WO2014183263A1

WO2014183263A1 - Train control method, and apparatus and system thereof

Info

Publication number: WO2014183263A1
Application number: PCT/CN2013/075606
Authority: WO
Inventors: 侯满仓
Original assignee: 深圳市坐标系交通技术有限公司
Priority date: 2013-05-14
Filing date: 2013-05-14
Publication date: 2014-11-20
Also published as: CN105209314B; CN105209314A

Abstract

A train control method comprises the steps: an onboard processing unit receiving a train control command sent by a ground train control unit, the train control command comprising working condition level information; the onboard processing unit obtaining, according to the working condition level information, a digital value or an analogue value used for controlling a traction/braking unit; and the onboard processing unit controlling the traction/braking unit of the train according to the obtained digital value or an analogue value. The present invention also provides a train onboard processing apparatus and a train control system. The train control method, and apparatus and system of the present invention can effectively improve the operation security of a train control system.

Description

Train control method, device and system thereof

The present invention relates to the field of train control technology, and in particular to a train control method, apparatus and system therefor.

Background technique

In the European Train Control System (ETCS), a train control mode based on the Movement Authority (MA) is defined. During the train travel, the ground equipment transmits a mobile authorization MA (also referred to as a driving license in some documents), restriction information related to the MA, and line description information to the in-vehicle equipment. The mobile 4 authorized MA includes: whether to allow driving, the allowed driving distance; the limitation information related to the MA includes: setting information of the guiding/shunting section (the information is always sent together with the corresponding MA); Information includes: speed limit, static speed curve, slope curve, axle weight, speed curve, line condition, route suitability data, allowable retreat area, and modified adhesion factor;

The mobile authorization MA consists of several segments, and the end of the MA end segment is the end point of the MA; each segment constituting the MA includes the segment length, the segment valid time, and the segment start time to the segment valid time stop timing position. In addition, the last section of the MA includes the last section holding time and the distance of the last section holding time counting start position to the end of the last section, dangerous point information, and protection section information;

The in-vehicle device specifically controls the train's traction and braking system to control train travel based on the received mobile authorization MA.

1 is a schematic diagram of information exchange of a train control system in a prior art ETCS, and the specific steps are as follows: Step S101: The ground control unit sends mobile authorization information to the ground communication adaptation unit; Step S102: The ground communication adaptation unit will receive The mobile authorization information is sent to the in-vehicle communication adapting unit through the communication network;

Step S103: The in-vehicle communication adapting unit sends the received mobile authorization information to the in-vehicle processing unit;

Step S104: The in-vehicle processing unit calculates a working condition level according to the received mobile authorization calculation; Step S105: the in-vehicle processing unit obtains a corresponding digital quantity or analog quantity according to the working condition level; Step S106: the onboard processing unit transmits the obtained digital quantity or analog quantity value to the input/output unit;

Step S107: The input/output unit outputs a digital electronic signal or an analog electronic signal to the traction/braking unit according to the received digital magnitude or analog value.

In the train control system, the train working conditions include the traction working condition and the braking working condition, and the traction working condition and the braking working condition respectively include a plurality of levels; the working condition level is the specific level or system of the traction working condition. The specific level of the dynamic conditions is representative of the level of traction or braking force applied to the train, which is often a functioning relationship with the speed of the train.

In the research and practice of the prior art, the inventors of the present invention found that: The MA-based control method in the ETCS system is very complicated, and the information contained in the MA is also complicated and lengthy, so that the MA is in the vehicle-ground communication link. The amount of transmitted data is large, the transmission time is long, and it is susceptible to external interference, which causes the message to be transmitted incorrectly and the real-time control of the vehicle is not high. Therefore, it is necessary to provide a new train control scheme. Summary of the invention

In the prior art mobile control-based train control method, the MA transmits a large amount of message data in the vehicle-to-ground communication link, and the transmission time is long, which is susceptible to external interference and causes message message transmission errors and real-time control of the vehicle. The problem is not high, and the embodiment of the invention provides a train control method, device and system thereof.

Embodiments of the present invention provide a train control method, including the steps of:

The in-vehicle processing unit receives a control command issued by the ground control unit, where the control command includes working condition level information; and the onboard processing unit obtains traction/braking for controlling the train according to the working condition level information. a digital magnitude or analog value of the unit; the onboard processing unit controls the traction/braking unit of the train based on the obtained digital magnitude or analog magnitude.

Based on the foregoing method, the method further includes the following steps: the in-vehicle communication adapting unit receives the control command issued by the ground control unit through the ground communication adapting unit through a communication network; the in-vehicle communication adapting unit controls the control The vehicle command is passed to the onboard processing unit.

Based on the above method, the control command received by the onboard processing unit further includes: the onboard processing unit receiving an expected time information for processing the control command, and the train corresponding to the One or more of the expected location information of the expected time and the expected speed information of the train corresponding to the expected time.

Based on the foregoing method, the method further includes: the in-vehicle processing unit acquiring one or more combinations of the expected time information, the expected position information, and the expected speed information in the control command; The in-vehicle processing unit acquires one or more combinations of the current local time information of the train, the current position information of the train, and the current speed information of the train when the control command is processed; Comparing the expected time information, the expected position information, and the expected speed information with one or more combinations of the train current local time information, the train current position information, and the train current speed information, verifying The validity of the control command.

On the basis of the above method, the method further includes the steps of: when the verification result of the control command is valid, the on-board processing unit resets the watchdog unit; or, when the verification result of the control command is invalid, The onboard processing unit discards the control command; when the watchdog unit times out without resetting, the watchdog unit triggers a switching unit to switch the input line of the traction/braking unit to a fixed amount output unit .

