CN117360580A

CN117360580A - Train automatic control system, method, equipment and medium

Info

Publication number: CN117360580A
Application number: CN202311252402.6A
Authority: CN
Inventors: 薛强; 张永会; 徐恒亮
Original assignee: Casco Signal Ltd
Current assignee: Casco Signal Ltd
Priority date: 2023-09-26
Filing date: 2023-09-26
Publication date: 2024-01-09

Abstract

The invention relates to an automatic train control system, a method, equipment and a medium, wherein the system adopts a scattered autonomous control mode taking a train as a unit, the control system comprises a vehicle-mounted area controller, a vehicle-mounted computer and a wireless transmission system, the vehicle-mounted area controller is connected with the vehicle-mounted computer, two vehicle-mounted computers are arranged and are respectively positioned at two ends of a locomotive, and the vehicle-mounted area controller and the vehicle-mounted computer are connected through a network; the vehicle-mounted computer is respectively connected with the interlocking system and the train tracking controller through the wireless transmission system; the vehicle-mounted computer judges and obtains the network IP addresses of the front and rear adjacent trains through the train number sent by the train tracking controller, sends the position report of the vehicle-mounted computer to the rear adjacent train, receives the position report of the front adjacent train, calculates the operation authorization of the train, and automatically operates and automatically protects the train. Compared with the prior art, the invention has the advantages of high transmission safety, improved operation efficiency and the like.

Description

Train automatic control system, method, equipment and medium

Technical Field

The invention relates to a train signal control system, in particular to an automatic train control system, method, equipment and medium with a scattered autonomous function.

Background

In a train automatic control CBTC system (Communication Based Train Control System) based on wireless communication, a part for realizing train automatic operation/automatic protection ATO/ATP (Automatic Train Operation/Automatic Train Protection) is one of important constituent systems thereof. ATO/ATP is composed of a vehicle-mounted part and a rail-side part, ATO realizes automatic operation of a train, replaces manual operation, reduces labor intensity and improves running stability and comfort of the train; the ATP realizes the automatic protection of the train, provides the movement authorization of the train, and ensures the safety of the train. ATO/ATP has been widely used in urban rail areas in recent years as an important component of CBTC systems.

From the aspect of system composition, as shown in fig. 1, the vehicle-mounted ATO/ATP in the CBTC currently consists of a vehicle-mounted computer, a vehicle-mounted ethernet and a speed measuring and positioning sensor, and is responsible for automatic operation/automatic protection of the train itself. The trackside ATO/ATP is composed of a regional controller and a communication network, and a logic region is configured with one regional controller. The regional controllers intensively control all trains in the regional, communicate with the adjacent regional controllers and transmit information in the respective regional. The centralized control mode divides the whole line into a plurality of areas according to the line length, the number of stations and the number of trains, and each area controls the trains in the respective parts. The advantages of this solution are: simple structure, small information transmission quantity, uniform organization and the like. The defects are that: if one regional controller fails, the trains in the whole region cannot normally run, for example, the regional controller fails, the trains in the region A cannot use a CBTC operation mode and needs to be degraded to a fixed block operation mode, so that the operation interval is increased, and the travelling speed is reduced; in addition, communication transmission delay between vehicle-ground communication and regional controllers can cause inconsistency between system command issuing and equipment current state under extreme conditions, and the usability, reliability and safety of the system are reduced.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide an automatic train control system, method, equipment and medium with a scattered autonomous function.

The aim of the invention can be achieved by the following technical scheme:

according to a first aspect of the invention, there is provided an automatic train control system, which adopts a decentralized autonomous control mode taking a train as a unit, the control system comprises a vehicle-mounted area controller, a vehicle-mounted computer and a wireless transmission system, the vehicle-mounted area controller is connected with the vehicle-mounted computer, two vehicle-mounted computers are respectively positioned at two ends of a locomotive, and the vehicle-mounted area controller and the vehicle-mounted computer are connected through a network; the vehicle-mounted computer is respectively connected with the interlocking system and the train tracking controller through the wireless transmission system;

the vehicle-mounted computer judges and obtains the network IP addresses of the front and rear adjacent trains through the train number sent by the train tracking controller, sends the position report of the vehicle-mounted computer to the rear adjacent train, receives the position report of the front adjacent train, calculates the operation authorization of the train, and automatically operates and automatically protects the train.

