EP3744605A1 - Eisenbahnzugbetriebssteuerungsverfahren und -system - Google Patents

Eisenbahnzugbetriebssteuerungsverfahren und -system Download PDF

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Publication number
EP3744605A1
EP3744605A1 EP19912800.0A EP19912800A EP3744605A1 EP 3744605 A1 EP3744605 A1 EP 3744605A1 EP 19912800 A EP19912800 A EP 19912800A EP 3744605 A1 EP3744605 A1 EP 3744605A1
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EP
European Patent Office
Prior art keywords
train
automatic operation
automatic
station
mode
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19912800.0A
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English (en)
French (fr)
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EP3744605B1 (de
EP3744605A4 (de
Inventor
Lingyu Li
Miao SHA
Di SHEN
Zhi Wang
Xueyan Dong
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CRRC Changchun Railway Vehicles Co Ltd
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CRRC Changchun Railway Vehicles Co Ltd
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Application filed by CRRC Changchun Railway Vehicles Co Ltd filed Critical CRRC Changchun Railway Vehicles Co Ltd
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Publication of EP3744605A4 publication Critical patent/EP3744605A4/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
    • B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0072—On-board train data handling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control

Definitions

  • the present disclosure relates to the field of controlling trains, and in particular to an operation control method and operation control system for a train.
  • an operation control method for a train is provided according to the embodiments of the present disclosure, which is performed based on a CTCS3+ATO system, to realize an automatic operation function under a manned situation.
  • the operation control method for a train includes:
  • the determining whether the train meets the automatic operation condition includes:
  • the operation control method for a train further includes: determining whether the train is allowed to operate in the ATO mode, and controlling the train to exit the automatic operation mode if the train is not allowed to operate in the ATO mode.
  • a condition for exiting the automatic operation mode includes:
  • the operation control system for a train includes: an automatic operation system, an operation mode switching system, and an automatic protection system.
  • the automatic operation system is configured to control the train to operate in an automatic operation mode to perform automatic train operation.
  • the operation mode switching system is configured to: determine whether the train meets an automatic operation condition, and output prompt information for indicating that the train is allowed to operate in the automatic operation mode if the train meets the automatic operation condition; control the automatic operation system to start in a case that an ATO starting button on a driver operation platform is triggered, to control the train to operate in the automatic operation mode; determine whether the train is located at an intermediate station and is not departed, and determine whether the train operates in the automatic operation mode if the train is not departed at the intermediate station, where the intermediate station is a station in a train traveling route other than a starting station and a terminal station; and if the train is not departed at the intermediate station and operates in the automatic operation mode and if the ATO starting button is triggered by the driver, control the train in the automatic operation mode to perform station automatic
  • the operation mode switching system is further configured to:
  • the operation mode switching system is further configured to: determine whether the train is allowed to operate in the ATO mode, and control the train to exit the automatic operation mode if the train is not allowed to operate in the ATO mode.
  • a condition for exiting the automatic operation mode includes:
  • the train it is determined whether the train meets an automatic operation condition. If the train meets the automatic operation condition and an ATO starting button on a driver operation platform is triggered, the train is controlled to operate in the automatic operation mode. In a case that the train is to leave an intermediate station, if the train is not departed at the intermediate station and operates in the automatic operation mode and of the ATO starting button is triggered, the train is controlled to depart from the intermediate station in the automatic operation mode. In this way, the train can operate in the automatic operation mode, and a safe operation of the train can be ensured by performing manual intervention when the train leaves the intermediate station.
  • the CTCS2+ATO train control system is an autonomic operation system and has good performance and stability. At present, the autonomic operation technology is still not applied to CTCS3 level high-speed trains. Therefore, an important research direction is to apply the automatic operation technology to high-speed trains to perform automatic operation function on the high-speed trains.
  • the high-speed train is equipped with the CTCS3+ATO train control system, such that with an automatic train protection (ATP) system, safe operation of the train can be ensured, the operation efficiency can be improved, traction energy consumption can be reduced, and some operations of the driver can be done automatically to reduce labor intensity of the driver.
  • ATP automatic train protection
  • an operation control method for a train is provided according to the present disclosure, which is performed based on the CTCS3+ATO train control system.
  • the method may be applied to high-speed trains.
  • Figure 1 is a flow chart of an operation control method for a train according to an embodiment of the present disclosure. Referring to Figure 1 , the method includes the following steps S 101 to S 106.
  • step S101 it is determined whether the train meets an automatic operation condition, and step S102 is performed if the train meets the automatic operation condition.
  • the train when the train is at a starting station, it is required to manually start the train by the driver. After the train departs from the starting station, a traveling condition of the train is automatically monitored. During operation, if the train operates in a fully monitored mode and meets the automatic operation condition, the train may operate in the automatic operation mode.
  • step S102 a prompt information for indicating that the train is allowed to operate in the automatic operation mode is outputted.
  • step S101 if it is determined in step S101 that the train may operate in the automatic operation mode, prompt information for indicating that the train is allowed to operate in the automatic operation mode is outputted.
