EP2746132B1

EP2746132B1 - Ctcs level-3 onboard automatic train operation device and rail transit car

Info

Publication number: EP2746132B1
Application number: EP12786406.4A
Authority: EP
Inventors: Kaikuo ZHUO; Zhiqiang Chen; Junfeng Cui; Jia Wang
Original assignee: CRSC Research and Design Institute Group Co Ltd
Current assignee: CRSC Research and Design Institute Group Co Ltd
Priority date: 2011-05-16
Filing date: 2012-05-16
Publication date: 2016-08-03
Anticipated expiration: 2032-05-16
Also published as: PL2746132T3; CN102267481B; CN102267481A; EP2746132A1; WO2012155840A1; HUE031093T2; RS55390B1; EP2746132A4

Description

TECHNICAL FIELD

The present invention relates to train operation control technology, more particularly to a CTCS-3 onboard device for automatic train operation and a rail transit vehicle.

BACKGROUND

China Train Control System (hereinafter referred to as: CTCS) -3 train control system is the core safety system of the domestic high-speed rails currently, and it is a key equipment to insure the safe operation of high-speed trains and efficient operation, and the "control center" and "nervous system" of high-speed rails. CTCS-3 train control system exchanges information with a train control ground equipment via GSM-R (GSM for Railway) wireless communication network, in order to meet requirements of operation speed over 350km / h and the train track spacing of 3 minutes. CTCS-3 train control system is a large-scale distributed interactive system, and its structure is complex, its interfaces are diverse, and it has high interoperability and real-time requirements.
The traditional train control system does not have the Automatic Train Operation (hereinafter referred to as: AT0) function, and it controls the train solely by the drivers. As the maximum speed of the train is improved and more and more devices are installed on trains, the driver's workload is increasing. In this case, the operation safety and efficiency of trains are increasingly dependent on the driver's proficiency and physical condition. Due to personal reasons, such as fatigue, lack of concentration, if the driver cannot expertly manipulate the train based on a large number of traffic information provided by train control ground equipment, it will bring a potential threat for the operation safety of high-speed trains. On the one hand, ATO functions allow the driver to become a supervisor for manipulation from a specific operator, thereby reducing the intensity of the work of drivers, so that drivers do not distract due to operation of a lot of the complex operations, which can effectively eliminate the safety risks of train operation. On the other hand, via programmed operation of ATO functions, it can also make the train running more smoothly, adjust the time of the train more intelligently, and effectively improve passenger ride comfort and satisfaction and operational efficiency. "CTCS-3 train control system overall technical program (V1.0)" (from URL: http://wenku.baidu.com/view/10bd765d804d2b160b4ec09d.html) discloses the main technical principles, the main working mode, the main operating scenarios, and parameter configuration (see Catalogue).
At present, the urban rail transit vehicles are already equipped with ATO functions, but due to relatively low running speed of urban rail transit vehicles, its maximum 120km / h operating speed is less than half of the maximum operating speed of current high-speed rail, and the ATO system in urban rail transit vehicles does not match CTCS-3 train control system, which cannot be implemented in high-speed trains.
Therefore, how to make high-speed train with ATO functions, and how to improve operation safety and efficiency of high-speed train, have become a urgent problem to be solved.

