Fusion control system and control method applied to rail vehicles

Abstract

The present invention provides a fusion control system and control method for rail vehicles, the system includes a control layer, a network layer and an execution layer; wherein the control layer includes an integrated control platform, the integrated control platform includes multiple vehicle control applications; the execution units of each subsystem of the execution layer communicate with the integrated control platform through the TSN of the network layer; the integrated control platform is used to generate corresponding vehicle control instructions through each vehicle control application, and send the vehicle control instructions to the network layer; the network layer is used to receive the vehicle control instructions through TSN, and send the vehicle control instructions to the execution layer; the execution layer is used to receive the vehicle control instructions, and according to the local control logic of the execution units of each subsystem, execute the actions corresponding to the vehicle control instructions, so as to perform fusion control on the vehicle. The present invention realizes centralized control of the entire train, effectively reducing the instruction transmission delay and the accuracy of vehicle control.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a fusion control system and a control method applied to rail vehicles. Background Art

[0002] The braking on current rail vehicles uses an overhead braking system to individually control the brake actuator unit on each bogie, and communicates and exchanges data with other subsystems on the vehicle through the MVB (Multifunction Vehicle Bus). The braking system uses the CAN (Controller Area Network) bus to manage braking communications. Due to the communication distance limit of the CAN bus, conventional six-carriage vehicles need to be divided into two CAN units for separate management. Each CAN unit has two main control units responsible for the management of braking force and braking force distribution within the CAN unit. One of the two main control units is in normal operation, and the other is in hot standby mode. The two CAN units communicate and exchange data through their respective main control units through the MVB (Multifunction vehicle bus).

[0003] In the prior art, the brake control main control unit needs to receive the relevant brake instructions transmitted by TCMS (Traditional Chinese Medicines, Train Control and Management System) through MVB. This causes a time difference between the current ATO or driver controller issuing the brake instruction and the brake control unit receiving the instruction, affecting the accuracy of the vehicle's braking response. Summary of the invention

[0004] The present invention provides a fusion control system and a control method applied to a rail vehicle, so as to solve the defect of low precision of vehicle braking response in the prior art and improve the precision of vehicle braking response.

[0005] The present invention provides a fusion control system applied to rail vehicles, comprising a control layer, a network layer and an execution layer;

[0006] Wherein, the control layer includes an integrated control platform, and the integrated control platform includes a plurality of vehicle control applications;

[0007] The network layer includes a time-sensitive network TSN;

[0008] The execution layer includes execution units of each subsystem of the vehicle;

[0009] The execution unit of each subsystem communicates with the integrated control platform via the TSN of the network layer;

[0010] The integrated control platform is used to generate corresponding vehicle control instructions through various vehicle control applications, and send the vehicle control instructions to the network layer;

[0011] The network layer is used to receive the vehicle control instruction through the TSN, and send the vehicle control instruction to the execution layer;

[0012] The execution layer is used to receive the whole vehicle control instruction and execute the action corresponding to the whole vehicle control instruction according to the local control logic of the execution unit of each subsystem to perform integrated control on the vehicle.

[0013] According to a fusion control system applied to a rail vehicle provided by the present invention, the TSN includes a double ring network composed of a plurality of TSN switches;

[0014] Wherein, each carriage of the vehicle comprises two TSN switches, namely a first TSN switch and a second TSN switch;

[0015] The double ring network is obtained by cascading the first TSN switches in each carriage and cascading the second TSN switches in each carriage.

[0016] According to a fusion control system applied to a rail vehicle provided by the present invention, the TSN further includes a plurality of wireless access points AP;

[0017] The execution unit of each subsystem in the execution layer includes a plurality of first target execution units;

[0018] Wherein, the first target execution unit is a wireless control execution unit in each subsystem; the first target execution unit includes one or more combinations of an air conditioning control unit, a passenger information service system PIS and a display screen of the PIS;

[0019] Each AP is connected to each TSN switch correspondingly, and is used to connect the first target execution unit of each subsystem in the execution layer to the backbone network of the TSN of the network layer in the form of wireless signals.

[0020] According to a fusion control system applied to rail vehicles provided by the present invention, when the frequency band of each AP is a single frequency band, the frequency bands of the APs in each single ring network of any two adjacent carriages are cross-deployed;

[0021] Among them, different APs in the same carriage have different frequency bands.

[0022] According to a fusion control system applied to a rail vehicle provided by the present invention, each AP includes multiple frequency bands and a frequency band switching unit;

[0023] The frequency band switching unit is used for switching the current frequency band of each AP to another frequency band among the multiple frequency bands except the current frequency band when the current frequency band of each AP is offline.

