KR20210070471A - Resource Occupancy Method Based On Autonomous collaboration Between trains - Google Patents

Abstract

The present invention relates to a resource occupation method based on autonomous collaboration between trains. The resource occupation method based on autonomous collaboration between trains allows a train to occupy/release a resource such as a track, a section including a track changer, a section including a platform screen door (PSD) and the like in real time by collaboration between trains so as to increase efficiency of using the resource and allows all trains on a track to jointly occupy a resource on a train operation route by agreement so as to enable a safe train operation.

Description

{Resource Occupancy Method Based On Autonomous collaboration Between trains}

The present invention relates to a resource occupancy method based on autonomous collaboration between trains, and more particularly, resources such as a track on which trains travel based on communication between trains, a section including a track changer, a section including a PSD (Platform Screen Door), etc. It is about a resource occupancy method based on autonomous collaboration between trains that does not overlap and occupies exclusively through autonomous collaboration between trains.

In general, a railroad car is a large-scale means of transport that transports a lot of cargo or passengers. Railroad cars employ various and complex train control systems to ensure safe operation along the tracks. Securing a safe distance and a safe speed between preceding and following trains is very important, and for this purpose, the wireless communication-based train control (CBTC) presented in IEEE 1474 is representative.

Such a wireless communication-based train control system is a system that safely controls trains based on vehicle-ground wireless communication. Patent Registration No. 10-1978794, Registration Patent No. 10-1978794, etc. have been proposed as related prior art.

However, the existing wireless communication-based train control system, such as the wireless communication-based train control (CBTC), collects the location information of trains on the route from the ground control system and calculates the movement authority value, which is the limit for each train to move. The on-board control device is a system that safely controls the train according to the command.

Since such a ground control system-centered system has limitations in increasing operational efficiency and transport capacity, train autonomous train control that controls trains by using status information such as train speed and location in real time based on inter-train communication A system has been proposed.

At this time, the train autonomous driving control system must perform occupancy/control and train control of resources such as a track on its own path, a section including a track changer, and a section including a PSD (Platform Screen Door). In particular, these resources should be exclusively occupied so that trains do not occupy them repeatedly.

Accordingly, in the conventional train autonomous driving control system, the occupancy or sharing of resources was performed by a separate device called a resource manager (RM) on the ground. This method is a centralized method that is easy to secure safety because resource information is distributed only in one central device.

However, the centralized resource occupancy or sharing method using a resource manager (RM) operated in the conventional train autonomous driving control system is difficult to collaborate between trains, and due to the concentration of resources, train resources The use efficiency is low.

Reference 1: Registered Patent No. 10-1745505 Reference 2: Registered Patent No. 10-1978794

Therefore, the present invention is to solve these problems, and the present invention provides resources such as a track on which trains travel based on inter-train communication, a section including a track changer, and a section including a PSD (Platform Screen Door) autonomously between trains. The purpose is to provide a resource occupancy method based on autonomous collaboration between trains that enables efficient resource use by occupies exclusively rather than overlappingly occupied by trains through human collaboration.

The present invention in order to solve such a technical problem;

A first step of transmitting resource occupancy request information on the resource to be occupied by the on-board ATP of the corresponding train operating the route to the on-board ATP of another train; a second step of receiving, in the on-board ATP of the corresponding train, resource occupancy confirmation information on whether or not resources are overlapped from the on-board ATP of another train; a third step of analyzing the resource occupancy confirmation information in the on-board ATP of the corresponding train and converting the resource to be occupied by the train itself to a 'reserved' state when the other train is determined to be in an unoccupied state; a fourth step of transmitting a control command to an OC that controls the control object when the control object exists in the resource in the 'reserved' state in the on-board ATP of the corresponding train; and when a control response indicating that control of the control object has been performed is received from the on-board ATP of the train, it is determined that the control of the control object has been successful through the OC, and the state of the resource is transitioned to the 'locked' state. It provides a resource occupancy method based on autonomous collaboration between trains, characterized in that it includes ;

In this case, the first step is characterized in that it is a step of calculating the limit distance of the resource that the train itself can secure from the on-board ATP of the corresponding train and transmitting the resource occupancy request information to the on-board ATP of another train.

And, the sixth step of releasing ('idle') the control object when the train passes the control object serving as a resource in the on-board ATP of the corresponding train; characterized in that it further comprises.

