Dual-system train control system and method

Abstract

The invention discloses a dual-mode train control system and method. The system comprises CTCS2 + ATO vehicle-mounted equipment, CBTC vehicle-mounted equipment and a system selection switch, at any moment, one device is used as a vehicle control vehicle-mounted device to output a vehicle control command; the system selection switch is used for selecting a starting system and comprises the steps that at least CTCS2 + ATO vehicle-mounted equipment is powered on for self-test, and braking test is conducted after the CTCS2 + ATO vehicle-mounted equipment is powered on for self-test successfully; carrying out power-on self-test on the CBTC vehicle-mounted equipment at least, and carrying out a brake test after the power-on self-test of the CBTC vehicle-mounted equipment The CTCS2 + ATO vehicle-mounted equipment and the CBTC vehicle-mounted equipment are powered on for self-inspection, and the train control vehicle-mounted equipment is used for carrying out braking test on the train. Power-on starting and train control switching of CTCS2 + ATO and CBTC on-board equipment are achieved through the system selection switch, train cross-line operation is supported, and the train installation space requirement and the equipment cost are reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of train control technology, and in particular, to a dual-mode train control system and method. Background Art

[0002] Existing high-speed railway trains are generally equipped with the Chinese Train Control System (CTCS), while urban rail transit is generally equipped with the Communication Based Train Control System (CBTC). Due to the significant differences between the CBTC signal system and the CTCS-2 signal system in terms of operating characteristics, system equipment composition, and internal and external system interfaces, the two train control systems are incompatible with each other and need to be installed and deployed separately in the train, which takes up a lot of space and is costly, and the trains cannot run across lines. Summary of the invention

[0003] The present application provides a dual-mode train control system and method to realize the power-on startup and train control switching of CTCS2+ATO and CBTC on-board equipment, support cross-line operation of trains, and reduce train installation space requirements and equipment costs.

[0004] In a first aspect, an embodiment of the present application provides a dual-system train control system, including:

[0005] CTCS2+ATO on-board equipment, CBTC on-board equipment and system selection switch; at any time, one of the CTCS2+ATO on-board equipment and the CBTC on-board equipment serves as the on-board equipment for controlling the train and outputs a train control command to the train;

[0006] The CTCS2+ATO vehicle-mounted equipment and the CBTC vehicle-mounted equipment both have a power-on self-test function;

[0007] The mode selection switch is used to select the startup mode, and the startup mode includes:

[0008] When the system selection switch is in the first position, at least the CTCS2+ATO on-board equipment performs a power-on self-test, and the CTCS2+ATO on-board equipment performs a brake test on the train after the power-on self-test succeeds;

[0009] When the system selection switch is in the second position, at least the CBTC onboard equipment performs a power-on self-test, and the CBTC onboard equipment performs a brake test on the train after the power-on self-test succeeds;

[0010] When the system selection switch is in the third position, the CTCS2+ATO on-board equipment and the CBTC on-board equipment are both powered on for self-test, and the default train control on-board equipment performs a braking test on the train; after the train control on-board equipment is switched from the default train control on-board equipment to the non-default train control on-board equipment, the non-default train control on-board equipment performs a braking test on the train.

[0011] In a second aspect, an embodiment of the present application further provides a dual-mode train control method, which is applied to an on-board device in a dual-mode train control system, wherein the dual-mode train control system includes a CTCS2+ATO on-board device, a CBTC on-board device, and a mode selection switch; the method includes:

[0012] Determine the current startup mode according to the mode selection switch;

[0013] If the on-board device is a train control on-board device of the current startup mode, after the power-on self-test is successful and the brake test is successful, a train control command is transmitted to the train;

[0014] Among them, determining the current startup mode according to the mode selection switch includes:

[0015] When the mode selection switch is in the first position, the current startup mode is: at least the CTCS2+ATO on-board equipment performs power-on self-test, and the CTCS2+ATO on-board equipment performs a brake test on the train as a train control on-board equipment after the power-on self-test succeeds;

[0016] When the mode selection switch is in the second position, the current startup mode is: at least the CBTC on-board equipment performs a power-on self-test, and the CBTC on-board equipment performs a brake test on the train as a train control on-board equipment after the power-on self-test succeeds;

[0017] When the mode selection switch is in the third position, the current startup mode is: the CTCS2+ATO on-board equipment and the CBTC on-board equipment are both powered on for self-test, and the default train control on-board equipment performs a brake test on the train; after the train control on-board equipment is switched from the default train control on-board equipment to the non-default train control on-board equipment, the non-default train control on-board equipment performs a brake test on the train.

