KR20210016101A - Method and Apparatus for Controlling Turning Train - Google Patents

Abstract

Disclosed are a turning train control method and an apparatus thereof. Embodiments of the present invention provide a turning train control apparatus and a method thereof, which diagnose whether exceptional circumstances of a turning train occur based on target train information generated by a target train, and adjust a turning train line for turning train delay preparation if exceptional circumstances of the turning train occur. The turning train control apparatus comprises a train information collection unit, a turning train exceptional circumstance determination unit, and a train control unit.

Description

Method and Apparatus for Controlling Turning Train}

This embodiment relates to a train turn control method and apparatus.

The contents described below merely provide background information related to the present embodiment and do not constitute the prior art.

In general, in order to operate a train, a plurality of trains are operated according to a preset schedule on a preset route. If there is a delay in the preceding train, it affects the schedule of the following train, so contention between trains may occur or confusion may occur.

Trains running in the same direction as the preceding train must be operated to overtake the preceding train in order to run according to the scheduled arrival time when a delay occurs in the preceding train. Trains must be operated to readjust the order or schedule of trains on routes where multiple routes are merged into one track.

In general, train schedules are generated based on the experience of railroad operators rather than based on optimization algorithms or simulations. If a railroad operator prepares a schedule for train operation in advance, the engineer and the controller will operate the train in accordance with the train schedule as much as possible.

When an engineer and a controller operate a train according to a schedule, unexpected situations such as train breakdown, track breakdown, non-compliance with the schedule, and platform delays occur.Thus, occupying the same track at the same time, deadlock in both directions, and safety test (Headway Constraints) Train contention such as non-compliance occurs.

When train contention occurs, the central control center clears the contention between trains by re-adjusting the route and schedule of the train to ensure the punctuality and safety of the train. The general train schedule creation method is determined by collecting all train-related operation information at the central control center. The central control center delivers the determined train schedule to each train. There is a risk of human error in the process of receiving train schedules and communicating with train controllers and engineers.

However, the central control center needs to collect operation information of all trains in real time to create train schedules for all trains, and there is a real difficulty in collecting operation information from all trains in real time.

When a train contention occurs, the central control center needs to analyze a large-scale and complex railway network, so it takes a lot of time to resolve the train contention. In other words, there is a limit in determining an appropriate response for resolving train contention by a controller that adjusts the train schedule inside the central control center.

The general train schedule preparation method relies on the experience of the controller to resolve train contention. The risk of human error occurs because the controller directly readjusts train routes and schedules to eliminate train contention. In the process of dissolving the train combination, since train contention is resolved based on a uniform standard without considering the current operating state of the train, there is a problem that the overall train operation efficiency is deteriorated.

The present embodiment is to provide a train turn control apparatus and method for diagnosing whether a turnover unusual situation occurs based on the target train information occurring in the target train itself, and adjusting the turnaround line against the turn delay when the turnover unusual situation occurs. There is this.

According to an aspect of the present embodiment, there is provided a train information collection unit that collects target train information generated in the target train itself; A turn unusual situation determination unit that checks whether a turn unusual situation has occurred based on the target train information; And a train control unit for controlling the train according to whether or not to adjust the turn line compared to the turn delay when it is confirmed that the turn abnormal situation has occurred.

According to another aspect of the present embodiment, the process of collecting target train information generated by the target train itself; A process of checking whether or not an abnormality has occurred based on the target train information; And controlling the train according to whether or not to adjust the turn line compared to the turn delay when it is confirmed that the turn abnormal situation has occurred.

As described above, according to the present embodiment, there is an effect of diagnosing whether or not a turn abnormal situation occurs based on the target train information generated by the target train itself, and adjusting the turn line compared to the turn delay when the turn abnormal situation occurs.

1 is a diagram schematically showing a train autonomous driving system according to the present embodiment.
2 is a block diagram schematically showing a train turning control module according to the present embodiment.
3A and 3B are diagrams for explaining a train turn delay recovery scenario according to the present embodiment.
4 is a flowchart illustrating a method for controlling a train turn according to the present embodiment.

Hereinafter, this embodiment will be described in detail with reference to the accompanying drawings.

