CN117302315A - Full-automatic speed-limiting operation control method, medium and system for rail transit - Google Patents

Full-automatic speed-limiting operation control method, medium and system for rail transit Download PDF

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Publication number
CN117302315A
CN117302315A CN202311435582.1A CN202311435582A CN117302315A CN 117302315 A CN117302315 A CN 117302315A CN 202311435582 A CN202311435582 A CN 202311435582A CN 117302315 A CN117302315 A CN 117302315A
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CN
China
Prior art keywords
train
full
automatic speed
automatic
running
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311435582.1A
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Chinese (zh)
Inventor
张田
陈昕
刘泽
谭力天
樊亮
苏辉亮
杨晓荣
刘喻声
胡剑
张广炎
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Hunan CRRC Times Signal and Communication Co Ltd
Original Assignee
Hunan CRRC Times Signal and Communication Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hunan CRRC Times Signal and Communication Co Ltd filed Critical Hunan CRRC Times Signal and Communication Co Ltd
Priority to CN202311435582.1A priority Critical patent/CN117302315A/en
Publication of CN117302315A publication Critical patent/CN117302315A/en
Pending legal-status Critical Current

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Classifications

    • 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 train, e.g. braking curve calculation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0018—Communication with or on the vehicle or train
    • 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
    • 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
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

The invention discloses a full-automatic speed-limiting operation control method, medium and system for rail transit, wherein the method comprises the following steps: s1, if a train detects a fault, emergency braking is carried out, and whether the condition of entering a full-automatic speed limiting running mode is met or not is checked; if yes, sending a full-automatic speed limiting operation mode application; s2, judging whether the train can enter a full-automatic speed limiting running mode or not; if yes, sending a command for allowing the train to enter a full-automatic speed limiting operation mode; s3, after receiving a command for allowing the train to enter, switching to a full-automatic speed limiting operation mode and applying for driving permission; s4, checking whether the operation condition is met; if yes, creating a protection area from the train position to a front station, and sending degradation route movement authorization information to the train; s5, after receiving the authorization information, the train enters a full-automatic speed limiting operation mode. The invention can reduce the influence of forced stopping of the train on the operation efficiency of the line and reduce the difficulty of section rescue.