[0018] The embodiment of the present application provides a dual-mode train control system and method, the dual-mode train control system includes: CTCS2+ATO on-board equipment, CBTC on-board equipment and a mode selection switch; at any time, one of the CTCS2+ATO on-board equipment and the CBTC on-board equipment outputs a train control command to the train as a train control on-board equipment; the CTCS2+ATO on-board equipment and the CBTC on-board equipment both have a power-on self-test function; the mode selection switch is used to select a startup mode, and the startup mode includes: when the mode selection switch is in the first position, at least the CTCS2+ATO on-board equipment is powered on for self-test, and the CTCS2+ATO on-board equipment is powered on for self-test, and the CTCS2+ATO on-board equipment is powered on for self-test. The onboard equipment performs a brake test on the train after the power-on self-test is successful; when the standard selection switch is in the second position, at least the CBTC onboard equipment performs a power-on self-test, and the CBTC onboard equipment performs a brake test on the train after the power-on self-test is successful; when the standard selection switch is in the third position, both the CTCS2+ATO onboard equipment and the CBTC onboard equipment perform a power-on self-test, and the default vehicle control onboard equipment performs a brake test on the train; after the vehicle control onboard equipment is switched from the default vehicle control onboard equipment to the non-default vehicle control onboard equipment, the non-default vehicle control onboard equipment performs a brake test on the train. In addition, it supports automatic switching of standards in the non-stop state and manual switching of standards in the stop state. The above technical solution uses the standard selection switch to realize the power-on startup and vehicle control right switching of the CTCS2+ATO and CBTC onboard equipment, supports cross-line operation of trains, and reduces the train installation space requirements and equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0020] Figure 1 A schematic diagram of the structure of a dual-system train control system provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the structure of another dual-system train control system provided in an embodiment of the present application;

[0022] Figure 3 A flow chart of a dual-system train control method provided in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of the hardware structure of a vehicle-mounted device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only the parts related to the present application, rather than all structures, are shown in the accompanying drawings.

[0025] It should be mentioned before discussing the exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0026] It should be noted that the concepts of "first", "second", etc. mentioned in the embodiments of the present application are only used to distinguish different devices, modules, units or other objects, and are not used to limit the order or interdependence of the functions performed by these devices, modules, units or other objects.

[0027] In addition, the embodiments in the present application and the features in the embodiments may be combined with each other if there is no conflict.

[0028] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0029] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the relevant content of the solution.

[0030] Figure 1 This is a schematic diagram of the structure of a dual-mode train control system provided in an embodiment of the present application. This embodiment is applicable to the case where a dual-mode train is controlled. Figure 1 As shown, the system includes a CTCS2+ATO on-board device 10, a CBTC on-board device 20 and a system selection switch 30; at any time, one of the CTCS2+ATO on-board device 10 and the CBTC on-board device 20 can be used as a train control on-board device to output a train control command to the train, and the other on-board device is a non-train control on-board device and does not output a train control command to the train.

[0031] For example, during the operation of the train, the CTCS2+ATO onboard equipment 10 and the CBTC onboard equipment 20 periodically exchange information through a communicative interface to support control switching. The two onboard equipment work simultaneously and collect train information at the same time. The onboard equipment for controlling the train can output a train control command to the train, while the onboard equipment for non-controlling the train does not output a train control command and does not check the feedback signal from the train.

[0032] Specifically, when the train runs on the CTCS line, the CTCS2+ATO on-board equipment 10 is in the train control state to monitor the safe operation of the train; when the train runs on the CBTC line, the CBTC on-board equipment 20 is in the train control state to monitor the safe operation of the train; when the train enters the CBTC line from the CTCS line, the CTCS2+ATO on-board equipment 10 transfers the right of control to the CBTC on-board equipment 20 in the overlapping area (i.e., the switching area); when the train enters the CTCS line from the CBTC line, the CBTC on-board equipment 20 transfers the right of control to the CTCS2+ATO on-board equipment 10 in the overlapping area.

[0033] Optionally, both the CTCS2+ATO onboard equipment 10 and the CBTC onboard equipment 20 can report to the train that the onboard equipment is a train control onboard equipment or a non-train control onboard equipment, and at the same time, only one onboard equipment reports to the train that the onboard equipment is a train control onboard equipment.

[0034] The CTCS2+ATO onboard equipment 10 and the CBTC onboard equipment 20 both have a power-on self-test function. The mode selection switch 30 is used to select the startup mode, which is used to define the onboard equipment for power-on self-test and the onboard equipment for performing brake tests on trains. Among them, the onboard equipment for power-on self-test at least includes onboard equipment that can currently be used as onboard equipment for controlling trains, and the onboard equipment for performing brake tests on trains mainly refers to onboard equipment that can currently be used as onboard equipment for controlling trains.

[0035] Specifically, the mode selection switch 30 may have three gear positions: CTCS-2, CBTC and automatic. Accordingly, the starting modes include the following three:

[0036] The first type: when the mode selection switch 30 is in the first position (CTCS2+ATO position), at least the CTCS2+ATO on-board device 10 is powered on for self-test, that is, the CTCS2+ATO on-board device 10 can be powered on for self-test alone, or both on-board devices can be powered on, and the CTCS2+ATO on-board device 10 executes the startup process, including performing a brake test on the train after the power-on self-test is successful; after the startup process is completed, the train operation can be controlled in the CTCS2+ATO mode, and the train control on-board device can be switched according to the operation requirements;

[0037] The second type: when the mode selection switch 30 is in the second position (CBTC position), at least the CBTC onboard device 20 is powered on for self-checking, that is, the CBTC onboard device 20 can be powered on alone, or both onboard devices can be powered on, and the CBTC onboard device 20 executes the startup process, including performing a brake test on the train after the power-on self-check is successful; after the startup process is completed, the train operation can be controlled in the CBTC mode, and the onboard device for controlling the train can be switched according to the operation requirements;

[0038] The third type: when the system selection switch 30 is in the third position (automatic position), the CTCS2+ATO on-board equipment 10 and the CBTC on-board equipment 20 are both powered on for self-check and execute the startup process to perform a braking test; specifically, the default vehicle control on-board equipment can first perform a braking test on the train, and after the vehicle control on-board equipment is switched from the default vehicle control on-board equipment to the non-default vehicle control on-board equipment, the non-default vehicle control on-board equipment can then perform a braking test on the train; after the startup process is completed, if the working conditions of the two on-board equipment are normal, the driver can manually switch the vehicle control right according to the actual situation and choose to drive the train with the CTCS2+ATO on-board equipment or the CBTC on-board equipment.