In addition, the resource is characterized in that it includes a section including a track, a track changer, and a PSD (Platform Screen Door) section.

And, if the line resource is in the 'reserved' state, there is no control object, so it is characterized in that it immediately transitions to the 'locked' state.

In addition, before the first step, the on-board ATP of the corresponding train periodically transmits train information related to its own driving to the on-board ATP of other trains and the ATS on the ground, and from the on-board ATPs of other trains, it is related to the running of other trains. A seventh step of periodically receiving train information; characterized in that it further comprises.

And, the train information is characterized in that it includes information about the position, speed, resource occupancy and release of the corresponding train.

In this case, the resource occupancy and release information is characterized in that it includes a 'reserved' state and a 'locked' state of the resource.

In addition, the train information is characterized in that it is transmitted to the on-board ATP and the ground ATS of another train at a time interval of 500 ms.

In addition, the on-board ATP of the corresponding train is characterized in that it further periodically receives the state information of the control object from the OC.

According to the present invention, it is possible to increase the efficiency of resource use by occupies/releases resources such as a track, a section including a track switcher, and a section including a PSD (Platform Screen Door) in real time by train-to-train collaboration.

In addition, according to the present invention, safe train operation is possible because all trains on the track jointly occupy resources on the train route by agreement.

1 is a configuration diagram for resource occupation based on autonomous collaboration between trains according to the present invention.
2 is a diagram illustrating a state of a resource during resource occupation and control based on autonomous collaboration between trains according to the present invention.
3 is a diagram illustrating a resource occupation procedure based on autonomous collaboration between trains according to the present invention.
4 is a comparison table illustrating a comparison between the resource sharing method using the conventional RM and the resource occupation method based on autonomous collaboration between trains of the present invention.

Hereinafter, the characteristics of the resource occupancy method based on autonomous collaboration between trains according to the present invention will be understood by way of embodiments described in detail with reference to the accompanying drawings.

Prior to this, the terms or words used in the present specification and claims should not be construed as being limited to their ordinary or dictionary meanings, and the inventor should properly understand the concept of the term in order to best describe his invention. Based on the principle that it can be defined, it should be interpreted as meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention, and do not represent all the technical spirit of the present invention, so at the time of the present application, they can be replaced It should be understood that various equivalents and modifications may be made.

Referring to FIG. 1 , the resource occupation method based on autonomous collaboration between trains according to the present invention is based on communication between trains 100 and 100 ′, in which trains 100 and 100 ′ have a track, a section including a track changer 312 , PSD (Platform) Through autonomous collaboration between trains, resources such as sections including screen doors) are occupied exclusively by trains 100 and 100' rather than overlappingly, enabling efficient resource use.

For resource occupancy based on autonomous collaboration between trains according to the present invention, the on-board ATPs 110 and 110' of all trains 100 and 100' running on the route and a plurality of on-board ATPs 110 and 110' installed and operated on the ground and running along the track ATS (Automatic Train Supervision) 200 for control that monitors train information received from ATP 110, 110', and a control object 310 such as a track changer 312 on a track, and a Platform Screen Door (PSD). For this purpose, it is necessary to transmit and share various information between the OC (Object Controller) 300 installed on the side of the track.

At this time, the on-board ATP 110 of the train 100 running the route periodically transmits the location, speed, resource occupancy and release information related to the driving of the corresponding train 100, etc., to the on-board ATP 110 of the other train 100 ′. ') and the ATS 200.

In addition, the OC 300 installed on the ground track side is a track connected to the OC 300 itself so that the control object 310 such as a track changer and PSD on the track can be controlled using wireless communication on the vehicle of the train 100 . The state of the control object 310, such as the converter 312, is periodically transmitted to the on-board ATPs 110 and 110' and the ATS 200 of all the trains 100 and 100'.

Hereinafter, the constitution of each part of the present invention will be described in detail.

First, the following definition is required to occupy the resources on the travel route of the train based on autonomous collaboration between the plurality of trains 100 and 100'.

The resource is configured to include a track, a section including a track changer, and a section including a Platform Screen Door (PSD).

At this time, resource occupation on the travel path of the trains 100 and 100' is performed by the automatic train protection (ATP) 110 and 110', which is an on-board control device of the train autonomous driving control system.

In addition, the resource cannot be occupied (shared) by two or more objects at the same time, that is, the trains 100 and 100'.

