CN117465502A

CN117465502A - Train control vehicle-mounted system and method compatible with CTCS and CBTC

Info

Publication number: CN117465502A
Application number: CN202311497141.4A
Authority: CN
Inventors: 张友兵; 刘岭; 崔佳诺; 陈志强; 王建敏; 吴培栋; 张家兴; 王硕; 田换换; 黄睿; 朱志承; 王怀江; 宁云转
Original assignee: CRSC Research and Design Institute Group Co Ltd
Current assignee: CRSC Research and Design Institute Group Co Ltd
Priority date: 2023-11-10
Filing date: 2023-11-10
Publication date: 2024-01-30

Abstract

The invention discloses a train control vehicle-mounted system and a train control vehicle-mounted method compatible with CTCS and CBTC. The system is arranged on a train and comprises a CTCS vehicle-mounted subsystem, a CBTC vehicle-mounted subsystem and an ATO unit, wherein the CTCS vehicle-mounted main control unit is respectively in communication connection with the CBTC vehicle-mounted main control unit and the ATO unit. The required train control information is input or output for the CBTC train main control unit through the CTCS train main control unit. The ATO unit interacts with the CTCS train control information and interacts with the CBTC train control information, and the train is automatically driven according to the train control information corresponding to the train control state. The integrated vehicle-mounted equipment is compatible with two systems of CTCS and CBTC, can realize the line crossing operation of CTCS lines and CBTC lines of high-speed railways, inter-city railways, urban railways and the like, realizes four-network integration, has simple system structure and low equipment cost, and has lower requirement on installation space.

Description

Train control vehicle-mounted system and method compatible with CTCS and CBTC

Technical Field

The invention relates to the technical field of railway traffic management, in particular to a train control vehicle-mounted system and method compatible with CTCS and CBTC.

Background

At present, high-speed railways and inter-city railways commonly adopt a China train control system (China Train Control System, CTCS) mode, and urban rail transit mostly adopts a communication-based train control system (Communication Based Train Control System, CBTC) mode.

The system is used as a tie and a key node for realizing interconnection and intercommunication of high-speed railways, inter-city railways and urban rail transit, and is used for realizing four-network fusion of trunk railways, inter-city railways, urban (suburban) railways and urban rail transit in the long term, so that the fusion of two systems of CTCS and CBTC is necessarily involved.

Disclosure of Invention

The invention provides a train control vehicle-mounted system and a train control vehicle-mounted method compatible with CTCS and CBTC, so as to realize the fusion of the CTCS and the CBTC.

According to a first aspect of the present invention there is provided a train control on board system compatible with CTCS and CBTCs, the system being mounted on a train, the system comprising:

the system comprises a China Train Control System (CTCS) vehicle-mounted subsystem, a communication-based train automatic control system (CBTC) vehicle-mounted subsystem and a train automatic driving system (ATO) unit, wherein the CTCS vehicle-mounted subsystem comprises a CTCS vehicle-mounted main control unit, the CBTC vehicle-mounted subsystem comprises a CBTC vehicle-mounted main control unit, and the CTCS vehicle-mounted subsystem is respectively in communication connection with the CBTC vehicle-mounted main control unit and the ATO unit through the CTCS vehicle-mounted main control unit;

The CTCS vehicle-mounted main control unit interacts CTCS column control information with the ATO unit and forwards CBTC column control information between the CBTC vehicle-mounted main control unit and the ATO unit; taking over the train control right of the train from the CBTC vehicle-mounted main control unit when the train enters a CTCS jurisdiction from the CBTC jurisdiction; when the train enters a CBTC jurisdiction from the CTCS jurisdiction, the control right is handed over to the CBTC vehicle-mounted main control unit;

the CBTC vehicle-mounted main control unit interacts the CBTC train control information with the CTCS vehicle-mounted main control unit; for taking over control of the train from the CTCS on-board master control unit when the train enters the CBTC jurisdiction from the CTCS jurisdiction; when the train enters a CTCS jurisdiction from the CBTC jurisdiction, the control right is handed over to the CTCS vehicle-mounted main control unit;

the ATO unit is used for automatically driving the train according to the CBTC train control information or the CTCS train control information corresponding to the train control state.

According to a second aspect of the present invention, there is provided a train control vehicle-mounted method applied to the train control vehicle-mounted system according to any embodiment of the present invention, including:

The method comprises the steps of interacting CTCS column control information with an ATO unit through a CTCS vehicle-mounted main control unit, and forwarding CBTC column control information between the CBTC vehicle-mounted main control unit and the ATO unit; taking over the train control right of the train from the CBTC vehicle-mounted main control unit when the train enters a CTCS jurisdiction from the CBTC jurisdiction; when the train enters a CBTC jurisdiction from the CTCS jurisdiction, the control right is handed over to the CBTC vehicle-mounted main control unit;

the CBTC train control information is interacted with the CTCS train control unit through the CBTC train control unit; for taking over control of the train from the CTCS on-board master control unit when the train enters the CBTC jurisdiction from the CTCS jurisdiction; when the train enters a CTCS jurisdiction from the CBTC jurisdiction, the control right is handed over to the CTCS vehicle-mounted main control unit;

and automatically driving the train through the ATO unit according to the CBTC train control information or the CTCS train control information corresponding to the train control state.

The technical scheme of the embodiment of the invention is that the system is arranged on a train and comprises a China Train Control System (CTCS) vehicle-mounted subsystem, a communication-based train automatic control system (CBTC) vehicle-mounted subsystem and a train automatic driving system (ATO) unit, wherein the CTCS vehicle-mounted subsystem comprises a CTCS vehicle-mounted main control unit, the CBTC vehicle-mounted subsystem comprises a CBTC vehicle-mounted main control unit, and the CTCS vehicle-mounted subsystem is respectively in communication connection with the CBTC vehicle-mounted main control unit and the ATO unit through the CTCS vehicle-mounted main control unit; the CTCS vehicle-mounted main control unit is used for interacting CTCS column control information with the ATO unit and forwarding CBTC column control information between the CBTC vehicle-mounted main control unit and the ATO unit; taking over the train control right of the train from the CBTC vehicle-mounted main control unit when the train enters the CTCS jurisdiction from the CBTC jurisdiction; when a train enters a CBTC jurisdiction from the CTCS jurisdiction, transferring the control right to the CBTC vehicle-mounted main control unit; the CBTC vehicle-mounted main control unit is used for interacting CBTC train control information with the CTCS vehicle-mounted main control unit; the train control system comprises a train control system, a train control system and a train control system, wherein the train control system is used for taking over the train control right of a train from a CTCS (China train control system) vehicle-mounted main control unit when the train enters a CBTC jurisdiction from the CTCS jurisdiction; when a train enters a CTCS jurisdiction from the CBTC jurisdiction, transferring the control right to a CTCS vehicle-mounted main control unit; and the ATO unit is used for automatically driving the train according to the CBTC train control information or CTCS train control information corresponding to the train control state. The integrated vehicle-mounted equipment is compatible with two systems of CTCS and CBTC, can realize the line crossing operation of CTCS lines and CBTC lines of high-speed railways, inter-city railways, urban railways and the like, realizes four-network integration, has simple system structure and low equipment cost, and has lower requirement on installation space.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only 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 block diagram of a train control vehicle system compatible with CTCS and CBTC according to a first embodiment of the present invention;

FIG. 2 is a schematic diagram of ATO unit data communications for a CTCS and CBTC compatible train control on-board system according to a first embodiment of the present invention;

FIG. 3 is a schematic diagram of train interface communications for a CTCS and CBTC compatible train control onboard system in accordance with a first embodiment of the present invention;

FIG. 4 is a schematic diagram of a DMI communication system compatible with a CTCS and a CBTC;

FIG. 5 is a schematic diagram of vehicle-to-ground communication of a train control onboard system compatible with CTCS and CBTC according to a first embodiment of the present invention;

FIG. 6 is a diagram showing an example of time synchronization of a master control unit of a train control vehicle system compatible with CTCS and CBTC according to a first embodiment of the present invention;

