMI display information, and the HMI displays according to a normal state; the non-vehicle control end displays the STB mode.

In the unmanned turn-back process, the vehicle-mounted ATP keeps connection with the ZC/CI/STC, and chain breaking and chain building operations are not needed. The unmanned turn-back operation is exited if a safety connection disconnection occurs.

When the vehicle-mounted ATP enters an unmanned automatic turning operation state, the head end and the tail end of the train need to be fixed, namely the original head end is always the head end when the unmanned automatic turning moment is entered, the original tail end is always the tail end, and the head end and the tail end are not determined by using a key activation end until the turning is exited. The design is beneficial to IO control and state control of the head end and the tail end.

The head end and the tail end marks are fixed after the unmanned turning-back starts, the vehicle control end is adjusted according to the unmanned turning-back process, and the vehicle control end is changed when the driving direction is changed, so that the limitation that the vehicle control end can only be the head end in the prior art is broken through. The vehicle-mounted ATP sends corresponding signals and information to the IO, HMI, BTM/TAG antenna and the speed and distance measuring unit according to the vehicle control end, so that the external equipment can be adjusted correspondingly according to the change of the vehicle control end.

The SM mode is kept unchanged all the time in the reversing positioning process, reversing operation needs to be positioned again according to the reverse operation direction, a vehicle control end is replaced, new positioning information and directions are sent to the ZC/CI/STC after reversing is finished, and the unmanned turning-back process is prompted. The ZC/CI/STC may give a movement authorization of the corresponding direction.

Because the vehicle-mounted ATO is also single-set control double-end, the vehicle-mounted ATP needs to inform the ATO of the information such as the current unmanned turn-back state, the operation direction, the current movement authorization, the target point and the like after the reversing is completed.

Based on the same inventive concept, the embodiment of the invention further provides an unmanned foldback system with double ends controlled by a single-set vehicle-mounted device, wherein the system is used for being arranged in the single-set vehicle-mounted device and comprises the following components: the device comprises an identification setting unit, a mode control unit and a foldback control unit.

The identification setting unit is used for entering an unmanned turn-back flow according to a first head-end turn-back signal of the head end, and keeping the identification of the head end and the tail end of the train in the unmanned turn-back flow; and after the unmanned turn-back flow is finished, the head and tail identifications are redetermined according to the current control end.

The mode control unit is used for keeping the existing driving mode of the head end cab and not entering the standby mode after the second head end turn-back signal is acquired;

the folding control unit is used for automatically completing folding in and folding out of the unmanned vehicle by the vehicle-mounted ATO of the vehicle-mounted equipment after the vehicle receives the unmanned folding instruction; completing an unmanned turn-back flow according to the first tail turn-back signal and the second tail turn-back signal of the tail end;

in the unmanned turn-back flow, the system is in communication connection with signal equipment at the head end and the tail end of the train.

The system further comprises a display control unit, wherein the display control unit is used for controlling the display equipment of the head end cab to display an unmanned automatic turning-back state after acquiring the second head end turning-back signal and controlling the display equipment of the tail end cab to display a standby mode.

The foldback control unit is used for: after confirming that a train stops and stops stably without turning back a parking track, a train information frame and an ATO state information frame are sent to first ground equipment, wherein the train AR state in the train information frame is as follows: in the AR state; transmitting a train information frame to the second ground equipment; and controlling the falling head-end foldback mode relay.

In the unmanned turning-back process, the turning-back control unit is used for reversing operation and positioning according to the positioning reverse direction of the current train; acquiring reverse movement authorization information;

and if valid reverse movement authorization information is received from the second ground equipment, the mode control unit is used for maintaining the CTC operation control level.

After the turning-back control unit acquires effective reverse authorization information, the display control unit controls the display of the tail end cab to enter an unmanned automatic turning-back state, and the display equipment of the head end cab displays a standby mode; the mode control unit controls the tail end to be updated to the control end.

Wherein the display control unit performs display control according to the flow of the foldback control unit and the set mode of the mode control unit. The mark setting unit performs fixed mark or re-identifies the head and tail according to the flow of the turn-back control unit. The mode control unit controls the operation level and mode based on the acquired information and the like of the foldback control unit.

The specific implementation of the function of the double-end unmanned foldback system controlled by the single-set vehicle-mounted equipment can be obtained according to the double-end unmanned foldback method controlled by the vehicle-mounted equipment, and is not repeated.

Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic end-changing method for controlling double ends of a single-set vehicle-mounted device is characterized by comprising the following steps:

2. The method for automatically changing the ends of the control double ends of the single-set vehicle equipment according to claim 1, wherein after entering the end changing process,

3. The method for automatically changing the ends of a single set of on-board equipment control terminals according to claim 1, wherein,

when the vehicle-mounted equipment collects the second tail end terminal changing signal, the vehicle-mounted equipment starts reversing operation: and changing the driving direction and repositioning.

4. The method for automatically changing the ends of a single set of vehicle equipment control terminals according to claim 3, wherein during the reversing operation,

5. The method for automatically changing the ends of a single set of on-board equipment control terminals according to any one of claims 1 to 4,

if the vehicle-mounted equipment acquires the second tail end terminal changing signal and obtains the mobile authorization, the CTC operation control level is maintained.

6. The method for automatically changing the ends of a single set of on-board equipment control terminals according to any one of claims 1 to 4,

after the vehicle-mounted equipment collects the first tail end changing signal, if the condition of keeping CTC is not met, the vehicle-mounted equipment is converted into a manual driving mode.

7. The method for automatically changing the ends of a single set of on-board equipment control terminals according to claim 3 or 4, wherein,

acquiring a first head-end change signal by acquiring triggering action of a turning-back button in a head-end cab;

8. The method for automatically changing the ends of a single set of on-board equipment control terminals according to any one of claims 1 to 4,

acquiring a second head-end change signal by acquiring the action of inserting a key into the head-end cab;

9. The method for automatically changing the ends of a single set of on-board equipment control terminals according to any one of claims 1 to 4,

after the vehicle-mounted equipment collects the first head-end changing signal, the vehicle-mounted equipment controls the display equipment of the head-end cab to display and enter an automatic changing state;

10. An automatic end-changing system for controlling double ends of a single-set vehicle-mounted device, which is characterized by comprising:

11. The system for automatically changing the ends of a single set of on-board equipment control terminals according to claim 10, wherein after entering the terminal changing process,

12. The single-set on-board equipment control double-ended automatic end-changing system of claim 10, wherein,

when the end-changing control module is used for collecting the end-changing signal of the second tail end, the vehicle-mounted equipment starts reversing operation: and changing the driving direction and repositioning.

13. The single-set on-board apparatus control double-ended automatic end-changing system of claim 12, wherein, during the reversing operation,

14. The single-set on-board equipment controlled double-ended automatic end-change system of any one of claim 10-13,

15. The single-set on-board equipment controlled double-ended automatic end-change system of any one of claim 10-13,