Resource states such as the track, the section including the track changer, and the section including the PSD (Platform Screen Door) are divided into 'idle', 'reserved', and 'locked', and each state is defined as follows.

The 'idle' state means that the resource is not occupied by any train, the 'reserved' state means that the resource is occupied by a specific train, and the 'locked' state means that the resource is means success.

At this time, in the 'reserved' state, for example, if the line resource is in the 'reserved' state, there is no control object, and thus the 'locked' state is immediately transferred.

According to this definition, in order for the train 100 to move, it is essential to occupy resources such as a track, a section including a track changer, and a section including a PSD (Platform Screen Door). You can move only when the resource is in the 'locked' state.

At this time, as shown in FIG. 2 , for example, the control of the 'line changer' fails in a state where the resource such as the track changer 312, which is the control object 310 of the OC 300 provided on the track, is 'reserved'. In this case, since this resource is still in a 'reserved' state, the train 100 cannot move to this resource. With this concept, if there is an object to be controlled in the occupied resource, the on-board ATP 110 of the train 100 sets the resource for which the control is successful up to the 'locked' state. In this case, if the train 100 is located in a resource other than the 'locked' state, emergency braking must be engaged.

In this case, the on-board ATP 110 of the train 100 may make a occupancy request only for resources in an idle state, and the on-board ATP 110 of the train 100 that wants to occupy the resource transmits the resource occupancy request to the train 100 ') to the on-board ATP 110', and upon receiving confirmation of the on-board ATP 110' of another train 100', it is set to a 'reserved' state. The on-board ATP 110 of the train 100 should be able to set it to an 'idle' state when it passes a resource occupied by it (reserved or locked).

Hereinafter, with reference to FIG. 3, a procedure for occupying track resources by agreement between trains 100 and 100' according to the present invention according to the above definition will be described.

The train 100 running the priority route periodically transmits train information related to the train 100's own driving through the on-board ATP 110 to the on-board ATP 110' of other trains 100' and the ground. It is transmitted to the ATS 200. (S1, S2)

That is, the on-board ATP 110 of the corresponding train 100 periodically transmits train information related to the operation of the corresponding train 100 to the ATS 200 on the ground (S1), and the on-board of the other train 100' The train information of the corresponding train 100 is also periodically transmitted to the ATP 110' (S2).

In this case, the train information includes, for example, the location, speed, resource occupancy and release information of the corresponding train 100, and resource occupancy and release information included in the resource occupancy and release information includes a 'reserved' state and a 'locked' state of the resource. are all included

In addition, such train information is transmitted, for example, to the on-board ATP 110' of the other train 100' and the ATS 200 on the ground at a time interval of 500 ms. In this case, the transmission period of train information may vary depending on the design of the system.

Meanwhile, the on-board ATP 110 of the corresponding train 100 periodically receives train information related to the running of the other train 100' from the on-board ATPs 110' of the other train 100' (S3). ) Of course, even in this case, the on-board ATP 110' of the other train 100' transmits train information to the ATS 200 on the ground.

In addition, there is an OC 300 installed on the track side to control the control object 310 such as a track changer on the track, PSD, etc. on the vehicle using wireless communication, and the OC 300 also has a line changer connected to itself ( 312), and the like, periodically transmits the status information of the control object 310 to the on-board ATPs 110 and 110' and the ATS 200 of all trains 100 and 100' (S4 to S6).

That is, the ATS 200 on the ground periodically receives the state information of the control object 310 from the OC 300 ( S4 ), and the on-board ATP 110 ′ of the other train 100 ′ is also from the OC 300 . The state information of the control object 310 is periodically received (S5), and the on-board ATP 110 of the corresponding train 100 also periodically receives the state information of the control object 310 from the OC 300. (S6) )

The state information of the control object 310 is transmitted to, for example, the on-board ATP 110' of the other train 100' and the ATS 200 on the ground at a time interval of 500 ms. In this case, the transmission period of the status information may vary depending on the design of the system.

As described above, on the train autonomous driving control system in which the train information of the trains 100 and 100' and the state information of the control object 310 are transmitted through steps S1 to S6, the on-board ATP 110 of the train 100 ) must occupy the track resources in order to secure a path on their own path in the future.