FIG. 7 is a diagram illustrating an example of automated driving status monitoring for a CTCS and CBTC compatible train control on board system according to one embodiment of the present invention;

FIG. 8 is a diagram illustrating an exemplary architecture of a train control system compatible with CTCS and CBTC according to one embodiment of the present invention;

FIG. 9 is a diagram showing an exemplary architecture of a CTCS and CBTC compatible train on board system including an external interface according to a second embodiment of the present invention;

fig. 10 is a flowchart of a train control method compatible with CTCS and CBTCs according to a third embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. 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.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

FIG. 1 is a block diagram of a train control vehicle system compatible with CTCS and CBTC according to an embodiment of the present invention. The embodiment is applicable to the train control situation compatible with CBTC and CTCS, as shown in FIG. 1, the system is installed on a train, the system comprises a train control system CBTC vehicle-mounted subsystem 11 based on communication, a China train control system CTCS vehicle-mounted subsystem 12 and a train automatic driving system ATO unit 13, the CTCS vehicle-mounted subsystem 12 comprises a CTCS vehicle-mounted main control unit 121, the CBTC vehicle-mounted subsystem 11 comprises a CBTC vehicle-mounted main control unit 111, and the CTCS vehicle-mounted subsystem 12 is respectively in communication connection with the CBTC vehicle-mounted main control unit 111 and the ATO unit 13 through the CTCS vehicle-mounted main control unit 121;

The CTCS on-board main control unit 121 interacts CTCS column control information with the ATO unit and forwards CBTC column control information between the CBTC on-board main control unit and the ATO unit; when a train enters a CTCS jurisdiction from a CBTC jurisdiction, taking over the train control right of the train from the CBTC onboard master control unit 111; when a train enters a CBTC jurisdiction from the CTCS jurisdiction, the control right is handed over to the CBTC vehicle-mounted main control unit 111;

the CBTC onboard master control unit 111 interacts with the CTCS onboard master control unit 121 with CBTC train control information; for taking over control authority of the train from the CTCS in-vehicle main control unit 121 when the train enters the CBTC jurisdiction from the CTCS jurisdiction; when the train enters the CTCS jurisdiction from the CBTC jurisdiction, the control right is handed over to the CTCS vehicle-mounted main control unit 121;

the ATO unit 13 is configured to automatically drive the train according to CBTC train control information or CTCS train control information corresponding to the train control state.

In this embodiment, CTCS on-board subsystem 12 may be understood as a device that controls train operation by exchanging information with ground subsystems at high speed railways and inter-urban railways. The CBTC on-board master control unit 111 can be understood as a communication-based train control system in urban rail transit. The ATO unit 13 may be understood as a system for automatically driving a train. CTCS jurisdictions may be understood as jurisdictions in which train control is performed by CTCS on-board master unit 121. CBTC jurisdictions may be understood as jurisdictions in which train control is performed by CBTC on-board master control unit 111. The ATO unit 13 data may be understood as automatic driving state information fed back by the ATO unit 13. CTCS train control information may be understood as information for controlling a train transmitted or received by the CTCS on-board main control unit 121. CBTC train control information may be understood as information for controlling a train transmitted or received by the CBTC on-board main control unit 111. Control authority may be understood as authority for controlling a train. The set protocol may be understood as a protocol for converting the protocol into a protocol prescribed by the receiving device, such as converting CAN type data of the CBTC in-vehicle main control unit 111 into MVB type of the DMI device, or the like.

Specifically, the system takes the CTCS vehicle-mounted main control unit as a main part and takes the CBTC vehicle-mounted main control unit as an auxiliary part, the two main control units share all peripheral equipment, and the CTCS vehicle-mounted main control unit forwards all input and output information for the CBTC vehicle-mounted main control unit so as to support the safety control of the CBTC vehicle-mounted main control unit under the CBTC grade. When the train is in the CTCS jurisdiction, the CTCS vehicle-mounted main control unit is in a train control state, and the safe running of the train is monitored. When the train is in the CBTC jurisdiction, the CBTC vehicle-mounted main control unit is in a train control state, and the safe running of the train is monitored. Entering a CBTC jurisdiction from the CTCS jurisdiction, and transferring the control right to the CBTC vehicle-mounted main control unit by the CTCS vehicle-mounted main control unit; and (3) entering the CTCS jurisdiction from the CBTC jurisdiction, and transferring the control right to the CTCS vehicle-mounted main control unit by the CBTC vehicle-mounted main control unit. The ATO unit can automatically drive the train according to train control information corresponding to the train control state, and if the current train control state is controlled by the CTCS vehicle-mounted main control unit, the ATO unit drives and controls the train according to the CTCS train control information; and when the current train control state bit is controlled by the CBTC vehicle-mounted main control unit, the ATO unit automatically drives the train according to the CBTC train control information.

The technical scheme of the embodiment of the invention is that the system is arranged on a train and comprises a China Train Control System (CTCS) vehicle-mounted subsystem, a communication-based train control system (CBTC) vehicle-mounted subsystem and a train automatic driving system (ATO) unit, wherein the CTCS vehicle-mounted subsystem comprises a CTCS vehicle-mounted main control unit, the CBTC vehicle-mounted subsystem comprises a CBTC vehicle-mounted main control unit, and the CTCS vehicle-mounted subsystem is respectively in communication connection with the CBTC vehicle-mounted main control unit and the ATO unit through the CTCS vehicle-mounted main control unit; the CTCS vehicle-mounted main control unit is used for interacting CTCS column control information with the ATO unit and forwarding CBTC column control information between the CBTC vehicle-mounted main control unit and the ATO unit; taking over the train control right of the train from the CBTC vehicle-mounted main control unit when the train enters the CTCS jurisdiction from the CBTC jurisdiction; when a train enters a CBTC jurisdiction from the CTCS jurisdiction, transferring the control right to the CBTC vehicle-mounted main control unit; the CBTC vehicle-mounted main control unit is used for interacting CBTC train control information with the CTCS vehicle-mounted main control unit; the train control system comprises a train control system, a train control system and a train control system, wherein the train control system is used for taking over the train control right of a train from a CTCS (China train control system) vehicle-mounted main control unit when the train enters a CBTC jurisdiction from the CTCS jurisdiction; when a train enters a CTCS jurisdiction from the CBTC jurisdiction, transferring the control right to a CTCS vehicle-mounted main control unit; and the ATO unit is used for automatically driving the train according to the CBTC train control information or CTCS train control information corresponding to the train control state. The integrated vehicle-mounted equipment is compatible with two systems of CTCS and CBTC, can realize the line crossing operation of CTCS lines and CBTC lines of high-speed railways, inter-city railways, urban railways and the like, realizes four-network integration, has simple system structure and low equipment cost, and has lower requirement on installation space.

When the CBTC vehicle-mounted main control unit 111 controls the vehicle, the CTCS vehicle-mounted main control unit 121 does not output commands such as braking and the like in the background, does not detect braking feedback and the like, and avoids failure and halt of the CTCS vehicle-mounted main control unit 121 caused by inconsistent output and feedback; similarly, when the CTCS on-board main control unit 121 is controlling, the CBTC on-board main control unit 111 does not output a command such as braking, does not detect braking feedback, and the like, and avoids failure and halt of the CBTC on-board main control unit 111 caused by inconsistent output and feedback.

Fig. 2 is a schematic diagram of ATO unit data communication of a train control vehicle system compatible with CTCS and CBTCs according to an embodiment of the present invention. As shown in fig. 2, the CBTC on-board main control unit 111 includes a CBTC-ATO input module for inputting data of the ATO unit 13 and a CBTC-ATO output module for outputting data of the ATO unit 13; the CTCS on-board main control unit 121 includes a CTCS-ATO input module for inputting ATO unit 13 data, a CTCS-ATO output module for outputting ATO unit 13 data, a forwarding module for forwarding CBTC-ATO output data, and a forwarding module for forwarding CBTC-ATO input data; the TRU comprises a forwarding module for forwarding CTCS-ATO output data, a forwarding module for forwarding CTCS-ATO input data, a forwarding module for forwarding CBTC-ATO output data and a forwarding module for forwarding CBTC-ATO input data; the ATO unit 13 includes an ATO-CTCS input module, an ATO-CTCS output module, an ATO-CBTC input module, an ATO-CBTC output module, and an ATO unit master control unit for transceiving data of the CTCS on-board master control unit 121 and the CBTC on-board master control unit 111.