As an preferable technical scheme, the vehicle-mounted area controller receives a position report of the front adjacent train according to the train number of the front adjacent train, and calculates the movement authorization.

As an optimal technical scheme, the vehicle-mounted area controller adopts a three-out-two redundant structure.

As a preferable technical scheme, the vehicle-mounted area controller comprises a computer A, a computer B, a computer C, a voter and a dual-channel input/output I/O, wherein three paths of calculation results are output after the computer A, the computer B and the computer C are respectively calculated independently, and the calculation results are output through the dual-channel input/output I/O when at least two groups of calculation results are consistent through the comparison of the voter.

As a preferable technical scheme, the dual-channel input/output I/O is transmitted to the vehicle-mounted computer through the redundant Ethernet by using a secure transmission protocol.

As a preferable technical scheme, the secure transmission protocol includes a serial number, a time stamp, a timeout, a source and destination identity, feedback information and a security code.

As an preferable technical scheme, the vehicle-mounted computer is connected with the vehicle-mounted computer at the other end of the train in a redundant Ethernet connection mode through a switch.

As an optimal technical scheme, the vehicle-mounted computer is connected with the speed sensor through an electrical interface and is used for collecting the speed of the train;

the vehicle-mounted computer is connected with the positioning sensor through an electrical interface to collect ground positioning information;

and the vehicle-mounted computer calculates the real-time position of the train through the train speed and the bottom surface positioning information to generate a position report.

As an optimal technical scheme, the vehicle-mounted computer is connected with the vehicle through an electrical interface and is used for collecting vehicle information and giving control commands to the vehicle;

the vehicle-mounted computer is connected with the vehicle-mounted control interface through a redundant Ethernet and is used for providing train control information for drivers.

As an optimal technical scheme, the vehicle-mounted computer is of a three-out-two redundant structure.

As an optimized technical scheme, the wireless transmission system is of a double-ring redundant structure and comprises communication nodes, backbone network optical cables and wireless Access Points (AP), wherein the communication nodes are connected through the redundant backbone network optical cables, the wireless Access Points (AP) are connected with vehicle-mounted antennas, the vehicle-mounted antennas are connected with a switch through modems, and the switch is connected with a vehicle-mounted computer.

As a preferred solution, the interlock system sends the access information, the platform screen door and the emergency stop information to the on-board area controller, which sends the authorization destination and whether the platform screen door is authorized to open to the interlock system.

As an preferable technical scheme, the train tracking controller transmits a train identification number, an operation plan adjustment, a car buckling, a jump stop, a stop at a station, a temporary speed limit request, a departure time and a next arrival time to the vehicle-mounted area controller, and the vehicle-mounted area controller transmits train state information to the train tracking controller, wherein the train state information comprises the train identification number, a driving mode, a car door opening and closing state, a jump stop state, temporary speed limit information, vehicle-mounted equipment availability and alarm information.

According to a second aspect of the present invention, there is provided a control method employing the automatic train control system, the method comprising the steps of:

step S1, a train tracking controller generates a train number according to a train operation plan;

step S2, judging whether the train successfully receives the train number distributed by the train tracking controller, and if so, executing step S5; if not, executing step S3;

step S3, the communication failure between the train and the train tracking controller, the positive line operation is exited, and step S4 is executed;

step S4, the train tracking controller deletes the train number of the fault train and returns to the step S1;

step S5, the train receives a position report of the adjacent train in front according to the IP address corresponding to the train number of the adjacent train in front and behind; if successful, executing step S7; if not, executing step S6;

step S6, the train stops, the system considers that the adjacent train in front is a communication fault train, and the step S3 is returned;

step S7, train calculates operation authorization, and then step S8 is executed;

and S8, normally operating the train on the line, and realizing automatic operation and automatic protection of the train.

According to a third aspect of the present invention there is provided an electronic device comprising a memory and a processor, the memory having stored thereon a computer program, the processor implementing the method when executing the program.

According to a fourth aspect of the present invention there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the method.

Compared with the prior art, the invention has the following advantages:

1) The invention realizes the centralized control from the physically and logically divided areas to the decentralized autonomous control taking the train as a unit, greatly reduces the influence range of the faults of the area control system, reduces the transmission delay of the vehicle-ground communication and the area-area communication, and improves the calculation capability of the system.