  • the prompt information may be used for prompting the driver of the train in a form of text, voice or light.
  • an ATO starting button is arranged on a driver operation platform of the train, and a control signal for controlling the ATO starting button to flicker may be outputted to the ATO starting button.
  • a flicker signal of the ATO starting button may be used as the prompt information for indicating that the train is allowed to operate in the automatic operation mode.
  • an ATO exiting button may further be arranged on the driver operation platform of the train.
  • a control signal is outputted to the automatic operation system to control the automatic operation system to stop operating.
  • step S103 the train is controlled to operate in the automatic operation mode if an ATO starting button on a driver operation platform is triggered.
  • step S104 it is determined whether the train is located at an intermediate station and is not departed, and step S105 is performed if the train is not departed at the intermediate station.
  • the train in a case that the train travels between a starting station and a terminal station, the train may be completely controlled by the automatic operation system.
  • the intermediate station is a station in a train traveling route other than a starting station and a terminal station.
  • the automatic operation system performs position correction for the train by using a positioning transponder, such that the automatic operation system can obtain a current position of the train, and continuously adjusts a braking level to be outputted based on the current position and a current speed of the train, to control the train to accurately park at a stop mark along a station track.
  • a braking force is applied to the train based on a corresponding outputted braking level.
  • step S105 it is determined whether the train operates in the automatic operation mode, and step S106 is performed if the train operates in the automatic operation mode.
  • the train When the train is parked at the intermediate station, the train may be in a manual operation state or in an automatic operation state. According to the present disclosure, an operation process of the train in the automatic operation state is mainly described.
  • step S106 the train is controlled to depart in the automatic operation mode if the train meets a departure condition and the ATO starting button is triggered.
  • the departure condition that the train met may be set by a user, for example, the departure condition may be set to determine whether all doors are closed. If the departure condition is met, a trigger signal is outputted to the driver of the train to prompt the driver that the train may depart.
  • the train it is determined whether the train meets the automatic operation condition. If the train meets the automatic operation condition and an ATO starting button on a driver operation platform is triggered, the train is controlled to operate in the automatic operation mode. In a case that the train is to leave an intermediate station, if the train is not departed at the intermediate station and operates in the automatic operation mode and if the ATO starting button is triggered, the train is controlled to depart from the intermediate station in the automatic operation mode. In this way, the train can operate in the automatic operation mode, and a safe operation of the train can be ensured by performing manual intervention when the train departs from the intermediate station.
  • the automatic operation condition may be set by the user according to requirements. For example, if the train is in a fully monitored mode, a direction handle is arranged forward, a driver controller handle is located at a zero position, an ATO device operates normally, an ATP device does not output an emergency braking signal, and units are allowed to operate in an ATO mode, the train may operate in the automatic operation mode. Therefore, in the technical solution according to an embodiment of the present disclosure, the process of determining whether the train meets an automatic operation condition may include:
  • the direction handle is arranged forward, the driver controller handle is located at the zero position, the automatic operation system operates normally, and the automatic protection system does not output any emergency braking signal, it is indicated that the train meets the automatic operation condition.
  • the train in addition to that the train may be controlled to operate in the automatic operation mode, the train may also be controlled to exit the automatic operation mode.
  • the operation control method for a train may further include: determining whether the train meets a condition for exiting the automatic operation mode, and controlling the train to exit the automatic operation mode if the train meets the condition for exiting the automatic operation mode.
  • the condition for exiting the automatic operation mode may include the following situations, that is, the train exits the automatic operation mode if any of the following situations occurs.
  • the condition for exiting the automatic operation mode includes:
  • control process of the automatic operation system is further described according to the present disclosure.
  • the control process may include the following periods: section automatic operation, station automatic parking, train operation section changing, door opening protection, and train door and platform door linkage control.
  • a network system of the train may collect a signal from the automatic operation system. If the collected signal is effective, a traction control system of the train performs an operation in response to a traction control command sent by the automatic operation system, and a brake control system of the train performs an operation in response to a brake control command sent by the automatic operation system.
  • the train first performs determination based on a "traction/brake command state flag" signal from the automatic operation system. If the "traction/brake command state flag" signal indicates traction, the network system of the train sends command information at a corresponding field to the traction control system of the train, and the traction control system performs traction with a traction control amount corresponding to the command information.
  • the network system of the train sends command information at a corresponding field to the brake control system of the train, and the brake control system performs braking with a brake control amount corresponding to the command information.
  • the network system cooperates with the traction control system and the brake control system to perform operations in response to the control commands from the automatic operation system, thereby performing section automatic operation. During this period, it is unnecessary for the driver to operate the driver controller handle.