In this embodiment, ATO (Automatic Train Operation) refers to an automatic driving module mounted in a train for autonomous train driving, and ATP (Automatic Train Protection) refers to an automatic train stop module mounted in a train for autonomous train driving. it means. RM (Resource Manager) refers to a resource management module installed in a train for autonomous driving of a train, and OC (Operation Control) refers to an operation control module mounted in a train for autonomous driving of a train. ATS (Automatic Train Supervisor) refers to a ground system that periodically manages train conditions.

1 is a diagram schematically showing a train autonomous driving system according to the present embodiment.

The autonomous train system according to the present embodiment includes a train control device 110, a relay device 120, a train control learning server 130, and an ATS 140. Components included in the autonomous train system are not necessarily limited thereto.

The train control device 110 is capable of data communication with neighboring trains and ground infrastructure facilities (eg, ATS 140) via a network, but using only information generated from the target train itself without external communication After confirming that this has occurred, the turn line is adjusted for the turn delay. If necessary, the train control device 110 may communicate with neighboring trains and ground infrastructure facilities (eg, ATS 140) via a network.

The train control device 110 includes a memory for storing a program or protocol, a microprocessor for calculating and controlling by executing the corresponding program, and the like.

The train control device 110 includes (i) a communication device such as a communication modem for performing communication with various devices or wired/wireless networks, (ii) a memory for storing various programs and data, and (iii) an operation by executing a program and It is a variety of devices including a microprocessor for controlling. According to at least one embodiment, the memory is a computer such as a random access memory (RAM), a read only memory (ROM), a flash memory, an optical disk, a magnetic disk, or a solid state disk (SSD). It may be a readable recording/storage medium. According to at least one embodiment, the microprocessor may be programmed to selectively perform one or more operations and functions described in the specification. According to at least one embodiment, the microprocessor may be implemented entirely or partially as hardware such as an Application Specific Integrated Circuit (ASIC) having a specific configuration.

Related data and programs are stored in the memory, and the processor reads and processes the related data from the memory. A processor can be implemented so that one processor can perform each of the above functions, but a plurality of processors can be shared and processed. The processor may be implemented in a general-purpose processor, but may be implemented as a separately manufactured chip to perform its function.

The train control device 110 is a device implemented as a separate device from the ATS 140 and the train control learning server 130, and refers to a device that operates as a stand alone. The train control device 110 may operate by mounting a train autonomous driving program mounted in an embedded or installed form.

Train control device 110 includes ATO, ATS, RM, OC. The train control device 110 checks that a turn abnormal situation has occurred using only the information generated from the target train itself without communication with the outside, and adjusts the turn line against the turn delay.

The train control device 110 is mounted on a train for autonomous driving of the train, and is implemented in a compact size for controlling each train. The train control device 110 performs autonomous train driving through collaboration between trains based on communication with neighboring trains. Since the train control device 110 is mounted on each train and operates individually, ground infrastructure facilities required for direct communication between the train and the ATS 140 can be minimized.

The train control apparatus 110 according to the present embodiment collects target train information generated from the target train itself. The train control device 110 checks whether or not an unusual event occurs based on the target train information. When it is confirmed that the turn abnormal situation has occurred, the train control device 110 controls the train according to whether or not to adjust the turn line compared to the turn delay.

2 is a block diagram schematically showing a train turning control module according to the present embodiment.

The train control apparatus 110 according to the present embodiment includes a train turn control module 200. The train turn control module 200 includes a train information collection unit 210, a turn unusual situation determination unit 220, and a train control unit 230. Components included in the train rotation control module 200 are not necessarily limited thereto.

Each component included in the train rotation control module 200 is connected to a communication path connecting a software module or a hardware module inside the device so that they can operate organically with each other. These components communicate using one or more communication buses or signal lines.

Each component of the train turn control module 200 shown in FIG. 2 refers to a unit that processes at least one function or operation, and may be implemented as a software module, a hardware module, or a combination of software and hardware.

), 대상열차의 위치값(x_i(t))를 추출한다.The train information collection unit 210 collects target train information generated from the target train itself. The train information collection unit 210 includes a target train event (e _i (t)), a destination station end event (End _s ), and a scheduled position value of the target train (

), extract the location value of the target train (x _i (t)).