The method further includes the steps of: the ground control unit according to the obtained vehicle data of the train, the current track position information, the current speed, the slope of the track segment, the speed limit information of the front track, and the dangerous point ahead. One or more combinations of information, current vehicle-to-ground communication delay information, current adhesion factor, and the like obtain a control command for the train, the control command including the condition level information; The ground control unit transmits the control command to the ground communication adaptation unit; the ground communication adaptation unit sends the control command to the in-vehicle communication adaptation unit of the train; The unit transmits the control command to the onboard processing unit.

Based on the foregoing method, the method further includes: the onboard processing unit, according to the working condition level information, querying the working condition level information and the digital quantity or analog value mapping table to obtain the digital quantity or the analog quantity. value.

An embodiment of the present invention further provides a train control system, including: an in-vehicle communication adapting unit, configured to receive a control command issued by a ground control unit through a ground communication adapting unit, where the control command includes a working condition level Transmitting the control command to the in-vehicle processing unit; the in-vehicle processing unit is configured to receive the control command issued by the ground control unit, and obtain a corresponding digital quantity according to the working condition level information or An analog value, the digital magnitude or analog value is used to control a traction/brake unit of the train; a traction/brake unit for towing or braking according to the digital magnitude or analog magnitude a train communication unit, the onboard processing unit, and the traction/braking unit Installed on the train.

Based on the above system, the control command further includes: the onboard processing unit receiving expected time information for processing the control command, the expected position information of the train corresponding to the expected time, and the train corresponding to the One or more combinations of expected speed information at the expected time;

The onboard processing unit is further configured to acquire one or more combinations of expected time information, expected position information, and expected speed information in the control command.

On the basis of the above system, the onboard processing unit further includes: a control command information acquiring unit, configured to acquire the expected time information, the expected position information, and the expected speed information in the control command One or more combinations; a local information obtaining unit, configured to acquire one or more of current local time information of the train, current position information of the train, and current speed information of the train when processing the control command And a comparison verification unit, configured to use, according to the expected time information, the expected location information, and the expected speed information, the current local time information of the train, the current location information of the train, and the current speed information of the train. One or more combinations are compared to verify the validity of the control command.

Based on the above system, the method further includes: a watchdog unit, configured to reset when the verification result of the control command is valid; and the watchdog unit triggers the switching unit when the timeout is not reset; , for switching the input line of the traction/braking unit to a fixed quantity output unit; a fixed quantity output unit for outputting a fixed digital electronic signal or a fixed analog electronic signal, the fixed digital electronic signal or fixed An analog electronic signal is used to control the traction/brake unit of the train.

A train control method according to another embodiment of the present invention includes the following steps: the ground control unit transmits a control command to the ground communication adaptation unit, where the control command includes the working condition level information; the ground communication adaptation unit Sending the control command to the in-vehicle communication adapting unit of the train through the communication network; the in-vehicle communication adapting unit receives the control command issued by the ground control unit; the in-vehicle communication adapting unit The vehicle control command is transmitted to the onboard processing unit; the onboard processing unit receives the control command issued by the ground control unit; and the onboard processing unit controls the train according to the received condition level information Traction/brake unit.

Based on the above method, the step onboard processing unit controls the traction/brake unit according to the received operating condition level information further comprising: the in-vehicle processing unit obtains the control according to the working condition level information. a digital magnitude or an analog magnitude of the traction/braking unit; the onboard processing unit controls the traction/braking unit of the train based on the obtained digital magnitude or analog magnitude.

On the basis of the foregoing method, the control command received by the onboard processing unit further includes: The onboard processing unit receives one or more combinations of expected time information of the control command, expected position information of the train corresponding to the expected time, and expected speed information of the train corresponding to the expected time.

The method further includes the steps of: the ground control unit according to the acquired vehicle data of the train, the current track position information, the current speed, the slope of the track segment, the speed limit information of the front track, and the dangerous point ahead. One or more combinations of information obtaining a control command for the train, the control command including the condition level information; the ground control unit transmitting the control command to the a ground communication adapting unit; the ground communication adapting unit sends the control command to an in-vehicle communication adapting unit of the train; the in-vehicle communication adapting unit transmits the control command to the in-vehicle processing unit.

On the basis of the above method, the step on-board processing unit obtains the digital quantity or the analog quantity value of the traction/brake unit according to the working condition level information, specifically: the onboard processing unit queries according to the working condition level information. The working condition level information and the digital quantity or analog value mapping table obtain the digital quantity or analog quantity value.

The embodiment of the present invention further provides a train on-board processing device, including: an information acquisition unit, configured to acquire condition level information according to a control command received by the vehicle communication adaptation unit; and an information processing unit, configured to The working condition level information obtains a digital quantity or an analog quantity value for controlling the traction/braking unit of the train; and a control output unit, configured to control the train according to the obtained digital quantity or analog quantity value Traction/brake unit. Based on the foregoing apparatus, the control command further includes: receiving expected time information for processing the control command, expected position information of the train corresponding to the expected time, and an expected speed of the train corresponding to the expected time One or more combinations of information;

The information acquiring unit is further configured to acquire one or more combinations of expected time information, expected position information, and expected speed information in the control command.

On the basis of the above device, the information acquiring unit further includes: a control command information acquiring unit, configured to acquire the expected time information, the expected position information, and the expected speed information in the control command One or more combinations; a local information obtaining unit, configured to acquire one or more of current local time information of the train, current position information of the train, and current speed information of the train when processing the control command And a comparison verification unit, configured to use, according to the expected time information, the expected location information, and the expected speed information, the current local time information of the train, the current location information of the train, and the current speed information of the train. One or more combinations are compared to verify the validity of the control command.

Based on the foregoing apparatus, the method further includes: a watchdog unit, configured to reset when the verification result of the control command is valid; and the watchdog unit triggers the switching unit when the timeout is not reset; , for switching an input line of the traction/braking unit of the train to a fixed quantity output unit; a fixed quantity output unit for outputting a fixed digital electronic signal or a fixed analog electronic signal, the fixed digital electronic signal Or a fixed analog electronic signal is used to control the traction/braking unit.