[0039] Exemplarily, when the mode selection switch 30 is in the third position, if the default vehicle control on-board device is the CTCS2+ATO on-board device 10, that is, the CTCS2+ATO on-board device 10 has the right to control the vehicle, then the two on-board devices are powered on, the CTCS2+ATO on-board device 10 executes the startup process, performs a braking test on the train, and can feedback the working status to the CBTC on-board device; after the vehicle control on-board device is switched to the CBTC on-board device 20 (it can be manually switched by the driver, or the on-board device can automatically switch to the CBTC mode), the CBTC on-board device 20 executes the startup process, performs a braking test on the train, and can feedback the working status to the CTCS2+ATO on-board device 10.

[0040] Optionally, when the mode selection switch 30 is in the third position, automatic mode switching in a non-parking state and manual mode switching in a parking state are supported.

[0041] Optionally, the system selection switch 30 can be operated only in the parking state.

[0042] On this basis, the power-on startup and control-right switching of CTCS2+ATO and CBTC on-board equipment can be realized, cross-line operation of trains can be supported, and the train installation space requirements and equipment costs can be reduced.

[0043] Figure 2 FIG. 1 is a schematic diagram of another dual-system train control system provided by an embodiment. Figure 2As shown, in addition to the CTCS2+ATO on-board equipment 10, the CBTC on-board equipment 20 and the standard selection switch 30, the system can also add an output switching unit 40, which is used to switch the output channels between the two sets of on-board equipment and the train, ensuring that only the train control instructions of the on-board equipment can be output to the train at any time. During the normal operation of the train, the two on-board equipment can control the output switching unit 40 to automatically connect or disconnect the hard-wire interface between the corresponding on-board equipment and the train. Optionally, the CTCS2+ATO on-board equipment 10 can collect CTCS input signals, the CBTC on-board equipment 20 can collect CBTC input signals, and both the CTCS2+ATO on-board equipment 10 and the CBTC on-board equipment 20 can collect the common input signals of CTCS and CBTC.

[0044] The two types of vehicle-mounted devices can select or switch the start-up mode and the vehicle control mode through the mode selection switch 30 .

[0045] When the system selection switch 30 is in the CTCS-2 position, the CTCS2+ATO on-board device 10 is a vehicle control on-board device and does not support automatic switching of vehicle control rights. The CTCS2+ATO on-board device 10 sends CTCS vehicle control right validity information to the output switching unit 40; when the system selection switch 30 is in the CBTC position, the CBTC on-board device 20 is a vehicle control on-board device and does not support automatic switching of vehicle control rights. The CBTC on-board device 20 sends CBTC vehicle control right validity information to the output switching unit 40; when the system selection switch 30 is in the automatic position, the CTCS2+ATO on-board device 10 and the CBTC on-board device 20 support automatic switching of vehicle control rights.

[0046] On the basis of the above, the output switching unit 40 can feed back the vehicle control right status to the CTCS2+ATO on-board device 10 and the CBTC on-board device 20 .

[0047] Furthermore, when the CTCS2+ATO on-board equipment 10 has the right to control the vehicle, the output switching unit 40 can send the vehicle control signal of the CTCS2+ATO on-board equipment 10 to the train; when the CBTC on-board equipment 20 has the right to control the vehicle, the output switching unit 40 can send the vehicle control signal of the CBTC on-board equipment 20 to the train.

[0048] In one embodiment, the CTCS2+ATO on-board device 10 and the CBTC on-board device 20 both have a corresponding display and manage interface (DMI); during the vehicle control mode switching process, the vehicle control on-board device is used to display at least one of the following information through the corresponding DMI:

[0049] Switching notice, used to announce the switching of vehicle control modes, such as displaying confirmation text for switching from one vehicle-mounted device to another vehicle-mounted device;

[0050] Switching result, used to indicate the switching result of the vehicle control mode, such as displaying switching success or switching failure;

[0051] Switching failure reason, used to indicate the reason for the failure of the train control mode switching, such as on-board equipment failure, abnormal train status and / or manual interruption of switching, etc.;

[0052] The alarm information can be in the form of voice and / or text, etc., to prompt that there is an abnormality in the vehicle control mode switching process, and can remind that manual processing is required.

[0053] Optionally, a mode button may be configured in the corresponding DMI interface of the two vehicle-mounted devices for selecting or switching the mode. Optionally, the mode may be switched through the DMI of the vehicle-mounted device only when the mode selection switch 30 is in the automatic position.