To this end, first, the on-board ATP 110 of the train 100 calculates the limit distance of the resource it can secure (S7), and transmits information about the resource to be occupied by the train 100 in the future to other trains ( 100'), by transmitting it to the on-board ATP 110', a resource occupancy request is performed. (S8)

That is, through the step S7, the on-board ATP 110 of the corresponding train 100 calculates the limit distance of the resource it can secure, for example, the control object 310 is the track changer 312. In this case, information about the resource start point, end point, and line switcher ID is used. In this case, the resource start point, end point, and track changer ID utilize the state information of the control object 310 periodically received from the OC 300 or received from the on-board ATP 110 ' of another train 100 '. You can also use the train guide.

And, after calculating the limit distance of the resource in the step S7, the resource occupancy request information that the train 100 itself will occupy a specific resource through the step S8 is transmitted to the on-board ATP ( 110').

And, when the on-board ATP 110' of the other train 100' receives resource occupancy request information from the on-board ATP 110 of the corresponding train 100, it compares it with its own course and determines whether there is overlap and responds. ( S9) In this case, the on-board ATP 110' of the other train 100' transmits its own resource occupancy confirmation information to the on-board ATP 110 of the corresponding train 100 requesting resource occupation.

Accordingly, the on-board ATP 110 of the corresponding train 100 that requested resource occupancy analyzes the resource occupancy confirmation information, which is the response of the other train 100', and when it is determined to be in an unoccupied state, the resource that the train 100 itself wants to occupy to the 'reserved' state. (S10)

Afterwards, the on-board ATP 110 of the corresponding train 100 transmits a control command to the OC 300 if the control object 310 exists in the resource in the 'reserved' state to control the control object 310. (S11) For example, the on-board ATP 110 of the corresponding train 100 controls the corresponding track changer 312 if there is a track changer 312 that is the control object 310 in the resource in the 'reserved' state. A control command is transmitted to the OC 300 , and the OC 300 controls the corresponding line changer 312 .

Meanwhile, the OC 300 performs control of the control object 310 and then transmits a control response indicating that control has been performed to the on-board ATP 110 of the corresponding train 100 (S12).

When the on-board ATP 110 of the corresponding train 100 receives a control response from the OC 300 through the step S12, it is determined that the control has been successful through the OC 300, and the state of the resource is set to the 'locked' state. (S13) Of course, the on-board ATP 110 of the corresponding train 100 releases ('idle') the control object 310 when the corresponding train 100 passes the control object 310 that is a resource. .

The above resource occupation procedures (S1 to S13) are periodically performed while the trains 100 and 100' run on the track.

The difference from the resource occupancy method using RM (Resource Manager), which is the conventional resource occupancy method of the above-described train autonomous driving control system, is shown in the table of FIG. 4 .

According to this, when resource occupancy/release, the existing RM method determines whether the resource is occupied when the train receives a resource occupancy request, and if occupancy is possible, the train occupies the resource. Although the resource is released, in the present invention, the on-board ATP 110 of the corresponding train 100 occupies the resource through the resource occupation request and confirmation procedure with the on-board ATP 110' of the other train 100', and the corresponding resource When it passes, it releases itself.

In addition, when requesting a resource status, the existing RM transmits the resource status information to the train when the train requests resource status information on the route it will move, but in the present invention, it is included in the train information transmitted from another train 100'. Through the resource occupancy status, the on-board ATP 110 of the corresponding train 100 checks the status of the resource by itself.

In addition, when managing the protection area, the RM manages the protection area authority and setting for the section to be protected by reflecting the protection area control of the ATS and the information of the train, but the present invention sends a message related to the protection area setting to the ATS (200 ) to the on-board ATP 110 of the train 100, and protection is performed by the on-board ATP 110 of the train 100.

Summarizing the resource occupancy method based on autonomous collaboration between trains according to the present invention described above, the limit distance of the resource that the train itself can secure is calculated from the on-board ATP 110 of the train 100 operating the route, and A first step of transmitting the resource occupation request information to the on-board ATP 110' of another train 100', and the on-board ATP 110 of the other train 100' from the on-board ATP 110 of the corresponding train 100 '), the second step of receiving the resource occupancy confirmation information on whether or not resources are overlapped, and the other train 100 ' by analyzing the resource occupancy confirmation information in the on-board ATP 110 of the corresponding train 100. A third step of switching the resource to be occupied by the train 100 to the 'reserved' state when it is determined as the occupied state, and a control object in the resource in the 'reserved' state in the on-board ATP 110 of the corresponding train 100 When the 310 exists, the fourth step of transmitting a control command to the OC 300 that controls the control object 310 and the control object 310 from the OC 300 in the on-board ATP 110 of the corresponding train 100 ), it is determined that the control of the control object 310 has been successful through the OC 300 when a control response indicating that the control of ) has been performed, and the state of the resource is transitioned to the 'locked' state, including a fifth step.