The CTCS on-board main control unit 121 needs to send CTCS-ATO output data to the ATO unit 13, and forwards the data to the ATO-CTCS input module of the ATO unit 13 through the TRU; the CBTC on-board master control unit 111 needs CBTC-ATO output data sent to the ATO unit 13, and forwards the data to the ATO-CBTC input module of the ATO unit 13 via the TRU and CTCS on-board master control unit 121.

The ATO unit 13 needs to send ATO-CTCS output data of the CTCS vehicle-mounted main control unit 121, and forwards the data to a CTCS-ATO input module of the CTCS vehicle-mounted main control unit 121 through the TRU; the ATO unit 13 needs to send ATO-CBTC output data of the CBTC in-vehicle main control unit 111, and forwards the data to a CBTC-ATO input module of the CBTC in-vehicle main control unit 121 via the TRU and CTCS in-vehicle main control unit 121.

Optionally, CTCS on-board subsystem 12 further comprises: the speed and distance measuring unit is connected with the CTCS vehicle-mounted main control unit 121;

the speed and distance measuring unit is used for acquiring the original speed information of the train, determining the speed and distance information of the train according to the original speed information and sending the speed and distance information to the CTCS vehicle-mounted main control unit 121;

the CTCS on-board main control unit 121 is configured to determine train running status information of the train according to the speed distance information, convert the speed distance information according to a set protocol, and send the converted speed distance information to the CBTC on-board main control unit 111, so that the CBTC on-board main control unit 111 determines the train running status information of the train according to the speed distance information.

In the present embodiment, the raw speed information can be understood as information constituted by raw speed data acquired by a speed measuring device such as a speed sensor, a radar, a decelerator, or the like. The speed and distance information can be understood as information of the calculated train related speed, distance and the like. The train running state information is understood to be information such as the position, speed, and direction of the train.

Specifically, the speed measurement and ranging unit calculates the timestamp, the maximum speed, the estimated speed, the minimum speed, the maximum distance, the estimated distance, the minimum distance, the distance resolution and other speed distance information according to the original data information acquired by the associated speed measurement equipment, and sends the speed distance information to the CTCS vehicle-mounted main control unit 121, and the CTCS vehicle-mounted main control unit 121 calculates the information of the position, the speed, the direction and the like of the train based on the speed distance information to form train running state information; meanwhile, the CTCS on-board main control unit 121 forwards the speed distance information converted according to the set protocol to the CBTC on-board main control unit 111, so that the CBTC on-board main control unit 111 calculates the train position, speed, direction and the like based on the speed distance information to form train running state information.

By the arrangement, as the CTCS vehicle-mounted main control unit and the CBTC vehicle-mounted main control unit use the same speed and distance information, the consistency of the train running state information under the two vehicle-mounted main control units is ensured, and the safety of train running is improved.

Optionally, CTCS on-board subsystem 12 further comprises: a transponder information receiving unit connected with the CTCS vehicle-mounted main control unit 121;

the transponder information receiving unit is used for receiving the original transponder message, converting the original transponder message into a target transponder message meeting the set protocol condition, and sending the target transponder message to the CTCS vehicle-mounted main control unit 121;

the CTCS on-board main control unit 121 is configured to receive the target transponder message, and send the target transponder message to the CBTC on-board main control unit 111;

the CTCS vehicle-mounted main control unit 121 screens out the transponder sub-packet data satisfying the CTCS vehicle-mounted conditions according to the transponder sub-packet number in the target transponder message and uses the transponder sub-packet data.

The CBTC vehicle-mounted main control unit 111 screens out the transponder sub-packet data meeting the vehicle-mounted conditions of the CBTC and uses the transponder sub-packet data according to the transponder sub-packet number in the target transponder message.

In this embodiment, the original transponder message may be understood as a message sent by the transponder to the on-board main control unit, including a message required by the CBTC on-board main control unit 111 and a message required by the CTCS on-board main control unit 121. The target transponder message may be understood as a target transponder message that may be received by CTCS on-board main control unit 121 after the protocol conversion. The transponder sub-packet number may be understood as a number set for distinguishing transponder sub-packets belonging to different on-board master units.

Specifically, the transponder information receiving unit receives, through the BTM antenna, the original transponder message sent by the transponder, and processes the original transponder message to obtain a target transponder message meeting the set protocol condition, and provides the target transponder message to the CTCS vehicle-mounted main control unit 121. Meanwhile, CTCS on-board master unit 121 forwards the target transponder message to CBTC on-board master unit 111. Because the formats of the CTCS transponder message and the CBTC transponder message are the same, but the contained transponder sub-packets are different, the CTCS vehicle-mounted main control unit 121 and the CBTC vehicle-mounted main control unit 111 can screen out the transponder sub-packet data meeting the CTCS vehicle-mounted condition or meeting the CBTC vehicle-mounted condition according to the transponder sub-packet numbers, and use the transponder sub-packet data.

Through the arrangement, the message forwarding of the target transponder by the CTCS vehicle-mounted main control unit is realized, so that the CBTC vehicle-mounted main control unit can receive and use the corresponding message.

Optionally, CTCS on-board subsystem 12 further comprises: a train interface unit connected with the CTCS vehicle-mounted main control unit 121;

a train interface unit for transmitting train interface input information to the CTCS on-board main control unit 121; receiving train interface output information sent by the CTCS vehicle-mounted main control unit 121, and outputting the train interface output information; wherein, the train interface input information comprises CTCS interface input information and CBTC interface input information, and the train interface output information comprises CTCS interface output information or CBTC interface output information;

The CTCS on-board main control unit 121 is configured to screen out and use CTCS interface input information from the train interface input information, and send CBTC interface input information belonging to the train interface input information to the CBTC on-board main control unit 111;

the CTCS on-board main control unit 121 is further configured to generate CTCS interface output information, and receive CBTC interface output information sent by the CBTC on-board main control unit 111;

when the CTCS vehicle-mounted main control unit 121 has the control right, the CTCS vehicle-mounted main control unit 121 outputs CTCS interface output information to a train through the train interface unit;

when the CBTC in-vehicle main control unit 111 has the control right, the CTCS in-vehicle main control unit 121 outputs CBTC interface output information to the train through the train interface unit.

In this embodiment, the train interface input information may be understood as information input to the on-board main control unit by the train interface unit, where the train interface input information includes CTCS interface input information and CBTC interface input information. The train interface output information may be understood as information output from the vehicle-mounted main control unit to the train interface unit, where the train interface output information includes CTCS interface output information or CBTC interface output information. The CTCS interface input information may be understood as information input from the train interface unit to the CTCS on-board main control unit 121. The CTCS interface output information may be understood as information output from the CTCS on-board main control unit 121 to the train interface. CBTC interface input information may be understood as information input by the train interface unit to the CBTC on-board master control unit 111. The CBTC interface output information may be understood as information output from the CBTC on-board main control unit 111 to the train interface.

Specifically, the train interface unit includes train interface input information of CTCS and CBTCs, and can send the train interface input information to the CTCS in-vehicle main control unit 121. The CTCS on-board main control unit 121 may acquire train interface input information, where the train interface input information includes CTCS-IN and CBTC train interface input information CBTC-IN, and the CTCS on-board main control unit 121 may separate the train interface input information, determine CTCS interface input information used by the CTCS on-board main control unit 121 and CBTC interface input information used by the CBTC on-board main control unit, and forward the CBTC train interface input information to the CBTC on-board main control unit 111.CBTC on-board master unit 111 transmits CBTC train interface output information to CTCS on-board master unit 121. The CTCS in-vehicle main control unit 121 determines to output CTCS train interface output information or CBTC train interface output information according to the control right status. When the CTCS vehicle-mounted main control unit 121 controls the vehicle, the CTCS vehicle-mounted main control unit 121 only outputs CTCS train interface output information; when the CBTC in-vehicle main control unit 111 controls the vehicle, the CTCS in-vehicle main control unit 121 outputs only CBTC train interface output information.