[0024] According to a fusion control system for rail vehicles provided by the present invention, the execution layer further includes a remote input and output unit RIOM;

[0025] The execution unit of each subsystem in the execution layer also includes a plurality of second target execution units;

[0026] Wherein, the second target execution unit includes one or more combinations of a speed measuring unit, a traction unit and a braking unit;

[0027] The second target execution unit of the subsystem of each carriage is correspondingly connected to the TSN switch of each carriage through the RIOM.

[0028] According to a fusion control system applied to a rail vehicle provided by the present invention, the integrated control platform further includes a hardware layer, an operating system, and a functional distributed framework;

[0029] The hardware layer is deployed at the bottom layer of the integrated control platform, and the upper layers of the hardware layer are the operating system, the function distribution framework and a plurality of vehicle control applications in sequence;

[0030] The hardware layer is used to provide the hardware required by the integrated brake control platform;

[0031] The operation system is used to provide the data calculation and data storage functions required by the integrated brake control platform;

[0032] The function distributed framework includes a first application interface, a service interface, and a second application interface;

[0033] The first application interface is used to provide an interface for connecting the function distributed framework with the multiple vehicle control application programs;

[0034] The service interface is used to provide an interface for services required by the integrated brake control platform;

[0035] The second application interface is used to provide an interface for connecting the function distribution framework with the operating system;

[0036] The services include one or more combinations of active-standby redundancy services, clock synchronization services, fault monitoring services, input-output management services, communication protocol services, application scheduling services, and communication management services.

[0037] A fusion control system applied to a rail vehicle according to the present invention also includes a plurality of Ethernet train backbone network ETB switch pairs;

[0038] The two sets of ETB switches in each group of the ETB switch pair are respectively installed on the lead vehicles at both ends of the vehicle, and are respectively connected to the backbone network of the TSN to provide communication channels for the lead vehicles at both ends of the vehicle.

[0039] According to a fusion control system for rail vehicles provided by the present invention, the execution layer is also used to collect local information of each subsystem, and transmit the local information to the integrated control platform through the network layer;

[0040] The integrated control platform is also used to generate the vehicle control instructions according to the local information of each subsystem and each vehicle control application program;

[0041] The local information includes one or more combinations of input signals, output signals, state information and historical control results.

[0042] The present invention also provides a control method for a fusion control system applied to a rail vehicle based on any one of the above, comprising:

[0043] Generate corresponding vehicle control instructions based on each vehicle control application program of the integrated control platform in the control layer, and send the vehicle control instructions to the network layer;

[0044] Receive the vehicle control instruction based on the TSN of the network layer, and send the vehicle control instruction to the execution layer;

[0045] The execution layer receives the vehicle control instruction, and executes the action corresponding to the vehicle control instruction according to the local control logic of the execution unit of each subsystem to perform integrated control of the vehicle; wherein the execution unit of each subsystem communicates with the integrated control platform through the TSN of the network layer.

[0046] The fusion control system and control method for rail vehicles provided by the present invention, on the one hand, through an integrated control platform with multiple vehicle control applications integrated in the control layer, centrally issues vehicle control instructions to each subsystem, thereby realizing centralized control of each subsystem of the vehicle, effectively reducing the data transmission frequency between the braking control main control unit and the subsystem, reducing data transmission delay, and reducing the hardware overhead cost of the braking control main control unit; on the other hand, through TSN, the network communication form of different subsystems on the vehicle is unified and data sharing between subsystems and between subsystems and the control layer is realized, thereby improving the capacity, real-time performance and accuracy reliability of information transmission of each subsystem on the vehicle, further improving the real-time performance and reliability of vehicle control instruction transmission, and thus improving the accuracy of train control. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 It is a structural schematic diagram of a fusion control system applied to a rail vehicle provided by the present invention;

[0049] Figure 2 It is a flow chart of a control method based on a fusion control system applied to a rail vehicle provided by the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0052] In the prior art, the braking control main control unit needs to receive the relevant braking instructions transmitted by TCMS through MVB. This causes a time difference between the current ATO (Automatic Train Operation) or driver controller issuing the braking instruction and the braking control unit receiving the instruction, affecting the accuracy of the vehicle's braking response.

[0053] In response to the above problems, the embodiments of the present application aim to use the TSN network to form a fusion control system suitable for centralized train control. The system is divided into three levels: control layer, network layer and execution layer. The control layer has an integrated control platform, on which multiple system fusion applications are integrated to achieve centralized control and management of the whole vehicle at the train level. The network layer serves as an interactive channel between the control layer and the execution layer, providing a high-reliability, high-speed channel. The execution layer receives the train-level vehicle control instructions issued by the control layer, and performs specific actions according to the local control logic of each subsystem to achieve fusion control of the train and full-line sharing of instructions, reduce the delay time of instruction transmission and improve the accuracy of vehicle braking response.