SUMMARY

The present invention provides a CTCS-3 onboard device for automatic train operation and a rail transit vehicle.
According to the present invention, the CTCS-3 onboard device for automatic train operation includes: an interface module and a train control command generating module, wherein the interface module is connected to the train control command generating module, an automatic train protection device, and a train control interface, respectively; the train control command generating module exchanges information with the automatic train protection device and the train control interface via the interface module; and
the train control command generating module is used to generate train control commands according to information received via the interface module, and transmit the train control commands to the train control interface via the interface module, so that devices connected to the train control interface can obtain and execute the commands;
the information received via the interface module includes: automatic train protection information and the train status information; the automatic train protection information includes: train running information, automatic train protection monitoring information and balise information;
the balise information specifically is: train operation planning information, parking target point information, balise automatic reentry information, door open information, permissible running speed information for a line, line gradient information, related information to station operation;
wherein, the train operation planning information indicates operation plan made by the train control ground device, the train operation planning information correspondingly provides specific running strategy for CTCS-3 onboard device for automatic train operation, and the CTCS-3 onboard device for automatic train operation can adjust the original running strategy or generate a new running strategy according to the train operation planning information;
the parking target point information indicates the target location of a train parking, where CTCS-3 onboard device for automatic train operation can accurately determine the parking target point according to the parking target point information, and generate a corresponding train control command, so as to make the train stably and accurately park at the parking target point;
the balise automatic reentry information indicates the command commanding the vehicle automatic reentry sent by the balise, where CTCS-3 onboard device for automatic train operation can realize automatic reentry of the running direction after the train arrives at the indicated location according to the balise automatic reentry information;
the door open information indicates commands that whether it is allowed to open or close the train door, where CTCS-3 onboard device for automatic train operation executes control operations to the train door according to the door open information;
the permissible running speed information for a line indicates the current maximum running speed of the line, where CTCS-3 onboard device for automatic train operation generates corresponding train control commands according to the line allows the running speed information and the line gradient information , and execute specific operations such as braking for the train;
the related information to station operation correspondingly indicates the train door is located at the left or right side of the station, and parking point location of corresponding track, where CTCS-3 onboard device for automatic train operation can execute more efficient operations for the open or close of the train door according to the related information to station operation;
the automatic train protection monitoring information specifically is: a target speed, a target distance, and a current maximum permissible speed.
The present invention also provides a rail transit vehicle, including the above CTCS-3 onboard device for automatic train operation.
According to the present invention, the CTCS-3 onboard device for automatic train operation and the rail transit vehicle according to the present invention can efficiently and automatically control a high-speed train, reduce working intensity of the drivers, which in turn enables the smooth operation and stopping precision, thereby improving passenger comfort and satisfaction.

BRIEF DESCRIPTION OF DRAWINGS

In order to more clearly illustrate embodiments of the invention or the prior art technical solutions, a brief introduction of the drawings needed in the embodiments and the prior art is made as follows, it is obvious, the following drawings are a part of embodiments of the invention, for persons of ordinary skill in the art, without creative efforts in the premise, they can also obtain other drawings based on these drawings.

FIG. 1 is a schematic diagram of the CTCS-3 onboard device for automatic train operation according to embodiment one;
FIG. 2 is a schematic diagram of the CTCS-3 onboard device for automatic train operation according to embodiment two.

DESCRIPTION OF EMBODIMENTS

In order to more clarify the object, technical solutions and advantages of the present invention, clear and complete description for the technical solutions according to the embodiments of the present invention are provided in combination with drawings in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, but not all embodiments. Based on the embodiment of the present invention, other embodiments obtained by persons of ordinary skill in the art under the premise of no creative work all belong to the protection scope of the present invention.
FIG. 1 is a schematic diagram of the CTCS-3 onboard device for automatic train operation according to embodiment one. As shown in FIG. 1, the device of the embodiment may include:

an interface module 10 and a train control command generating module 11, wherein the interface module 10 is connected to the train control command generating module 11, an automatic train protection device 20, and a train control interface 21, respectively.