[0054] Exemplarily, the process of switching the vehicle control system from the CTCS2+ATO system to the CBTC system is as follows:

[0055] During operation, when the train approaches the switching point from CTCS2+ATO to CBTC, the DMI of the CTCS2+ATO onboard device 10 pops up switching notice information, such as displaying a confirmation text of switching from CTCS2+ATO to CBTC control, prompting the driver to confirm;

[0056] After the vehicle stops at the system switching station, the boarding and alighting operations are completed and the doors are closed, the DMI of the CTCS2+ATO on-board equipment 10 pops up a confirmation text for switching to CBTC control. After the driver confirms, the vehicle is switched to the CBTC on-board equipment 20. The DMI of the two on-board equipment can display the results of the vehicle control system switching (such as displaying a successful switch, or displaying a switch failure and the reason for the switch failure, and can also display an alarm message to prompt manual processing, etc.);

[0057] If the DMI interface of the CTCS2+ATO on-board device 10 is provided with a mode button, in other parking states after power-on and start-up, the driver can press the "mode" button, select the CBTC mode in the mode menu, and switch to the CBTC on-board device 20 to control the vehicle.

[0058] Exemplarily, the process of switching the vehicle control system from the CBTC system to the CTCS2+ATO system is as follows:

[0059] During operation, when the train approaches the switching point from CBTC to CTCS2+ATO, the DMI of the CBTC onboard device 20 pops up a confirmation text for switching to CTCS2+ATO train control, prompting the driver to confirm;

[0060] After the train stops at the system switching station, the boarding and alighting operations are completed and the doors are closed, the DMI of the CBTC on-board device 20 pops up a confirmation text for switching to CTCS2+ATO vehicle control. After the driver confirms, the vehicle is switched to CTCS2+ATO on-board device 10 for control;

[0061] If the DMI interface of the CBTC on-board device 20 is provided with a mode button, in other parking states after power-on and start-up, the driver can press the "mode" button, select CTCS2 mode in the mode menu, and switch to CTCS2+ATO on-board device 10 to control the vehicle.

[0062] Optionally, the CTCS2+ATO onboard equipment 10 and the CBTC onboard equipment 20 each include at least one of the following: a transponder transmission module (Balise Transmission Module, BTM) unit, a speed and distance measurement unit. The speed and distance measurement unit includes at least one of the following: a speed sensor, an acceleration calculation, and a radar. The CTCS2+ATO onboard equipment may also include a track circuit reader (Track Circuit Reader, TCR). The CTCS2+ATO onboard equipment 10 and the CBTC onboard equipment 20 may also share a vehicle-to-ground communication antenna, etc. In this case, a multi-mode communication antenna may be installed.

[0063] Optionally, when the CTCS2+ATO on-board equipment 10 controls the vehicle, the DMI interface of the CBTC on-board equipment 20 is displayed as inactive, and text can be used to display that the vehicle is currently under CTCS2 control; when the CBTC on-board equipment 20 controls the vehicle, the DMI interface of the CTCS2+ATO on-board equipment 10 is displayed as inactive, and text can be used to display that the vehicle is currently under CBTC control.

[0064] Optionally, the train provides a main power switch for the two on-board devices, and the train can simultaneously power on or off the CTCS2+ATO on-board device and the CBTC on-board device through the main power switch. In addition, the train can provide a power switch for the CTCS2+ATO on-board device 10 and a power switch for the CBTC on-board device 20 for the two on-board devices, and the CTCS2+ATO on-board device 10 can be powered on or off separately, and the CBTC on-board device 20 can be powered on or off separately through the power switch of the CTCS2+ATO on-board device 10.

[0065] Optionally, the hard-wire interface between the two on-board devices and the train may adopt a dry contact interface, a level interface, a pulse width modulation (PWM) and / or a current loop.

[0066] The communication interface between the two on-board devices and the train system adopts the Train Real-time Data Protocol (TRDP) Ethernet or Multifunction Vehicle Bus (MVB) interface.

[0067] Optionally, the two on-board devices send information to the Train Control and Management System (TCMS) at the same time, and the two on-board devices and each node of the train TCMS system network interface are online at the same time. At the same time, the train only uses the information of the train control on-board device and only responds to the train control instructions of the train control on-board device.

[0068] In one embodiment, the CTCS2+ATO on-board device 10 and the CBTC on-board device 20 both support non-stop mode switching and parking mode switching.

[0069] In this embodiment, the two on-board devices support non-stop mode switching when the train is controlled by the Automatic Train Protection (ATP) system, and also support non-stop mode switching when the train is controlled by the Automatic Train Operation (ATO) system. Optionally, when the mode selection switch is in the automatic position, if a mode button is configured in the DMI interface of any on-board device, the DMI control mode can be manually operated to switch the vehicle control mode in the parked state, and the vehicle control mode can also be switched without stopping according to ground commands in the moving state.

[0070] Exemplarily, when the system is switched, information such as switch notice, switch result, and switch failure reason is displayed on the DMI of the vehicle control onboard device, and a voice prompt or alarm is given.

[0071] When performing a system switching in the parking state at a system switching station, control the door switches and platform doors in linkage under the station parking control system. Wait until the passengers have completed the transfer and the doors and platform doors are closed normally before performing the system switching to avoid affecting passenger transfers due to system switching failures.

[0072] When the mode selection switch is in the automatic position, the CTCS2+ATO on-board equipment and the CBTC on-board equipment exchange switching requests and switching responses through periodic communication to complete the mode switching process. When the communication between the CTCS2+ATO on-board equipment and the CBTC on-board equipment is interrupted, or a switching failure or equipment failure occurs during the switching process, the vehicle control on-board equipment maintains the mode before the switching and continues to control the vehicle, and stops normally at the end boundary of the current mode switching area, waiting for manual processing.