Fig. 3 is a schematic diagram of train interface communication of a train control vehicle system compatible with CTCS and CBTCs according to an embodiment of the present invention. As shown in fig. 3, the train interface unit includes a train IO input module and a train IO output module, the train IO input module is configured to receive the train interface output information sent by the CTCS on-board main control unit 121, and the train IO output module is configured to send the train interface input information to the CTCS on-board main control unit 121.

The CBTC on-board main control unit 111 includes a CBTC-IO output module and a CBTC-IO input module, and is configured to send CBTC train interface output information CBTC-OUT through the CBTC-IO output module, where the CBTC-IO input module is configured to receive CBTC train interface input information CBTC-IN forwarded by the CTCS on-board main control unit 121.

The CTCS vehicle-mounted main control unit 121 comprises a CTCS-IO output module, a CTCS-IO input module, a CBTC-OUT forwarding module, a CBTC-IN forwarding module, a vehicle-mounted IO output module and a vehicle-mounted IO input module. The CTCS-IO output module is used for outputting CTCS train interface output information CTCS-OUT to the vehicle-mounted IO output module; the CBTC-OUT forwarding module is used for receiving CBTC train interface output information CBTC-OUT from the CBTC vehicle-mounted main control unit 111 and outputting the CBTC train interface output information CBTC-OUT to the vehicle-mounted IO output module; the vehicle-mounted IO output module is used for outputting CTCS or CBTC train interface output information to the train; the vehicle-mounted IO input module is used for receiving train interface input information and distinguishing train interface input information of the CTCS and CBTC, the distinguished CTCS train interface input information CTCS-IN enters the CTCS-IO input module, and the CBTC-IN forwarding module is used for forwarding the CBTC train interface input information CBTC-IN to the CBTC-IO input module of the CBTC vehicle-mounted main control unit 111.

Through the arrangement, the train interface output information is uniformly managed and output by the CTCS vehicle-mounted main control unit, and the train interface output information with the control right can be output to the train, so that the system fault caused by the simultaneous output of the CTCS and CBTC train interface output information is avoided.

Optionally, the CTCS on-board device 12 further includes: a human-computer interface DMI, which is connected with the CTCS vehicle-mounted main control unit 121;

the CTCS vehicle-mounted main control unit 121 is configured to convert the first CTCS human-machine interface information according to a set protocol and send the converted first CTCS human-machine interface information to the human-machine interface DMI; receiving second CTCS human-computer interface information of a human-computer interface DMI;

the CTCS on-board main control unit 121 is configured to receive the first CBTC human-machine interface information of the CBTC on-board main control unit 111, convert the first CBTC human-machine interface information according to a set protocol, and send the converted first CBTC human-machine interface information to the human-machine interface DMI; receiving second CBTC human-machine interface information of the human-machine interface DMI, converting the second CBTC human-machine interface information according to a set protocol, and sending the second CBTC human-machine interface information to the CBTC vehicle-mounted main control unit 111;

the man-machine interface DMI is configured to display a CBTC interface according to the first CBTC man-machine interface information forwarded by the CTCS on-board main control unit 121 when the control right is in the CBTC on-board main control unit 111, and send a driver operation instruction to the CBTC on-board main control unit 111; when the control right is in the CTCS vehicle-mounted main control unit 121, the CTCS interface is displayed according to the first CTCS human-machine interface information sent by the CTCS vehicle-mounted main control unit 121, and a driver operation instruction is sent to the CTCS vehicle-mounted main control unit 121.

In this embodiment, the human-machine interface DMI may be understood as an interface for display and interaction. The first CBTC human machine interface information may be understood as human machine interface information for transmission to the DMI by the CBTC in-vehicle master control unit 111. The second CBTC human machine interface information may be understood as human machine interface information sent by the DMI to the CBTC vehicle-mounted master control unit. The CBTC interface may be understood as an interface that is correspondingly displayed when the CBTC in-vehicle master control unit 111 has master rights. The first CTCS human-machine interface information may be understood as human-machine interface information transmitted from the CTCS in-vehicle main control unit 121 to the DMI. The second CTCS human-machine interface information may be understood as human-machine interface information sent by the DMI to the CTCS vehicle-mounted main control unit. The CTCS interface may be understood as an interface that is correspondingly displayed when the CTCS in-vehicle main control unit 121 has the main control right.

Specifically, the human-computer interface DMI is compatible with both CTCS interface and CBTC interface, and displays the corresponding interface according to the control right, that is, the DMI displays the CTCS interface when the CTCS vehicle-mounted main control unit 121 controls the vehicle, and the DMI displays the CBTC interface when the CBTC vehicle-mounted main control unit 111 controls the vehicle. The CTCS on-board host control unit 121 interacts with the DMI in real time with CTCS human-machine interface information. The CBTC vehicle-mounted main control unit 111 and the DMI interact CBTC human-computer interface information in real time through the CTCS vehicle-mounted main control unit 121, that is, the CBTC vehicle-mounted main control unit 111 sends the first CBTC human-computer interface information to the CTCS vehicle-mounted main control unit 121, the CTCS vehicle-mounted main control unit 121 converts the first CBTC human-computer interface information according to a set protocol and forwards the converted first CBTC human-computer interface information to the DMI (for example, the DMI data input and output by the CBTC vehicle-mounted main control unit adopts a CAN protocol, and the CTCS vehicle-mounted main control unit and the DMI adopt an MVB protocol, the human-computer interface information of the CAN protocol is required to be converted into human-computer interface information of the MVB protocol through the set protocol and then forwarded to the DMI); the DMI sends the second CBTC human machine interface information to the CTCS on-board main control unit 121, and the CTCS on-board main control unit 121 forwards the second CBTC human machine interface information to the CBTC on-board main control unit 111. Therefore, the DMI simultaneously has CTCS man-machine interface information and CBTC man-machine interface information, and can be displayed according to the control right seamless switching interface; when the CTCS on-board main control unit 121 and the CBTC on-board main control unit 111 switch the control right, the DMI also seamlessly switches the interface display in real time, so as to achieve the consistency of the control right and the interface display.

Fig. 4 is a schematic diagram of a man-machine interface DMI communication system of a train control vehicle system compatible with CTCS and CBTCs according to an embodiment of the present invention. As shown in fig. 4, the CBTC vehicle-mounted main control unit comprises a CBTC-DMI output module and a CBTC-DMI input module; the CTCS vehicle-mounted main control unit comprises a CTCS-DMI output module, a CTCS-DMI input module, a CBTC-DMI output forwarding module and a CBTC-DMI input forwarding module; the DMI comprises a DMI-CTCS input module, a DMI-CTCS output module, a DMI-CBTC input module, a DMI-CBTC output module, a CTCS interface display module and a CBTC interface display module.

The CBTC vehicle-mounted main control unit 111 sends CBTC-DMI output data to the DMI through the CTCS vehicle-mounted main control unit 121; the CBTC in-vehicle main control unit 111 receives CBTC-DMI input data of the DMI through the CTCS in-vehicle main control unit 121.

The CTCS in-vehicle main control unit 121 transmits CTCS-DMI output data to the DMI, and receives CTCS-DMI input data from the DMI. The CTCS on-board main control unit 121 receives CBTC-DMI output data from the CBTC on-board main control unit 111 and forwards the CBTC-DMI output data to the DMI; CTCS on-board host unit 121 receives CBTC-DMI input data from the DMI and forwards to CBTC on-board host unit 111.

When the CTCS vehicle-mounted main control unit 121 is in a vehicle control state, the DMI implements a CTCS interface according to the DMI-CTCS input information and sends a driver operation instruction to the CTCS vehicle-mounted main control unit 121; when the CBTC in-vehicle main control unit 111 is in a vehicle control state, the DMI implements a CBTC interface according to the DMI-CBTC input information, and transmits a driver operation instruction to the CBTC in-vehicle main control unit 121.