It can be seen from the above technical solution that, since the present invention directly outputs a control command including the working condition level information through the ground control unit, the onboard processing unit obtains the information according to the working level information in the control command. Controlling a digital magnitude or analog magnitude of the traction/braking unit of the train, and controlling the traction/braking unit of the train based on the obtained digital magnitude or analog magnitude. In the vehicle-to-ground communication link, since the control command message containing the working condition level information is smaller than the information data of the mobile authorization information message, the transmission time in the communication link is also short, and the message caused by external interference is correspondingly reduced. The probability of a message passing error also improves the real-time nature of the command delivery.

By further increasing the steps of the validity verification of the control command, the watchdog unit, the switching unit, and the fixed amount output unit, etc., ensuring that even if the onboard processing unit does not receive the operating level information within a predetermined time, the traction/system The moving unit can also be controlled according to a fixed digital electronic signal or a fixed analog electronic signal output by the fixed amount output unit (usually brake parking) to ensure that the train is safe and controllable, thereby satisfying the general requirements of the train control. The principle of guiding safety to meet the security needs of the system begging. DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are merely For some embodiments of the present invention, those skilled in the art can obtain drawings of other similar solutions according to the drawings without any creative work. 1 is a schematic diagram of information exchange of a train control system in the prior art;

2 is a schematic diagram of a train control system according to Embodiment 1 of the present invention;

3 is a schematic diagram of information exchange of a train control system according to Embodiment 1 of the present invention;

4 is a schematic diagram of a train control system according to a second embodiment of the present invention;

5 is a schematic diagram of an in-vehicle processing unit in Embodiment 2 of the present invention;

6 is a schematic diagram of information exchange of a train control system according to Embodiment 2 of the present invention;

BRIEF DESCRIPTION OF THE DRAWINGS The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative work are within the scope of the present invention.

2 is a schematic diagram of a train control system according to Embodiment 1 of the present invention. The system includes: a ground control unit 21, a ground communication adaptation unit 22, a communication network 23, a train 20, and a track 25, and the train 20 further includes: The communication adapting unit 201, the in-vehicle processing unit 202, the input/output unit 203, and the traction/brake unit 209; the ground control unit 21 is connected to the communication network 23 via the ground communication adapting unit 22, the ground control unit The vehicle control command is sent to the in-vehicle communication adapting unit 201 through the communication network 23; the working condition level information is the ground control unit 21 according to the vehicle data of the train (such as vehicle quality, Length, traction/braking characteristic data, etc.), current orbital position information, current speed, slope of the track segment, speed limit of the front rail Information, one of the danger points in front (such as the tail of the front train, the unsuccessful route ahead, the start of the speed limit section, the end of the line track, etc.), the current vehicle-to-ground communication delay information, the current adhesion factor, etc. A variety of combinations are calculated. The terrestrial communication adapting unit 22 is in communication with the in-vehicle communication adapting unit 201. The communication connection mode of the two can be referred to the prior art implementation manner, which is not specifically limited in the embodiment of the present invention. The communication network 23 is not limited in form, and may be a wired network or a wireless network or a hybrid network of the two. The communication content of the terrestrial communication adapting unit 22 and the in-vehicle communication adapting unit 201 is not limited by the form of the communication network 23, The automatic transmission of electronic information shall prevail. The in-vehicle communication adapting unit 201, the in-vehicle processing unit 202, the input/output unit 203, and the traction/braking unit 209 are located on the train 20, and the in-vehicle communication adapting unit 201 is connected to the in-vehicle processing unit 202, The in-vehicle communication adapting unit 201 is configured to receive a control command issued by the ground control unit 21 and include the working condition level information, where the working condition level information includes a specific level of the traction working condition or a braking condition. Specific levels to represent the level of traction or braking force applied to the train. These forces are often deterministically related to train speed; some trains use a stepless traction or braking system that exerts traction on the train or The size of the braking force (also determined by the function of the train speed) is expressed by a proportional value (such as a percentage value), which achieves the same control effect as the aforementioned "conditional level". The "conditional level" in this paper also includes This equivalent representation. The in-vehicle communication adapting unit 201 transmits the control command to the in-vehicle processing unit 202; the in-vehicle processing unit 202 is configured to use the operating condition level in the control command received by the in-vehicle communication adapting unit 201 The bit information obtains a control quantity value for controlling the traction/braking unit of the train, the control quantity value is specifically a digital quantity or an analog quantity value; the in-vehicle processing unit 202 is connected to the input/output unit 203. The onboard processing unit 202 outputs a digital electronic signal or an analog electronic signal corresponding to a digital value or an analog value through the input/output unit 203; the input/output unit 203 is connected to the traction/braking unit 209, The traction/brake unit 209 of the train is controlled to output a digital electronic signal or an analog electronic signal such that the train 20 operates safely on the track 25.

A schematic diagram of the information exchange of the train control system according to the first embodiment of the present invention is as shown in FIG. 3, which includes the following steps:

Step S301: The ground control unit sends a control command to the ground communication adapting unit; the control command includes the working condition level information;

Step S302: The ground communication adaptation unit sends the control command to the vehicle through the communication network. Carrier communication unit;

Step S303: the in-vehicle communication adapting unit transmits the control command to the in-vehicle processing unit; Step S304: the in-vehicle processing unit obtains, according to the working level information in the control command, the control of the train. Digital or analog value of the traction/braking unit; digital values such as "0001" or "Γ", or analog values such as current 30 mA or 70 mA, voltage 1.0 volt or 8.0 volt, actual simulation The range of values can be determined according to circuit requirements; the digital or analog values can be transmitted through message messages between units;

Step S305: The in-vehicle processing unit sends the obtained digital quantity or analog quantity to the input/output unit;

Step S306: The input/output unit converts the received digital magnitude or analog value into a specific digital electronic signal (such as a switching amount) or an analog electronic signal input to a control input of the traction/braking unit of the train. A circuit to control the traction or braking force of the train.

