Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B61—RAILWAYS
  • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
  • B61L3/00—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
  • B61L3/16—Continuous control along the route
  • B61L3/22—Continuous control along the route using magnetic or electrostatic induction; using electromagnetic radiation
  • B61L3/221—Continuous control along the route using magnetic or electrostatic induction; using electromagnetic radiation using track circuits
• • 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
• • 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
  • B61L27/30—Trackside multiple control systems, e.g. switch-over between different systems
  • B61L27/37—Migration, e.g. parallel installations running simultaneously
• • 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
  • B61L2027/204—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation using Communication-based Train Control [CBTC]

Definitions

• This invention relates generally to train control systems, and more specifically to a train control system that combines certain structures of cab-signaling technology with structures used in communication based train control (CBTC) technology.
• a hybrid train control system employs traditional wayside fixed blocks with associated cab-signal control devices, as well as intelligent CBTC carborne equipment.
• the cab-signal control devices generate discrete speed commands that are injected into the running rails of the various cab-signaling blocks.
• an intelligent CBTC carborne device determines the location of the associated train, and generates a movement authority limit (MAL) based on the speed commands received from the wayside cab- signaling devices.
• MAL movement authority limit
• Cab-signaling technology is well known, and has evolved from fixed block, wayside signaling.
• a cab-signal system includes wayside elements that generate discrete speed commands based on a number of factors that include train detection data, civil speed limits, train characteristics, and track geometry data. The speed commands are injected into the running rails of the various cab-signaling blocks, and are received by trains operating on these blocks via pickup coils.
• a cab-signal system also includes carborne devices that present the speed information to train operators, and which ensure that the actual speed of a train does not exceed the speed received from the wayside.
• a CBTC system is based on continuous two- way communications between intelligent trains and Zone controllers on the wayside.
• An intelligent train determines its own location, and generates and enforces a safe speed profile.
• One such structure uses a plurality of passive transponders that are located on the track between the rails to provide reference locations to approaching trains.
• a speed measurement system such as a tachometer, the vital onboard computer continuously calculates the location and speed of the train between transponders.
• CBTC The operation of CBTC is based on the moving block principle, which requires trains in an area to continuously report their locations to a Zone Controller.
• the Zone Controller transmits to all trains in the area a data map that contains the topography of the tracks (i.e., grades, curves, super-elevation, etc.), the civil speed limits, and the locations of wayside signal equipment.
• the Zone controller also, tracks all trains in its area, calculates and transmits to each train a movement authority limit.
• a movement authority is normally limited by a train ahead, a wayside signal displaying a stop indication, a failed track circuit, an end of track, or the like.
• the onboard computer Upon receiving a movement authority limit, the onboard computer generates a speed profile (speed vs. distance curve) that takes into account the limit of the movement authority, the civil speed limits, the topography of the track, and the braking characteristics of the train.
• the onboard computer also, ensures that the actual speed of the train does not exceed the safe speed limit.
• CBTC has a number of advantages over cab-signaling technology, including shorter headways, enforcement of temporary speed limits, and enabling trains with different traction and braking characteristics to operate on the same line.
• CBTC While the benefits and advantages of CBTC are well known, it is difficult to migrate a cab-signaling installation to a CBTC installation. Also, when implementing an extension to an existing line controlled by cab-signaling, a transit or a rail property is normally limited to a single choice, namely to use the same train control technology that is used on the existing line. In addition, it is desirable to standardize the man-machine-interface provided by cab-signaling and CBTC systems. Further, it desirable to achieve a certain level of interoperability between cab- signaling and CBTC.
• the current invention provides a structure that facilitates the migration from cab-signaling to CBTC, enables the use of CBTC technology on an extension of a line that is controlled by cab-signaling, provides a man-machine-interface for cab-signaling systems that is based on the distance-to-go format, and enables CBTC equipped trains to operate with wayside cab-signaling devices.