Through the arrangement, the compatible CTCS interface and CBTC interface can be realized through the DMI, and the display can be switched seamlessly, so that the consistency of the control right and the interface display is ensured.

Optionally, CTCS on-board subsystem 12 further comprises: the train-ground communication unit is respectively connected with the CTCS vehicle-mounted main control unit 121 and the ATO unit 13 in a communication way,

the train-ground communication unit is used for establishing communication connection between the ATO unit and the TSRS and receiving and transmitting ATO train-ground data with the ATO unit; establishing communication connection between the CBTC vehicle-mounted main control unit and the ZC, the ATS and/or the CI through the CTCS vehicle-mounted main control unit, and receiving and transmitting CBTC vehicle-ground data;

the CTCS on-board main control unit 121 is configured to convert the vehicle-to-ground data according to a set protocol and send the converted vehicle-to-ground data to the CBTC on-board main control unit 111; the data sent by the CBTC vehicle-mounted master control unit 111 is received and forwarded to the vehicle-to-ground communication unit.

In the present embodiment, the vehicle-ground data may be understood as data for transmission of the in-vehicle apparatus and the ground apparatus. The vehicle-to-ground communication unit may include TRU and TAU.

Specifically, the ATO unit 13 may establish a wireless communication connection with the first ground unit temporary speed limiting server TSRS through the vehicle-ground communication unit, so as to implement bidirectional data interaction. The CBTC vehicle-mounted main control unit 111 establishes wireless communication connection with the second ground unit ZC/CI/ATS through the CTCS vehicle-mounted main control unit 121 and the vehicle-to-ground communication unit, converts vehicle-to-ground data according to a set protocol and sends the vehicle-to-ground data to the CBTC vehicle-mounted main control unit 111; and the CBTC train-ground data sent by the CBTC train-ground main control unit 111 is received and forwarded to the train-ground communication unit, so that bidirectional data interaction is realized. The CBTC vehicle-mounted main control unit 111 is identical to the ground communication unit in communication connection manner and channel, and recognizes the data type through the IP address.

Fig. 5 is a schematic diagram of train-ground communication of a train control system compatible with CTCS and CBTCs according to an embodiment of the present invention. As shown in fig. 5, the ATO unit 13 establishes communication connection with the TSRS through the TRU and the TAU in the train-ground communication unit to realize data transmission and reception, and the TRU forwards the data of the ATO unit 13 to the TAU through the ethernet protocol and sends the data to the TSRS through the TAU in a wireless communication manner. The CBTC vehicle-mounted main control unit 111 realizes data forwarding through the CTCS vehicle-mounted main control unit 121, TRU and TAU, and realizes data sending and receiving with the CBTC system ground equipment ZC/CI/ATS.

Optionally, CTCS on-board subsystem 12 further comprises: a track circuit information reading unit connected with the CTCS vehicle-mounted main control unit 121;

a track circuit information reading unit for reading track circuit information and transmitting to the CTCS vehicle-mounted main control unit 121;

the CTCS vehicle-mounted main control unit 121 is configured to determine a driving license through the track circuit information.

In this embodiment, the track circuit information may be understood as track circuit low frequency, carrier frequency information of the ground. Driving permission may be understood as permission for determining a train running distance, an allowable speed.

Specifically, the track circuit information reading unit may read track circuit low frequency and carrier frequency information from the ground as track circuit information, and send the track circuit information to the CTCS vehicle-mounted main control unit 121, so that the CTCS vehicle-mounted main control unit 121 calculates the driving permission of the train.

With such an arrangement, the CTCS on-board host control unit can determine the driving license through the track circuit information.

Further, the CTCS on-board main control unit 121 is further configured to:

when the control right is switched from the CBTC vehicle-mounted main control unit 111 to the CTCS vehicle-mounted main control unit 121 while in the automatic driving state, switching from the full monitoring mode FS mode to the automatic driving mode AM mode;

when the control right is switched from the CTCS in-vehicle main control unit 121 to the CBTC in-vehicle main control unit 111 while in the automatic driving state, the AM mode is switched to the FS mode.

In this embodiment, the AM mode may be understood as an automatic driving mode of the CTCS on-board main control unit 121, in which the CTCS on-board main control unit 121 performs safety protection on the train and the ATO unit performs automatic driving on the train. The FS mode may be understood as a complete monitoring mode of the CTCS on-board main control unit 121, in which the CTCS on-board main control unit 121 performs safety protection on the train and the driver performs manual driving on the train.

Further, the CBTC on-board main control unit 111 is also configured to:

when the control right is switched from the CTCS on-board main control unit 121 to the CBTC on-board main control unit 111 in the automatic driving state, the mode is switched from the CM mode to the AM mode;

when the control right is switched from the CBTC in-vehicle main control unit 111 to the CTCS in-vehicle main control unit 121 while in the automatic driving state, the mode is shifted from the AM mode to the CM mode.

In this embodiment, the AM mode may be understood as an automatic driving mode of the CBTC on-board main control unit. CM mode can be understood as a manual driving mode of the CBTC on-board master control unit.

Specifically, the CTCS on-board main control unit 121 interacts CTCS related information with the ATO unit 13 in real time. The CBTC vehicle-mounted main control unit 111 and the ATO unit 13 interact CBTC related information in real time through the CTCS vehicle-mounted main control unit 121, namely the CBTC vehicle-mounted main control unit 111 sends CBTC train control information to the CTCS vehicle-mounted main control unit 121, and the CTCS vehicle-mounted main control unit 121 forwards the CBTC train control information to the ATO unit 13; the ATO unit 13 sends the ATO-CBTC information to the CTCS on-board main control unit 121, and the CTCS on-board main control unit 121 converts the ATO-CBTC information according to a set protocol and forwards the converted ATO-CBTC information to the CBTC on-board main control unit 111. Therefore, the ATO unit 13 has CTCS train control information and CBTC train control information at the same time, and can realize seamless switching between the CTCS autopilot state and the CBTC autopilot state according to the control right. When the train is in the CTCS jurisdiction and the CTCS vehicle-mounted main control unit 121 controls the train, the ATO unit 13 automatically drives the train according to the CTCS train control information; when the train is in the CBTC jurisdiction and the CBTC on-board master control unit 111 is controlling the train, the ATO unit 13 automatically drives the train according to the CBTC train control information. When the control right is switched from the CTCS on-board main control unit 121 to the CBTC on-board main control unit 111, the ATO unit 13 also switches from CTCS data to CBTC data in real time, seamlessly and automatically driving the train, and the CTCS on-board main control unit 121 switches from the AM mode to the FS mode, and the CBTC on-board main control unit 111 switches from the CM mode to the AM mode. When the control right CBTC in-vehicle main control unit 111 is switched to the in-vehicle CTCS main control unit, the ATO unit 13 also switches from CBTC data to CTCS data in real time, the train is driven seamlessly and automatically, the CBTC in-vehicle main control unit 111 switches from AM mode to CM mode, and the CTCS in-vehicle main control unit 121 switches from FS mode to AM mode.

Optionally, CTCS on-board main control unit 121 is further configured to:

at power-up, a time synchronization frame is sent to the CBTC vehicle-mounted master control unit 111;

upon receiving the time synchronization acknowledgement frame fed back by the CBTC on-board main control unit 111 based on the time synchronization frame, a communication connection is established with the CBTC on-board main control unit 111.

In this embodiment, the time synchronization frame may be understood as a frame for triggering the CTCS to perform time synchronization with the CBTC on-board main control unit 111. The time synchronization confirm frame may be understood as a feedback frame in which the CBTC in-vehicle main control unit 111 confirms that the time is synchronized with the CTCS in-vehicle main control unit 121.