In the system and method of the first embodiment, the ground control unit 21 is based on the vehicle data of the train 20 (such as vehicle mass, length, traction/braking characteristic data, etc.), the current track position information, the current speed, and the location. Track section slope, speed limit information of the front rail, danger points ahead (such as the tail of the front train, the unsuccessful expropriation of the road ahead, the start of the speed limit section, the end of the line track, etc.) information, current vehicle-to-ground communication delay information, current Calculating the condition level information of the train by one or more combination of information such as an adhesion factor; vehicle data of the train, position information of the track, current speed, slope of the track segment, speed limit of the front track The information, the information of the front danger point information, the current vehicle-to-ground communication delay information, the current adhesive factor, and the like may be information stored locally by the ground control unit 21, actively collected information, or information reported by other units. The source is not specifically limited.

The control command includes at least working condition level information, and the working condition level information corresponds to a specific digital quantity or analog quantity value, that is, a control quantity value. Specifically, the reference solution is implemented as follows: The in-vehicle processing unit 202 queries the working condition level information and the digital quantity or analog value mapping table according to the working condition level information or calculates according to a predetermined formula to obtain the control traction/braking unit 209. a digital value or an analog value, which is sent by the onboard processing unit 202 to the input/output unit 203, and the input/output unit 203 converts the received digital or analog value into a specific one. The digital electronic signal or the analog electronic signal is input to the control input circuit of the traction/braking unit 209, and the traction/braking unit 209 is pulled/ The braking state varies with the change of the digital electronic signal or the analog electronic signal received by the control input circuit, the digital electronic signal may be a switching electronic signal, or the analog electronic signal may be adjustable a current source or an adjustable voltage source; control of the traction/braking force of the train by a change in a switching electronic signal or an adjustable current source or an adjustable voltage source electronic signal, for example, current or voltage increase, traction/system The power is also increased, and vice versa. The mapping table or predetermined formula may be stored on a local storage medium of the onboard processing unit 202 or obtained from the received information.

The control command and the working condition level information are usually dynamically transmitted, and the ground control unit may issue an appropriate control command multiple times according to a certain time interval, and the time interval may be according to the technical means adopted (eg, Factors such as information transmission bandwidth, time delay, information transfer reliability, etc., and security operational requirements that can be tolerated, such as ranging from 0.1 seconds to a few seconds, or longer or shorter than these values.

In the train control system, the train working conditions include the traction working condition and the braking working condition, and the traction working condition and the braking working condition respectively comprise a plurality of levels; the working condition level information includes a specific level of the traction working condition or The specific level of braking conditions is representative of the level of traction or braking force applied to the train. These forces are also a function of the train speed. Some trains use a stepless traction or braking system that is applied to The magnitude of the traction or braking force on the train (also determined by a certain function relationship with the train speed) is expressed by a proportional value (such as a percentage value), which achieves the same control effect as the aforementioned "conditional level". The "level" also includes this equivalent representation.

In the system and method of the first embodiment of the present invention, the ground control unit 21 directly outputs the working condition level information directly by the control command, and sends the information to the vehicle adaptation unit 201 via the ground communication adaptation unit 22, and the onboard processing unit 202 After receiving the control command sent by the ground control unit 21, obtaining a digital value or an analog value for controlling the traction/braking unit of the train according to the operating level information in the control command, The magnitude is converted by the input/output unit 203 into a corresponding electronic signal input to the control input circuit of the traction/brake unit 209 to control the specific operating conditions of the traction/braking unit 209.

The first embodiment of the present invention directly transmits the working condition level information through the ground control unit 21, and the information of the control command message and the mobile authorization information message in the vehicle-ground communication link due to the information of the working level information. The amount of data is small, and the transmission time in the communication link is also short, correspondingly reducing the probability of the message transmission error caused by external interference, and improving the real-time performance of the control command transmission. The method using the embodiment of the present invention In the case, the ground control unit 21 can directly control the traction and braking of the train, thereby better managing and coordinating the operation of multiple trains and improving the safety of the system operation.