• This invention relates to train control systems, and in particular to a hybrid train control system that integrates conventional wayside cab-signaling devices with CBTC onboard computers. Accordingly, it is an object of the current invention to provide a method to translate speed limit information generated by cab-signaling equipment into movement authority limits.
• a hybrid train control system that integrates conventional wayside cab-signaling devices with CBTC onboard computers.
• the onboard CBTC computers could also communicate with an Automatic Train Supervision System (ATS), which controls wayside interlocking equipment, as well as provides service delivery functionalities.
• ATS Automatic Train Supervision System
• the ATS system provides information related to temporary speed restrictions, work zone limits, and status of interlocking devices.
• an onboard CBTC device is similar to conventional vital onboard CBTC computers, and includes an independent location and speed determination subsystem, an interface to the traction, braking and other car subsystems, a vital data base that includes data related to track topography, civil speed limits, and location of wayside signal devices.
• the onboard CBTC device includes an interface to a cab-signaling pickup coil that receives wayside speed limit information coded in electrical signals that are injected through the running rails.
• the location determination subsystem is based on a plurality of transponders located on the track. Passive transponders are used to provide reference locations to the on-board location and speed determination subsystem. Between transponders, an odometry device continuously calculates train location and speed. Further, dynamic transponders could be used at home signal locations to provide vital route information to the onboard equipment.
• transponder based system to provide an independent location and speed determination is being provided for the purpose of describing the preferred embodiment, and is not intended to limit the invention herein.
• any location and speed determination system that is independent of the wayside track circuits could be used with this invention.
• location and speed determination subsystems include figure 8 inductive loops, radio triangulation devices, global positioning devices (GPS), or the like.
• the methodology described in the preferred embodiment is based on the conversion of received cab-signal speed codes into movement authority limits. There are two main steps in implementing such conversion. First, the on-board CBTC equipment determines the cab- signaling block where the front end of the train is currently located. This determination is made based on the current location of the train (as calculated by the on-board location subsystem), and the vital data base information. The second step is to determine the block boundary location for the cab-signaling block where a track obstruction exists. A track obstruction could be a train ahead, a stop signal, a failed wayside detection block, an end of track, a temporary track block, or the like.
• This determination of block boundary location could be implemented using a lookup table that reflects the wayside cab-signaling speed codes versus the statuses of the various wayside detection blocks.
• said block boundary location determination could be implemented by an algorithm that employs cab-signaling speed code received, current cab- signaling block, and cab-signaling design parameters (i.e. train characteristics, track profile data, reaction times, train resistance formulas used, etc.).
• the on-board CBTC computer Upon the identification of the cab-signaling block where a track obstruction exists, the on-board CBTC computer will generate a movement authority limit up to the block entry location for this cab-signaling block.
• a buffer zone is provided before said block entry location to ensure minimum safe separation to a train located at the beginning of the block where the track obstruction is located.
• This movement authority limit is enforced by the on-board CBTC equipment. Similar to a CBTC operation, the on-board vital controller will generate a stopping profile (speed/distance curve) to control the speed of the train, and enforce the stopping of the train at the end of the movement authority limit. Such stopping profile incorporates the civil speed limits present in the wayside signal configuration. The on-board vital controller also provides over-speed protection by ensuring that the actual speed of the train does not exceed the allowable speed limit.
• the generation of the movement authority limit is a dynamic process that corresponds directly to the cab-signaling speed code received from the wayside devices.
• the on-board CBTC equipment will respond to any change in the received cab*signaling speed code limit.
• a more restrictive speed code will result in a truncation of the movement authority limit.
• a more permissive speed code will result in an expanded movement authority limit.
• the norm is that the movement authority limit remains the same. The exception is when the track obstruction limiting the movement authority moves to a different cab-signaling block simultaneously with the movement of the train to the new block. This means that under normal operation, the dynamic changes in movement authorities will most likely occur within the boundaries of the various blocks.