[0054] Combine the following Figure 1 The invention describes a fusion control system applied to a rail vehicle, the system comprising a control layer, a network layer and an execution layer; wherein the control layer comprises an integrated control platform, and the integrated control platform comprises a plurality of vehicle control applications;

[0055] The network layer includes a time-sensitive network TSN;

[0056] The execution layer includes execution units of each subsystem of the vehicle;

[0057] The execution unit of each subsystem communicates with the integrated control platform via the TSN of the network layer;

[0058] Optionally, the control layer serves as the control center of the fusion control system, and is used to send train-level vehicle control instructions; the network layer serves as an interactive channel between the control layer and the execution layer, and is used to provide a high-reliability, high-speed communication channel for the control layer and the execution layer; the execution layer serves as the actuator of the fusion control system, and is used to receive train-level vehicle control instructions issued by the control layer, and execute specific actions according to the local control logic of each subsystem; various input and output (I / O) signals collected by the vehicle can also be sent to the control layer through the network layer.

[0059] Among them, the control layer includes one or more integrated control platforms (hereinafter referred to as integrated platform or MVCU), which is not specifically limited in this embodiment.

[0060] The multiple integrated control platforms may be integrated control platforms of different types or integrated control platforms of the same type that are redundant with each other, which is not specifically limited in this embodiment;

[0061] For example, in order to achieve control effectiveness, multiple different types of integrated control platforms are set up according to different control safety levels; among them, the first type of MVCU integrates multiple vehicle control applications, including but not limited to low-safety level applications such as ATO, TCMS, traction control, and brake control; and the second type of MVCU integrates high-safety level control units such as ATP (Automatic Train Protection) control unit. It should be noted that the first and second MVCUs are independently set up and can be directly connected to the TSN backbone network.

[0062] For another example, in order to improve the reliability of vehicle control, the control layer in this embodiment preferentially sets up two groups of MVCUs, namely MVCU1 and MVCU2; the two groups of MVCUs are configured with mutual active-standby redundancy, that is, one MVCU is the main integrated control platform, and the other is the standby integrated control platform.

[0063] The entire MVCU is the main device for centralized fusion control of the vehicle and is installed at both ends of the vehicle, i.e., on the two leading vehicles;

[0064] Each MVCU is connected to the TSN backbone ring network at the network layer through a redundant TSN port to achieve active-standby redundant configuration.

[0065] It should be noted that the fusion control system in this embodiment may also include a fusion control unit independent of the MVCU, such as an ATP control unit.

[0066] The network layer includes a time-sensitive network (TSN for short); TSN is a single-ring network or a double-ring network formed by cascading TSN switches installed on each carriage of the vehicle, which is not specifically limited in this example.

[0067] As an interactive channel between the control layer and the execution layer, the TSN ring network can not only provide a high-reliability, high-speed communication channel, but also one or more physically isolated ring networks provided by TSN can effectively ensure the availability of the network layer.

[0068] The execution layer includes the execution units of each subsystem of the vehicle; the execution units include but are not limited to the speed measurement unit, the traction unit and the braking unit, as well as the air conditioning control unit, the passenger information service system (PIS for short) and the display screen of the PIS, etc., which are not specifically limited in this embodiment. The number of each execution unit of each subsystem can also be set according to actual needs, such as the number of braking units is 2, and the number of PIS display screens is 8.

[0069] The execution unit of each subsystem communicates with the integrated control platform via the TSN of the network layer;

[0070] Among them, the integrated control platform and the execution units of each subsystem can be connected directly or indirectly, or can be connected to the backbone network of TSN in a wired and / or wireless form, etc. This embodiment does not specifically limit the connection method.

[0071] When the connection is successful, each subsystem, as well as each subsystem and the integrated control platform can communicate and share information through TSN at the network layer.

[0072] The integrated control platform is used to generate corresponding vehicle control instructions through various vehicle control applications, and send the vehicle control instructions to the network layer;

[0073] Among them, the integrated control platform can generate vehicle control instructions corresponding to each vehicle control application through each vehicle control application, such as the traction control application can generate traction control instructions; the ATO application can generate automatic driving control instructions, etc.

[0074] Optionally, after generating the vehicle control instructions, the integrated control platform can send the vehicle control instructions to the network layer to achieve full-line sharing of the vehicle control instructions, thereby achieving centralized and integrated control of various subsystems of the vehicle.

[0075] The network layer is used to receive the vehicle control instruction through the TSN, and send the vehicle control instruction to the execution layer;

[0076] Optionally, the network layer can receive vehicle control instructions through TSN, and realize full-line sharing of vehicle control instructions in TSN, that is, all subsystems connected to TSN can share the vehicle control instructions in real time. At the same time, the vehicle control instructions are sent to the execution layer through TSN.