4 is a schematic diagram of a train control system according to a second embodiment of the present invention. The system includes: a ground control unit 41, a ground communication adaptation unit 42, a communication network 43, a train 40, and a track 45. The train 40 further includes: Communication adaptation unit 401, onboard processing unit 402, input/output unit 403, watchdog unit 405, switching unit 406, fixed amount output unit 407, and traction/braking unit 409; said ground control unit 41 communicates by ground The adapting unit 42 is connected to the communication network 43. The ground control unit 41 sends a control command including the working condition level information to the in-vehicle communication adapting unit 401 via the communication network 43; the working condition level information is ground. The car control unit 41 is based on the vehicle data of the train (such as vehicle mass, length, traction/braking characteristic data, etc.), the current track position information, the current speed, the slope of the track segment, the speed limit information of the front track, the front Dangerous points (such as the tail of the front train, the ballast that has not been successfully requisitioned in front of the road, the starting point of the speed limit section, the end of the line track, etc.), Preceding vehicle - communicate delay information, current and other factors, one or more adhesive composition information obtained by calculation. The terrestrial communication adapting unit 42 is in communication with the in-vehicle communication adapting unit 401. The communication connection between the two can be implemented by referring to the prior art, which is not specifically limited in the embodiment of the present invention. The communication network 43 is not limited in form, and may be a wired network or a wireless network or a hybrid network of the two. The communication content of the terrestrial communication adapting unit 42 and the in-vehicle communication adapting unit 401 is not limited by the form of the communication network 43. The automatic transmission of electronic information shall prevail. The in-vehicle communication adapting unit 401, the in-vehicle processing unit 402, the input/output unit 403, the watchdog unit 405, the switching unit 406, the fixed amount output unit 407, and the traction/braking unit 409 are mounted on the train; The in-vehicle communication adapting unit 401 is connected to the in-vehicle processing unit 402, and the in-vehicle communication adapting unit 401 is configured to receive a control command issued by the ground control unit 41 and include the working condition level information, the working condition level information. Specific levels of traction conditions or specific levels of braking conditions are used to represent the level of traction or braking force applied to the train. These forces are often deterministically related to train speed; some trains use stepless positions. Traction or braking system, the magnitude of the traction or braking force exerted on the train (also determined as a function of the train speed) is expressed in terms of a proportional value (such as a percentage value), which is the same as the aforementioned "conditional level" The control effect, the "conditional level" in this article also includes this equivalent representation. The in-vehicle communication adapting unit 401 transmits the control command to the in-vehicle processing unit 402; the in-vehicle processing unit 402 is configured to use the operating condition level in the control command received by the in-vehicle communication adapting unit 401 The bit information obtains a control amount value for controlling a traction/braking unit of the train, the control amount The value is specifically a digital value or an analog value; the onboard processing unit 402 is connected to the input/output unit 403, and the onboard processing unit 402 converts the digital or analog value by the input/output unit 403. a corresponding digital electronic signal or an analog electronic signal, and outputting the digital electronic signal or the analog electronic signal; the input/output unit 403 is connected to the first input end of the switching unit 406; the fixed amount output The unit 407 is connected to the second input end of the switching unit 406. The control end of the switching unit 406 is connected to the watchdog unit 405, controlled by the watchdog unit 405, and the output end of the switching unit 406 is A traction/braking unit 409 is coupled for outputting a digital electronic signal or an analog electronic signal to control the traction/brake unit 409 of the train such that the train 40 operates safely on the track 45.

5 is a schematic diagram of an in-vehicle processing unit according to a second embodiment of the present invention. As shown in FIG. 5, the in-vehicle processing unit 402 further includes: an information acquiring unit 420, an information processing unit 426, and a control output unit 427. The information acquiring unit 420 And acquiring the working condition level information according to the control command received by the in-vehicle communication adapting unit; the information acquiring unit is further configured to acquire expected time information, expected position information, and an expected speed in the control command One or more combinations of information, according to the expected time information, the expected location information, and the expected speed information, and acquiring current local time information of the train when the control command is processed and received, the train current Comparing one or more combinations of the location information and the current speed information of the train to verify the validity of the control command; the information acquisition unit 420 further includes: a control command information acquisition unit 423, local information acquisition Unit 424 and comparison verification unit 425;

The vehicle control command information obtaining unit 423 is configured to acquire, by the in-vehicle communication adapting unit 401, the expected time information of the on-vehicle processing unit included in the control command to receive the control command, and the train corresponding office. Determining one or more combinations of expected position information of the expected time and expected speed information of the train corresponding to the expected time;

The local information obtaining unit 424 is configured to acquire one or more combinations of the current local time information of the train, the current position information of the train, and the current speed information of the train when the control command is processed;

The comparison verification unit 425 is configured to use, according to the expected time information, the expected location information, and the expected speed information, the current local time information of the train, the current location information of the train, and the current speed information of the train. One or more combinations of comparisons to verify that the control commands are Effectiveness. The specific process is: obtaining an absolute value of the time deviation between the expected time information and the current local time information of the train, and comparing the absolute value of the time deviation with a time error window value determined in advance, if greater than or equal to the said The time error window value is considered to be invalid; the absolute value of the position deviation between the expected position information and the current position information of the train is obtained, and the absolute value of the position deviation is compared with the position error window value determined in advance. Comparing, if it is greater than or equal to the position error window value, the control command is considered invalid; obtaining an absolute value of the speed deviation between the expected speed information and the current speed information of the train, and the absolute value of the speed deviation is The allowed speed error window values are compared in advance, and if the speed error window value is greater than or equal to, the control command is considered invalid; instead, the control command is considered valid. Or combining one or more of the expected time information, the expected position information, and the expected speed information with the train current local time information, the train current position information, and the train current speed information If the result of the comparison is less than or less than or equal to the time error window value, the position error window value, and the speed error window value, the control command is considered to be valid; instead, the control command is considered invalid; The window value, position error window value, and speed error window value can be local preset values or can be obtained by other information. It is also possible to use other methods such as error rate or other means to verify the validity of the control command, which is not described in this embodiment.

The information processing unit 426 is configured to query the working condition level information and the digital quantity or analog value mapping table according to the working condition level information in the control command or calculate according to a predetermined formula to obtain the control a digital magnitude or analog magnitude of the traction/braking unit 409 of the train;

The control output unit 427 is configured to output a digital value or an analog value of a traction/braking unit that controls the train to the input/output unit 403; the input/output unit 403 is configured to The magnitude or analog value is converted into a digital electronic signal or an analog electronic signal;

When the verification result of the control command is valid, the onboard processing unit 402 resets the watchdog unit 405, and the control command information acquisition unit 423 acquires the condition level information in the control command, and Outputting to the information processing unit 426, the information processing unit 426 obtains a digital quantity or an analog quantity value for controlling the traction/braking unit 409 of the train according to the working condition level information; the information processing The unit 426 passes the digital magnitude or analog value to the control output unit 427; when the verification result of the control command is invalid, the onboard processing unit 402 discards the control command; The watchdog unit 405 is not reset within a predetermined time, that is, the timeout is not reset, the view The dog unit 405 triggers the action of the switching unit 406, which switches the input line of the traction/braking unit 409 to a fixed amount output unit 407, which outputs a fixed digital electronic signal or a fixed analog quantity. The electronic signal is controlled such that the traction/braking unit 409 is controlled according to a fixed digital electronic signal or a fixed analog electronic signal, and is no longer controlled by the onboard processing unit 402, that is, the input/output unit 403 and the Only one of the fixed amount output units 407 can be input as the traction/braking unit 409; therefore, it can be ensured that the onboard processing unit 402 does not receive the valid ground control even within a predetermined time. The control unit (including the operating level information) issued by the vehicle unit 41, the traction/braking unit 409 can also be controlled according to the fixed digital electronic signal or the fixed analog electronic signal output by the fixed amount output unit 407. (usually to control the train brake parking) to ensure that the train 40 is safe and controllable. The in-vehicle processing unit 402 resets the watchdog unit 405 to specifically clear the timer of the watchdog unit 405, so it may also be referred to as the in-vehicle processing unit 402 to clear the watchdog unit 405.