The train control command generating module 11 exchanges information with the automatic train protection device 20 and the train control interface 21 via the interface module 10.
For example, the CTCS-3 onboard device for automatic train operation and the automatic train protection device 20 in a train control onboard device of the CTCS-3 system coordinate to realize the train automatic operation function. The train control command generating module 11 of the CTCS-3 onboard device for automatic train obtains related information of carrying out train automatic operation control from the automatic train protection device 20 and the train control interface 21 via the interface module 10, and sends the train control command generated to the train control interface 21 via the interface module 10. Related devices of the train connected to the train control interface 21 can then obtain the train control command, and executes specific operations required by the train control command.
The train control command generating module 11 used to generate train control commands according to information received via the interface module 10, and transmit the train control commands to the train control interface 21 via the interface module, so that devices connected to the train control interface 21 can obtain and execute the commands.
For example, the train control command generating module 11 obtains related information of carrying out train automatic operation control from the automatic train protection device 20 and the train control interface 21 to generate corresponding train control commands according to the interface module 10, and sends the generated train control command to the train control interface 21 via the interface module 10. Therefore, the corresponding executing device connected to the train control interface 21 can obtain the train control command via the train control interface 21, and correspondingly execute the command, thereby efficiently realize train automatic operation functions such as automatic car stop, automatic speed reduction, etc.
According to the present embodiment, the CTCS-3 onboard device for automatic train operation can efficiently and automatically control a high-speed train, reduce working intensity of the drivers, which in turn enables the smooth operation and stopping precision, thereby improving passenger comfort and satisfaction.
Preferably, information received via the interface module 10 may include: automatic train protection information and train status information.
For example, the interface module 10 may include the automatic train protection device interface unit for connecting with the automatic train protection device 20 and a train control interface unit for connecting with the train control interface 21. The automatic train protection device interface unit receives real-time automatic train protection information provided by the automatic train protection device 20, and transmits the information to the train control command generating module 11. The train control interface unit receives the real-time train status information provided by the train control interface 21, and correspondingly transmits it to the train control command generating module 11. Therefore, the train control command generating module 11 can generate train control information used for train automatic operation according to the automatic train protection information and the train status information.
Further preferably, the automatic train protection information may include: train running information, automatic train protection monitoring information and balise information.
For example, real-time automatic train protection information provided by the automatic train protection device 20 received by the automatic train protection device interface unit of the interface module 10 of the CTCS-3 onboard device for automatic train operation can be divided into train running status information indicating the train running status, automatic train protection monitoring information for guaranteeing train safety running generated by the automatic train protection device 20 and balise information for executing train automatic operation obtained via a balise which is provided for a CTCS-3 onboard device for automatic train operation by the automatic train protection device 20. The train control command generating module 11 of the onboard device for automatic train operation, via these three kinds of information, can correctly determine the current train running status and specific requirements for train running by the train control ground device, further, it can efficiently improve the correctness of the train automatic operation control.
Further preferably, the train running status information specifically can be: a train actual speed and a cumulative traveling distance of the train.
For example, after receiving the train actual speed and cumulative traveling distance of the train via the interface module 10, the train control command generating module 11 of the CTCS-3 onboard device for automatic train operation can reasonably execute braking control according to the train actual speed, such as, execution of braking optical distribution, prevention of sliding on the rail by the wheel. Correspondingly, it can generate an optimal specific train control command, thereby making the stability and safety of the train operation reach the level as a skilled driver controlling the train operation, under the condition of automatic operation status of the train. It can efficiently improve the safety and efficiency of train automatic operation.
Further preferably, the automatic train protection monitoring information may specifically be: a target speed, a target distance, and a current maximum permissible speed.
For example, the automatic train protection monitoring information received by the train control command generating module 11 of the CTCS-3 onboard device for automatic train operation via the interface module 10 can be automatic train protection device monitoring curve generated by the automatic train protection device 20, where the curve includes a target speed, a target distance, and a current maximum permissible speed. In order to guarantee driving safety, the train control command generated by the train control command generating module 11 must satisfy the requirements of a target speed, a target distance, and a current maximum permissible speed, so as to efficiently guarantee the safety of the train automatic operation.
