EP4001049A1 - Procédé et système de protection de la sécurité de passage à niveau - Google Patents

Procédé et système de protection de la sécurité de passage à niveau Download PDF

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Publication number
EP4001049A1
EP4001049A1 EP21759003.3A EP21759003A EP4001049A1 EP 4001049 A1 EP4001049 A1 EP 4001049A1 EP 21759003 A EP21759003 A EP 21759003A EP 4001049 A1 EP4001049 A1 EP 4001049A1
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EP
European Patent Office
Prior art keywords
level crossing
train
zone
stopping
limit speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21759003.3A
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German (de)
English (en)
Other versions
EP4001049A4 (fr
Inventor
Youbing Zhang
Zhiqiang Chen
Jianmin Wang
Xiaona YU
Guozhen Zhang
Zhicheng ZHU
Xiaoyan HAO
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.)
CRSC Research and Design Institute Group Co Ltd
Original Assignee
CRSC Research and Design Institute Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CRSC Research and Design Institute Group Co Ltd filed Critical CRSC Research and Design Institute Group Co Ltd
Publication of EP4001049A1 publication Critical patent/EP4001049A1/fr
Publication of EP4001049A4 publication Critical patent/EP4001049A4/fr
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L29/00—Safety means for rail/road crossing traffic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L29/00—Safety means for rail/road crossing traffic
    • B61L29/08—Operation of gates; Combined operation of gates and signals
    • 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
    • B61L15/0062—On-board target speed calculation or supervision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
    • B61L2027/202—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation using European Train Control System [ETCS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L29/00—Safety means for rail/road crossing traffic
    • B61L29/08—Operation of gates; Combined operation of gates and signals
    • B61L29/18—Operation by approaching rail vehicle or train
    • B61L29/22—Operation by approaching rail vehicle or train electrically
    • B61L29/226—Operation by approaching rail vehicle or train electrically using track-circuits, closed or short-circuited by train or using isolated rail-sections

Definitions

  • the present invention belongs to the field of rail transit, and particularly relates to a method and a system for safety protection of a level crossing.
  • Safety protection of existing level crossings are carried out by railroaders, by closing the level crossings before trains travel through the level crossings and re-opening the level crossings after trains travel through the level crossings.
  • the attended level crossings are relatively low in efficiency, and further occupy a large quantity of human resources.
  • the present invention provides a method for safety protection of a level crossing.
  • the method includes:
  • the stopping sign represents stopping, and making a train stop first and then travel through the level crossing according to the stopping sign and the level crossing limit speed includes:
  • controlling the train to stop in the stopping zone includes: performing monitoring by taking a start of the level crossing zone as an end of movement authority of the train and controlling a front end of the train to stop in the stopping zone.
  • controlling the train to travel through the level crossing zone at a speed not higher than the level crossing limit speed includes: after a front end of the train stops in the stopping zone, taking the front end of the train as a start of a level crossing limit speed zone, and an end of the level crossing zone as an end of the level crossing limit speed zone, incorporating the level crossing limit speed into a most restrictive speed profile, and controlling the train to travel through the level crossing limit speed zone.
  • the stopping sign represents not stopping, and making a train travel through the level crossing without stopping according to the stopping sign and the level crossing limit speed includes:
  • controlling a train to decelerate a specified speed to the level crossing limit speed before a start of a level crossing zone includes:
  • controlling the train to travel through the level crossing zone at a speed not higher than the level crossing limit speed includes:
  • the train is controlled in speed according to line data provided by a ground device, so as to safely travel through the level crossing.
  • acquiring level crossing information includes:
  • a ground device sends to an on-board device level crossing information that the level crossing is in an unprotected state.
  • the present invention further provides a system for safety protection of a level crossing.
  • the system includes:
  • the stopping sign represents stopping, and making a train stop first and then travel through the level crossing according to the stopping sign and the level crossing limit speed includes:
  • controlling the train to stop in the stopping zone includes: performing monitoring by taking a start of the level crossing zone as an end of movement authority of the train and controlling a front end of the train to stop in the stopping zone.