• This hybrid architecture provides a number of safety and operational benefits. First, a movement authority normally extends beyond the entry boundary of the block with a "stop" or “stop and proceed” speed code. More specifically the movement authority limit could extend to the exit boundary of the block in the approach to the block where the obstruction exists. Such extension of the movement authority limit provides an enhancement of the existing throughput. Second, this hybrid architecture can be used to convert an existing "stop and proceed” operation to a "positive stop” operation by the inherent nature of the movement authority limit. In such applications, the hybrid architecture could be used to enhance safety of operation.
• This concept could also be implemented such that a combination of "positive stop,” and “stop and proceed” operations are provided at different geographical locations based on a data base parameter.
• a "positive stop” operation could be provided at home signal locations.
• "stop and proceed” operation could be provided at the boundary of certain blocks where it is desired to close in on a train ahead under the protection of the operating rules.
• This is implemented by a data base parameter that controls the selection of either a "positive stop” operation, or a “stop and proceed” operation at the end of a movement authority limit.
• this data base parameter could be enabled by the ATS dispatcher at a central control location. An acknowledge function is then provided on-board the train to ensure that the train operator is aware of the "stop and proceed” operation at this location.
• hybrid architecture could be implemented on an extension of an existing cab-signaling line.
• the line extension will be equipped with wayside CBTC zone controllers.
• New trains operating on the extension are equipped with the hybrid onboard device, and are able to operate on both the main line and extension tracks using a movement authority type operation.
• Old trains equipped with on-board cab-signaling equipment will continue to operate on the main line tracks in a mixed fleet operation, but cannot operate on the new extension tracks. Obviously, if it is desired to operate the old trains on the extension tracks, then they must be retrofitted with hybrid on-board equipment.
• this hybrid architecture could be used with cab-signaling systems that employ the running rails to transmit speed information to trains, or with cab- signaling systems that employ inductive loops. This architecture could also be used with cab- signaling systems that employ a distant-to-go type operation within a block.
• Another advantage of this hybrid architecture is to enable trains with different traction and breaking characteristics to operate with existing cab-signaling wayside installations. In effect, this architecture will make train control independent of the assumptions used to design the wayside cab-signaling block layout.
• This hybrid architecture also provides conventional CBTC operation in areas equipped with wayside zone controllers.
• a train continuously transmits its location to the wayside zone controller via the data communication subsystem .
• a zone controller tracks the trains in an area, and issues a movement authority to a train based on the location of the track obstruction ahead. This movement authority limit is transmitted to the train via the data communication network.
• the on-board computer then generates and enforces a stopping profile that corresponds to the received movement authority limit.
• FIG. 1 is a block diagram of a hybrid cab-signaling/CBTC onboard unit showing a cab- signal interface in accordance with the invention.
• FIG. 2 indicates a block diagram of the process used to convert a cab-signaling speed limit into a movement authority limit in accordance with the invention.
• FIG.3 shows a two step process to convert a cab-signaling speed limit into a movement authority limit using lookup tables.
• FIG.4 shows a sequence of cab-signaling blocks, and demonstrates the process used to map the CBTC train location to said blocks for the purpose of identifying which block is occupied by the train.
• FIG. 5 shows a lookup table to generate movement authority limits that correspond to received cab-signaling speed codes, for various wayside blocks.
• FIG. 6 shows the cab-signaling movement authority limits for consecutive blocks relative to the position of a train ahead.
• FIG. 7 shows the cab-signaling movement authority limits for consecutive blocks relative to the position of a wayside signal that displays a stop aspect.
• FIG.8 indicates a wayside cab-signaling block layout that employs "no code” for "stop & proceed” operation.
• FIG.9 shows a cab-signaling movement authority relative to a CBTC movement authority for the condition of a train ahead.
• FIG. 10 shows a cab-signaling movement authority relative to a CBTC movement authority for the condition of a signal ahead displaying a stop aspect.
• FIG. 11 shows a lookup table to generate movement authority limits that correspond to received cab-signaling speed codes, for various wayside blocks, as well as type of operation desired at each block when a no code condition exists.
• FIGS. 12-14 show an example of the operation of the preferred embodiment according to the current invention in a section of the track where a civil speed limit is present.