Description

Full-automatic speed-limiting operation control method, medium and system for rail transit
Technical Field
The invention mainly relates to the technical field of rail transit, in particular to a full-automatic speed-limiting operation control method, medium and system for rail transit.
Background
At present, the urban rail transit full-automatic unmanned system has no driver or train crews under normal conditions, when the train fails and cannot continue to run in a full-automatic running mode to degrade, necessary safety protection measures are needed to be taken, a driver is dispatched to get on the train to take over the train manually, and the train runs to a platform to evacuate passengers in a manual driving mode, so that the procedure of the correction process is complicated, a large number of personnel are needed to cooperate, and the operation efficiency of the whole line is affected. In addition, in the driving process of the manual driving mode, the main operation safety is charged by a driver, and the labor intensity of the driver is increased.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a full-automatic speed-limiting operation control method, medium and system for rail transit, which can reduce the influence of forced stopping of a train on the operation efficiency of the line in an interval and reduce the difficulty of rescue in the interval of an operation unit.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a full-automatic speed-limiting operation control method for rail transit comprises the following steps:
s1, when a train runs in an interval in a full-automatic running mode or a creeping mode, if the train detects a fault condition, the train immediately performs emergency braking, and whether the vehicle-mounted equipment meets the condition of entering the full-automatic speed limiting running mode is checked; if the vehicle-mounted equipment meets the condition of entering the full-automatic speed-limiting running mode, the train sends a full-automatic speed-limiting running mode application to the operation control center;
s2, the operation control center judges whether the train can enter a full-automatic speed limiting operation mode according to the train alarm information and the line operation condition; if the condition is met, transmitting a command for allowing the nematic vehicle to enter a full-automatic speed limiting operation mode;
s3, after receiving a command for allowing the train to enter the full-automatic speed limiting operation mode, switching to the full-automatic speed limiting operation mode, and applying for the full-automatic speed limiting operation mode driving permission to the regional controller;
s4, the regional controller checks whether the degraded route information and the states of the trackside equipment meet the running conditions of the full-automatic speed-limiting running of the train; if the running condition is met, a protection zone from the train position to the front station is created, all logic sections in the zone are closed, and degradation route movement authorization information is sent to the train;
and S5, after receiving the degraded route movement authorization information, the train enters a full-automatic speed limiting running mode and runs to a front platform at a fixed speed limit.
Preferably, in step S5, when the train runs in the full-automatic speed-limiting running mode, and the fault condition is relieved, notifying the fault relief information to the regional controller, stopping applying the full-automatic speed-limiting running mode running permission to the regional controller, and the regional controller will cancel the train protection area and recover the full-automatic driving movement authorization, and the train automatically recovers to the full-automatic driving mode to enter the station and stop for automatic alignment; meanwhile, the train informs the operation dispatching center that the train resumes the full-automatic driving mode.
Preferably, in step S5, during the running of the train in the full-automatic speed limit running mode, if the fault condition is not released, the speed limit running is fixed until the train is pressed into the axle counting section of the platform area, the area controller stops sending the running authorization to the train, and sends an emergency braking command to the train, and the train stops in the platform area.
Preferably, in step S5, during the running of the train in the full-automatic speed-limiting running mode, the protection zone of the area where the train runs is unlocked in time, so as to reduce the influence on the running of the subsequent train on the line.
Preferably, in step S1, the condition for entering the full-automatic speed limit operation mode includes:
the vehicle-mounted controller at the vehicle control end is normal and the automatic driving mode of the train is available;
the speed sensor at the vehicle control end has no fault;
the vehicle-mounted controller at the vehicle control end, the regional controller and the train are normal in automatic monitoring communication;
the key of the cab is not activated, the full-automatic running mode switch is in the FAM position, and the ATP cutting knob is in the normal position;
the failure of the motor car is not affected by the car;
the interface between the vehicle-mounted controller at the vehicle control end and the vehicle train control and monitoring system is normal.
Preferably, in step S4, the operation conditions that the degraded route information and the trackside equipment state meet the full-automatic speed-limiting operation of the train are:
if the route of the fault train does not extend to the front station, the route of the train to the front station is required to be checked, and the train is required to be matched with the route information; if the front line of the train does not have a platform, prohibiting the train from entering a full-automatic speed limiting running mode;
if the front route annunciator of the fault train is not opened, the annunciator needs to be opened again;
if the non-communication vehicle or the communication vehicle occupies the axle counting section between the fault train and the front platform, waiting for other trains to clear the area;
if a turnout with abnormal position or locking state exists between the fault train and the platform in front, the turnout is required to be operated to the corresponding position and locked;