Further preferably, the balise information may specifically be: train operation planning information, parking target point information, balise automatic reentry information, door open information, permissible running speed information for a line, line gradient information, and related information of station operation.
For example, the train control command generating module 11 of the CTCS-3 onboard device for automatic train operation receives the automatic train protection monitoring information via the interface module 10, the information may be train operation planning information, parking target point information, balise automatic reentry information, door open information, permissible running speed information for a line, line gradient information, and related information of station operation generated by the automatic train protection device 20 according to the information sent by the received balise. Wherein, train operation planning information indicates operation plan made by the train control ground device, the train operation planning information correspondingly provides specific running strategy for CTCS-3 onboard device for automatic train operation, and the CTCS-3 onboard device for automatic train operation can adjust the original running strategy or generate a new running strategy according to the train operation planning information. For example, when a station adjust the routing or dispatch time according to real situations, new train operation planning information will be generated, then the CTCS-3 onboard device for automatic train operation can obtain related requirements of the adjusted train routing or dispatch time according to the new train operation planning information, further it may adjust automatically specific running strategy according to the requirement of the station, so as to make CTCS-3 onboard device for automatic train operation protection automatically run the train according to the train operation planning information. Parking target point information indicates the target location of a train parking, where CTCS-3 onboard device for automatic train operation can accurately determine the parking target point according to the parking target point information, and generate a corresponding train control command, so as to make the train stably and accurately park at the parking target point. Balise automatic reentry information indicates the command commanding the vehicle automatic reentry sent by the balise, where CTCS-3 onboard device for automatic train operation can realize automatic reentry of the running direction after the train arrives at the indicated location according to the balise automatic reentry information. Door open information indicates commands that whether it is allowed to open or close the train door, where CTCS-3 onboard device for automatic train operation executes control operations to the train door according to the door open information. Permissible running speed information for a line and line gradient information correspondingly indicate the current maximum running speed of the line and the gradient of the current line, where CTCS-3 onboard device for automatic train operation generates corresponding train control commands according to the line allows the running speed information and the line gradient information, and execute specific operations such as braking for the train, therefore, it can efficiently prevent the train from situations endangering the driving safety such as over-speed under automatic operation condition. Related information to station operation correspondingly indicates the train door is located at the left or right side of the station, and parking point location of corresponding track, where CTCS-3 onboard device for automatic train operation can execute more efficient operations for the open or close of the train door according to the related information to station operation. The train control command generating module 11, according to the information, can make the train automatic operation conform to the requirement of the train control ground device, and accurately execute specific operations such as braking, speeding or speed reduction.
Let the door open information as an example. The automatic train protection device 20 has a train parking location determination module for determining the actual parking location of the train. When the train has not arrived at the parking target point or has not parked at the parking target point, the door open information is preventing the train door from open, only when the distance error of the train from the parking target point is no more than 0.5m and it parks at the parking target point, the door open information is to allow the train door to open. Under the condition of train automatic operation, once the received door open information is to allow the door to open, the train control command generating module 11 of the CTCS-3 onboard device for automatic train operation further determines if it has received corresponding related information of station operation, and, after receiving the corresponding related information of station operation, according to the content of related information of station operation, correspondingly determines specifically to open the left train door or the right train door. And then sends corresponding train control command to the train control interface 21 to make the train door open. Meantime, under the condition that the train control ground device includes a screen door, the automatic train protection device 20 can send screen door open information to the train control ground device according to the door open information, so as to control the corresponding opening and closing of the screen door.
It should be noted that the train control command generated by the train control command generating module 11 according to the information conforms to the train control command sent by the driver according to the information. In order to simplify the description, the embodiment does not specifically explain how to generate the corresponding train control command according to the information.
Further preferably, the train status information may specifically be: train weight information, and train automatic reentry information.