[0073] In one embodiment, for non-stop mode switching, the non-controlled vehicle on-board equipment is used to send at least one of the following information to the controlled vehicle on-board equipment: switching reference transponder, switching point position, switching point speed limit, ATO traction braking status and ATO traction braking control amount; the controlled vehicle on-board equipment is used to calculate the speed curve according to the information sent by the non-controlled vehicle on-board equipment, and control the train to smoothly pass the switching point according to the speed curve to avoid triggering braking.

[0074] In one embodiment, when the mode selection switch is in the third position, the CTCS2+ATO on-board equipment and the CBTC on-board equipment are used to exchange switching requests and switching responses through periodic communication; in the event of communication interruption between the CTCS2+ATO on-board equipment and the CBTC on-board equipment, failure in the switching of the train control mode, and / or failure of the on-board equipment, the train operation is controlled by the on-board equipment before the switching of the train control mode, and the train is controlled to stop before the end boundary of the switching area.

[0075] In one embodiment, for non-stop mode switching: when the CBTC on-board equipment is the train control on-board equipment, the forecast point and the switching point are obtained from the electronic map; when the CTCS2+ATO on-board equipment is the train control on-board equipment, the forecast point and the switching point are obtained from the ground transponder; after the train passes the forecast point, both the train control on-board equipment and the non-train control on-board equipment are used to check the switching conditions; the train control on-board equipment is also used to determine whether the train performs train control mode switching at the switching point according to the mode attributes of the target station in the operation plan, and to display the train control mode switching confirmation text through the corresponding DMI before the train arrives at the switching point; if the train control mode switching is successful, the non-train control on-board equipment serves as the new train control on-board equipment, and displays the train control mode switching success text through the corresponding DMI; if the train control mode switching fails, the train control on-board equipment displays the train control mode switching failure text through the corresponding DMI, and controls the train to stop.

[0076] Take the non-stop switching from CBTC to CTCS2+ATO as an example:

[0077] The CBTC on-board equipment configures the locations of the forecast points and switching points in the electronic map;

[0078] After the train passes the predicted point, the two on-board devices start the system switching process. The CBTC on-board device and the CTCS2+ATO on-board device check the switching conditions through internal information exchange. The CBTC on-board device can also determine whether the train switches the system at the switching point in combination with the system attributes of the target station in the operation plan issued by the Automatic Train Supervision (ATS). When the switching conditions are met, the CBTC on-board device prompts the driver to confirm the system switching through the DMI at a certain distance (configurable) or a certain time (configurable) before the switching point. If the driver confirms the system switching, the train passes the switching point, and the CBTC on-board device is not in the emergency braking state, the two on-board devices switch to the CTCS2+ATO system, and the CBTC on-board device enters the background non-control state.

[0079] If the mode switching is successful, the CTCS2+ATO on-board equipment will inform the driver through DMI that the mode switching is successful. The CTCS2+ATO on-board equipment will control the train operation. Before the train leaves the switching area, the CBTC on-board equipment will normally receive data from the trackside zone controller (Zone Controller, ZC) and the transponder, but will not control the train.

[0080] If the mode switch fails, the CBTC on-board equipment will inform the driver of the failure through DMI and sound an alarm. The train will stop according to the control curve. After stopping, the driver will manually switch to CTCS2+ATO mode after confirmation by the driver and dispatcher.

[0081] Take the non-stop switching from CTCS2+ATO to CBTC as an example:

[0082] After the train passes the advance balise group, the two onboard devices start the system switching process. The CTCS2+ATO onboard device and the CBTC onboard device check the switching conditions through internal information exchange. The CTCS2+ATO onboard device can also determine whether the train switches the system at the switching point based on the system attributes of the next station in the operation plan issued by CTC.

[0083] When the switching conditions are met, at a certain distance (configurable) or a certain time (configurable) before the switching point, the CTCS2+ATO vehicle equipment DMI prompts the driver to confirm the system switching;

[0084] If the driver confirms the mode switch, the train passes the transponder group, and the CTCS2+ATO on-board equipment is not in the emergency braking state, the two on-board equipment will switch to the CBTC mode, and the CTCS2+ATO on-board equipment will enter the background non-control state;

[0085] If the mode switching is successful, the CBTC on-board equipment will notify the driver through DMI that the mode switching is successful. The CBTC on-board equipment controls the train operation according to the driving permission sent by the ZC. Before the train leaves the switching area, the CTCS2+ATO on-board equipment receives the track circuit and balise data normally, but does not control the train.

[0086] If the system switching fails, the CTCS2+ATO on-board equipment will inform the driver of the failure of the system switching through DMI and issue an alarm. The train will stop according to the control curve. After stopping, the driver will manually switch to the CBTC system after confirmation by the driver and the dispatcher.

[0087] In one embodiment, for the parking mode switching: the train control on-board equipment is used to control the train to complete automatic parking at the train control mode switching station and automatically open the doors and platform doors in linkage according to the operation plan containing the train control mode switching information; after the stop time is over, the train control on-board equipment is also used to complete the door closing and automatically close the platform door in linkage according to the door control mode; the train control on-board equipment is also used to automatically trigger the train control mode switching process, or display the train control mode switching confirmation text through the corresponding DMI; if the train control mode switching is successful, the non-train control on-board equipment serves as the new train control on-board equipment to control the train departure; if the train control mode switching fails, wait for manual train control mode switching.