In addition, a sixth step of releasing ('idle') the control object 310 when the corresponding train 100 passes the control object 310 serving as a resource in the on-board ATP 110 of the corresponding train 100 is further included. do.

In addition, before the first step, the on-board ATP of the train 100 periodically transmits train information including the location, speed, resource occupancy and release information of the train 100 related to its own travel to other trains 100'. ) transmits to the on-board ATP 110' and the ground ATS 200, and periodically receives train information related to the running of the other train 100' from the on-board ATP 110' of the other train 100' It further includes a seventh step.

The above description is merely illustrative of the technical idea of the present invention, and various modifications and variations are possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains. The scope of protection should be interpreted by the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

100,100': Train 110,110': On-board ATP
200: ATS 310: control object
300: OC

Claims (10)

A first step of transmitting resource occupancy request information regarding a resource to be occupied by the on-board ATP 110 of the corresponding train 100 running the route to the on-board ATP 110' of another train 100';
a second step of receiving, in the on-board ATP 110 of the corresponding train 100, resource occupancy confirmation information on whether or not resources are overlapped from the on-board ATP 110' of another train 100';
When it is determined that the other train 100' is in an unoccupied state by analyzing the resource occupancy confirmation information in the on-board ATP 110 of the corresponding train 100, the resource to be occupied by the train 100 itself is set to a 'reserved' state a third step of conversion;
a fourth step of transmitting a control command to the OC 300 that controls the control object 310 when the control object 310 is present in the resource in the 'reserved' state in the on-board ATP 110 of the corresponding train 100; and
When a control response indicating that control of the control object 310 has been performed is received from the OC 300 in the on-board ATP 110 of the corresponding train 100, the control of the control object 310 is successful through the OC 300 a fifth step of transitioning to a 'locked' state by determining that the state of the resource is 'locked';
A resource occupation method based on autonomous collaboration between trains, comprising:
The method of claim 1,
The first step is to calculate the limit distance of the resource that the train itself can secure from the on-board ATP 110 of the corresponding train 100 and transmit the resource occupancy request information to the on-board ATP 110' of the other train 100'. ), a method for occupying resources based on autonomous collaboration between trains, characterized in that it is a step of transmitting to.
The method of claim 1,
A sixth step of releasing ('idle') the control object 310 when the train 100 passes the control object 310 that is a resource in the on-board ATP 110 of the corresponding train 100; further comprising A resource occupation method based on autonomous collaboration between trains, characterized in that.
The method of claim 1,
The resource occupancy method based on autonomous collaboration between trains, characterized in that the resource includes a track, a section including a track changer, and a section including a PSD (Platform Screen Door). 5. The method of claim 4,
A resource occupancy method based on autonomous collaboration between trains, characterized in that if the track resource is in the 'reserved' state, it immediately transitions to the 'locked' state because there is no control object. The method of claim 1,
Before the first step, the on-board ATP of the train 100 periodically transmits train information related to its own driving to the on-board ATP 110' of the other train 100' and the ATS 200 on the ground, and A seventh step of periodically receiving train information related to the driving of another train 100' from the on-board ATPs 110' of the train 100'; a resource based on autonomous collaboration between trains, characterized by further comprising: How to occupy.
7. The method of claim 6,
The train information is a resource occupancy method based on autonomous collaboration between trains, characterized in that it includes location, speed, resource occupancy and release information of the corresponding train 100 .
8. The method of claim 7,
The resource occupancy and release information is a resource occupancy method based on autonomous collaboration between trains, characterized in that it includes a 'reserved' state and a 'locked' state of the resource.
7. The method of claim 6,
The train information is a resource occupancy method based on autonomous collaboration between trains, characterized in that the train information is transmitted to the on-board ATP 110' and the ground ATS 200 of the other train 100' at a time interval of 500 ms.
7. The method of claim 6,
The on-vehicle ATP 110 of the corresponding train 100 periodically further receives the state information of the control object 310 from the OC 300. An autonomous collaboration-based resource occupancy method between trains.

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