For example, the train status information provided by the train control interface 21 can be train weight information collected by a sensor connected to the train control interface 21, and the train weight information may indicate that the current train is under conditions of no load, full load, heavy load or over load. Because the train weight and the braking are closely related to the size of the optimal braking power size that should be executed, according to this information, the train control command generating module 11 can optimally adjust the train control command generated, and can correspondingly make the train execute efficient and optimal braking actions under the conditions of no load, full load, heavy load or over load, so as to further improve the running efficiency and safety of the train automatic operation. The train automatic reentry information can also indicate the train automatic reentry command sent by the driver control station connected to the train control interface 21. The train control command generating module 11 correspondingly can generate corresponding train control command according to this information, so that under the condition of train automatic operation, a train can automatically reentry.
Further preferably, the train control commands include: a brake command and a traction command.
The train control command generated by the train control command generating module 11 according to the received above information may include a brake command and a traction command, where the brake command and the traction command are correspondingly sent to the train control interface 21. The brake control device and traction control device of each braking unit and traction unit connected to the train control interface 21 correspondingly obtain a brake command and a traction command, to correspondingly driving the brake device and the traction device executing specific brake actions and traction actions required by the brake command and a traction command, so as to realize that the train can stably and safely run under the condition of train automatic operation.
FIG. 2 is a schematic diagram of the CTCS-3 onboard device for automatic train operation according to embodiment two of the present invention. As shown in FIG. 2, based on embodiment one, the CTCS-3 onboard device for automatic train operation may further include: an automatic operation activation module 12 and an automatic operation device state module 13, wherein the automatic operation activation module 12 and the automatic operation device state module 13 are respectively connected to the interface module 10;
the automatic operation activation module 12 is configured to generate an automatic running request, send the automatic operation request to the automatic train protection device 20, and determine whether to activate an automatic operation feature according to feedback information of the automatic train protection device 20;
the automatic operation device state module 13 is configured to real-time monitor a working state of the device for automatic train operation, generate automatic operation device state information, and send the automatic operation device state information to the automatic train protection device 20 for the automatic train protection device 20 to determine whether to stop the automatic operation feature.
Specifically, in order to guarantee the safety and reliability of the automatic operation function, the automatic operation function need to be activated via the automatic train protection device 20. Therefore, it can prevent the automatic operation function from opening under the special conditions such as rail line condition is not good which needs the driver to drive according to the current condition of the rail line, therefore, efficiently guaranteeing driving safety.
When the train needs to activate the automatic operation function, the automatic operation activation module 12 of the onboard device for automatic train operation generates an automatic operation request, and sends the automatic operation request to the automatic train protection device 20. After the automatic train protection device 20 receives the automatic operation request, it determines according to the conditions such as the current rail line, train condition, and determines whether the automatic operation function can be activated based on the premise of safety. If the automatic train protection device 20 determines that the automatic operation function can be activated currently, then gives a feedback of corresponding information of allowing automatic operation to the automatic operation activation module 12. After automatic operation activation module 12 receives the information via the interface module 10, it can make the train entering into automatic operation condition, generate a train control command according to the information received by the interface module 10, and send to the train control interface 21 via the interface module 10, so as to make related devices obtain and execute.
In order to prevent the happening of the dangers such as train out of control due to fault of the automatic operation device. The automatic operation device state module 13 of the onboard device for automatic train operation executes real-time monitoring to the working state of the onboard device for automatic train operation, and, according to the working state of the current onboard device for automatic train operation, generates corresponding automatic operation device state information, and sends the automatic operation device state information to the automatic train protection device 20. The automatic train protection device 20, after receiving the information, can know if the onboard device for automatic train operation can work normally, and, under the condition of non-normal working for the onboard device for automatic train operation, automatically stops the automatic operation function in order to guarantee the driving safety.
The present invention also provides an embodiment of a rail transit vehicle, in the rail transit vehicle, which can use the CTCS-3 onboard device for automatic train shown in the embodiment of the above FIG. 1 or FIG. 2.
The rail transit vehicle according to the embodiment can efficiently execute automatic control, and reduce working intensity of the drivers, which in turn enables the smooth operation and stopping precision, thereby improving passenger comfort and satisfaction.
Finally, it should be noted that the above embodiments are merely provided for describing the technical solutions of the present invention, but not intended to limit the present invention. It should be appreciated by persons skilled in the art that although the present invention has been described in detail with reference to the foregoing embodiments, modifications can be made to the technical solutions described in the foregoing embodiments, or equivalent replacements can be made to some technical features in the technical solutions; however, such modifications or replacements do not cause the essence of corresponding technical solutions to depart from the spirit and scope of the embodiments of the present invention.