  • controlling the train to travel through the level crossing zone at a speed not higher than the level crossing limit speed includes: after a front end of the train stops in the stopping zone, taking the front end of the train as a start of a level crossing limit speed zone, and an end of the level crossing zone as an end of the level crossing limit speed zone, incorporating the level crossing limit speed into a most restrictive speed profile, and controlling the train to travel through the level crossing limit speed zone.
  • the stopping sign represents not stopping, and making a train travel through the level crossing without stopping according to the stopping sign and the level crossing limit speed includes:
  • controlling a train to decelerate a specified speed to the level crossing limit speed before a start of a level crossing zone includes:
  • controlling the train to travel through the level crossing zone at a speed not higher than the level crossing limit speed includes: when that the full service brake speed of the train is reduced to the level crossing limit speed is satisfied, taking a front end of the train as a start of a level crossing limit speed zone, and an end of the level crossing zone as an end of the level crossing limit speed zone, incorporating the level crossing limit speed into a most restrictive speed profile, and controlling the train to travel through the level crossing limit speed zone.
  • the train may stop firstly and then travel through the level crossing and travel through the level crossing without stopping according to the different states of the level crossing, so as to improve efficiency of travelling through the level crossing of the train.
  • the on-board device on the train incorporates the level crossing limit speed into the most restrictive speed profile, monitors travelling of the train and tries to improve the travelling efficiency while ensuring safety
  • An embodiment of the present invention provides a method for safety protection of a level crossing to achieve automatic safety protection of the level crossing. As shown in Fig. 1 , the method includes:
  • the method for safety protection of a level crossing described in the embodiment of the present invention may be implemented by a system for safety protection of a level crossing shown in Fig. 2 .
  • the system for a safety protection of a level crossing is composed of a ground device, an on-board device, a signal system, etc.
  • the system for a safety protection of a level crossing includes a system for protection of a level crossing, computer based interlocking (CBI), a train control center (TCC) and a train on-board system, and further includes the signal system such as radio block center(s) (RBC) and/or track circuit(s), wayside electronic unit(s), balise(s), etc. according to conditions of lines.
  • the system for protection of a level crossing is used for automatically protecting the level crossing, and may receive a crossing command and perform a crossing protection action, for example, automatically close the crossing according to a closing command, enter a protected state or an unprotected state, and automatically reopen the crossing according to an opening command.
  • the system for protection of a level crossing feeds back a crossing state according to an action result, which is the protection state of the level crossing in this embodiment of the present invention.
  • the system for protection of a level crossing is connected to the TCC and reports the crossing state to the TCC, the TCC sends the crossing state to the CBI, and the CBI sends the level crossing state to the RBC.
  • the closing command is sent to the system for protection of a level crossing according to a position relation between a train and the level crossing, that is, the closing command is sent to the system for protection of a level crossing when the trains travels to a nearby position with a specified distance from the level crossing.
  • the on-board device on the train sends a position of the train to the RBC wirelessly in real time.
  • the RBC determines a timing for sending a command to the level crossing according to a relation between the position of the train and a position of the crossing before the train, and the RBC sends the level crossing command to the system for protection of a level crossing through the CBI and the TCC in sequence.
  • the RBC merely sends the position of the train to the CBI, the CBI sends the crossing command to the TCC according to information of the position of the train, or sends the information of the position of the train to the TCC, and the TCC sends the crossing command to the system for protection of a level crossing.
  • the system for protection of a level crossing executes the crossing command, and sends the latest level crossing information and crossing state to the CBI through the TCC, then the CBI sends the same to the RBC, and the RBC sends the level crossing information to the on-board device on the train wirelessly.
  • the level crossing information includes the crossing state, which is the crossing protection state.
  • corresponding level crossing information and crossing state may be separately sent. If the system for protection of a level crossing successfully executes the command, the crossing state of the level crossing is the protected state, and the level crossing information sent to the on-board device by the RBC includes the protected state of the level crossing. If the system for protection of a level crossing fails to execute the command or the level crossing fails, the protection state in the level crossing information sent to the on-board device by the RBC is the unprotected state.