• the preferred embodiment of the present invention describes a structure, and/or a method to provide safe operation of trains over sections of cab-signaling track territory.
• the main concept of the present invention is to employ cab-signaling speed codes received from wayside cab-signaling devices to generate corresponding movement authority limits on board trains.
• the structure used by the present invention is a hybrid architecture that combines wayside cab-signaling devices, and onboard CBTC controller.
• the present invention maintains the running rails as an integral part of the train control system, while providing many of the advantages of CBTC operation.
• the preferred embodiment also employs a vital on-board data base that includes track topography information, cab- signaling block configuration, location of wayside signal devices, limits of station platforms, and civil speed limits.
• a cab-signaling pickup coil, together with a cab-signaling decoder, is used to detect and decode the cab-signaling code rate present in the running rails.
• a reverse cab- signaling design process is used to determine the location of the obstacle corresponding to the received cab-signaling rate.
• FIG. 1 is a block diagram of the onboard train control device in accordance with the preferred embodiment of the invention. It includes a vital onboard controller (VOBC) 10, which includes a vital data base 20.
• the VOBC 10 interfaces with a transponder reader 12, an odometry device 14, a data communication unit 18, the car propulsion and braking systems 16, and a cab- signaling interface unit 22.
• the transponder reader 12 receives location information from passive transponders installed on the tracks, and provides reference location information to the on-board location determination subsystem.
• the transponder reader 12 could also provide route data based on information provided by wayside interlocking devices to dynamic transponders located at said interlocking devices.
• the odometry device 14 provides location and/or speed measurement functions to the VOBC 10 so that the VOBC 10 can continuously determines the location and speed of the train as the train moves on the track. Similar to traditional CBTC systems, the reference location received from the transponder reader 12 is used to reset any uncertainty in the calculated train location.
• the data communication unit 18 is an optional device, and is used in embodiments that employ wayside zone controllers.
• the VOBC 10 receives CBTC movement authority limits (MAL) from wayside zone controllers, and transmits the train location to said zone controllers via the data communication unit 18.
• MAL movement authority limits
• the cab-signal interface unit 22 provides the cab-signaling speed code signal detected in the rails to the VOBC 10. This signal is normally in the form of a modulated carrier frequency.
• the code rates normally correspond to the cab- signaling speed limits in the wayside cab-signaling blocks.
• the decoding or demodulation of the received speed signal could be performed as part of the cab-signaling interface unit 22, or could be integrated in the VOBC functions.
• FIG. 2 describes the general process of translating the decoded cab-signaling speed 30 into a cab-signaling movement authority limit 32.
• the vital control logic embedded in the VOBC 10 generates a movement authority limit 32 that corresponds to the received cab- signaling speed limit 30 using a reverse cab-signaling block design process 24.
• the data required for such process includes the CBTC train location 28, the cab-signaling block boundaries 25, the decoded cab-signaling speed 30, and route data 26 if required.
• the CBTC train location 28 is generated by the on-board location determination subsystem based on information received from the transponder reader 12 and the odometry unit 14.
• the labeling of the train location data 28 as CBTC train location is disclosed for the purposes of describing the preferred embodiment, which has hybrid architecture so that the on-board VOBC 10 can operate both in cab-signaling and CBTC territory.
• this concept could be used to operate entirely in cab- signaling territory, and in such a case the CBTC train location data 28 could be simply labeled on-board train location.
• the cab-signaling block boundaries data is stored in the on-board vital data base as part of a dataset that includes the topography of the track (i.e. track stationing information, grade information, curve information, super elevation data, etc.), civil speed limits, location of wayside signal equipment, location of station platforms, etc.
• topography of the track i.e. track stationing information, grade information, curve information, super elevation data, etc.
• civil speed limits i.e. track stationing information, grade information, curve information, super elevation data, etc.