[0077] This example uses the TSN network to form an integrated braking control fusion control system, cancels the traditional CAN intranet, cancels the braking force management and braking force distribution functions of the main control unit in the braking CAN unit, and integrates them into the integrated control platform for unified management of the entire train control, so that all the execution units of the entire train only receive the control instructions of the integrated control platform and output the corresponding control force, such as braking force, to achieve unified management of the control force management and control force distribution of the entire train. And integrate acceleration information on the platform for deceleration closed-loop control, so that the actual deceleration of the vehicle and the target deceleration have good followability, which is conducive to improving the accuracy of vehicle parking control.

[0078] The execution layer is used to receive the whole vehicle control instruction and execute the action corresponding to the whole vehicle control instruction according to the local control logic of the execution unit of each subsystem to perform integrated control on the vehicle.

[0079] Optionally, after receiving the vehicle control instructions sent by the control layer through TSN, the execution layer can execute the actions corresponding to the vehicle control instructions according to the local control logic stored in the execution unit of each subsystem to achieve centralized and integrated control of the vehicle.

[0080] This example provides a fusion control system for centralized control of rail vehicles, which is used to replace the solution of independent control of each subsystem on a rail vehicle in the prior art. It breaks through the traditional independent control system in which ATO sends instructions, TCMS receives instructions, traction and braking receive instructions forwarded by TCMS and calculate and execute them, and realizes train-level centralized control of ATO, TCMS, traction and braking. The application layer of the MVCU software completes the whole vehicle control and sends the whole vehicle control instructions. Each subsystem uniformly accepts the whole vehicle control instructions sent by MVCU and executes the instructions, realizing the fusion of centralized control among the signal control system, the train network control system and the various subsystems of the train. The entire control process only needs to transmit the instruction once to share it with the execution unit of each subsystem, which can shorten the instruction interaction time, realize the sharing and reuse of related signals, avoid repeated transmission, effectively reduce the data transmission frequency between the braking control main control unit and the subsystem, reduce data transmission delay, and effectively improve the timeliness and reliability of vehicle control.

[0081] On the one hand, this embodiment uses an integrated control platform with multiple vehicle control applications integrated in the control layer to centrally issue vehicle control instructions to each subsystem, thereby realizing centralized control of each subsystem of the vehicle, effectively reducing the data transmission frequency between the brake control main control unit and the subsystem, reducing data transmission delay, and reducing the hardware overhead cost of the brake control main control unit; on the other hand, TSN unifies the network communication form of different subsystems on the vehicle and realizes data sharing between subsystems and between subsystems and the control layer, thereby improving the capacity, real-time performance, and accuracy and reliability of information transmission of each subsystem on the vehicle, further improving the real-time performance and reliability of vehicle control instruction transmission, and thereby improving the accuracy of train control.

[0082] On the basis of the above embodiment, the TSN in this embodiment includes a double-ring network composed of multiple TSN switches; wherein each carriage of the vehicle includes two of the TSN switches, namely a first TSN switch and a second TSN switch; the double-ring network is obtained by cascading the first TSN switches in each carriage and cascading the second TSN switches in each carriage.

[0083] Among them, TSN includes multiple TSN switches, and the specific number is determined according to the number of carriages in the vehicle. For example, if the number of carriages is 4, the number of TSN switches is 8.

[0084] Optionally, in order to ensure the reliability and availability of communication, this embodiment sets two TSN switches in each carriage, namely a first TSN switch and a second TSN switch.

[0085] The first TSN switches in each carriage are cascaded, and the second TSN switches in each carriage are also cascaded to form a double-ring network.

[0086] like Figure 1 As shown, taking a four-carriage train as an example, the leading car is half trailer and half motor car, referred to as TMc, and the two middle cars are motor cars with pantographs, referred to as MP, forming a three-motor car and one-trailer train formation.

[0087] Among them, the first TSN switch of each leading car TMc is cascaded (connected in series) with the first switch of the middle car Mp, and the second TSN switch of each leading car TMc is cascaded with the second switch of the middle car Mp, so that the network layer provides two physically isolated dual-ring networks, effectively ensuring the availability of the network layer.

[0088] On the basis of the above embodiments, the TSN in this embodiment also includes multiple wireless access points AP; the execution unit of each subsystem in the execution layer includes multiple first target execution units; wherein the first target execution unit is a wirelessly controlled execution unit in each subsystem; the first target execution unit includes one or more combinations of an air-conditioning control unit, a passenger information service system PIS and a display screen of the PIS; each AP is correspondingly connected to each TSN switch, so as to connect the first target execution unit of each subsystem in the execution layer to the backbone network of the TSN in the network layer in the form of a wireless signal.