if the failure train has a flood gate in the front station and the state is closed, the failure train needs to be confirmed; if the conditions are met, the flooding prevention door is operated to be opened and locked;
if the front platform emergency stop button is in an activated state, confirmation is needed; if the condition is met, the activation state of the emergency stop button of the platform is released;
if the front platform screen door is opened, confirmation is required; if the condition is met, closing the platform screen door;
if a personnel protection area exists between the fault train and the platform in front of the fault train, safety conditions are confirmed, and the personnel protection switch is released from the activated state or the personnel protection switch button is bypassed, or the personnel protection area is waited to be cleared.
Preferably, in step S5, when any abnormal running condition is detected during running of the train in the full-automatic speed-limiting running mode, an emergency braking command is immediately transmitted to the train, and the train is stopped by emergency braking.
Preferably, after the emergency braking and stopping of the train are processed abnormally, after each operation condition meets the requirement, the degraded route movement authorization information is calculated again for the train, and the train is restarted to enter a full-automatic speed limiting operation mode and is operated to stop at a front platform.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs the steps of the method as described above.
The invention further discloses a full-automatic speed-limiting operation control system for rail transit, which comprises a memory and a processor which are connected with each other, wherein the memory is stored with a computer program which executes the steps of the method when being operated by the processor.
Compared with the prior art, the invention has the advantages that:
when the train operates in a full-automatic operation mode or a creeping mode, if the train fails and stops in a section, the operation scheduling center can remotely control the train to enter the full-automatic speed limiting operation mode, the ZC creates a protection zone for the train and calculates degraded route authorization, so that the train can continue to operate to a platform on the premise of ensuring safety, the influence of the train stopping in the section on the operation efficiency of the line is reduced, and meanwhile, the difficulty of rescue in the section of an operation unit is also reduced.
In the running process of the full-automatic unmanned train in the remote full-automatic speed limiting running mode, if the train fault is relieved, the system can automatically restore the full-automatic running mode, the ZC automatically relieves the protection zone, the train automatically restores to the full-automatic driving mode to enter the station to automatically stop the train in a standard alignment mode, and the fault handling efficiency and the availability of the full-automatic driving system are improved.
Drawings
Fig. 1 is a flowchart of a control method according to an embodiment of the present invention.
Fig. 2 is a flow chart of the process of the zone controller of the present invention in a specific application.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 1, the full-automatic speed-limiting operation control method for rail transit in the embodiment of the invention specifically comprises the following steps:
s1, when a train runs in an interval in a full-automatic running mode or a peristaltic mode, if the train detects a fault condition, the train cannot continue to run in the full-automatic running mode or the peristaltic mode, immediately performing emergency braking and checking whether vehicle-mounted equipment meets the condition of entering the full-automatic speed limiting running mode (FRM), wherein the method specifically comprises the following steps of:
1. the vehicle-mounted controller at the vehicle control end is normal and ATO is available;
2. the speed sensor at the vehicle control end has no fault;
3. the vehicle-mounted controller at the vehicle control end is communicated with the ZC and the ATS normally;
4. the key of the cab is not activated, the FAM mode switch is in the FAM position, and the ATP cutting knob is in the normal position;
5. the failure of the motor car is not affected by the car;
6. the interface between the vehicle-mounted controller at the vehicle control end and the vehicle train control and monitoring system is normal.
If the vehicle-mounted equipment meets the condition of entering the full-automatic speed limiting operation mode, the train sends a full-automatic speed limiting operation mode (FRM) application to the operation control center;
s2, an operation control center dispatcher judges whether the train can enter a full-automatic speed limiting operation mode according to the train alarm information and the line operation condition; if the condition is met, transmitting a command for allowing the nematic vehicle to enter a full-automatic speed limiting operation mode;
s3, after receiving the permission command, the train is switched to a full-automatic speed limiting operation mode, and a driving license of the full-automatic speed limiting operation mode is applied to the ZC;
s4, as shown in FIG. 2, the ZC checks whether the degraded route information and the state of the trackside equipment meet the condition of full-automatic speed-limiting operation of the train; if the running condition is met, the ZC creates a FRM protection zone from the train to the front platform, all logic zones in the zone are closed, other trains are prevented from entering the zone, running safety of the train and other trains on the line is guaranteed, degradation route movement authorization information is sent to the train, and meanwhile, protection zone information is sent to an operation dispatching center for a dispatcher to check;
if the degraded route information and the state of the trackside equipment do not meet the conditions of full-automatic speed-limiting operation of the train, waiting for manual inspection of the following operation conditions, wherein the method specifically comprises the following steps:
1. if the route of the fault train does not extend to the front platform, a central dispatcher is required to handle the route of the train to the front platform, and the train is required to be matched with the route information; if the front line of the train does not have a platform, prohibiting the train from entering a full-automatic speed limiting running mode;
2. if the front route annunciator of the fault train is not opened, central dispatching personnel are required to open the annunciator again;
3. if the non-communication vehicle or the communication vehicle occupies the axle counting section between the fault train and the front platform, waiting for other trains to clear the area;
4. if a turnout with abnormal position or locking state exists between the fault train and the front platform, a central dispatcher is required to operate the turnout to the corresponding position and lock the turnout;
5. if the failure train has a flood gate in the front station and the state is closed, the center dispatcher needs to confirm; if the conditions are met, the flooding prevention door is operated to be opened and locked;
6. if the front platform emergency stop button is in an activated state, a central dispatcher needs to confirm; if the condition is met, the activation state of the emergency stop button of the platform is released;
7. if the front platform screen door is opened, the central dispatcher needs to confirm; if the condition is met, closing the platform screen door;
8. if there is an SPKS protection zone between the failed train and the front station, the central dispatcher needs to confirm the safety condition and deactivate the SPKS activation state or bypass the SPKS button, or wait for the relevant personnel to clear the SPKS protection zone.
If the degraded route and the trackside equipment states meet the FRM protection zone establishment conditions, the ZC creates a FRM protection zone from the train to the front station, all logic zones in the zone are closed, and the degraded route movement authorization information is sent to the train, and meanwhile, the protection zone information is sent to an operation dispatching center for the dispatcher to check.
S5, after receiving the degraded route movement authorization information, the train enters a full-automatic speed limiting operation mode and operates at a fixed speed limit to a front platform.
In the process that the train runs in the full-automatic speed limiting running mode, the ZC can unlock the protection zone of the zone where the train runs in time, and influence on running of subsequent trains on the train is reduced.
In addition, if the ZC detects that any running condition is not met in the running process of the train in the full-automatic speed limiting running mode, the ZC immediately sends an emergency braking command to the train, sends alarm information to an operation dispatching center, and immediately stops the emergency braking of the train, and after waiting for manual processing, the ZC calculates degraded route movement authorization information for the train again, and the train is restarted to run to a front platform for stopping.
If the fault of the train is relieved in the full-automatic speed limiting running process, informing the ZC of the fault relieving information, stopping applying the running permission of the full-automatic speed limiting running mode to the ZC, canceling the FRM protection area of the train and recovering full-automatic driving movement authorization by the ZC, and automatically recovering the train to enter the full-automatic driving mode and stop in an automatic standard alignment mode; meanwhile, the train informs the operation dispatching center and informs the dispatcher that the train resumes the full-automatic driving mode.
If the faults of the train are not relieved all the time in the full-automatic speed limiting running process, the speed limiting running is performed until the train is pressed into the axle counting section of the platform area, the ZC stops sending FRM driving authorization to the train and sends an emergency braking command to the train, the train stops in the platform area, a train manager gets on the train to take over the train, and a train station attendant organizes passengers to get off the train.
When the train operates in a full-automatic operation mode or a creeping mode, if the train fails and stops in a section, the operation scheduling center can remotely control the train to enter the full-automatic speed limiting operation mode, the ZC creates a protection zone for the train and calculates degraded route authorization, so that the train can continue to operate to a platform on the premise of ensuring safety, the influence of the train stopping in the section on the operation efficiency of the line is reduced, and meanwhile, the difficulty of rescue in the section of an operation unit is also reduced.
In the running process of the full-automatic unmanned train in the remote full-automatic speed limiting running mode, if the train fault is relieved, the system can automatically restore the full-automatic running mode, the ZC automatically relieves the protection zone, the train automatically restores to the full-automatic driving mode to enter the station to automatically stop the train in a standard alignment mode, and the fault handling efficiency and the availability of the full-automatic driving system are improved.
Embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method as described above. The embodiment of the invention further discloses a full-automatic speed-limiting operation control system for rail transit, which comprises a memory and a processor which are connected with each other, wherein the memory is stored with a computer program, and the computer program executes the steps of the method when being operated by the processor. The media and system of the present invention correspond to the methods described above, as well as having the advantages described above.
Description of related terms:
FRM: full-automatic speed limiting operation mode of Fully-automatic Restricted Train Operating Mode;
FAM: full-automatic mode of operation of Fully-Automatic Train Operating Mode;
ATO: automatic Train Operation train autopilot mode;
ATS: automatic Train Supervision train automatic monitoring;
ZC: zone Control Zone controller;
ESB: emergency stop button emergency brake button;
SPKS: staff Protection Key Switch personnel protection switch;
ATP: automatic Train Protection train automatic protection system.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.