The watchdog unit 405 is usually an independent hardware control circuit, which is called "hardware dog" in the industry, and can also be a separate software control program with a similar watchdog function. The switching unit 406 is typically a hardware switch (such as a single pole double throw switch or a double pole double throw switch) or a digital switching logic similar to these double throw switch functions. To ensure system reliability, hardware control circuits and hardware switchers are recommended. The fixed digital electronic signal or the fixed analog electronic signal output by the fixed quantity output unit 407 is a fixed value, and is usually a pre-configured fixed digital electronic signal or a fixed analog electronic signal of the train 40; With this solution, when the onboard processing unit 402 does not successfully receive the valid control command from the ground control unit 41 within a predetermined time, the watchdog unit 405 triggers the switching unit 406 to perform the traction/ The input line of the brake unit 409 is switched to a fixed electronic signal output from the fixed amount output unit 407 (typically controlling the train brake stop) to ensure safe control of the train 40.

When the switching unit 406 switches the input line of the traction/braking unit 409 to the fixed amount output unit 407, if the watchdog unit 405 receives the ground control unit within a predetermined time When the predetermined number of valid control commands are issued by the 41, the watchdog unit 405 triggers the switching unit 406 to switch the input line of the traction/braking unit 409 back to the electronic signal output by the input/output unit 403. Upper, so that the train 40 is controlled by the ground control unit 41. The initial position of the switching unit 406 is to connect the input line of the traction/brake unit 409 with the fixed amount output unit 407, and reset the watchdog 405 when the onboard processing unit 402 receives the effective control command. The trigger switching unit 406 switches the input line of the traction/braking unit 409 to the input/output unit 403; when the watchdog 405 times out and does not reset, the trigger switching unit 406 triggers the traction/system The input line of the moving unit 409 is switched back to the fixed amount output unit 407.

6 is a schematic diagram of information exchange of a train control system according to a second embodiment of the present invention, the train control method comprising the steps of:

Step S601: The ground control unit sends a control command to the ground communication adaptation unit, where the control command includes the working condition level information, and the on-board processing unit receives the expected time information for processing the control command, the train One or more combinations of expected location information corresponding to the expected time and expected speed information of the train corresponding to the expected time;

Step S602: The ground communication adaptation unit sends the control command to the onboard communication adaptation unit through the communication network.

Step S603: The in-vehicle communication adapting unit transmits the control command to the in-vehicle processing unit;

Step S604: The in-vehicle processing unit acquires one or more combinations of the expected time information, the expected location information, and the expected speed information in the control command;

Step S605: The in-vehicle processing unit acquires one or more combinations of the current local time information of the train, the current position information of the train, and the current speed information of the train when the control command is processed;

Step S606: The onboard processing unit verifies the validity of the control command; the onboard processing unit and the current local time information of the train according to the expected time information, the expected position information, and the expected speed information, A comparison of one or more combinations of the current position information of the train and the current speed information of the train to verify the validity of the control command. When the control command is valid, steps S607 and S608 are executed and wait for the next control command after the determined time interval, otherwise the control command is discarded and waiting for the next control command after the determined time interval is discarded. When the control command reaches the preset condition, step S611 is performed, and the preset condition is described in S611;

Step S607: The in-vehicle processing unit resets the watchdog unit;

Step S608: The in-vehicle processing unit obtains according to the working condition level information in the control command For controlling the digital value or analog value of the traction/braking unit of the train, and transmitting it to the input/output unit, performing step S609; the digital quantity or analog quantity such as "000Γ or "Γ, etc. Digital value, or analog value of current 30 mA or 70 mA, voltage 1.0 volt or 8.0 volt, the actual analog value range can be determined according to the circuit requirements; the digital value or analog value can pass through the unit 4 艮 message delivery;

Step S609: The input/output unit converts the received digital quantity or analog quantity into a specific electronic signal output to the first input end of the switching unit, and performs step S610;

Step S610: the switching unit connects an input line of the traction/brake unit to an input/output unit; and the digital electronic signal or analog electronic signal is input to the traction/braking of the train via the switching unit The traction/braking unit controls the traction or braking force of the train according to the digital electronic signal or the analog electronic signal;

Step S611: The watchdog unit triggers execution of step S612 because the on-board processing unit does not receive a valid control command for a predetermined time, and the watchdog unit timeout is not reset; step S612: The watchdog unit triggers the switching unit switching action, switches the input line of the traction/brake unit to the fixed amount output unit, and performs step S613; the fixed amount output unit is connected to the second input end of the switching unit ;

Step S613: the fixed quantity output unit outputs a fixed digital quantity electronic signal or a fixed analog quantity solid output unit to the switching unit, step S614 is performed;

Step S614: The switching unit inputs a fixed digital electronic signal or a fixed analog electronic signal output by the fixed quantity output unit to a traction/braking unit input circuit of the train; the traction/brake unit is according to the A fixed digital electronic signal or a fixed analog electronic signal controls the traction or braking force of the train.