  • the TCC For a line which may not use wireless transmission of data, the TCC detects the relation between the position of the train and the position of the crossing before the train through the track circuit, etc., and the crossing command is sent to the system for protection of a level crossing when the train arrives at a position with a certain distance before the level crossing.
  • the system for protection of a level crossing executes the crossing command, and sends the latest crossing state to the TCC.
  • the TCC transmits the level crossing information to a ground switchable balise through a wayside electronic unit, and the train receives the level crossing information through an electromagnetic induction manner when passing through the switchable balise.
  • the crossing state in the level crossing information sent to the on-board device by the TCC through the switchable balise is the protected state. If the system for protection of a level crossing fails to execute the command or the level crossing fails, the crossing state in the level crossing information sent to the on-board device by the TCC through the switchable balise is the unprotected state.
  • the ground device (the RBC or the TCC) sends the closing command of the level crossing to the system for protection of a level crossing, and closes the level crossing for preparing for travelling of the train.
  • the ground device (the RBC or the TCC) sends the opening command of the level crossing to the system for protection of a level crossing, and reopens the level crossing.
  • the following describes a process of safety protection after the system for protection of a level crossing receives the crossing command.
  • the system for protection of a level crossing executes crossing closing according to the closing command of the crossing command and feeds back the crossing state.
  • the protection state of the level crossing is the protected state, and the on-board device does not need to perform extra safety protection for the level crossing, and directly controls a speed of the train according to line data provided by the ground device, so as to make the train safely travel through the level crossing.
  • the level crossing information does not need to include limit speed information, information of a stopping zone before the level crossing, a stopping sign, etc.
  • the feedback protection state of the level crossing is the unprotected state.
  • the ground device feeds back, through the level crossing information, the protection state and other information required by automatic travelling through the level crossing of the train.
  • level crossing information of different kinds for the train is provided levelaccording to the protection state of the level crossing, so as to achieve safety protection of different levels.
  • the level crossing information sent to the on-board device by the ground device includes a level crossing number, information of a level crossing zone, information of the stopping zone before the level crossing, the protection state of the level crossing, the stopping sign and the level crossing limit speed, that is a permitted speed of the level crossing.
  • the level crossing number is used for marking the level crossing.
  • the computer based interlocking system may control a plurality of level crossings, the train may travel through the plurality of level crossings and may continuously receive the level crossing information, such that the level crossing number is used for distinguishing the level crossings, and the on-board device updates information of the corresponding level crossing according to the level crossing number.
  • the on-board device receives new level crossing information, the newly received level crossing number is identical to a previously received level crossing number, the previously received level crossing information is replaced with the newly received level crossing information.
  • the on-board device is further used for acquiring the information of the level crossing zone and corresponding information of a stopping zone.
  • a start of the level crossing, a length of the level crossing and a length of the stopping zone before the level crossing represent the information of the level crossing zone and the information of the stopping zone.
  • an end of the level crossing the start of the level crossing + the length of the level crossing
  • an end of the stopping zone the start of the level crossing
  • a start of the stopping zone the start of the level crossing-the length of the stopping zone.
  • the start of the level crossing (or the end of the stopping zone), the end of the level crossing and the start of the stopping zone in the level crossing information may represent the information of the level crossing zone and the information of the stopping zone.
  • the embodiment of the present invention does not limit particular parameters of the two zones.
  • Fig. 3 shows a stopping zone and a level crossing zone when a train travels from a direction of a level crossing to the level crossing, which are symmetric to a relation between the stopping zone and the level crossing zone when the train travels to the level crossing from the other direction of the level crossing.
  • a person of ordinary skill in the prior art may obtain a safety protection solution in the other direction based on a safety protection solution in one direction in the embodiment of the present invention.
  • the on-board device When receiving the level crossing information in a wireless manner or from the switchable balise, the on-board device does not add extra protection for a protected level crossing, controls the speed of the train according to the line data (including level crossing limit speed information) provided by the ground device and therefore makes the train safely travel through the level crossing.