[0088] Take the parking mode switch from CBTC to CTCS2+ATO as an example:

[0089] The CBTC on-board equipment receives the operation plan containing the control mode switching information, and controls the train to complete automatic parking at the mode switching station; after parking, the CBTC on-board equipment automatically links to open the doors and platform doors; after the stop time is over, the CBTC on-board equipment completes the automatic / manual closing of the doors according to the door control mode, and automatically links to close the platform doors; after the doors are closed, the CBTC on-board equipment prompts the driver to switch the mode through the DMI, or the CBTC on-board equipment automatically triggers the mode switching process;

[0090] After the driver manually or the on-board equipment automatically completes the system switching, the CTCS2+ATO on-board equipment enters the foreground vehicle control state, and the CBTC on-board equipment enters the background non-vehicle control state;

[0091] If the system switching is successful, the exit signal is open, and the departure conditions are met, the CTCS2+ATO on-board equipment controls the departure indicator light to flash to prompt the driver to depart. The driver presses the start button, and the ATO controls the train to depart;

[0092] If the mode switch fails, the train stops at the platform. After confirmation by the driver and dispatcher, the driver manually switches to CTCS2+ATO mode.

[0093] Take the parking mode switching from CTCS2+ATO to CBTC as an example:

[0094] The CTCS2+ATO on-board equipment receives the operation plan containing the system switching information and completes automatic parking at the system switching station; after parking, the CTCS2+ATO on-board equipment automatically links to open the train doors and platform doors; after the stop time is over, the CTCS2+ATO on-board equipment completes automatic / manual closing of the train doors according to the door control mode, and automatically links to close the platform doors; after the doors are closed, the CTCS2+ATO on-board equipment displays the confirmation text of switching to CBTC control through the DMI, or the CTCS2+ATO on-board equipment automatically triggers the system switching process;

[0095] After the driver manually or the on-board equipment automatically completes the system switching, the CBTC on-board equipment enters the foreground vehicle control state, and the CTCS2+ATO on-board equipment enters the background non-vehicle control state.

[0096] If the system switching is successful, the exit signal is open, and the departure conditions are met, the CBTC on-board equipment controls the departure indicator light to flash to remind the driver to depart. The driver presses the start button, and the ATO controls the train to depart.

[0097] If the mode switch fails, the train stops at the platform, and after confirmation by the driver and dispatcher, the driver manually switches to the CBTC mode.

[0098] In one embodiment, the switching condition includes:

[0099] The vehicle control mode switching confirmation text is confirmed;

[0100] The train passes the switching point;

[0101] The vehicle control equipment did not perform emergency braking.

[0102] In this embodiment, whether CTCS2+ATO transfers the right to control the vehicle to CBTC, or CBTC transfers the right to control the vehicle to CTCS2+ATO, both types of on-board equipment can check the above three conditions for transferring the right to control the vehicle. It should be noted that the three conditions have no causal or correlation relationship with each other. If all three conditions are met, the on-board equipment for controlling the vehicle can transfer the right to control the vehicle to the on-board equipment that does not control the vehicle. On this basis, it can not only ensure the safety and reliability of the process of switching the right to control the vehicle, but also simplify the switching scenes and processes. On this basis, the dual-mode train control system of the embodiment of the present application supports switching the right to control the vehicle by stopping, and also supports switching the right to control the vehicle without stopping. By reasonably designing the conditions for switching the right to control the vehicle, it is easy to implement, and gets rid of the mutual correlation of the conditions for switching the levels of existing high-speed rail on-board equipment and the complex scenes it brings.

[0103] Figure 3A flowchart of a dual-mode train control method provided in an embodiment of the present application, this embodiment can be applied to the case of dual-mode control of a train. Specifically, the dual-mode train control method can be executed by a dual-mode train control device, and the dual-mode train control device can be implemented by software and / or hardware and integrated in the on-board equipment. The dual-mode train control method can be applied to any on-board equipment in the dual-mode train control system.

[0104] like Figure 3 As shown, the method specifically comprises the following steps:

[0105] S110, determining the current startup mode according to the mode selection switch.

[0106] S120: If the on-board device is a train control on-board device of the current startup mode, after the power-on self-test and the brake test are successful, a train control command is transmitted to the train.

[0107] The position of the mode selection switch can determine the current startup mode, that is, it can determine the on-board equipment for power-on self-test and the on-board equipment for brake test of the train. For an on-board equipment, if it is the on-board equipment for controlling the train corresponding to the current startup mode, the brake test of the train can be performed.

[0108] Specifically, when the mode selection switch is in the first position, the current startup mode is: at least the CTCS2+ATO on-board equipment performs a power-on self-test, and the CTCS2+ATO on-board equipment performs a brake test on the train as a train control on-board equipment after the power-on self-test succeeds;

[0109] When the mode selection switch is in the second position, the current startup mode is: at least the CBTC on-board equipment performs a power-on self-test, and the CBTC on-board equipment performs a brake test on the train as a train control on-board equipment after the power-on self-test succeeds;

[0110] When the mode selection switch is in the third position, the current startup mode is: the CTCS2+ATO on-board equipment and the CBTC on-board equipment are both powered on for self-test, and the default train control on-board equipment performs a brake test on the train; after the train control on-board equipment is switched from the default train control on-board equipment to the non-default train control on-board equipment, the non-default train control on-board equipment performs a brake test on the train.