[0089] The number of wireless access points (APs) can be determined according to the number of TSN switches.

[0090] Each TSN switch in each carriage is connected to at least one AP for sending wireless signals; each AP may have one or more frequency bands, which is not specifically limited in this embodiment; the frequency band value of each AP can be set according to actual needs, such as setting it according to the communication frequency band of each subsystem.

[0091] Each AP sends a wireless signal to communicate with the first target execution unit on the vehicle that can be wirelessly controlled, such as the air-conditioning local control unit, the passenger information service system PIS (PIS for short) and the PIS display screen and other wireless devices, which are not specifically limited in this embodiment.

[0092] In this embodiment, a wireless transmitter AP is connected to the TSN switch, and a first target execution unit on the vehicle suitable for wireless control is connected to the backbone network of TSN at the network layer through an in-vehicle wireless network to achieve wireless control of the first target execution unit, thereby effectively improving the timeliness of vehicle control.

[0093] On the basis of the above embodiments, in this embodiment, when the frequency band of each AP is a single frequency band, the frequency bands of the APs in each single ring network are cross-deployed in any two adjacent carriages; wherein, the frequency bands of different APs in the same carriage are different.

[0094] Optionally, when the frequency band of each AP is a single frequency band, in order to achieve wireless coverage of the entire vehicle, ensure smooth connection of the first target execution units of each wireless connection in the entire vehicle, and perform reliable wireless communication, this embodiment deploys the APs on the entire vehicle according to the principle of cross-deployment.

[0095] For example, for any two carriages, both carriages have a first AP in the first frequency band and a second AP in the second frequency band; the AP deployment method includes: deploying the first AP in the first carriage of the two carriages in any single ring network of the dual-ring network, and deploying the second AP in the second carriage; deploying the second AP in the first carriage and the first AP in the second carriage in another ring network.

[0096] Based on the above embodiments, each AP in this embodiment includes multiple frequency bands and a frequency band switching unit; the frequency band switching unit is used to switch the current frequency band of each AP to other frequency bands among the multiple frequency bands except the current frequency band when the current frequency band of each AP is offline.

[0097] Each AP may include multiple frequency bands, such as frequency bands of 5.1 GHZ and 5.8 GHZ.

[0098] When each AP includes multiple frequency bands, a frequency band switching unit is set inside each AP to achieve seamless switching of the AP between two frequency bands, thereby improving the communication stability and reliability of the network layer.

[0099] For example, if the current frequency band of any AP is 5.1GHZ and a disconnection occurs, the frequency band switching unit will seamlessly switch the current frequency band of the AP to 5.8GHZ.

[0100] It should be noted that, when the first target execution unit of each wireless connection has two frequency bands, seamless switching connection of the AP can also be achieved;

[0101] This implementation enables each AP to seamlessly switch between different frequency bands by setting multiple frequency bands for each AP, thereby effectively improving the quality of wireless communication.

[0102] On the basis of the above embodiments, the execution layer in this embodiment also includes a remote input and output unit RIOM; the execution units of each subsystem in the execution layer also include multiple second target execution units; wherein the second target execution unit includes one or more combinations of a speed measurement unit, a traction unit and a braking unit; the second target execution unit of each subsystem is connected to the TSN switch of each carriage through the RIOM.

[0103] The execution layer includes not only the execution units of each subsystem but also remote input and output devices (RIOM for short).

[0104] Optionally, since the second target execution unit related to traction and braking control involves the operation and safety of the vehicle, and considering the high real-time nature of the AP wireless switching and the local control unit, the wireless solution is not considered at present, but each second target execution unit is connected to the TSN switch of the car through RIOM.

[0105] Among them, each carriage is equipped with RIOM; in each carriage, each second target execution unit is connected to the TSN switch of the carriage through RIOM, so as to connect the second target execution unit of each subsystem to the backbone network of TSN through RIOM, and realize the full-car multiplexing of RIOM signal.

[0106] Among them, the safety level of RIOM can be set according to actual needs, such as the safety level is SIL2 level.