• the route data 26 includes the position of wayside track switches, and the status of wayside signals. This route data 26 is not normally required for the determination of a cab- signaling movement authority limit except in wayside cab-signaling installations where a cab- signaling speed code is based in-part on a civil speed limit present at an interlocking route (for example, when a train proceeds over a diverging route). Route data 26 could also be required to provide information to operating personnel on the train operator display (TOD).
• TOD train operator display
• the route data 26 could be provided by wayside transponders, from a wayside zone controller, or from the ATS subsystem using the data communication unit 18.
• the route data 26 could also be implied from the received cab-signaling speed code 30 in conjunction with information stored in the on-board data base 20.
• the reverse cab-signaling design process 24 could be implemented by one of a plurality of structures.
• a software algorithm could be provided to identify the location of the block where an obstacle exists (train ahead, stop signal, end of track, etc.). Such software algorithm will be based on track topography data, and design assumptions used for the wayside cab-signaling block design. For example, train traction or propulsion characteristics, safe braking model, reaction times, etc.
• a second structure is shown in FIG.3, and is based on a two step process that employs lookup tables.
• lookup table 1 is used to identify the wayside block 38 where the front end of the train is located.
• This lookup table uses the CBTC train location 28 as determined by the on-board train location subsystem, and the boundary location information for the wayside blocks 40, which are provided by the on-board vital data base, to identify said wayside block 38.
• a graphical representation of this first step 34 is shown in FIG. 4.
• Wayside block Bj 44, where the train is located, is determined by comparing the on-board train location 46 with the boundaries of the various wayside blocks. This process continues as the train moves in the established traffic direction 42.
• lookup table 2 is used to determine the cab- signaling movement authority limit 32.
• This lookup table uses the block information 38 determined in the first step, and the received cab-signaling speed code 30 to generate the cab- signaling MAL 32.
• FIG. 5 shows an example of a lookup table where MALj 2 56 represents the cab-signaling movement authority limit that corresponds to cab-signaling speed code S 2 54 when the train is in block Bj 52. As the train continues to move in the established direction of traffic 42, new movement authority will be generated based on the block identity, and the received speed code limit.
• FIG. 6 shows that the same operation indicated in FIG. 6 occurs when the movement authorities 78, 80, 82 & 84 are limited by a signal 74 displaying a stop aspect.
• a movement authority is truncated only in the event of a failure, or if an unusual operating condition occurs. For example, a track circuit failure, or a loss of speed code will result in a truncation of movement authority. Also, the cancellation or downgrading of an aspect at a wayside signal will cause the movement authority to be truncated.
• a movement authority limit generated by the VOBC 10, or received from the wayside zone controller via the CBTC data communication subsystem 18 is enforced by the on-board VOBC 10. Similar to a CBTC operation, the vital on-board controller 10 will generate a stopping profile (speed/distance curve) to control the speed of the train, and enforce the stopping of the train at the end of the movement authority limit. Such stopping profile incorporates the civil speed limits present in the wayside signal configuration, and stored in the on-board vital data base 20.
• the VOBC 10 also provides over-speed protection by ensuring that the actual speed of the train as measured by the odometry module 14 does not exceed the allowable speed limit determined by the generated stopping profile. In the event of an over-speed condition, the VOBC will activate the train brake subsystem.
• FIG. 1 for the preferred embodiment could be implemented with both a cab-signaling system that employs a dedicated code "SO” for a "positive stop” operation, as well as a cab-signaling system that employs a no code “NC” to provide a "stop & proceed” operation.
• FIG. 8 demonstrates how the concept presented herein is implemented when no code "NC” 92 is used as part of normal operation. More specifically, the system must differentiate between the NC 92 corresponding to "stop & proceed” operation, and a no code resulting from a loss of cab-signaling code in a block, i.e. a failure caused by either trackside equipment or in the on-board cab-signaling interface unit 22.
• the on-board data base is used to differentiate between a no code condition within a block boundary, and a no code condition 92 at the boundary of a block 93 where a no code condition is expected.
• the transition from a first speed code to a no code at a block boundary is used as a pre-requisite to maintain the movement authority to its current limit.