The rounding unusual situation determination unit 220 checks whether or not a rounding unusual situation has occurred based on the target train information.

), 대상열차의 위치값(x_i(t))이 기 설정된 조건을 만족하는 경우, 회차 이례상황이 발생한 것으로 인지한다.The round anomalous situation determination unit 220 includes a target train event (e _i (t)), a destination station end event (End _s ), and a scheduled position value of the target train extracted from the target train information (

), if the position value (x _i (t)) of the target train satisfies the preset condition, it is recognized that an unusual situation has occurred.

)에서 대상열차의 위치값(x_i(t))을 차감한 값이 열차 지연 허용 한도 설정값(X₁) 이상인지의 여부(

₎를 확인한다. 회차 이례상황 판단부(220)는 전술한 조건을 모두 만족하는 경우, 회차 지연 대비 회차선 조정 시나리오로 판단한다.The round anomalous situation determination unit 220 checks whether the target train event e _i (t) is a destination station end event End _s (e _i (t) = End _s ). The round anomalous situation determination unit 220 is the position value of the scheduled target train (

) Whether the target train's position value (x _i (t)) is equal to or greater than the train delay allowable limit (X ₁ ) (

₎ . When all of the above-described conditions are satisfied, the round anomalous situation determination unit 220 determines a round line adjustment scenario compared to the round delay.

When it is confirmed that the turn abnormal situation has occurred, the train controller 230 controls the train according to whether or not to adjust the turn line compared to the turn delay.

The train control unit 230 receives an unusual event duration (t _{i -1} ), an external notification end time (τ _{i -1} ), and a pre _- learned threshold (T _{i - 1} ) for the target train. Train control unit 230 Recurrence unusual circumstances duration (t _{i -1),} the external alert End time _{(τ i -1) (max (} t i-1, τ i-1)) the learned threshold value is a group (T _{i -1} ) If it is above, it is judged that the severity of the unusual situation is serious. Train control unit 230 is an unusual situation, the duration (t _{i -1),} the external alert End time _{(τ i -1) (max (} t i-1, τ i-1)) The group learning threshold value (T _{i -} If it is less than ₁ ), the severity of the unusual situation is judged to be minor.

If the train control unit 230 determines that the severity of the rounding unusual situation is serious, it predicts the ripple effect for the trains sequentially affected by the rounding unusual situation, and after the preceding train based on the ripple effect among a plurality of previously stored alternatives. Select either one of the course maintenance plan and the course change plan for trains located in.

The train control unit 230 is a train located after the preceding train according to the number of sequentially affected trains (the number of delayed trains) and the course change plan (alternative 2) that occur when an unusual situation is maintained according to the course maintenance plan (alternative 1). The number of sequentially affected trains (the number of delayed trains) that occurred when (dynamically rerouted) was sent to the submain line (bypass route) first, and according to the comparison result, the course maintenance plan (alternative 1) and the course Choose one of the amendments (alternative 2).

3A and 3B are diagrams for explaining a train turn delay recovery scenario according to the present embodiment.

As shown in Fig. 3A, the train return route consists of a main line and a sub-main line.

The'A line' for the round trip is a line in which a train entering the first main line 103B, 104B, 101B, and 102B returns to the second main line 103A, 104A via the sub-main lines 102B and 102A. The'B route' for the round is a route in which the train entering the first main line 103B passes through the sub main lines 103B and 103A to the second main line 103A, 102A, 103A, 104A.

As shown in FIG. 3B, when the train (#101) enters the main line, makes a turn, and enters the main line again via the sub-main line, it takes '4 minutes 30 seconds to 5 minutes'.

① The train (#101) uses the onboard train control device 110 to determine the current situation. Train #101 uses the onboard train control device 110 to determine in real time whether a'return delay situation' occurs. When the train (#101) is identified as a'return delay situation' using the onboard train control device 110, the delay time is calculated.

② The train (#101) uses the onboard train control device 110 to determine a scenario suitable for the current situation.