  • the on-board device After receiving the level crossing information, the on-board device uses the level crossing information if the protection state of the level crossing is unprotected. When the level crossing is unprotected, the on-board device incorporates the level crossing limit speed into the most restrictive speed profile, so as to monitor travelling of the train, and the maximum speed of travelling through the level crossing of the train may not exceed the level crossing limit speed.
  • the stopping sign before the level crossing is used for indicating whether the train needs to stop before the train travels through the level crossing, based on which the train may travel through the level crossing without stopping and stop first and then travel through the level crossing.
  • the on-board device For the unprotected level crossing, the on-board device needs to determine whether to stop the train before the level crossing according to the stopping sign before the level crossing. If the stopping sign before the level crossing represents stopping, the on-board device controls the train to stop before the level crossing and then travel through the level crossing. If the stopping sign before the level crossing represents not stopping, the on-board device controls the train to decelerate, so as to make the train travel through the level crossing without stopping at a low speed.
  • making a train stop first and then travel through the level crossing according to the stopping sign and the level crossing limit speed includes: acquiring, by the on-board device, information of the level crossing zone and information of a stopping zone before the level crossing; controlling the train to stop in the stopping zone; and then controlling, by the on-board device, the train to travel through the level crossing zone at a speed not higher than the level crossing limit speed.
  • monitoring is performed by taking the start of the level crossing zone, which is the end of the stopping zone, as an end of movement authority of the train and a front end of the train is controlled to stop in the stopping zone. That is, after the train stops, the front end of the train is located in the stopping zone before the level crossing.
  • the front end of the train is specifically an estimated train front end and in another embodiment, the front end of the train may be the max safe front end or the min safe front end.
  • the on-board device no longer takes the start of the level crossing as an end of temporary movement authority for monitoring, but incorporates the level crossing limit speed into the most restrictive speed profile from the estimated train front end.
  • the most restrictive speed profile is a limit speed curve fusing all-kind limit speed information of a line limit speed, a temporary speed restriction, the maximum train travelling speed, etc. by the on-board device, and is formed by taking the minimum limit speed in each zone without loss of generality.
  • the level crossing limit speed zone serves as a special temporary speed restriction zone, a start of the temporary speed restriction zone is the estimated train front end, an end of the limit speed zone is the end of the level crossing zone, and a permitted speed of the temporary speed restriction zone is the level crossing limit speed.
  • the on-board device defines a limit speed, so as to allow a driver to control the train to travel according to the limit speed, and the on-board device performs safety protection on travelling of the train based on the limit speed.
  • the on-board device does not incorporate the level crossing limit speed into the most restrictive speed profile. Under the conditions, the train is controlled to continuously travel according to the permitted speed, and stop in the stopping zone, and then the level crossing limit speed is incorporated into the most restrictive speed profile.
  • the on-board device acquires the information of the level crossing zone and the information of the stopping zone before the level crossing.
  • the on-board device or the driver controls the train to decelerate, when a specified speed of the train at a current position before the start of the level crossing zone reaches the level crossing limit speed, the on-board device incorporates the level crossing limit speed into the most restrictive speed profile from the current position to the level crossing end zone, and the on-board device controls the train to travel through the level crossing zone at a speed not higher than the level crossing limit speed.
  • Various speeds are involved in a process of controlling travelling of the train, for example, a current travelling speed of the train, the full service brake speed, etc.
  • the full service brake speed is selected for determining whether the train reaches a target of a first stage, which is, the specified speed is reduced to the level crossing limit speed before the start of the level crossing zone.
  • the train enters a second stage when the target of the first stage is met, that is, the train travels through the level crossing zone at a speed not higher than the level crossing limit speed.
  • the full service brake speed is taken as a travelling control target of the train in the stopping zone, so as to guarantee the train to be safe and controllable when the train travels through the level crossing, and improve efficiency of travelling through the level crossing of the train.