In the system and method of the second embodiment, the ground control unit 41 is based on the vehicle data of the train 40 (such as vehicle mass, length, traction/braking characteristic data, etc.), the current track position information, the current speed, and the location. Track section slope, speed limit information of the front rail, danger points ahead (such as the tail of the front train, the unsuccessful expropriation of the road ahead, the start of the speed limit section, the end of the line track, etc.) information, current vehicle-to-ground communication delay information, current Calculating the working condition level information of the train by one or more combinations of information such as an adhesion factor; vehicle data of the train, position information of the track, speed, slope of the track segment, and speed limit information of the front track And dangerous point information of the front track, current car The information such as the ground communication delay information, the current adhesive factor, and the like may be information stored locally by the ground control unit 41, actively collected information, or information reported by other units. The source of the present embodiment is not specifically limited.

The control command includes at least working condition level information, and the working condition level information corresponds to a specific digital value or analog quantity value, that is, a control quantity value. The specific implementation reference scheme is: the in-vehicle processing unit 402 queries the working condition level information and the digital quantity or analog value mapping table according to the working condition level information, or calculates according to a predetermined formula, and obtains the control traction/braking unit 409. The digital value or the analog value, the traction/braking state of the traction/braking unit 409 varies with the change of the digital electronic signal or the analog electronic signal received by the control input circuit, and the digital electronic signal may Is a switching electronic signal, or the analog electronic signal may be an adjustable current source or an adjustable voltage source; completion of the train by a switching electronic signal or an adjustable current source or an adjustable voltage source electronic signal Traction/braking force control, for example, current or voltage increase, traction/braking force also increases, and vice versa. The map or predetermined formula may be stored on a local storage medium of the onboard processing unit 402 or obtained from the received information.

The description of the working condition level information is the same as the description of the corresponding text field in the first embodiment of the present invention, and will not be repeated here.

The operating level information can also be sent separately, further reducing the amount of information and reducing the transmission time in the communication link.

In the system and method of the second embodiment of the present invention, the ground control unit 41 directly outputs the working condition level information directly by the control command, and sends the information to the in-vehicle communication adapting unit 401 through the ground communication adapting unit 42. After receiving the control command sent by the vehicle adaptation unit 401, obtaining a digital value or an analog value for controlling the traction/braking unit of the train according to the working condition level information included in the control command, The digital magnitude or the analog magnitude is converted by the input/output unit 403 into a determined digital switching electronic signal or an analog electronic signal, which is input to the traction/switching unit 406 via the switching unit 406. The control input circuit of the brake unit 409 controls the traction/braking unit 409 to control the traction or braking force of the train. The second embodiment of the present invention directly transmits the working condition level information through the ground control unit 41, and the information of the control command message and the mobile authorization information message in the vehicle-ground communication link due to the information of the working level information. The amount of data is small, and the transmission time in the communication link is also short, correspondingly reducing the probability of the message transmission error caused by external interference, and improving the real-time performance of the control command transmission. With the solution of the embodiment of the present invention, the ground control unit 41 can directly control the traction and braking of the train, thereby better managing and coordinating the operation of multiple trains and improving the safety of the system operation.

Further, since the second embodiment of the present invention adds the steps of verifying the validity of the control command, the watchdog unit, the switching unit, and the fixed amount output unit, etc., it is ensured that the onboard processing unit 402 does not receive the received message within a predetermined time. The control unit or the operating level information sent by the ground control unit 41, the traction/braking unit 409 can also perform the fixed digital electronic signal or the fixed analog electronic signal output by the fixed amount output unit 407. Control to ensure that the train 40 is safe and controllable, further improving the safety performance of the system.

It should be noted that the information interaction, the execution process, and the function definition of each unit in the above methods, devices, and systems are examples of the implementation of the present invention.

A person skilled in the art can understand that all or part of the steps in the above embodiments can be completed by program-related hardware. The program can be stored in a computer readable storage medium, and the storage medium can include: ROM, Read Only Memory), Random Access Memory (RAM), disk or CD.

The above description of the train control method and apparatus and system thereof provided by the embodiments of the present invention has been made only to help understand the method and core idea of the present invention; and, for a person skilled in the art, The present invention is not limited by the scope of the present invention.

Claims

Rights request

A train control method, characterized in that it comprises:

The onboard processing unit receives a control command issued by the ground control unit, and the control command includes the work level information;

The onboard processing unit obtains a digital quantity or an analog quantity value for controlling the traction/braking unit of the train according to the operating condition level information;

The onboard processing unit controls the traction/brake unit of the train based on the obtained digital magnitude or analog magnitude.

2. The method of claim 1 further comprising the step of:

Receiving, by the in-vehicle communication adapting unit, the control command issued by the ground control unit through the ground communication adapting unit through the communication network;

The in-vehicle communication adapting unit transmits the control command to the in-vehicle processing unit.

3. The method of claim 1 wherein:

The control command received by the onboard processing unit further includes: the onboard processing unit receiving expected time information for processing the control command, expected position information of the train corresponding to the expected time, and the train corresponding office One or more combinations of expected speed information for the expected moment.

4. The method of claim 3, further comprising the step of:

The onboard processing unit acquires one or more combinations of the expected time information, the expected position information, and the expected speed information in the control command;

The onboard processing unit acquires one or more combinations of the current local time information of the train, the current position information of the train, and the current speed information of the train when the control command is processed; the onboard processing unit is configured according to Comparing the expected time information, the expected position information, and the expected speed information with one or more combinations of the train current local time information, the train current position information, and the train current speed information, Verify the validity of the control command.

5. The method of claim 4 further comprising the step of:

When the verification result of the control command is valid, the onboard processing unit resets the watchdog list it; or

When the verification result of the control command is invalid, the onboard processing unit discards the control command;

When the watchdog unit timeout is not reset, the watchdog unit triggers the switching unit to switch the input line of the traction/brake unit to the fixed amount output unit.