2) The invention has high transmission safety, ensures the safety and accuracy of information transmission through a safety transmission protocol, controls the independent vehicles on the line by using an automatic control technology of a train workshop, and improves the operation efficiency.

3) The invention has simple structure, no need of arranging the control system of the trackside ground area, no need of increasing the trackside ground ATP/ATO system when the expansion needs to be carried out on the line, only need to synchronously increase the same number of vehicle-mounted control systems according to the number of the trains which are increased after the expansion, and obviously improve the design, debugging and signal production cycle of the expansion line.

Drawings

FIG. 1 is a conventional ATO/ATP control system architecture;

FIG. 2 is an ATO/ATP control system architecture according to the present invention;

FIG. 3 is a schematic diagram of the automatic train control system of the present invention;

fig. 4 is a flow chart of the control process of the present invention.

The system comprises a vehicle-mounted area controller 1, a computer A11, a computer B12, a computer C13, a voter 14, two-channel input/output I/O15 and 16, a vehicle-mounted computer 2, a switch 21, a wireless transmission system 3, a communication node 31, a backbone network optical cable 32, a wireless access point AP33, a vehicle-mounted control interface 4, a positioning sensor 5, a speed sensor 6, a modem 7, a vehicle-mounted antenna 8 and a vehicle 9.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

From the physical configuration of system hardware, as shown in fig. 1, the trackside area controller in the traditional ATO/ATP control system architecture is integrated on the vehicle-mounted equipment of each train, and the trackside ground area control system is not required to be configured; as shown in fig. 2, the invention realizes the centralized control from the physically and logically divided areas to the decentralized autonomous control taking the train as a unit, greatly reduces the influence range of the fault of the area control system, reduces the transmission delay of the vehicle-ground communication and the area-area communication, and improves the calculation capability of the system. The transmission safety is high, the safety and accuracy of information transmission are guaranteed through a safety transmission protocol, the independent vehicles on the line are controlled by an automatic control technology of a train workshop, and the operation efficiency is improved. As shown in fig. 2, the invention does not need to arrange a trackside ground area control system any more, when the expansion needs to be carried out on a line, the trackside ground ATP/ATO system is not required to be increased any more, and only the same number of vehicle-mounted control systems are required to be synchronously increased according to the number of the trains increased after the expansion, so that the design, the debugging and the signal production cycle of the expansion line are obviously improved.

As shown in fig. 3, the invention combines the trackside regional controller and the vehicle-mounted control system into the train automatic control system with a scattered autonomous function by utilizing an Ethernet network structure and a safe transmission protocol, receives the train number sent by the train tracking controller, calculates the running authorization of the train according to the front train number and the position report, realizes the integration of regional control and the vehicle-mounted computer, and has the functions of ensuring running safety, managing the train state, reporting the train position, calculating the safety protection envelope, managing the track occupation, managing the train authorization end point, controlling the train speed and the like. The automatic running/automatic protection of the train is realized.

As shown in fig. 3, in the present invention, a vehicle-mounted area controller 1 and a vehicle-mounted computer 2 are connected through a secure input/output channel, and the vehicle-mounted area controller 1 receives a position report of a front adjacent train according to a train number of the front adjacent train sent by a train tracking controller, and calculates a movement authorization. The vehicle-mounted area controller 1 comprises a computer A11, a computer B12, a computer C13, a voter 14, a dual-channel input/output I/O15 and an I/O16, wherein the computer A11, the computer B12 and the computer C13 respectively and independently calculate and output three paths of calculation results, when at least two groups of calculation results are consistent through the voter 14, the calculation results are transmitted to the vehicle-mounted computer 2 through the dual-channel input/output I/O15 and the I/O16 by using a safe transmission protocol through a redundant Ethernet, the safe transmission protocol adopts a protection algorithm designed from a receiving angle by adopting a safe code, and the authenticity of a message, the integrity of the protection message and the time sequence of the protection message are required to be protected. The specific protective measures adopted by the security protocol are as follows: serial number, timestamp, overtime, source and target identity, feedback information and security code, and is used for ensuring the correctness of data transmission. The in-vehicle area controller 1 is two-out-of-three redundant.