  • the on-board device takes the start of the level crossing, that is the end of the stopping zone, as the end of temporary movement authority for monitoring, and the on-board device, such as automatic train protection (ATP) or the driver controls the train to decelerate.
  • the on-board device such as automatic train protection (ATP) or the driver controls the train to decelerate.
  • ATP automatic train protection
  • the on-board device no longer takes the start of the level crossing zone as an end of temporary movement authority for monitoring, but incorporates the level crossing limit speed into the most restrictive speed profile from the front end of the train.
  • the front end of the train is specifically the estimated train front end.
  • the level crossing also serves as a special temporary speed restriction zone
  • a start of the limit speed zone is the estimated train front end
  • an end of the limit speed zone is the end of the level crossing zone
  • the permitted speed of the limit speed zone is the level crossing limit speed
  • the level crossing limit speed is incorporated into the most restrictive speed profile, and the train is controlled to travel through the level crossing limit speed zone.
  • the train may safely, efficiently and automatically travel through the level crossing with or without stopping.
  • a travelling monitoring point of the train is arranged, and the limit speed is incorporated into the most restrictive speed profile, so as to improve the efficiency of travelling through the level crossing of the train.
  • the permitted speed is allowed to no longer be influenced by the level crossing limit speed, but is determined by the most restrictive speed profile, and the train may accelerate to travel.
  • the ground device sends the level crossing information to the on-board device, and marks the level crossing with the unprotected state.
  • the on-board device needs to abide by the level crossing limit speed and travels through the level crossing at a low speed.
  • the train decelerates first or stops and then travels, or travels at a low speed, and the driver observes manual operation and other protection on the crossing before the train, and controls the train to travel through the level crossing at a relatively low speed. Since the train travels at a very low speed, once the driver observes an accidental condition, the driver may brake the train so as to stop the train timely.
  • the ground device sends level crossing information with identical numbers, and marks the level crossing with the protected state, that is, the protection state is updated to the protected state from the unprotected state.
  • the on-board device receives new level crossing information, old level crossing information is replaced with the new level crossing information. Since the new level crossing information represents the protected state of the level crossing, the on-board device stops incorporating the level crossing limit speed into the most restrictive speed profile, and allows acceleration, and the train may accelerate to travel.
  • the train continuously receives the level crossing information when travelling through the level crossing, the protection state of the level crossing is monitored, such that the efficiency of travelling through the crossing of the train is improved on the premise of guaranteeing the safety.
  • the ground device sends to the on-board device on the train level crossing information that the level crossing is in an unprotected state through the RBC or the TCC, and the on-board device incorporates the level crossing limit speed into the most restrictive speed profile for initiatively performing the safety protection.
  • the embodiment of the present invention further provides a system for a safety protection of a level crossing.
  • the system include:
  • the command sending module is the ground device, after receiving a position of the train, the ground device sends a crossing command according to a relation between the position of the train and a position of the level crossing, for example, the ground device sends a closing command to the system for protection of a level crossing when the train gets close to the level crossing.
  • the ground device is TCC.
  • the level crossing executes closing according to the closing command and feeds back, or the ground device collects a closing execution result, and acquires the protection state of the level crossing.
  • the ground device sends the protection state of the level crossing to the train.
  • the train determines the protection state of the level crossing by the state determination module.
  • the state determination module is arranged in the on-board device.
  • the train acquires the level crossing information through the train control module in the on-board device.
  • the train control module controls the train to travel through the level crossing according to the protection state and the level crossing information.
  • the command sending module is in data connection with the on-board device, specifically, achieves interaction through a computer based interlocking system, a radio block center (RBC), a balise, etc.
  • RBC radio block center
  • the command sending module is connected to the state determination module and the information acquisition module in the on-board device, and the train control module is also connected to the information acquisition module and the state determination module. Further, specifically, the state determination module is connected to the information acquisition module, and determines the protection state through the level crossing information obtained through analysis.
  • the train on-board device controls the train to travel as the train control module, or a driver may control the train to travel through the level crossing according to travelling requirements of the limit speed, etc. through the train control module.