Claims

A CTCS-3 onboard device for automatic train operation, comprising:
an interface module (10) and a train control command generating module (11), wherein the interface module (10) is connected to the train control command generating module (11), an automatic train protection device (20), and a train control interface (21), respectively;

wherein the train control command generating module (11) exchanges information with the automatic train protection device (20) and the train control interface (21) via the interface module (10); and

the train control command generating module (11) is configured to generate train control commands according to information received via the interface module (10), and transmit the train control commands to the train control interface (21) via the interface module (10), so that devices connected to the train control interface (21) can obtain and execute the commands;

the information received via the interface module (10) comprises: automatic train protection information and the train status information;

the automatic train protection information comprises: train running information, automatic train protection monitoring information and balise information;

the balise information specifically is: train operation planning information, parking target point information, balise automatic reentry information, door open information, permissible running speed information for a line, line gradient information, related information to station operation;

wherein, the train operation planning information indicates operation plan made by the train control ground device, the train operation planning information correspondingly provides specific running strategy for CTCS-3 onboard device for automatic train operation, and the CTCS-3 onboard device for automatic train operation can adjust the original running strategy or generate a new running strategy according to the train operation planning information;

the parking target point information indicates the target location of a train parking, where CTCS-3 onboard device for automatic train operation can accurately determine the parking target point according to the parking target point information, and generate a corresponding train control command, so as to make the train stably and accurately park at the parking target point;

the balise automatic reentry information indicates the command commanding the vehicle automatic reentry sent by the balise, where CTCS-3 onboard device for automatic train operation can realize automatic reentry of the running direction after the train arrives at the indicated location according to the balise automatic reentry information;

the door open information indicates commands that whether it is allowed to open or close the train door, where CTCS-3 onboard device for automatic train operation executes control operations to the train door according to the door open information;

the permissible running speed information for a line indicates the current maximum running speed of the line, where CTCS-3 onboard device for automatic train operation generates corresponding train control commands according to the line allows the running speed information and the line gradient information , and execute specific operations such as braking for the train;

the related information to station operation correspondingly indicates the train door is located at the left or right side of the station, and

parking point location of corresponding track, where CTCS-3 onboard device for automatic train operation can execute more efficient operations for the open or close of the train door according to the related information to station operation;

the automatic train protection monitoring information specifically is: a target speed, a target distance, and a current maximum permissible speed.
The device according to claim 1, wherein the train running information specifically is: an actual train speed and a cumulative travel distance of the train.
The device according to claim 1, wherein the train status information specifically is: train weight information, and train automatic reentry information.
The device according to claim 1, wherein the train control commands comprise: a brake command and a traction command.
The device according to claim 1, further comprising: an automatic operation activation module (12) and an automatic operation device state module (13), wherein the automatic operation activation module (12) and the automatic operation device state module (13) are respectively connected to the interface module (10);
the automatic operation activation module (12) is configured to generate an automatic operation request, send the request to the automatic train protection device (20), and determine whether to activate an automatic operation feature according to feedback information of the automatic train protection device (20);
the automatic operation device state module (13) is configured to real-time monitor a working state of the automatic train operation onboard device, generate automatic operation device state information, and send the automatic operation device state information to the automatic train protection device (20) which can determine whether to stop the automatic operation mode.
A rail transit vehicle, comprising: a CTCS-3 onboard device for automatic train operation according to any one of claims 1 to 5.