  • the automatic operation system performs position correction by using an accurate positioning transponder, and the automatic operation system continuously adjusts a braking level to be outputted based on a current position and a current speed of the train to control the train to accurately park at a stop mark along a station track.
  • the network system transmits a "holding braking instruction" from an automatic control device to the brake control system.
  • the brake control system performs a holding braking operation based on a highest braking level outputted from a train control system. If the network system of the train determines that a holding braking releasing condition is met, the network system of the train may automatically release the holding braking.
  • the train exits the automatic operation mode, and the holding braking is applied by the train.
  • a ground device of the train control system sends platform side information to an in-train device, and the automatic train protection (ATP) system outputs a door opening permission instruction based on the platform side information.
  • the door releasing permission signal outputted by the ATP system is superimposed to an existing door releasing hard-wire control signal by using a hard-wire control circuit.
  • a switch is provided for determining whether a door releasing operation is performed by the driver or by the ATP system. That is, if the switch is at a first state, the door releasing operation is performed by the driver using a button on the operation platform; and if the switch is at a second state, the door releasing operation is automatically performed by the ATP system.
  • the network system of the train collects the door opening permission instruction outputted by the ATP system to turn on a "door releasing" indicator light.
  • the automatic operation system determines a door opening signal based on a traveling direction of the train and a current station.
  • the door opening signal indicates whether to open a left door or to open a right door.
  • the automatic operation system superimposes the door opening signal to an existing door opening hard-wire control signal by using a relay dry contact. Based on the door opening signal and the door opening hard-wire control signal, a "left door opening” operation or a "right door opening” operation is performed.
  • the network system sends the state of the switch to a door controller. If the switch is at the second state, the door controller disables a local door opening function, that is, the driver cannot control opening and closing of the door on the operation platform, such that the door can not be opened locally, thereby ensuring the safety of the passengers.
  • train door and platform door linkage control a train door and platform door opening linkage control is triggered by the driver or the automatic operation device, and train door and platform door closing linkage control is triggered by the driver. Due to a long transmission distance of a ground signal, a delay process may be performed for the door controller of the train, to ensure that the door and the platform door can be opened and closed synchronously.
  • an operation control system for a train is further provided according to the present disclosure.
  • the system includes an automatic operation system 100, an operation mode switching system 200, and an automatic protection system 300.
  • the automatic operation system 100 is configured to control the train to operate in an automatic operation state to perform automatic train operation.
  • the operation mode switching system 200 is configured to:
  • the automatic protection system 300 is configured to control the train to travel at a traveling speed not greater than a target speed.
  • the operation control system for a train may further include a network system.
  • the network system is configured to transmit signals for multiple systems of the train.
  • the operation mode switching system 200 is further configured to:
  • the operation mode switching system 200 is further configured to determine whether the train meets a condition for exiting the automatic operation mode, and control the train to exit the automatic operation mode if the train meets the condition for exiting the automatic operation mode.
  • condition for exiting the automatic operation mode includes:
  • the operation mode switching system is further configured to determine whether the train is allowed to operate in the ATO mode, and control the train to exit the automatic operation mode if the train is not allowed to operate in the ATO mode.
  • a control process of the automatic operation system may include the following periods: section automatic operation, station automatic parking, train operation section changing, door opening protection, and train door and platform door linkage control.
  • a network system of the train may collect a signal from the automatic operation system. If the collected signal is effective, a traction control system of the train performs an operation in response to a traction control command sent by the automatic operation system, and a brake control system of the train performs an operation in response to a brake control command sent by the automatic operation system.
  • the train first performs determination based on a "traction/brake command state flag" signal from the automatic operation system. If the "traction/brake command state flag" signal indicates traction, the network system of the train sends command information at a corresponding field to the traction control system of the train, and the traction control system performs traction with a traction control amount corresponding to the command information.
  • the network system of the train sends command information at a corresponding field to the brake control system of the train, and the brake control system performs braking with a brake control amount corresponding to the command information.
  • the network system cooperates with the traction control system and the brake control system to perform operations in response to the control commands from the automatic operation system, thereby performing section automatic operation. During this period, it is unnecessary for the driver to operate the driver controller handle.
  • the automatic operation system performs position correction by using an accurate positioning transponder, and the automatic operation system continuously adjusts a braking level to be outputted based on a current position and a current speed of the train to control the train to accurately park at a stop mark along a station track.
  • the network system transmits a "holding braking instruction" from an automatic control device to the brake control system.
  • the brake control system performs a holding braking operation based on a highest braking level outputted from a train control system. If the network system of the train determines that a holding braking releasing condition is met, the network system of the train may automatically release the holding braking.