[0111] The dual-standard train control method of the embodiment of the present application uses a standard selection switch to realize the power-on startup and train control switching of CTCS2+ATO and CBTC on-board equipment, supports cross-line operation of trains, and reduces train installation space requirements and equipment costs.

[0112] In one embodiment, the method further comprises:

[0113] Perform non-stop mode switching or parking mode switching with another vehicle-mounted device other than the vehicle-mounted device.

[0114] For example, the CTCS2+ATO vehicle-mounted equipment can switch with the CBTC vehicle-mounted equipment to a non-stop or parking mode, which can be a switch from the CTCS2+ATO vehicle control mode to the CBTC vehicle control mode, or from the CBTC vehicle control mode to the CTCS2+ATO vehicle control mode. In one embodiment, the method further includes:

[0115] During the process of switching the vehicle control mode, if the vehicle-mounted device is a vehicle control vehicle-mounted device, at least one of the following information is displayed through the corresponding DMI: switching notice, switching result, switching failure reason, and alarm information.

[0116] In one embodiment, the method further comprises:

[0117] When the mode selection switch is in the third position, exchanging switching requests and switching responses with another vehicle-mounted device other than the vehicle-mounted device through periodic communication;

[0118] In the event of communication interruption between the CTCS2+ATO on-board equipment and the CBTC on-board equipment, failure in switching the train control system, and / or a failure in the on-board equipment, if the on-board equipment is the on-board equipment before the switching of the train control system, the train operation continues to be controlled, and the train is controlled to stop before the end boundary of the switching area.

[0119] In one embodiment, for non-stop mode switching, the method further includes:

[0120] When the CBTC on-board equipment is a vehicle control on-board equipment, the forecast point and the switching point are obtained from the electronic map;

[0121] When the CTCS2+ATO vehicle-mounted equipment is a vehicle-controlled vehicle-mounted equipment, the advance point and the switching point are obtained from the ground transponder;

[0122] After the train passes the predicted point, checking the switching condition;

[0123] Determine whether the train performs vehicle control system switching at the switching point according to the system attribute of the target station in the operation plan, and display the vehicle control system switching confirmation text through the corresponding DMI before the train arrives at the switching point;

[0124] If the train control system switching fails, the train control system switching failure text will be displayed through the corresponding DMI, and the train will be controlled to stop.

[0125] In one embodiment, for parking mode switching, the method further includes:

[0126] If the on-board device is a train control on-board device, then according to the operation plan including the train control mode switching information, the train is controlled to complete automatic positioning parking at the train control mode switching station and automatically link and open the train doors and platform doors;

[0127] After the stop time is over, the car doors are closed according to the door control mode and the platform doors are automatically closed; the car control mode switching process is automatically triggered, or the car control mode switching confirmation text is displayed through the corresponding DMI;

[0128] If the vehicle control mode switching fails, wait for manual vehicle control mode switching.

[0129] In one embodiment, the switching condition includes:

[0130] The vehicle control mode switching confirmation text is confirmed;

[0131] The train passes the switching point;

[0132] The vehicle control equipment did not perform emergency braking.

[0133] The dual-mode train control method provided in the embodiment of the present application can be used to execute the dual-mode train control system provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0134] Figure 4 The structural schematic diagram of the vehicle-mounted device that can be used to implement the embodiment of the present application is shown. The vehicle-mounted device can be a CBTC vehicle-mounted device or a CTCS2+ATO vehicle-mounted device. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present application described and / or required herein.

[0135] like Figure 4 As shown, the vehicle-mounted device includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the vehicle-mounted device can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0136] A number of components in the vehicle-mounted device are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the vehicle-mounted device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, wireless networks.

[0137] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various dual-system train control methods and processes described above.

[0138] In some embodiments, the dual-mode train control method of the above-mentioned embodiment may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the on-board device via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the dual-mode train control method described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the dual-mode train control method of any of the above-mentioned embodiments in any other appropriate manner (e.g., by means of firmware).

[0139] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0140] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow charts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0141] In the context of the present application, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device or equipment. A computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. A more specific example of a machine readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0142] To provide interaction with a user, the systems and techniques described herein may be implemented on an in-vehicle device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball), through which the user can provide input to the in-vehicle device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0143] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0144] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0145] An embodiment of the present application also provides a computer program product, including a computer program and / or instructions, which, when executed by a processor, implements the dual-mode train control method as described in any of the above embodiments.