6. The method according to claim 1, further comprising the step of: the ground control unit according to the acquired vehicle data of the train, the current track position information, the current speed, the slope of the track segment, the front track One or more combinations of speed limit information, front danger point information, current vehicle-to-ground communication delay information, current adhesion factor, and the like obtain a control command for the train, the control command includes State information level information;

The ground control unit transmits the control command to the ground communication adaptation unit;

The ground communication adapting unit sends the control command to the in-vehicle communication adapting unit of the train;

7. The method of claim 1 further comprising the step of:

The onboard processing unit queries the working condition level information and the digital quantity or analog value mapping table according to the working condition level information to obtain the digital quantity or analog quantity value.

8. A train control system, comprising:

The vehicle communication adapting unit is configured to receive a control command issued by the ground control unit through the ground communication adapting unit, where the control command includes the working condition level information, and the control command is transmitted to the onboard processing unit;

An on-board processing unit, configured to receive the control command issued by the ground control unit, and obtain a corresponding digital quantity or analog quantity according to the working condition level information, where the digital quantity or the analog quantity is used Controlling the traction/brake unit of the train;

a traction/braking unit for pulling or braking the train according to the digital magnitude or analog value; the in-vehicle communication adapting unit, the in-vehicle processing unit and the traction/braking unit are installed in the train On the train.

9. The system of claim 8 wherein:

The control command further includes: the onboard processing unit receiving expected time information for processing the control command, expected position information of the train corresponding to the expected time, and expected speed information of the train corresponding to the expected time One or more combinations;

10. The system of claim 9 wherein said onboard processing unit further comprises:

a control command information obtaining unit, configured to acquire the expected time information in the control command, Combining one or more of the expected location information and the expected speed information;

a local information obtaining unit, configured to acquire one or more combinations of the current local time information of the train, the current position information of the train, and the current speed information of the train when the control command is processed;

a comparison verification unit, configured to: according to the expected time information, the expected location information, and the expected speed information, one of the current local time information of the train, the current location information of the train, and the current speed information of the train Or a plurality of combinations for comparison to verify the validity of the control command.

11. The system of claim 10, further comprising:

a watchdog unit, configured to reset when the verification result of the control command is valid; the watchdog unit triggers the switching unit when the timeout is not reset;

a switching unit for switching an input line of the traction/braking unit to a fixed amount output unit; a fixed quantity output unit for outputting a fixed digital electronic signal or a fixed analog electronic signal, the fixed digital electronic signal Or a fixed analog electronic signal is used to control the traction/brake unit of the train.

12. A train control method, comprising:

The ground control unit transmits the control command to the ground communication adaptation unit, and the control command includes the working condition level information;

The ground communication adapting unit sends the control command to the in-vehicle communication adapting unit of the train through the communication network;

Receiving, by the in-vehicle communication adapting unit, the control command issued by the ground control unit; the in-vehicle communication adapting unit transmitting the control command to the in-vehicle processing unit;

The onboard processing unit receives the control command issued by the ground control unit;

The onboard processing unit controls the traction/brake unit of the train according to the received operating condition level information.

13. The method according to claim 12, wherein the step of the onboard processing unit controlling the traction/braking unit according to the received operating condition level information further comprises the steps of:

The onboard processing unit obtains a digital value or an analog value for controlling the traction/braking unit according to the operating condition level information;

14. The method of claim 13 wherein: The control command received by the onboard processing unit further includes: the onboard processing unit receiving expected time information of the control command, the expected position information of the train corresponding to the expected time, and the train corresponding to the One or more combinations of expected speed information at the expected time.

The method according to claim 14, further comprising the step of: the in-vehicle processing unit acquiring the expected time information, the expected position information, and the expected speed information in the control command One or more combinations;

16. The method according to claim 15, further comprising the steps of: resetting the watchdog list it when the verification result of the control command is valid; or

17. The method according to claim 12, further comprising the steps of: the ground control unit according to the acquired vehicle data of the train, the current track position information, the current speed, the slope of the track segment, the front track One or more combinations of the speed limit information and the front danger point information obtain a control command for the train, and the control command includes the condition level information;

The ground control unit transmits the control command to the ground communication adapting unit; the ground communication adapting unit sends the control command to the in-vehicle communication adapting unit of the train;

18. The method according to claim 13, wherein the step of the onboard processing unit obtaining the digital value or the analog value of the traction/braking unit according to the working condition level information is specifically:

The onboard processing unit queries the working condition level information and the digital quantity or analog value mapping table according to the working condition level information to obtain the digital quantity or the analog quantity value.

19. A train-mounted vehicle processing apparatus, comprising:

An information acquiring unit, configured to acquire the working condition level information according to the control command received by the in-vehicle communication adapting unit;

An information processing unit, configured to obtain, according to the working condition level information, a digital quantity or an analog quantity for controlling a traction/braking unit of the train;

And a control output unit configured to control the traction/braking unit of the train based on the obtained digital magnitude or analog magnitude.

20. Apparatus according to claim 19 wherein:

The control command further includes: receiving one of an expected time information for processing the control command, an expected position information of the train corresponding to the expected time, and an expected speed information of the train corresponding to the expected time or Multiple combinations;

The apparatus according to claim 19, wherein the information acquiring unit further comprises:

a control command information obtaining unit, configured to acquire one or more combinations of the expected time information, the expected position information, and the expected speed information in the control command;

22. The apparatus of claim 21, further comprising:

a switching unit, configured to switch an input line of the traction/braking unit of the train to a fixed amount output unit;

The fixed quantity output unit is configured to output a fixed digital electronic signal or a fixed analog electronic signal, and the fixed digital electronic signal or the fixed analog electronic signal is used to control the traction/braking unit.