Claims (10)

1. The full-automatic speed-limiting operation control method for the rail transit is characterized by comprising the following steps of:
s1, when a train runs in an interval in a full-automatic running mode or a creeping mode, if the train detects a fault condition, the train immediately performs emergency braking, and whether the vehicle-mounted equipment meets the condition of entering the full-automatic speed limiting running mode is checked; if the vehicle-mounted equipment meets the condition of entering the full-automatic speed-limiting running mode, the train sends a full-automatic speed-limiting running mode application to the operation control center;
s2, the operation control center judges whether the train can enter a full-automatic speed limiting operation mode according to the train alarm information and the line operation condition; if the condition is met, transmitting a command for allowing the nematic vehicle to enter a full-automatic speed limiting operation mode;
s3, after receiving a command for allowing the train to enter the full-automatic speed limiting operation mode, switching to the full-automatic speed limiting operation mode, and applying for the full-automatic speed limiting operation mode driving permission to the regional controller;
s4, the regional controller checks whether the degraded route information and the states of the trackside equipment meet the running conditions of the full-automatic speed-limiting running of the train; if the running condition is met, a protection zone from the train position to the front station is created, all logic sections in the zone are closed, and degradation route movement authorization information is sent to the train;
and S5, after receiving the degraded route movement authorization information, the train enters a full-automatic speed limiting running mode and runs to a front platform at a fixed speed limit.
2. The method according to claim 1, wherein in step S5, when the failure condition is released during the running of the train in the full-automatic speed-limiting running mode, the failure release information is notified to the regional controller, the application of the full-automatic speed-limiting running mode driving license to the regional controller is stopped, the regional controller cancels the train protection area and resumes the full-automatic driving movement authorization, and the train automatically resumes the full-automatic driving mode inbound automatic standard alignment stop; meanwhile, the train informs the operation dispatching center that the train resumes the full-automatic driving mode.
3. The method according to claim 2, wherein in step S5, during the running of the train in the full-automatic speed limit operation mode, if the fault condition has not been released, the speed limit running is fixed until the train is pressed into the axle counting section of the platform area, the area controller stops sending the running authorization to the train, and sends the emergency braking command to the train, and the train stops in the platform area.
4. The full-automatic speed limit operation control method for rail transit according to claim 1, 2 or 3, wherein in step S5, during the running of the train in the full-automatic speed limit operation mode, the protection zone of the area where the train runs is unlocked in time to reduce the influence on the running of the subsequent train on the line.
5. The full-automatic speed limit operation control method for rail transit according to claim 1 or 2 or 3, wherein in step S1, the condition for entering the full-automatic speed limit operation mode includes:
the vehicle-mounted controller at the vehicle control end is normal and the automatic driving mode of the train is available;
the speed sensor at the vehicle control end has no fault;
the vehicle-mounted controller at the vehicle control end, the regional controller and the train are normal in automatic monitoring communication;
the key of the cab is not activated, the full-automatic running mode switch is in the FAM position, and the ATP cutting knob is in the normal position;
the failure of the motor car is not affected by the car;
the interface between the vehicle-mounted controller at the vehicle control end and the vehicle train control and monitoring system is normal.
6. The full-automatic speed limit operation control method for rail transit according to claim 1, 2 or 3, wherein in step S4, the operation conditions for degrading the route information and the trackside equipment state to satisfy the full-automatic speed limit operation of the train are:
if the route of the fault train does not extend to the front station, the route of the train to the front station is required to be checked, and the train is required to be matched with the route information; if the front line of the train does not have a platform, prohibiting the train from entering a full-automatic speed limiting running mode;
if the front route annunciator of the fault train is not opened, the annunciator needs to be opened again;
if the non-communication vehicle or the communication vehicle occupies the axle counting section between the fault train and the front platform, waiting for other trains to clear the area;
if a turnout with abnormal position or locking state exists between the fault train and the platform in front, the turnout is required to be operated to the corresponding position and locked;
if the failure train has a flood gate in the front station and the state is closed, the failure train needs to be confirmed; if the conditions are met, the flooding prevention door is operated to be opened and locked;
if the front platform emergency stop button is in an activated state, confirmation is needed; if the condition is met, the activation state of the emergency stop button of the platform is released;
if the front platform screen door is opened, confirmation is required; if the condition is met, closing the platform screen door;
if a personnel protection area exists between the fault train and the platform in front of the fault train, safety conditions are confirmed, and the personnel protection switch is released from the activated state or the personnel protection switch button is bypassed, or the personnel protection area is waited to be cleared.
7. The method according to claim 6, wherein in step S5, when any abnormal operation condition is detected during the running of the train in the full-automatic speed-limiting operation mode, an emergency braking command is immediately transmitted to the train, and the train is stopped by emergency braking.
8. The full-automatic speed-limiting operation control method for rail transit according to claim 7, wherein after the train is braked and stopped in emergency and the abnormal processing is carried out, the degraded route movement authorization information is calculated again for the train after each operation condition meets the requirement, and the train is restarted to enter a full-automatic speed-limiting operation mode and is stopped at a front platform.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs the steps of the method according to any one of claims 1-8.
10. A full-automatic speed-limiting operation control system for rail transit, comprising a memory and a processor connected to each other, the memory having stored thereon a computer program, characterized in that the computer program, when being executed by the processor, performs the steps of the method according to any one of claims 1-8.
CN202311435582.1A 2023-10-31 2023-10-31 Full-automatic speed-limiting operation control method, medium and system for rail transit Pending CN117302315A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311435582.1A CN117302315A (en) 2023-10-31 2023-10-31 Full-automatic speed-limiting operation control method, medium and system for rail transit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311435582.1A CN117302315A (en) 2023-10-31 2023-10-31 Full-automatic speed-limiting operation control method, medium and system for rail transit

Publications (1)

Publication Number Publication Date
CN117302315A true CN117302315A (en) 2023-12-29

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Application Number Title Priority Date Filing Date
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Country Status (1)

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