Specifically, when the device is powered on, the CTCS on-board main control unit 121 and the CBTC on-board main control unit 111 need to complete time synchronization, so that they can send data to each other. The specific process is as follows: the CTCS on-board main control unit 121 sends 16 time synchronization frames to the CBTC on-board main control unit 111, and after the CBTC on-board main control unit 111 receives the 16 time synchronization frames, the CBTC on-board main control unit 111 sends a time synchronization acknowledgement frame to the CTCS on-board main control unit 121. After receiving the time synchronization acknowledgement frame from the CBTC in-vehicle main control unit 111, the CTCS in-vehicle main control unit 121 establishes communication connection with the CBTC in-vehicle main control unit 111, and starts to transmit DMI, BTM, IO, speed transmission, and other data to the CBTC in-vehicle main control unit 111. After the CBTC in-vehicle main control unit 111 transmits the time synchronization confirm frame to the CTCS in-vehicle main control unit 121, it starts transmitting data to the CTCS in-vehicle main control unit 121.

Fig. 6 is a schematic time synchronization diagram of a master control unit of a train control vehicle system compatible with CTCS and CBTCs according to an embodiment of the present invention. As shown in fig. 6, after the vehicle-mounted device is powered on, CTCS vehicle-mounted main control unit 121 and CBTC vehicle-mounted main control unit 111 enter an operating state. The CTCS on-board main control unit 121 sends a time synchronization frame to the CBTC on-board main control unit 111, and when the CBTC on-board main control unit 111 continuously receives 16 time synchronization frames, it is considered that the time synchronization work with the CTCS on-board main control unit 121 is completed, a time synchronization response frame is replied, and application data of the CBTC on-board main control unit 111 starts to be sent to the CTCS on-board main control unit 121. The CTCS on-board main control unit 121 receives the time synchronization response frame, considers that the time synchronization work is completed with the CBTC on-board main control unit 111, and starts to transmit the application data of the CTCS on-board main control unit 121 to the CBTC on-board main control unit 111.

Through the arrangement, the two vehicle-mounted main control units are time-synchronized, so that the time of the two vehicle-mounted main control units is kept consistent, and through the time synchronization process, the two vehicle-mounted main control units confirm that the other side enters a normal working state and then mutually transmit other data. The method and the device avoid that when two vehicle-mounted main control units do not enter a normal working state, a large amount of application data are mutually transmitted, data accumulation is caused, and finally, a train enters an abnormal state, so that the stability of train control is improved.

Optionally, CTCS on-board main control unit 121 is further configured to:

receiving a current automatic driving state sent by the ATO unit 13, wherein the current automatic driving state comprises a CTCS automatic driving state and a CBTC automatic driving state;

determining a current actual vehicle control state, wherein the current actual vehicle control state comprises that a CTCS vehicle-mounted main control unit is in a vehicle control state and a CBTC vehicle-mounted main control unit is in a vehicle control state;

when the current automatic driving state is inconsistent with the vehicle-mounted main control unit corresponding to the current actual vehicle control state, issuing an automatic driving state exit command to the ATO unit 13.

In the present embodiment, the current automatic driving state may be understood as the automatic driving state in which the ATO unit 13 is actually located. The current actual vehicle control state can be understood as the actual vehicle control state judged by the CTCS.

Specifically, when the CTCS on-board main control unit 121 hands over the control right to the CBTC on-board main control unit 111, after the CBTC on-board main control unit 111 receives the control right, the CTCS on-board main control unit 121 may notify that the ATO unit 13 is currently in the CBTC control state, and the ATO unit 13 switches from CTCS data to CBTC data to implement automatic driving, and should periodically report to the CTCS on-board main control unit 121 that the ATO unit 13 is currently in the automatic driving state (currently in the CBTC automatic driving state or currently in the CTCS automatic driving state). If the ATO unit 13 reports that the current CBTC automatic driving state is in the CBTC automatic driving state to the CTCS vehicle-mounted main control unit 121, the CTCS vehicle-mounted main control unit 121 judges that the automatic driving state of the ATO unit 13 is consistent with the current actual vehicle control state, and no processing is performed; if the ATO unit 13 reports to the CTCS vehicle-mounted main control unit 121 that the CTCS vehicle-mounted main control unit 121 is in the automatic driving state of the CTCS, the CTCS vehicle-mounted main control unit 121 judges that the automatic driving state of the ATO unit 13 is inconsistent with the actual vehicle control state, and then the ATO unit 13 is instructed to exit the automatic driving state. The occurrence of a fault condition that the vehicle is actually controlled by the CBTC vehicle-mounted main control unit 111, but the ATO unit 13 uses CTCS data to automatically drive is avoided, so that safety risks are brought. Similarly, when the CTCS on-board main control unit 121 controls the vehicle, the ATO unit 13 should also be monitored to be in the CTCS autopilot state, and if the ATO unit 13 reports that it is in the CBTC autopilot state, the ATO unit 13 is instructed to exit the autopilot state.

Fig. 7 is a schematic diagram illustrating an example of automatic driving status monitoring of a train control vehicle system compatible with CTCS and CBTCs according to an embodiment of the present invention. As shown in fig. 7, when a train enters a CBTC jurisdiction from the CTCS jurisdiction, the CTCS on-board main control unit 121 hands over the control right to the CBTC on-board main control unit 11, and the CBTC on-board main control unit receives the control right and starts monitoring the safe operation of the train. The CTCS on-board main control unit 121 periodically reports that the current state is in a CBTC vehicle control state to the ATO unit 13, the ATO unit 13 periodically returns to the CTCS on-board main control unit 121 to be in a CBTC automatic driving state, the CTCS on-board main control unit 121 checks that the current vehicle control state is that the CBTC on-board main control unit 111 is controlling the vehicle, the ATO unit automatic driving state is that the CBTC automatic driving state, the vehicle control state is consistent with the ATO unit automatic driving state, and the check passes. If the ATO unit 13 returns to the CTCS vehicle-mounted main control unit 121 to be in the CTCS automatic driving state, the CTCS vehicle-mounted main control unit 121 checks that the current vehicle control state is that the CBTC vehicle-mounted main control unit 111 is controlling the vehicle, the automatic driving state of the ATO unit is that the CTCS automatic driving state is inconsistent, the checking is failed, and the CTCS vehicle-mounted main control unit 121 instructs the ATO unit 13 to exit the automatic driving state, so that the train enters the manual driving state.

Through the arrangement, consistency check is automatically carried out on the current automatic driving state and the current actual vehicle control state, and the ATO unit is instructed to exit the automatic driving state when the current automatic driving state and the current actual vehicle control state are inconsistent. The safety of train running is ensured.

Optionally, CTCS on-board master control unit 121 includes:

and the train control module is used for receiving the CBTC working state information and the CTCS state report information sent by the CBTC vehicle-mounted main control unit 111 and controlling the train according to the CBTC working state information and the CTCS state report information.

In this embodiment, the CBTC operation state information may be understood as operation state information for determining whether the CBTC in-vehicle main control unit 111 is in a fault state. CTCS status report information may be understood as information for determining whether the CTCS on-board main control unit 121 is in a failure state.

Specifically, the train control module can determine whether the CTCS vehicle-mounted main control unit 121 and the CBTC vehicle-mounted main control unit 111 are currently in a fault state through CBTC working state information and CTCS state report information, and determine a control mode of the train by combining the vehicle-mounted main control units with control rights so as to control the train.

Further, the train control module is specifically configured to:

When the CBTC operating state information satisfies the CBTC fault condition, if the current CTCS on-board main control unit 121 is in a vehicle control state, prompting the CBTC fault through the DMI, and thereafter refusing to transfer the vehicle control right to the CBTC on-board main control unit 111;

when the CBTC working state information meets a CBTC fault condition, if the current CBTC vehicle-mounted main control unit 111 is in a vehicle control state, controlling a train to perform emergency braking, and entering a fault state;

when the CTCS state report information meets the CTCS fault condition, the train is controlled to carry out emergency braking and enter a fault state.