• the architecture disclosed in the preferred embodiment will result in a headway improvement 106 in cab-signaling systems that provide positive stop operation.
• a train 98 following a preceding train 108 normally stops at the beginning of a block 104 with SO code.
• the cab-signaling movement authority 100 allows the train to proceed to the end of the block.
• the extent of such headway improvement 106 is dependent on the wayside cab-signaling block design.
• the headway improvement 106 in the case where the movement authority is limited by a train ahead 108 is less that the headway improvement provided by a CBTC movement authority 102.
• the headway improvement 120 is the same for both the cab-signaling based operation as measured by its movement authority 116, and the CBTC based operation as measured by its movement authority 114.
• FIG. 1 provides a simple and effective way to convert a "stop & proceed” operation to a "positive stop” operation.
• a cab-signaling MAL 91 will ensure that the following train 86 stops at the end of the block with no code condition 92, rather than a "stop & proceed” operation 90 that allows a train to close in on the preceding train 88 under the protection of the operating rules.
• This hybrid architecture will therefore enhance the safety of operation by reducing the reliance on the operating rules employed in the "stop & proceed” operation, and by minimizing the probability of a human error.
• the lookup table that provides the various movement authorities corresponding to received cab-signaling speed limits could be expanded to include the type of operation desired at each block when a no code condition is encountered. For example, a positive stop operation could be specified at the end of a block in approach to a home signal, or in approach to the end of track. Stop and proceed operation could be maintained at other blocks where it is operationally desirable to allow a train to close in on a train ahead.
• the "stop & proceed” operation could be enabled in the vital data base, but dynamically activated by the central ATS dispatcher. An acknowledgment function could then be implemented in the vital software of the VOBC 10 to ensure that the train operator is conscious of the "stop & proceed” operation at that location.
• the calculation of the wayside cab-signaling speed code is based on track occupancies, status of wayside signal aspects as well as additional factors. These factors could include civil speed limits, and dynamic route information such as when the train operates over a diverging route.
• additional onboard lookup tables and/or logic are provided to differentiate between a cab-signaling speed code that reflects a civil speed limit, and a cab-signaling speed code that reflects the position of a train ahead, or the condition of a wayside signal displaying a stop aspect.
• FIGS. 12 & 13 demonstrate an example of a civil speed limit 130, which limits the speed code in the associated block 130 to Sl independent of the location of the train ahead 124.
• the speed in the block 128 in the approach to the block 130 associated with the civil speed limit 130 is S3, while in FIG. 13, the speed in said block is S2.
• the on-board logic recognizes that the transition from S2 to Sl at the border between the two blocks is a pre-requisite to maintain a cab- signaling MAL 122 to the end of the SO block limit 129 as shown in FIG, 12.
• a transition from S3 to Sl will maintain a cab-signaling MAL 132 to the end of the SO block as shown in FIG. 13.
• additional lookup tables and/or logic are provided in applications where the train is operating in the approach to and on a diverging route.
• the transition between various combinations of cab-signaling speed codes could imply the position of the wayside track switch.
• the position of the switch could be provided through a dynamic wayside transponder that is read by the on-board location subsystem.
• information related to the position of wayside switches could be transmitted to the train for non- vital functions applications such as providing route information on the train operator display.
• the onboard VOBC 10 could be implemented using a plurality of vital modules. These modules could be independent software modules operating on a common hardware platform, or each of the modules could operate on a separate hardware platform.
• a first vital module will provide the function of location determination; a second vital module will provide the function of decoding a speed code, and converting it into a movement authority limit; and a third vital module will generate and enforce a stopping profile based on the generated movement authority limit.
• the second module could incorporate an algorithm that performs a reverse block design process, or in the alternative could employ a plurality of lookup tables.

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• Engineering & Computer Science (AREA)
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• Electromagnetism (AREA)
• Train Traffic Observation, Control, And Security (AREA)
• Electric Propulsion And Braking For Vehicles (AREA)

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• 2009
  • 2009-05-19 RU RU2011113700/11A patent/RU2536007C2/ru active
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