Train control method and system

Abstract

The application provides a train control method and system, which comprises the following steps: in the case that a train running in a full automatic mode (FAM) or a peristaltic mode (CAM) loses positioning, determining whether the train meets the condition of entering a remote speed limit mode; in the case that the train meets the condition of entering the remote speed limit mode, sending an application of entering the remote speed limit mode to a train intelligent integrated automatic system (TIAS) of the train; after receiving information of agreeing to the application sent by the TIAS, sending the application to a zone controller (ZC) of the train; receiving a latest safety envelope of the train maintained by the ZC when the ZC agrees to the application, updating a current safety envelope of the train according to the latest safety envelope, and sending the current safety envelope to the ZC; and receiving a movement authority calculated by the ZC according to the current safety envelope, and controlling the train to run at a limited speed according to the movement authority in the remote speed limit mode. The application reduces the influence on the operation of the train and facilitates the staff to get on the train for rescue.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and in particular to a train control method and system. Background Technology

[0002] In the FAO (Fully Automatic Operation) system, when the train is operating at the highest level of automation, GoA (Grades of Automation) 4, there are no staff members on board.

[0003] During normal train operation, the train may lose its location, leading to an emergency stop. Since the train operates at the highest level of automation, GoA4, there are no staff on board, and the train must remain stationary awaiting assistance. This causes significant delays for both the train itself and subsequent trains, severely impacting operational efficiency. Furthermore, manual onboard assistance requires subway staff to reach the stopped location, increasing their workload. Summary of the Invention

[0004] This invention provides a train control method and system to address the shortcomings of existing fully automatic systems that affect train operation efficiency and increase workload when train positioning is lost. The method enables the train to continue running under speed-limited conditions after positioning is lost, thereby reducing the impact on train operation.

[0005] This invention provides a train control method, comprising:

[0006] In the event that a train operating in fully automatic train operation mode (FAM) or creep mode (CAM) loses its location, determine whether the train meets the conditions for entering remote speed-limited operation mode.

[0007] If it is determined that the train meets the conditions for entering the remote speed-limited operation mode, an application to enter the remote speed-limited operation mode is sent to the TIAS of the train.

[0008] After receiving the information from the TIAS indicating agreement to the application, the application is sent to the ZC of the train;

[0009] Receive the latest safety envelope of the train maintained by the ZC when the ZC agrees to the application, update the current safety envelope of the train according to the latest safety envelope, and send the current safety envelope to the ZC;

[0010] The system receives the movement authorization calculated by ZC based on the current safety envelope, and controls the train to operate at a limited speed in the remote speed-limited operation mode based on the movement authorization.

[0011] According to a train control method provided by the present invention, determining whether the train meets the conditions for entering a remote speed-limited operation mode includes:

[0012] Based on the reason for the train's loss of location, determine whether the train meets the conditions for entering the remote speed-limited operation mode;

[0013] If the conditions for entering the remote speed-limited operation mode are met, the train can enter the remote speed-limited operation mode.

[0014] If the conditions for entering the remote speed-limited operation mode are not met, the train cannot enter the remote speed-limited operation mode.

[0015] According to a train control method provided by the present invention, the conditions for the train to enter the remote speed-limited operation mode include that the train's speed and distance measurement functions are normal, the data configuration is correct, and the integrity is not lost.

[0016] The train control method provided by the present invention further includes:

[0017] In the event that the train loses its positioning, an emergency brake is applied to the train.

[0018] According to a train control method provided by the present invention, before sending the application to the ZC of the train after receiving the information of consent to the application sent by the TIAS, the method further includes:

[0019] The TIAS receives a message agreeing to the application if there is no fire or stoppage ahead of the train.

[0020] According to a train control method provided by the present invention, after controlling the train operation according to the mobility authorization in the remote speed-limited operation mode, the method further includes:

[0021] The train is located using a transponder on the track where it is located;

[0022] Once the train re-establishes its location and meets the requirements for upgrading to FAM mode, the train will be restored to FAM mode operation.

[0023] The present invention also provides a train control system, comprising:

[0024] The judgment module is used to determine whether the train meets the conditions for entering the remote speed-limited operation mode when the train loses its location in the fully automatic train operation mode (FAM) or the creep mode (CAM).

[0025] The first sending module is used to send an application to the TIAS of the train to enter the remote speed-limited operation mode when it is determined that the train meets the conditions for entering the remote speed-limited operation mode.