Specifically, the working state information may be set periodic interaction data, where the CTCS vehicle-mounted main control unit 121 and the CBTC vehicle-mounted main control unit 111 periodically interact data, and the periodic interaction data from the CBTC vehicle-mounted main control unit 111 cannot be received beyond a specified time, so that a CBTC fault condition is satisfied, and the CTCS vehicle-mounted main control unit 121 considers that the CBTC vehicle-mounted main control unit 111 is faulty; the working state information may also be a working state, where the CBTC on-board main control unit 111 periodically detects the self state and periodically reports the self working state to the CTCS on-board main control unit 121, and when the CBTC on-board main control unit 111 reports itself in a fault state to the CTCS on-board main control unit 121, the CBTC fault condition is satisfied, and the CTCS on-board main control unit 121 also considers that the CBTC on-board main control unit 111 is faulty; the working state information may also be working mode information, and the CTCS vehicle-mounted main control unit 121 may perform validity check on the information such as the working mode from the CBTC vehicle-mounted main control unit 111, and if the validity check is not passed, the CBTC fault condition is satisfied, and the CTCS vehicle-mounted main control unit 121 also considers that the CBTC vehicle-mounted main control unit 111 is faulty; if the CBTC in-vehicle main control unit 111 does not receive the periodic interactive data from the CTCS main control unit for more than a prescribed time, the CBTC in-vehicle main control unit 111 enters a fault state, generates CBTC status report information, and reports to the CTCS in-vehicle main control unit 121; the CBTC in-vehicle main control unit 111 performs validity check on information such as the operation mode from the CTCS in-vehicle main control unit 121, and if the validity check is not passed, the CBTC in-vehicle main control unit 111 enters a failure state, generates CBTC status report information, and reports the CBTC status report information to the CTCS in-vehicle main control unit 121. When the CTCS on-board main control unit 121 is in a vehicle control state, the CTCS on-board main control unit 121 detects that the CBTC on-board main control unit 111 is in failure, the CTCS on-board main control unit 121 continues to work normally, prompts a driver of 'CBTC failure' through a DMI, and does not transfer the vehicle control right to the CBTC main control unit; when the CBTC in-vehicle main control unit 111 is in the vehicle control state, the CTCS in-vehicle main control unit 121 detects that the CBTC in-vehicle main control unit 111 is in failure, the CTCS in-vehicle main control unit 121 also enters a failure state, and the entire vehicle-mounted equipment enters a failure state, and braking is applied unconditionally for stopping.

Through the arrangement, the fault state is automatically checked, and the running safety of the train is ensured.

For the sake of convenience in understanding the units and devices included in the system, a specific example is shown in fig. 8, which is a schematic diagram of a train control vehicle system compatible with CTCS and CBTCs according to a first embodiment of the present invention. As shown in fig. 8, the train control on-board system includes a CBTC on-board main control unit 111, a CTCS on-board subsystem 12 and an ATO unit 13, and the CTCS on-board subsystem 12 includes a CTCS on-board main control unit 121, a man-machine interface DMI122, a speed and distance measuring unit 123, a transponder receiving unit 124, a track circuit information reading unit 125, a train interface unit 126 and a train-ground communication unit 127. The CTCS on-board main control unit 121 establishes connection with the man-machine interface DMI122, the speed measuring and distance measuring unit 123, the transponder receiving unit 124, the track circuit information reading unit 125, the train interface unit 126 and the train-ground communication unit 127, respectively, and can send and receive data information of these units and forward the data information to the CBTC on-board main control unit 111 according to the steps and functions described in the above embodiments. The positions of the CTCS on-board main control unit 121 and the CBTC on-board main control unit 111 may be changed, that is, the CBTC on-board main control unit 111 and the CTCS on-board main control unit 121 may be replaced and transferred through the CBTC on-board main control unit 111.

Example two

FIG. 9 is a diagram showing an exemplary architecture of a CTCS and CBTC compatible train control system including an external interface according to a second embodiment of the present invention. In this system, as shown in fig. 9, the CTCS vehicle-mounted main control unit 121 obtains information such as speed and position of the train through the speed measuring device and the speed measuring and distance measuring unit, reads the ground transponder message through the BTM antenna and the transponder information receiving unit, obtains information such as low frequency and carrier frequency of the track circuit through the TCR antenna and the track circuit information reader, and sends train running state information to the ground monitoring center through the data recording unit and the DMS through the train interface unit and the train interface, the man-machine interface and the driver interface, and the TRU and the ATO unit through interaction automatic driving information.

The CBTC in-vehicle main control unit 111 obtains input information from the outside through the CTCS in-vehicle main control unit 121, and transmits output information to the outside through the CTCS in-vehicle main control unit 121. Wherein, the CBTC vehicle-mounted main control unit 111 establishes two-way wireless communication with the ground ZC, ATS and/or CI through the CTCS vehicle-mounted main control unit 121, TRU, TAU.

The ATO unit 13 establishes two-way wireless communication with the ground TSRS through TRUs, TAU.

Example III

Fig. 10 is a flowchart of a train control method compatible with CTCS and CBTCs according to a second embodiment of the present invention, where the method may be performed by a train control system. As shown in fig. 10, the method includes:

S610, exchanging CTCS column control information with an ATO unit through a CTCS vehicle-mounted main control unit, and transferring CBTC column control information between the CBTC vehicle-mounted main control unit and the ATO unit; taking over the train control right of the train from the CBTC vehicle-mounted main control unit when the train enters the CTCS jurisdiction from the CBTC jurisdiction; when a train enters a CBTC jurisdiction from the CTCS jurisdiction, the control right is handed over to the CBTC on-board main control unit.

S620, the CBTC train control information is interacted with the CTCS vehicle-mounted main control unit through the CBTC vehicle-mounted main control unit; for taking over control authority from the CTCS on-board master control unit when the train enters the CBTC jurisdiction from the CTCS jurisdiction; when the train enters the CTCS jurisdiction from the CBTC jurisdiction, the control right is handed over to the CTCS vehicle-mounted main control unit.

And S630, automatically driving the train through the ATO unit according to the CBTC train control information or the CTCS train control information corresponding to the train control state.

The technical scheme of the embodiment of the invention is applied to the train control vehicle-mounted system of the embodiment, and the train control information of the CTCS is interacted with the ATO unit through the train control main control unit of the CTCS, and the train control information of the CBTC between the train control main control unit of the CBTC and the ATO unit is transferred; taking over the train control right of the train from the CBTC vehicle-mounted main control unit when the train enters the CTCS jurisdiction from the CBTC jurisdiction; when a train enters a CBTC jurisdiction from the CTCS jurisdiction, the control right is handed over to the CBTC on-board main control unit. The CBTC train control information is interacted with the CTCS vehicle-mounted main control unit through the CBTC vehicle-mounted main control unit; for taking over control authority from the CTCS on-board master control unit when the train enters the CBTC jurisdiction from the CTCS jurisdiction; when the train enters the CTCS jurisdiction from the CBTC jurisdiction, the control right is handed over to the CTCS vehicle-mounted main control unit. And automatically driving the train through the ATO unit according to the CBTC train control information or CTCS train control information corresponding to the train control state. The integrated vehicle-mounted equipment is compatible with two systems of CTCS and CBTC, can realize the line crossing operation of CTCS lines and CBTC lines of high-speed railways, inter-city railways, urban railways and the like, realizes four-network integration, has simple system structure and low equipment cost, and has lower requirement on installation space.

The train control vehicle-mounted system provided by the embodiment of the invention can execute the train control vehicle-mounted method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. The train control vehicle-mounted system compatible with the CTCS and the CBTC is characterized in that the system is mounted on a train and comprises a China Train Control System (CTCS) vehicle-mounted subsystem, a communication-based train control system (CBTC) vehicle-mounted subsystem and a train automatic driving system (ATO) unit, wherein the CTCS vehicle-mounted subsystem comprises a CTCS vehicle-mounted main control unit, the CBTC vehicle-mounted subsystem comprises a CBTC vehicle-mounted main control unit, and the CTCS vehicle-mounted subsystem is respectively in communication connection with the CBTC vehicle-mounted main control unit and the ATO unit through the CTCS vehicle-mounted main control unit;

2. The system of claim 1, wherein the CTCS on-board subsystem further comprises: the speed and distance measuring unit is connected with the CTCS vehicle-mounted main control unit;

The speed and distance measuring unit is used for acquiring the original speed information of the train, determining the speed and distance information of the train according to the original speed information and sending the speed and distance information to the CTCS vehicle-mounted main control unit;

the CTCS vehicle-mounted main control unit is used for determining the train running state information of the train according to the speed distance information, converting the speed distance information according to the set protocol and then sending the converted speed distance information to the CBTC vehicle-mounted main control unit so that the CBTC vehicle-mounted main control unit determines the train running state information of the train according to the speed distance information.