The vehicle-mounted computer 2 is connected with the vehicle-mounted computer 2 at the other end of the train in a redundant Ethernet connection mode through the exchanger 21; the train speed is transmitted to the vehicle-mounted computer 2 through the electrical interface connection with the speed sensor 6; the positioning sensor 9 is connected with the ground through an electric interface, acquires ground positioning information and transmits the train position to the on-board computer 2; calculating the real-time position of the train through the information of the speed sensor 6 and the positioning sensor 5, and generating a position report; the system is connected with a vehicle 9 through an electrical interface, acquires vehicle information and gives a control command to the vehicle; the system is connected with the vehicle-mounted control interface 4 through a redundant Ethernet, and the vehicle-mounted control interface 4 provides train control information for a driver. The vehicle-mounted computer 2 has a three-out-two redundancy structure.

The wireless transmission system 3 is of a double-ring redundant structure and comprises a communication node 31, a backbone network optical cable 32 and a wireless access point AP33, wherein the communication node 31 is connected through the redundant backbone network optical cable 32, and the wireless access point AP33 is connected with the vehicle-mounted antenna 8 to realize input/output of train information.

The vehicle-mounted area controller 1 can be connected with an interlocking system through a wireless transmission system 3, the interlocking system sends information such as access information, platform screen doors, emergency stop and the like to the vehicle-mounted area controller 1, and the vehicle-mounted area controller 1 sends an authorized terminal point, whether the platform screen doors are authorized to open or not and the like to the interlocking system.

The vehicle-mounted area controller 1 can be connected with a train tracking controller through a wireless transmission system 3, the train tracking controller sends a train identification number, operation plan adjustment, car buckling, jump stopping, train stopping at a station, a temporary speed limiting request, departure time and next arrival time to the vehicle-mounted area controller 1, and the vehicle-mounted area controller 1 sends relevant state information of the train: the train identification number, driving mode, door open/close status, trip status, temporary speed limit information, vehicle equipment availability and alarm information are sent to the train tracking controller.

FIG. 4 is a flow chart of the control process of the present invention, and the following details the steps in the drawing:

in step 401, the train tracking controller generates a train number according to the train operation plan;

in step 402, it is determined whether the train successfully receives the train number assigned by the train tracking controller, and if so, step 405 is executed; if not, go to step 403;

in step 403, the train and the train tracking controller fail in communication, exit the trainline operation, and execute step 404;

in step 404, the train tracking controller deletes the train number of the failed train, and executes step 401;

in step 405, the train receives a position report of the front adjacent train according to the IP address corresponding to the train number of the front adjacent train; if successful, go to step 407; if not, execute step 406;

in step 406, the train stops, the system considers the adjacent train in front as the communication fault train, and step 403 is executed;

in step 407, the train calculates an operation authorization; step 408 is then performed;

in step 408, the train is operated normally on the line, realizing automatic train operation/automatic protection ATO/ATP.

The foregoing description of embodiments of the system and method further describes aspects of the present invention in terms of embodiments of an electronic device and a storage medium.

The electronic device of the present invention includes a Central Processing Unit (CPU) that can perform various appropriate actions and processes according to computer program instructions stored in a Read Only Memory (ROM) or computer program instructions loaded from a storage unit into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The CPU, ROM and RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.

A plurality of components in a device are connected to an I/O interface, comprising: an input unit such as a keyboard, a mouse, etc.; an output unit such as various types of displays, speakers, and the like; a storage unit such as a magnetic disk, an optical disk, or the like; and communication units such as network cards, modems, wireless communication transceivers, and the like. The communication unit allows the device to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processing unit performs the various methods and processes described above, such as the inventive method. For example, in some embodiments, the inventive methods may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device via the ROM and/or the communication unit. One or more of the steps of the method of the invention described above may be performed when the computer program is loaded into RAM and executed by a CPU. Alternatively, in other embodiments, the CPU may be configured to perform the methods of the present invention by any other suitable means (e.g., by means of firmware).

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.