[0026] The second sending module is used to send the application to the ZC of the train after receiving the information from the TIAS indicating that it agrees to the application.

[0027] The update module is used to receive the latest safety envelope of the train maintained by the ZC when the ZC agrees to the application, update the current safety envelope of the train according to the latest safety envelope, and send the current safety envelope to the ZC;

[0028] The control module is used to receive the movement authorization calculated by ZC based on the current safety envelope, and control the train to run at a limited speed according to the movement authorization in the remote speed-limited operation mode.

[0029] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the train control method as described above.

[0030] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the train control method as described above.

[0031] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the train control methods described above.

[0032] The train control method and system provided by this invention determine whether the train meets the conditions for entering the remote speed-limited operation mode after the train loses its location. If the conditions are met, an application to enter the remote speed-limited operation mode is sent to TIAS and ZC. After the application is approved, the train's internal safety envelope is updated according to the safety envelope maintained by ZC so that ZC can calculate the movement authorization. Based on the movement authorization, the train is controlled to continue to operate at a limited speed, reducing the impact on train operation and facilitating staff to board the train for rescue. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1This is one of the flowcharts of the train control method provided by the present invention;

[0035] Figure 2 This is the second flowchart of the train control method provided by the present invention;

[0036] Figure 3 This is a schematic diagram of the train control system provided by the present invention;

[0037] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0039] The following is combined Figure 1 A train control method according to the present invention includes:

[0040] Step 101: In the event that a train operating in FAM (Fully Automatic Train Operating Mode) or CAM (Creep Automatic Mode) mode loses its location, determine whether the train meets the conditions for entering the remote speed-limited operating mode.

[0041] The execution entity in this embodiment is VOBC (Vehicle On-Board Controller).

[0042] Location loss refers to a situation where, even though VOBC has already established a location, an abnormal event causes it to deem its own location unreliable and thus considers the location lost.

[0043] The train uses a fully automated operation system. If the train loses its location while operating in FAM or CAM mode, VOBC will determine whether the train meets the conditions for entering Remote Speed-Limited Operation (RRM) mode.

[0044] In RRM mode, the train is controlled to automatically enter the platform ahead at a speed not exceeding the preset speed limit.

[0045] The condition for entering RRM mode is that the reason for the loss of location does not affect the safety protection of the train operating in remote speed-limited mode. This embodiment does not specifically limit this condition.

[0046] Step 102: If it is determined that the train meets the conditions for entering the remote speed-limited operation mode, send an application to the TIAS of the train to enter the remote speed-limited operation mode.

[0047] When VOBC determines that the train meets the conditions for entering RRM mode, it sends an application to TIAS (Traffic Control Integrated Automation System) to enter RRM mode.

[0048] Step 103: After receiving the information from TIAS agreeing to the application, send the application to the ZC of the train;

[0049] Once the central dispatcher determines that the train meets the conditions for entering remote speed-limited operation mode, they approve the request. The approval message is then sent to VOBC via TIAS.

[0050] After receiving the consent message from TIAS, VOBC sends a request to ZC (Zone Controller) to enter remote speed-limited operation mode.

[0051] Step 104: Receive the latest safety envelope of the train maintained by the ZC when the ZC agrees to the application; update the current safety envelope of the train according to the latest safety envelope; and send the current safety envelope to the ZC.

[0052] ZC determines that the train meets the conditions for entering the remote speed-limited operation mode. When the train meets the conditions for entering the remote speed-limited operation mode, the train is allowed to enter the remote speed-limited operation mode.

[0053] ZC sends its latest safety envelope for the train to VOBC. Since the train has lost its location, the latest safety envelope maintained by ZC is the train's historical safety envelope.

[0054] Based on the latest safety envelope of the train sent by the ZC and the train's operating status, the VOBC determines the train's current safety envelope and sends the train's current safety envelope to the ZC.

[0055] ZC determines the train's current safety envelope based on the train's current safety envelope and axle count status.

[0056] Step 105: Receive the movement authorization calculated by ZC based on the current safety envelope, and control the train to run at a limited speed in the remote speed-limited operation mode according to the movement authorization.

[0057] ZC calculates the movement authorization for VOBC based on the train's current safety envelope, thereby determining the train's safe operating range.