  • the train exits the automatic operation mode, and the holding braking is applied by the train.
  • a ground device of the train control system sends platform side information to an in-train device, and the automatic train protection (ATP) system outputs a door opening permission instruction based on the platform side information.
  • the door releasing permission signal outputted by the ATP system is superimposed to an existing door releasing hard-wire control signal by using a hard-wire control circuit.
  • a switch is provided for determining whether a door releasing operation is performed by the driver or by the ATP system. That is, if the switch is at a first state, the door releasing operation is performed by the driver using a button on the operation platform; and if the switch is at a second state, the door releasing operation is automatically performed by the ATP system.
  • the network system of the train collects the door opening permission instruction outputted by the ATP system to turn on a "door releasing" indicator light.
  • the automatic operation system determines a door opening signal based on a traveling direction of the train and a current station.
  • the door opening signal indicates whether to open a left door or to open a right door.
  • the automatic operation system superimposes the door opening signal to an existing door opening hard-wire control signal by using a relay dry contact. Based on the door opening signal and the door opening hard-wire control signal, a "left door opening” operation or a "right door opening” operation is performed.
  • the network system sends the state of the switch to a door controller. If the switch is at the second state, the door controller disables a local door opening function, that is, the driver cannot control opening and closing of the door on the operation platform, such that the door can not be opened locally, thereby ensuring the safety of the passengers.
  • train door and platform door linkage control a train door and platform door opening linkage control is triggered by the driver or the automatic operation device, and train door and platform door closing linkage control is triggered by the driver. Due to a long transmission distance of a ground signal, a delay process may be performed for the door controller of the train, to ensure that the door and the platform door can be opened and closed synchronously.
  • An operation control system for a high-speed train based on automatic train operation is further provided according to the present disclosure, which is based on the CTCS3+ATO system, to realize automatic train operation under a manned situation.
  • the train state is considered, and the solution is designed to use functions of the traction control system, the brake control system, the network control system, and the door control system.
  • the automatic operation system can realize functions of station automatic departure, section automatic operation, station automatic parking, door opening protection, and train door and platform door linkage control.
  • operation modes are switched via a switch button. If the train meets an automatic operation condition, the network system provide a prompt to the driver, and the driver may operate the switch button to control the train to operate in the automatic operation mode.
  • a control circuit of the door control system is designed to ensure the door opening function in the automatic operation mode.
  • the driver may switch between a manual door opening operation and an automatic door opening operation.
  • a circuit for the manual door opening and a circuit for automatic door opening do not affect each other.
  • the door controller is improved to realize the train door and platform door linkage control function in automatic operation mode.
  • the automatic protection system of the train is not affected and may still control the train, and the safety level of the train control system is not reduced.
  • commands for performing traction, braking, constant speed control, and door opening and the like can be sent automatically without the driver, such that the labor intensity of the driver can be reduced, traction energy consumption is reduced, train punctuality is improved, and the train operation efficiency is improved.
  • the train state is considered, and the solution is designed to use functions of the traction control system, the brake control system, the network control system, and the door control system.
  • the automatic operation system can realize functions of station automatic departure, section automatic operation, station automatic parking, door opening protection, and train door and platform door linkage control.
  • operation modes are switched via a switch button. If the train meets an automatic operation condition, the network system provide a prompt to the driver, and the driver may operate the switch button to control the train to operate in the automatic operation mode.
  • a control circuit of the door control system is designed to ensure the door opening function in the automatic operation mode.
  • the driver may switch between a manual door opening operation and an automatic door opening operation.
  • a circuit for the manual door opening and a circuit for automatic door opening do not affect each other.
  • the door controller is improved to realize the train door and platform door linkage control function in automatic operation mode.
  • the automatic protection system of the train is not affected and may still control the train, and the safety level of the train control system is not reduced.
  • commands for performing traction, braking, constant speed control, and door opening and the like can be sent automatically without the driver, such that the labor intensity of the driver can be reduced, traction energy consumption is reduced, train punctuality is improved, and the train operation efficiency is improved.
  • each module may be realized in the same one or more software and/or hardware in implementing the present disclosure.
  • the steps of the methods or algorithms described in conjunction with the embodiments of the present disclosure can be implemented with hardware, software modules executed by a processor, or a combination thereof.
  • the software modules may reside in a Random Access Memory (RAM), an internal memory, a Read Only Memory (ROM), an Electrically Programmable ROM, an Electrically-Erasable Programmable ROM, a register, a hard disk, a removable disk drive, CD-ROM, or other types of storage media well known in the technical field.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
EP19912800.0A 2019-01-29 2019-11-22 Eisenbahnzugbetriebssteuerungsverfahren und -system Active EP3744605B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910085204.2A CN109649418A (zh) 2019-01-29 2019-01-29 一种铁路列车运行控制方法和系统
PCT/CN2019/120150 WO2020155803A1 (zh) 2019-01-29 2019-11-22 一种铁路列车运行控制方法和系统