[0107] Optionally, the fusion control system in this embodiment may implement the following control logic:

[0108] (1) When the vehicle network is normal, the traction and braking commands of the vehicle are performed by the traction APP and braking APP installed on the integrated platform. The calculation results are sent to the TCMS application in the integrated platform. The TCMS application is responsible for communicating with the local traction unit and local braking unit of each carriage to realize the control and execution of traction, braking, air conditioning, PIS and other functions;

[0109] (2) For functions such as anti-skid or anti-spin, which require traction-brake interaction, they are directly implemented through the interaction between the local traction unit and the local brake unit of each carriage; Figure 1 The connection relationship between the local traction unit, local brake unit and RIOM in the vehicle; that is, the three are connected through the TSN switch in the vehicle, and even if there is a fault in the vehicle, it will not affect the control of other vehicles;

[0110] (3) In the event of a network failure, including vehicle TSN ring network disconnection, MVCU host failure, TSN switch failure, etc., resulting in the MVCU and the execution units of each subsystem being unable to communicate normally, the entire train has no control system. However, since the RIOM of each car and the local traction unit and brake unit are connected to the same switch, they can still communicate through the TSN switch of this car. At this time, the hard-wired signals related to traction and braking are collected by the RIOM of this car and sent to the traction control unit of this car and the brake control unit of this car, thereby realizing emergency traction and braking control of the entire train;

[0111] Based on the above functions, it is possible to transform the current emergency traction mode in which one train line connects the traction brake control unit of the entire train to the RIOM in which the emergency traction train line is connected to each car separately, that is, when a failure occurs in each car, it will not affect the control of other vehicles; this solution is an emergency traction solution suitable for centralized train control.

[0112] This embodiment sets up RIOM inside each car to connect the second target execution unit of the subsystem of each car with the TSN switch of each car through RIOM. It can not only connect each second target execution unit with TSN to realize centralized fusion control of the train, but also in the event of a network failure, collect hard-wired signals related to traction and braking through the RIOM of this car and send them to the traction control unit of this car and the braking control unit of this car, thereby realizing emergency traction and braking control of the entire train and improving driving safety.

[0113] On the basis of the above embodiments, the integrated control platform in this embodiment also includes a hardware layer, an operating system, and a functional distributed framework; the hardware layer is deployed at the bottom layer of the integrated control platform, and the superiors of the hardware layer are the operating system, the functional distributed framework and multiple vehicle control applications in sequence; the hardware layer is used to provide the hardware required for the integrated braking control platform; the operating system is used to provide the data calculation and data storage functions required by the integrated braking control platform; the functional distributed framework includes a first application interface, a service interface and a second application interface; the first application interface is used to provide an interface for connecting the functional distributed framework with the multiple vehicle control applications; the service interface is used to provide an interface for providing the services required by the integrated braking control platform; the second application interface is used to provide an interface for connecting the functional distributed framework with the operating system; wherein, the service includes one or more combinations of active-standby redundancy services, clock synchronization services, fault monitoring services, input-output management services, communication protocol services, application scheduling services, and communication management services.

[0114] Optionally, the integrated control platform MVCU is divided into four layers, the bottom layer is the hardware layer common to the integrated platform, the upper layer of the hardware layer is the operating system of the MVCU, the upper layer of the operating system is the functional distributed framework of the MVCU, and the upper layer of the functional distributed framework is multiple vehicle control applications, including but not limited to ATO, TCMS, traction control, and braking control applications.

[0115] The functional distributed framework includes a first application interface at the upper layer, which is used to connect with the vehicle control application on the MVCU; a functional distributed framework service at the middle layer, which is used to provide a service interface; wherein the service interface includes but is not limited to active-standby redundancy, clock synchronization, fault monitoring, input and output management, TRDP (Train Real-time Data Protocol, real-time Ethernet) protocol management, application degree scheduling, communication management, etc.; the lower layer is a second application interface, which is used to communicate with the operating system of the MVCU.

[0116] The integrated control platform in this embodiment integrates a hardware layer, an operating system, a functional distributed framework, and multiple vehicle control applications, which can provide reliable hardware and software facilities for the vehicle's whole vehicle control. It can not only manage the vehicle control instructions, but also has the function of allocating vehicle braking control, effectively improving the accuracy of vehicle control.

[0117] On the basis of the above embodiment, this embodiment further includes multiple sets of Ethernet train backbone network ETB switch pairs;

[0118] The two sets of ETB switches in each group of the ETB switch pair are respectively installed on the lead vehicles at both ends of the vehicle, and are respectively connected to the backbone network of the TSN to provide communication channels for the lead vehicles at both ends of the vehicle.

[0119] Optionally, the fusion control system also includes multiple groups of Ethernet train backbone (ETB for short) switch pairs, and the specific number of groups can be set according to actual needs, such as the number of ring networks.

[0120] For example, when the TSN in this embodiment is a double-ring network, two groups of ETB switch pairs are provided; each group of ETB switch pairs is correspondingly connected to the backbone network of each single-ring network.

[0121] For the two sets of ETB switches in each group of ETB switch pairs, the two sets of ETB switches are respectively installed on the leading cars at both ends of the vehicle, that is, one set of ETB switches is installed at the front end and the rear end of the train respectively, and the two sets of ETB switches are respectively connected to the backbone network of TSN to realize communication between the leading cars at both ends of the vehicle, such as transmitting interactive information such as video and train status when the vehicles are reconnected for operation. This embodiment does not specifically limit the interactive information between the leading cars at both ends of the vehicle.