3. The system of claim 1, wherein the CTCS on-board subsystem further comprises: the transponder information receiving unit is connected with the CTCS vehicle-mounted main control unit;

the responder information receiving unit is used for receiving an original responder message, converting the original responder message into a target responder message meeting the set protocol condition, and sending the target responder message to the CTCS vehicle-mounted main control unit;

the CTCS vehicle-mounted main control unit is used for receiving the target transponder message and sending the target transponder message to the CBTC vehicle-mounted main control unit;

The CTCS vehicle-mounted main control unit screens out the transponder sub-packet data meeting the CTCS vehicle-mounted conditions according to the transponder sub-packet number in the target transponder message and uses the transponder sub-packet data;

and the CBTC vehicle-mounted main control unit screens out the transponder sub-packet data meeting the CBTC vehicle-mounted conditions according to the transponder sub-packet number in the target transponder message and uses the transponder sub-packet data.

4. The system of claim 1, wherein the CTCS on-board subsystem further comprises: the train interface unit is connected with the CTCS vehicle-mounted main control unit;

the train interface unit is used for sending train interface input information to the CTCS vehicle-mounted main control unit; receiving train interface output information sent by the CTCS vehicle-mounted main control unit, and outputting the train interface output information; wherein, the train interface input information comprises CTCS interface input information and CBTC interface input information, and the train interface output information comprises CTCS interface output information or CBTC interface output information;

the CTCS vehicle-mounted main control unit is used for screening the CTCS interface input information from the train interface input information and using the CTCS interface input information, and sending the CBTC interface input information in the train interface input information to the CBTC vehicle-mounted main control unit;

The CTCS vehicle-mounted main control unit is also used for generating CTCS interface output information and receiving CBTC interface output information sent by the CBTC vehicle-mounted main control unit;

when the CTCS vehicle-mounted main control unit has the control right, the CTCS vehicle-mounted main control unit outputs the CTCS interface output information to a train through the train interface unit;

when the CBTC vehicle-mounted main control unit has the train control right, the CTCS vehicle-mounted main control unit outputs the CBTC interface output information to the train through the train interface unit.

5. The system of claim 1, wherein the CTCS on-board subsystem further comprises: the human-computer interface DMI is connected with the CTCS vehicle-mounted main control unit;

the CTCS vehicle-mounted main control unit is used for converting the first CTCS human-machine interface information according to the set protocol and then sending the converted information to the human-machine interface DMI; receiving the second CTCS human-computer interface information of the human-computer interface DMI;

the CTCS vehicle-mounted main control unit is used for receiving the first CBTC human-machine interface information of the CBTC vehicle-mounted main control unit, converting the first CBTC human-machine interface information according to the set protocol and then transmitting the converted first CBTC human-machine interface information to the human-machine interface DMI; receiving second CBTC man-machine interface information of the man-machine interface DMI, converting the second CBTC man-machine interface information according to the set protocol, and sending the second CBTC man-machine interface information to the CBTC vehicle-mounted main control unit;

The man-machine interface DMI is used for displaying a CBTC interface according to the first CBTC man-machine interface information forwarded by the CTCS vehicle-mounted main control unit when the control right is in the CBTC vehicle-mounted main control unit, and sending a driver operation instruction to the CBTC vehicle-mounted main control unit; when the control right is in the CTCS vehicle-mounted main control unit, a CTCS interface is displayed according to CTCS interface information sent by the CTCS vehicle-mounted main control unit, and a driver operation instruction is sent to the CTCS vehicle-mounted main control unit.

6. The system of claim 1, wherein the CTCS on-board subsystem further comprises: the train-ground communication unit is respectively connected with the CTCS vehicle-mounted main control unit and the ATO unit in a communication way,

the train-ground communication unit is used for establishing communication connection between the ATO unit and the TSRS and receiving and transmitting train-ground data of the ATO unit with the ATO unit; establishing communication connection between the CBTC vehicle-mounted main control unit and ZC, ATS and/or CI through the CTCS vehicle-mounted main control unit, and receiving and transmitting CBTC vehicle-ground data;

the CTCS vehicle-mounted main control unit is used for converting the vehicle-ground data according to the set protocol and transmitting the vehicle-ground data to the CBTC vehicle-mounted main control unit; and receiving the data sent by the CBTC vehicle-mounted main control unit and forwarding the data to the vehicle-ground communication unit.

7. The system of claim 1, wherein the CTCS on-board subsystem further comprises: the track circuit information reading unit is connected with the CTCS vehicle-mounted main control unit;

the track circuit information reading unit is used for reading track circuit information and sending the track circuit information to the CTCS vehicle-mounted main control unit;

the CTCS vehicle-mounted main control unit is used for determining driving permission through the track circuit information.

8. The system of claim 1, wherein the CTCS on-board host control unit is further configured to:

when the control right is switched from the CBTC vehicle-mounted main control unit to the CTCS vehicle-mounted main control unit in an automatic driving state, switching from a full monitoring mode FS mode to an automatic driving mode AM mode;

and when the control right is switched from the CTCS vehicle-mounted main control unit to the CBTC vehicle-mounted main control unit in an automatic driving state, switching from the AM mode to the FS mode.

9. The system of claim 1, wherein the CBTC on-board master control unit is further configured to:

when the control right is switched from a CTCS vehicle-mounted main control unit to a CBTC vehicle-mounted main control unit in an automatic driving state, switching from the CM mode to an AM mode;

When the control right is switched from the CBTC vehicle-mounted main control unit to the CTCS vehicle-mounted main control unit in an automatic driving state, the mode is switched into the CM mode from the AM mode.

10. The system of claim 1, wherein the CTCS on-board host control unit is further configured to:

when power is on, a time synchronization frame is sent to the CBTC vehicle-mounted main control unit;

and when receiving a time synchronization confirmation frame fed back by the CBTC vehicle-mounted main control unit based on the time synchronization frame, establishing communication connection with the CBTC vehicle-mounted main control unit.

11. The system of claim 1, wherein the CTCS on-board host control unit is further configured to:

receiving a current automatic driving state sent by the ATO unit, wherein the current automatic driving state comprises a CTCS automatic driving state and a CBTC automatic driving state;

and when the current automatic driving state is inconsistent with the vehicle-mounted main control unit corresponding to the current actual vehicle control state, issuing an automatic driving state exit command to the ATO unit.

12. The system of claim 1, wherein the CTCS on-board master control unit comprises:

and the train control module is used for receiving the CBTC working state information and the CTCS state report information sent by the CBTC vehicle-mounted main control unit and controlling the train according to the CBTC working state information and the CTCS state report information.

13. The system of claim 5, wherein the train control module is specifically configured to:

when the CBTC working state information meets a CBTC fault condition, if the current CTCS vehicle-mounted main control unit is in a vehicle control state, prompting a CBTC fault through the DMI, and refusing to transfer the vehicle control right to the CBTC vehicle-mounted main control unit;

when the CBTC working state information meets a CBTC fault condition, if the current CBTC vehicle-mounted main control unit is in a vehicle control state, controlling the train to carry out emergency braking, and entering a fault state;

and when the CTCS state report information meets the CTCS fault condition, controlling the train to carry out emergency braking and entering a fault state.

14. A CTCS and CBTC compatible train control method applied to the CTCS and CBTC compatible train control system according to any one of claims 1 to 13, comprising:

the CBTC train control information is interacted with the CTCS train control unit through the CBTC train control unit; for taking over the control authority from the CTCS on-board master control unit when the train enters the CBTC jurisdiction from the CTCS jurisdiction; when the train enters a CTCS jurisdiction from the CBTC jurisdiction, the control right is handed over to the CTCS vehicle-mounted main control unit;