  • the train control module is a device capable of achieving control over the train, and a driving manner is not limited to automatic driving or manual driving.
  • the level crossing information further includes a level crossing number, the protection state of the level crossing, the information of a level crossing zone and the information of a stopping zone before the level crossing.
  • making a train stop first and then travel through the level crossing according to the stopping sign and the level crossing limit speed includes: acquiring, by the on-board device, the information of the level crossing zone and the information of the stopping zone before the level crossing; controlling the train to stop in the stopping zone; and controlling the train to travel through the level crossing zone at a speed not higher than the level crossing limit speed.
  • monitoring is monitored by taking a start of the level crossing zone as an end of movement authority of the train and a front end of the train is controlled to stop in the stopping zone. Then, the front end of the train is taken as a start of a level crossing limit speed zone, and an end of the level crossing zone as an end of the level crossing limit speed zone, the level crossing limit speed is incorporated into a most restrictive speed profile, and the train is controlled to travel through the level crossing limit speed zone.
  • making a train travel through the level crossing without stopping according to the stopping sign and the level crossing limit speed includes: acquiring information of the level crossing zone and information of a stopping zone before the level crossing; controlling the train to decelerate a specified speed to the level crossing limit speed before a start of the level crossing zone; and controlling the train to travel through the level crossing zone at a speed not higher than the level crossing limit speed.
  • a start of the level crossing zone (an end of the stopping zone) is taken as an end of temporary movement authority for monitoring, the train is controlled to decelerate, when the full service brake speed of the train is reduced to the level crossing limit speed before the start of the level crossing zone, a position of a front end of the train is taken as a start of a level crossing limit speed zone, and an end of the level crossing zone is taken as an end of the level crossing limit speed zone.
  • the level crossing limit speed is incorporated into a most restrictive speed profile, and the train is controlled to travel through the level crossing limit speed zone.
  • the train is controlled in speed according to line data provided by the ground device, so as to safely travel through the level crossing.
  • the state determination module continuously receives the level crossing information and updates level crossing information received previously, and stops incorporating the level crossing limit speed into the most restrictive speed profile when the protection state is updated to the protected state from the unprotected state according to the level crossing information, and allows the train to accelerate to travel.
  • the command sending module sends to the state determination module level crossing information that the level crossing is in an unprotected state.
  • the method and the system for a safety protection of a level crossing of the present invention enable closing and reopening of the level crossing through a signal system with a high degree of automation, and may monitor an operation state of the system for protection of a level crossing in real time, and make the train to travel through the level crossing with or without stopping according to different states of the level crossing, so as to improve efficiency of travelling through the level crossing of the train on the premise of guaranteeing safety.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP21759003.3A 2020-09-22 2021-06-29 Procédé et système de protection de la sécurité de passage à niveau Pending EP4001049A4 (fr)

Applications Claiming Priority (2)

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CN202010998664.7A CN111923968B (zh) 2020-09-22 2020-09-22 一种平交道口安全防护方法及系统
PCT/CN2021/102904 WO2022062525A1 (fr) 2020-09-22 2021-06-29 Procédé et système de protection de la sécurité de passage à niveau

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EP4001049A1 true EP4001049A1 (fr) 2022-05-25
EP4001049A4 EP4001049A4 (fr) 2022-09-21

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CN111923968B (zh) * 2020-09-22 2021-01-05 北京全路通信信号研究设计院集团有限公司 一种平交道口安全防护方法及系统
CN114348076B (zh) * 2022-01-07 2023-10-13 北京全路通信信号研究设计院集团有限公司 一种铁路道口通行方法及系统

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CN109410645A (zh) * 2018-10-31 2019-03-01 北京交通大学 基于车路协同的停车让行标志控制道口预警系统及方法
CN111137330A (zh) * 2020-01-22 2020-05-12 无锡城市职业技术学院 一种平交道口安全通行系统及平交道口控制系统
CN111923968B (zh) * 2020-09-22 2021-01-05 北京全路通信信号研究设计院集团有限公司 一种平交道口安全防护方法及系统

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