[0122] The interaction information between the lead vehicles at both ends of the vehicle can also be uploaded to the integrated control platform through TSN. The integrated control platform generates corresponding vehicle control instructions through each vehicle control application based on the interaction information between the lead vehicles at both ends of the vehicle to accurately control the vehicle.

[0123] Based on the above embodiments, the execution layer in this embodiment is also used to collect local information of each subsystem, and transmit the local information to the integrated control platform through the network layer; the integrated control platform is also used to generate the vehicle control instructions based on the local information of each subsystem and each vehicle control application; wherein the local information includes one or more combinations of input signals, output signals, status information and historical control results.

[0124] Optionally, the execution layer is also used to collect local information of each subsystem, and send the local information of each subsystem to the integrated control platform through the TSN of the network layer. The integrated control platform combines the local information of each subsystem and generates more accurate vehicle control instructions through each vehicle control application to accurately control the vehicle.

[0125] It should be noted that the execution layer can also send various input and output (I / O) signals collected by the vehicle to the control layer through the network layer to improve the control accuracy of the vehicle.

[0126] The control method based on the fusion control system applied to a rail vehicle provided by the present invention is described below. The control method based on the fusion control system applied to a rail vehicle described below and the fusion control system applied to a rail vehicle described above can be referenced to each other.

[0127] like Figure 2 As shown, this embodiment provides a control method based on a fusion control system applied to a rail vehicle, the method comprising the following steps:

[0128] Step 201, based on each vehicle control application program of the integrated control platform in the control layer, generate corresponding vehicle control instructions, and send the vehicle control instructions to the network layer;

[0129] Optionally, the integrated control platform can generate vehicle control instructions corresponding to each vehicle control application program through each vehicle control application program, such as a traction control application program can generate traction control instructions; an ATO application program can generate an automatic driving control instruction, etc.;

[0130] Moreover, after generating vehicle control instructions, the integrated control platform can send the vehicle control instructions to the network layer to realize full-line sharing of vehicle control instructions, thereby realizing centralized and integrated control of various subsystems of the vehicle.

[0131] Step 202, receiving the vehicle control instruction based on the TSN of the network layer, and sending the vehicle control instruction to the execution layer;

[0132] The network layer can receive vehicle control instructions through TSN, and realize full-line sharing of vehicle control instructions in TSN, that is, all subsystems connected to TSN can share the vehicle control instructions in real time. At the same time, the vehicle control instructions are sent to the execution layer through TSN.

[0133] Step 203, based on the execution layer, receives the whole vehicle control instruction, and executes the action corresponding to the whole vehicle control instruction according to the local control logic of the execution unit of each subsystem to perform integrated control of the vehicle; wherein, the execution unit of each subsystem communicates with the integrated control platform through the TSN of the network layer.

[0134] Optionally, after receiving the vehicle control instructions sent by the control layer through TSN, the execution layer can execute the actions corresponding to the vehicle control instructions according to the local control logic stored in the execution unit of each subsystem to achieve centralized and integrated control of the vehicle.

[0135] This example provides a fusion control system for centralized control of rail vehicles, which is used to replace the solution of independent control of each subsystem on a rail vehicle in the prior art. It breaks through the traditional independent control system in which ATO sends instructions, TCMS receives instructions, traction and braking receive instructions forwarded by TCMS and calculate and execute them, and realizes train-level centralized control of ATO, TCMS, traction and braking. The application layer of the MVCU software completes the whole vehicle control and sends the whole vehicle control instructions. Each subsystem uniformly accepts the whole vehicle control instructions sent by MVCU and executes the instructions, realizing the fusion of centralized control among the signal control system, the train network control system and the various subsystems of the train. The entire control process only needs to transmit the instruction once to share it with the execution unit of each subsystem, which can shorten the instruction interaction time, realize the sharing and reuse of related signals, avoid repeated transmission, effectively reduce the data transmission frequency between the braking control main control unit and the subsystem, reduce data transmission delay, and effectively improve the timeliness and reliability of vehicle control.

[0136] On the one hand, this embodiment uses an integrated control platform with multiple vehicle control applications integrated in the control layer to centrally issue vehicle control instructions to each subsystem, thereby realizing centralized control of each subsystem of the vehicle, effectively reducing the data transmission frequency between the brake control main control unit and the subsystem, reducing data transmission delay, and reducing the hardware overhead cost of the brake control main control unit; on the other hand, TSN unifies the network communication form of different subsystems on the vehicle and realizes data sharing between subsystems and between subsystems and the control layer, thereby improving the capacity, real-time performance, and accuracy and reliability of information transmission of each subsystem on the vehicle, further improving the real-time performance and reliability of vehicle control instruction transmission, and thereby improving the accuracy of train control.