The train (#101) checks whether the turn delay situation is serious or minor using the onboard train control device 110, and if it is determined that the turn delay situation is serious, the ``return line compared to the turn delay'' responds to the turn delay situation. Select'Reconciliation Scenario'. The train (#101) uses the onboard train control device 110 to review the MA (Movement Authority) and effect review in the case of applying the'turn delay vs. turn line adjustment scenario'.

The train (#101) uses the onboard train control device 110 to determine the occupancy status of the round line, calculate the round reduction time and share, select the optimal rounding route, and based on the information,'return line adjustment scenario against round delay' It is finally decided whether to select.

③ The train (#101) applies a scenario suitable for the current situation using the onboard train control device 110.

The train (#101) uses the onboard train control device 110 to apply a'return delay vs. line adjustment scenario' corresponding to a'return delay situation'. If the train (#101) determines that the effect of reducing the turnaround time is insufficient even if the'return line adjustment scenario versus turn delay' is applied using the onboard train control device 110, the'return line adjustment scenario versus the turn delay 'Application is withheld.

If the'Return Line Adjustment Scenario for Delayed Round' is applied, the train (#101) does not enter the main line but enters the secondary line and returns immediately, shortening the rounding time to '2 minutes ~ 2 minutes 30 seconds' can do.

4 is a flowchart illustrating a method for controlling a train turn according to the present embodiment.

), 대상열차의 위치값(x_i(t))를 추출한다.The train control device 110 collects target train information generated in the target train itself (S410). In step S410, the train control device 110 from the target train information, the target train event (e _i (t)), the destination station end event (End _s ), the position value of the scheduled target train (

), extract the location value of the target train (x _i (t)).

The train control device 110 checks whether or not an unusual occurrence of the turnaround occurs based on the target train information (S420).

), 대상열차의 위치값(x_i(t))이 기 설정된 조건을 만족하는 경우, 회차 이례상황이 발생한 것으로 인지한다.In step S420, the train control device 110, the target train event (e _i (t)), the destination station end event (End _s ), the position value of the scheduled target train extracted from the target train information (

), if the position value (x _i (t)) of the target train satisfies the preset condition, it is recognized that an unusual situation has occurred.

)에서 대상열차의 위치값(x_i(t))을 차감한 값이 열차 지연 허용 한도 설정값(X₁) 이상인지의 여부(

₎를 확인한다. 열차 제어 장치(110)는 전술한 조건을 모두 만족하는 경우, 회차 지연 대비 회차선 조정 시나리오로 판단한다.The train control device 110 checks whether the target train event e _i (t) is the destination station end event End _s (e _i (t) = End _s ). The train control device 110 is the position value of the scheduled target train (

) Whether the target train's position value (x _i (t)) is equal to or greater than the train delay allowable limit (X ₁ ) (

₎ . When all of the above-described conditions are satisfied, the train control apparatus 110 determines a turn delay versus a turn line adjustment scenario.

When it is confirmed that the turn abnormal situation has occurred, the train control device 110 controls the train according to whether or not to adjust the turn line compared to the turn delay (S430).

In step S430, the train control device 110 receives an unusual event duration (t _i-1 ), an external notification end time (τ _{i -1} ), and a pre-learned threshold (T _{i - 1} ) for the target train. do. The train control device 110 has a pre-learned threshold (T _{i -1} ) and an external notification end time (τ _{i - 1} ) (max (t _{i - 1} ,τ _{i -1} )). _{If it is i -1} ) or higher, the severity of the unusual situation is judged to be serious. Train control device 110 is an unusual situation, the duration (t _{i -1),} the external alert End time _{(τ i -1) (max (} t i - 1, τ i -1)) is a group a learned threshold value (T _i If it is less than _-1 ), it is judged that the severity of the unusual situation is minor.

If the train control device 110 determines that the severity of the rounding unusual situation is serious, it predicts the ripple effect on the trains sequentially affected by the rounding unusual situation, and based on the ripple effect among a plurality of previously stored alternatives, the preceding train Select either one of the course maintenance plan or the course change plan for the train located later.

The train control device 110 is located after the preceding train according to the number of sequentially affected trains (the number of delayed trains) and the course change plan (alternative 2) that occur when the turn abnormal situation is maintained according to the course maintenance plan (alternative 1). Compare the number of sequentially affected trains (the number of delayed trains) that occur when the train is sent to the secondary line (bypass route) first (dynamically rerouted), and according to the comparison result, the course maintenance plan (alternative 1) and Choose one of the career change options (alternative 2).