Program code for carrying out methods of the present invention may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims

1. The train automatic control system is characterized by adopting a scattered autonomous control mode taking a train as a unit, the control system comprises a vehicle-mounted area controller (1), a vehicle-mounted computer (2) and a wireless transmission system (3), the vehicle-mounted area controller (1) is connected with the vehicle-mounted computer (2), two vehicle-mounted computers (2) are arranged and are respectively positioned at two ends of a train, and the vehicle-mounted area controller and the vehicle-mounted computer are connected through a network; the vehicle-mounted computer (2) is respectively connected with the interlocking system and the train tracking controller through the wireless transmission system (3);

the vehicle-mounted computer (2) judges and obtains network IP addresses of front and rear adjacent trains through train number sent by the train tracking controller, sends own position report to the rear adjacent trains, receives the position report of the front adjacent trains, calculates operation authorization of the trains, and performs automatic operation and automatic protection on the trains.

2. The automatic train control system according to claim 1, wherein the in-vehicle area controller (1) calculates the movement authority by receiving a position report of a preceding adjacent train based on a train number of the preceding adjacent train.

3. The automatic train control system according to claim 1, wherein the on-board area controller (1) adopts a two-out-of-three redundancy structure.

4. The automatic train control system according to claim 1, wherein the vehicle-mounted area controller (1) comprises a computer A (11), a computer B (12), a computer C (13), a voter (14) and two-channel input/output (15, 16), wherein the computer A (11), the computer B (12) and the computer C (13) respectively and independently calculate and output three paths of calculation results, and the calculation results are output through the two-channel input/output (15, 16) when at least two groups of calculation results are consistent through the voter (14) comparison.

5. The automatic train control system according to claim 4, wherein the two-channel input/output I/O (15, 16) is transmitted to the on-board computer (2) via a redundant ethernet network using a secure transmission protocol.

6. The automatic train control system of claim 5 wherein the secure transmission protocol includes a serial number, a time stamp, a timeout, a source destination identification, feedback information, and a security code.

7. The automatic train control system according to claim 1, wherein the on-board computer (2) is connected to the on-board computer (2) at the other end of the train by a redundant ethernet connection through the switch (21).

8. The automatic train control system according to claim 1, wherein the vehicle-mounted computer (2) is connected with the speed sensor (6) through an electrical interface for acquiring train speed;

the vehicle-mounted computer (2) is connected with the positioning sensor (9) through an electrical interface to collect ground positioning information;

the vehicle-mounted computer (2) calculates the real-time position of the train through the speed of the train and the positioning information of the bottom surface, and generates a position report.

9. The automatic train control system according to claim 1, wherein the on-board computer (2) is connected to the vehicle (9) via an electrical interface for collecting vehicle information and giving control commands to the vehicle;

the vehicle-mounted computer (2) is connected with the vehicle-mounted control interface (4) through a redundant Ethernet and is used for providing train control information for drivers.

10. The automatic train control system according to claim 1, wherein the on-board computer (2) is of a two-out-of-three redundant configuration.

11. The train automatic control system according to claim 1, wherein the wireless transmission system (3) is of a double-ring redundant structure, and comprises a communication node (31), a backbone network optical cable (32) and a wireless Access Point (AP) (33), wherein the communication node (31) is connected through the redundant backbone network optical cable (32), the wireless Access Point (AP) (33) is connected with a vehicle-mounted antenna (8), the vehicle-mounted antenna (8) is connected with a switch (21) through a modem (7), and the switch (21) is connected with a vehicle-mounted computer (2).

12. An automatic train control system according to claim 1, wherein the interlock system transmits the access information, the platform screen door and the emergency stop information to the on-board area controller (1), and the on-board area controller (1) transmits the authorized destination and whether the platform screen door is authorized to open to the interlock system.

13. The automatic train control system according to claim 1, wherein the train tracking controller transmits a train identification number, an operation plan adjustment, a trip, a skip stop, a stop at a station, a temporary speed limit request, a departure time, and a next arrival time to the on-vehicle area controller (1), and the on-vehicle area controller (1) transmits train status information to the train tracking controller, wherein the train status information includes a train identification number, a driving mode, a door opening and closing state, a skip stop state, temporary speed limit information, on-vehicle equipment availability, and alarm information.

14. A control method employing the train automatic control system according to any one of claims 1 to 12, characterized by comprising the steps of:

15. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the processor implements the method of claim 14 when executing the program.

16. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method of claim 14.