[0137] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0138] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fusion control system applied to a rail vehicle, characterized in that: Includes control layer, network layer and execution layer; Wherein, the control layer includes an integrated control platform, and the integrated control platform includes a plurality of vehicle control applications; The network layer includes a time-sensitive network TSN; The execution layer includes execution units of each subsystem of the vehicle; The execution unit of each subsystem communicates with the integrated control platform via the TSN of the network layer; The integrated control platform is used to generate corresponding vehicle control instructions through various vehicle control applications, and send the vehicle control instructions to the network layer; The network layer is used to receive the vehicle control instruction through the TSN, and send the vehicle control instruction to the execution layer; The execution layer is used to receive the vehicle control instruction and execute the action corresponding to the vehicle control instruction according to the local control logic of the execution unit of each subsystem to perform integrated control on the vehicle; The TSN includes a dual ring network consisting of multiple TSN switches; Wherein, each carriage of the vehicle comprises two TSN switches, namely a first TSN switch and a second TSN switch; The double ring network is obtained by cascading the first TSN switches in each carriage and cascading the second TSN switches in each carriage; The TSN also includes a plurality of wireless access points AP; The execution unit of each subsystem in the execution layer includes a plurality of first target execution units; Wherein, the first target execution unit is a wireless control execution unit in each subsystem; the first target execution unit includes one or more combinations of an air conditioning control unit, a passenger information service system PIS and a display screen of the PIS; Each AP is connected to each TSN switch correspondingly, and is used to connect the first target execution unit of each subsystem in the execution layer to the backbone network of the TSN of the network layer in the form of a wireless signal; When the frequency band of each AP is a single frequency band, the frequency bands of the APs in any two adjacent carriages under each single ring network are cross-deployed; Among them, different APs in the same carriage have different frequency bands; Each AP includes multiple frequency bands and frequency band switching units; The frequency band switching unit is used to switch the current frequency band of each AP to another frequency band among the multiple frequency bands except the current frequency band when the current frequency band of each AP is offline; The execution layer also includes a remote input and output unit RIOM; The execution unit of each subsystem in the execution layer also includes a plurality of second target execution units; Wherein, the second target execution unit includes one or more combinations of a speed measuring unit, a traction unit and a braking unit; The second target execution unit of the subsystem of each carriage is correspondingly connected to the TSN switch of each carriage through the RIOM; The fusion control system applied to rail vehicles also includes multiple sets of Ethernet train backbone network ETB switch pairs; The two sets of ETB switches in each group of the ETB switch pair are respectively installed on the lead vehicles at both ends of the vehicle, and are respectively connected to the backbone network of the TSN to provide communication channels for the lead vehicles at both ends of the vehicle.

2. The fusion control system for rail vehicles according to claim 1, characterized in that: The integrated control platform also includes a hardware layer, an operating system, and a functional distributed framework; The hardware layer is deployed at the bottom layer of the integrated control platform, and the upper layers of the hardware layer are the operating system, the function distribution framework and a plurality of vehicle control applications in sequence; The hardware layer is used to provide the hardware required by the integrated brake control platform; The operating system is used to provide the functions of data calculation and data storage required by the integrated brake control platform; The function distributed framework includes a first application interface, a service interface, and a second application interface; The first application interface is used to provide an interface for connecting the function distributed framework with the multiple vehicle control application programs; The service interface is used to provide an interface for services required by the integrated brake control platform; The second application interface is used to provide an interface for connecting the function distribution framework with the operating system; The services include one or more combinations of active-standby redundancy services, clock synchronization services, fault monitoring services, input-output management services, communication protocol services, application scheduling services, and communication management services.

3. The fusion control system for rail vehicles according to claim 1, characterized in that: The execution layer is also used to collect local information of each subsystem and transmit the local information to the integrated control platform through the network layer; The integrated control platform is also used to generate the vehicle control instructions according to the local information of each subsystem and each vehicle control application program; The local information includes one or more combinations of input signals, output signals, state information and historical control results.

4. A control method for a fusion control system applied to a rail vehicle based on any one of claims 1 to 3, characterized in that: include: Generate corresponding vehicle control instructions based on each vehicle control application program of the integrated control platform in the control layer, and send the vehicle control instructions to the network layer; Receive the vehicle control instruction based on the TSN of the network layer, and send the vehicle control instruction to the execution layer; The execution layer receives the vehicle control instruction, and executes the action corresponding to the vehicle control instruction according to the local control logic of the execution unit of each subsystem to perform integrated control of the vehicle; wherein the execution unit of each subsystem communicates with the integrated control platform through the TSN of the network layer.

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