In FIG. 4, steps S410 to S430 are described as sequentially executing, but are not limited thereto. In other words, since the steps described in FIG. 4 may be changed and executed or one or more steps may be executed in parallel, FIG. 4 is not limited to a time series order.

As described above, the train turn control method according to the embodiment illustrated in FIG. 4 may be implemented as a program and recorded on a computer-readable recording medium. A program for implementing the train turn control method according to the present embodiment is recorded and the computer-readable recording medium includes all types of recording devices storing data that can be read by a computer system.

The above description is merely illustrative of the technical idea of the present embodiment, and those of ordinary skill in the technical field to which the present embodiment belongs will be able to make various modifications and variations without departing from the essential characteristics of the present embodiment. Accordingly, the present exemplary embodiments are not intended to limit the technical idea of the present exemplary embodiment, but are illustrative, and the scope of the technical idea of the present exemplary embodiment is not limited by these exemplary embodiments. The scope of protection of this embodiment should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present embodiment.

110: train control device 120: relay device
130: train control learning server 140: ATS
200: train turn control module
210: train information collection unit 220: round abnormal situation determination unit
230: train control unit

Claims (7)

A train information collection unit that collects target train information generated from the target train itself;
A turn unusual situation determination unit that checks whether a turn unusual situation has occurred based on the target train information; And
When it is confirmed that the abnormality of the turn has occurred, a train control unit that controls the train according to whether or not the turn is adjusted for the turn delay
Train turn control device comprising a. The method of claim 1,
The abnormal situation determination unit of the round,
The target train event (e _i (t)), the destination station end event (End _s ), and the scheduled location value of the target train extracted from the target train information (

), when the position value (x _i (t)) of the target train satisfies a preset condition, the train turn control device, characterized in that it recognizes that the turn anomaly has occurred. The method of claim 2,
The abnormal situation determination unit of the round,
Whether the target train event (e _i (t)) is the destination station end event (End _s ) (e _i (t) = End _s ), the scheduled position value of the target train (

Whether the value obtained by subtracting the location value (x _i (t)) of the target train from) is equal to or greater than the train delay allowable limit set value (X ₁ ) (

_{) When} all of the conditions checked are satisfied, the train turn control device, characterized in that it determines as the turn delay versus the turn line adjustment scenario. The method of claim 1,
The train control unit,
Receiving an unusual event duration (t _{i -1} ), an external notification end time (τ _{i -1} ), and a previously learned threshold (T _{i - 1} ) for the target train,
The recurrence anomaly duration (t _{i -1} ), the external notification end time (τ _{i -1} ) (max (t _i-1 ,τ _i-1 )) is the pre-learned threshold (T _{i -1} ) In case of abnormality, it is judged that the severity of the unusual situation is serious,
If the unusual situation duration (t _{i -1} ) and the external notification end time (τ _{i -1} ) (max (t _i-1 ,τ _i-1 )) are less than the previously learned threshold (T _{i -1} ) And the train turn control device, characterized in that it is determined that the severity of the turn unusual situation is minor. The method of claim 1,
The train control unit,
If it is determined that the severity of the rounding unusual situation is serious, it predicts the ripple effect on the trains sequentially affected by the rounding unusual situation, and is located after the preceding train based on the ripple effect among a plurality of previously stored alternatives. Train turn control device, characterized in that selecting one of the alternative of a course maintenance plan and a course change plan for the train. The method of claim 5,
The train control unit,
The number of sequentially affected trains that occur when the abnormality of the round is maintained according to the course maintenance plan, and the number of sequentially affected trains that occur when the train located after the preceding train is first sent to the secondary line according to the course change plan. And selecting any one of the course maintenance plan and the course change plan according to the comparison result. Collecting target train information generated by the target train itself;
A process of checking whether or not an abnormality has occurred based on the target train information; And
When it is confirmed that the abnormality of the rounding has occurred, the process of controlling the train according to whether or not the rounding line is adjusted against the rounding delay
Train turn control method comprising a.

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