[0146] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

[0147] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A dual-system train control system, characterized in that: include: CTCS2+ATO on-board equipment, CBTC on-board equipment, and system selection switch; At any time, one of the CTCS2+ATO on-board equipment and the CBTC on-board equipment serves as the on-board equipment for controlling the train and outputs a train control command to the train; The CTCS2+ATO vehicle-mounted equipment and the CBTC vehicle-mounted equipment both have a power-on self-test function; The mode selection switch is used to select the startup mode, and the startup mode includes: When the system selection switch is in the first position, at least the CTCS2+ATO on-board equipment performs a power-on self-test, and the CTCS2+ATO on-board equipment performs a brake test on the train after the power-on self-test succeeds; When the system selection switch is in the second position, at least the CBTC onboard equipment performs a power-on self-test, and the CBTC onboard equipment performs a brake test on the train after the power-on self-test succeeds; When the system selection switch is in the third position, the CTCS2+ATO on-board equipment and the CBTC on-board equipment are both powered on for self-test, and the default train control on-board equipment performs a braking test on the train; after the train control on-board equipment is switched from the default train control on-board equipment to the non-default train control on-board equipment, the non-default train control on-board equipment performs a braking test on the train.

2. The system according to claim 1, characterized in that The CTCS2+ATO on-board equipment and the CBTC on-board equipment both support non-stop mode switching and parking mode switching.

3. The system according to claim 2, characterized in that For non-stop mode switching, The non-vehicle-controlling on-board device is used to send at least one of the following information to the vehicle-controlling on-board device: a switching reference transponder, a switching point position, a switching point speed limit, an ATO traction brake state, and an ATO traction brake control amount; The train control onboard device is used to calculate the speed curve according to the information sent by the non-train control onboard device, and control the train to smoothly pass the switching point according to the speed curve.

4. The system according to claim 2, characterized in that The CTCS2+ATO on-board equipment and the CBTC on-board equipment both have corresponding human-machine interfaces DMI; During the process of switching the vehicle control mode, the vehicle control onboard device is used to display at least one of the following information through the corresponding DMI: switching notice, switching result, reason for switching failure, and alarm information.

5. The system according to claim 1, characterized in that When the system selection switch is in the third position, the CTCS2+ATO on-board equipment and the CBTC on-board equipment are further used to exchange switching requests and switching responses by means of periodic communication; In the event of communication interruption between the CTCS2+ATO on-board equipment and the CBTC on-board equipment, failure in switching the train control system, and / or failure of the on-board equipment, the train operation is controlled by the on-board equipment before the switching of the train control system, and the train is controlled to stop before the end boundary of the switching area.

6. The system according to claim 2, characterized in that For non-stop mode switching: When the CBTC on-board equipment is a vehicle control on-board equipment, the forecast point and the switching point are obtained from the electronic map; When the CTCS2+ATO on-board equipment is a train control on-board equipment, the forecast point and the switching point are obtained from the ground transponder; after the train passes the forecast point, both the train control on-board equipment and the non-train control on-board equipment are used to check the switching conditions; the train control on-board equipment is also used to determine whether the train switches the train control system at the switching point according to the system attributes of the target station in the operation plan, and display the train control system switching confirmation text through the corresponding DMI before the train arrives at the switching point; If the vehicle control system is switched successfully, the non-vehicle control device is used as a new vehicle control device, and a text indicating the vehicle control system is switched successfully is displayed through the corresponding DMI; If the train control system switching fails, the train control onboard device displays a train control system switching failure text through the corresponding DMI and controls the train to stop.

7. The system according to claim 2, characterized in that For parking mode switching: The train control onboard equipment is used to control the train to complete automatic parking at the train control system switching station and automatically link the opening of the train doors and platform doors according to the operation plan containing the train control system switching information; After the stop time is over, the vehicle control on-board device is also used to complete the closing of the vehicle doors according to the door control mode and automatically close the platform doors in linkage; the vehicle control on-board device is also used to automatically trigger the vehicle control mode switching process, or display the vehicle control mode switching confirmation text through the corresponding DMI; If the train control mode is switched successfully, the non-train control onboard equipment will be used as the new train control onboard equipment to control the train departure; If the vehicle control mode switching fails, wait for manual vehicle control mode switching.

8. The system according to claim 6, characterized in that The switching conditions include: The vehicle control mode switching confirmation text is confirmed; The train passes the switching point; The vehicle control equipment did not perform emergency braking.

9. A dual-system train control method, characterized in that: The vehicle-mounted equipment used in a dual-mode train control system includes a CTCS2+ATO vehicle-mounted equipment, a CBTC vehicle-mounted equipment and a mode selection switch; the method includes: Determine the current startup mode according to the mode selection switch; If the on-board device is a train control on-board device of the current startup mode, after the power-on self-test is successful and the brake test is successful, a train control command is transmitted to the train; Among them, determining the current startup mode according to the mode selection switch includes: When the mode selection switch is in the first position, the current startup mode is: at least the CTCS2+ATO on-board equipment performs power-on self-test, and the CTCS2+ATO on-board equipment performs a brake test on the train as a train control on-board equipment after the power-on self-test succeeds; When the mode selection switch is in the second position, the current startup mode is: at least the CBTC on-board equipment performs a power-on self-test, and the CBTC on-board equipment performs a brake test on the train as a train control on-board equipment after the power-on self-test succeeds; When the mode selection switch is in the third position, the current startup mode is: the CTCS2+ATO on-board equipment and the CBTC on-board equipment are both powered on for self-test, and the default train control on-board equipment performs a brake test on the train; after the train control on-board equipment is switched from the default train control on-board equipment to the non-default train control on-board equipment, the non-default train control on-board equipment performs a brake test on the train.

10. The method according to claim 9, characterized in that Also includes: Perform non-stop mode switching or parking mode switching with another vehicle-mounted device other than the vehicle-mounted device.

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