Publications (3)

Publication Number Publication Date
EP3744605A1 true EP3744605A1 (de) 2020-12-02
EP3744605A4 EP3744605A4 (de) 2022-03-09
EP3744605B1 EP3744605B1 (de) 2023-01-04

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ID=66122174

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19912800.0A Active EP3744605B1 (de) 2019-01-29 2019-11-22 Eisenbahnzugbetriebssteuerungsverfahren und -system

Country Status (4)

Country Link
EP (1) EP3744605B1 (de)
CN (1) CN109649418A (de)
SG (1) SG11202008372PA (de)
WO (1) WO2020155803A1 (de)

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CN113309440A (zh) * 2021-07-29 2021-08-27 深圳市永达电子信息股份有限公司 多动力源协同控制方法、系统、安全门及存储介质
CN114620078A (zh) * 2020-12-14 2022-06-14 交控科技股份有限公司 便携式操控台及列车
EP3744605B1 (de) 2019-01-29 2023-01-04 CRRC Changchun Railway Vehicles Co., Ltd. Eisenbahnzugbetriebssteuerungsverfahren und -system

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CN114750806B (zh) * 2022-05-11 2024-08-06 南京北路智控科技股份有限公司 一种单轨吊远程驾驶方法及系统
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CN115476894A (zh) * 2022-10-26 2022-12-16 北京交大思诺科技股份有限公司 一种货运列车自动驾驶与人工驾驶的切换方法
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CN114620078A (zh) * 2020-12-14 2022-06-14 交控科技股份有限公司 便携式操控台及列车
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CN113309440B (zh) * 2021-07-29 2021-11-02 深圳市永达电子信息股份有限公司 多动力源协同控制方法、系统、安全门及存储介质

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