[0058] After receiving the movement authorization, VOBC controls the train to continue to the platform under speed-limited conditions, thereby reducing the impact on train operations and facilitating staff to board and assist. The specific procedure for controlling the train to enter remote speed-limited operation mode is as follows: Figure 2 As shown.

[0059] This embodiment determines whether the train meets the conditions for entering the remote speed-limited operation mode after it loses its location. If the conditions are met, it sends an application to TIAS and ZC to enter the remote speed-limited operation mode. After the application is approved, the train's internal safety envelope is updated according to the safety envelope maintained by ZC so that ZC can calculate the movement authorization. Based on the movement authorization, the train is controlled to continue to operate at a limited speed, reducing the impact on train operation and facilitating staff to board the train for rescue.

[0060] Based on the above embodiments, the determination of whether the train meets the conditions for entering the remote speed-limited operation mode in this embodiment includes:

[0061] Based on the reason for the train's loss of location, determine whether the train meets the conditions for entering the remote speed-limited operation mode;

[0062] If the conditions for entering the remote speed-limited operation mode are met, the train can enter the remote speed-limited operation mode.

[0063] If the conditions for entering the remote speed-limited operation mode are not met, the train cannot enter the remote speed-limited operation mode.

[0064] Analyze the reasons for the train's loss of positioning, determine the impact of the reasons for the loss of positioning on the train's performance, and thus determine whether the train can safely reach the next station.

[0065] The reason for the train losing its location can be pre-correlated with whether the train meets the conditions for entering the remote speed-limited operation mode. By querying the correlation between the two, it can be determined whether the train meets the conditions for entering the remote speed-limited operation mode.

[0066] When the conditions for entering the remote speed-limited operation mode are met, it indicates that the train can enter the remote speed-limited operation mode; otherwise, the train cannot enter the remote speed-limited operation mode.

[0067] Based on the above embodiments, the conditions for the train to enter the remote speed-limited operation mode in this embodiment include that the train's speed and distance measurement functions are normal, the data configuration is correct, and the integrity is not lost.

[0068] If the reason for the train losing its location does not affect the speed and distance measurement functions, such as the cumulative distance measurement error causing the uncertainty of the train's position to exceed the set threshold, or the consecutive loss of two transponders, the train can enter a remote speed-limited operation mode.

[0069] If the train loses its location due to a malfunction in the speed and distance measurement functions, the train cannot enter the remote speed-limited operation mode.

[0070] If the train loses its location due to a data configuration error, such as inconsistency between the VOBC and the transponder electronic map version verification information, the train cannot enter the remote speed-limited operation mode.

[0071] If the train loses its location due to a loss of train integrity, the train cannot enter the remote speed-limited operation mode.

[0072] Based on the above embodiments, this embodiment also includes:

[0073] In the event that the train loses its positioning, an emergency brake is applied to the train.

[0074] In the event of a train losing its positioning while operating in FAM or CAM mode, the train's VOBC outputs an emergency brake to bring the train to a stop.

[0075] After the train comes to a stop, VOBC determines whether the train meets the conditions for entering remote speed-limited operation mode. If the conditions are met, the emergency braking is released, and the train continues to run under the speed-limited conditions, thereby reducing the impact on train operations.

[0076] Based on the above embodiments, this embodiment further includes, before sending the application to the ZC of the train after receiving the information from the TIAS indicating agreement to the application:

[0077] The TIAS receives a message agreeing to the application if there is no fire or stoppage ahead of the train.

[0078] Central dispatchers determine whether there is a fire on the tracks when the train arrives at the next station in order to ascertain whether the train's operating environment is safe.

[0079] The central dispatcher determines whether the train will stop at the next platform. If the train stops, it will pass directly through the platform without stopping.

[0080] If the central dispatcher determines that there is no fire or train tripping ahead, they will send a message of approval to the VOBC via TIAS; otherwise, they will not send such a message.

[0081] Based on the above embodiments, this embodiment further includes, after controlling the train operation according to the mobility authorization in the remote speed-limited operation mode, the following:

[0082] The train is located using a transponder on the track where it is located;

[0083] Once the train re-establishes its location and meets the requirements for upgrading to FAM mode, the train will be restored to FAM mode operation.

[0084] While the train continues to operate at a limited speed, it communicates with transponders on the track and uses the positions of the transponders to locate the train, thus achieving automatic positioning.

[0085] Once the train meets the upgrade conditions, namely, the train re-establishes its positioning and meets the upgrade requirements for FAM mode, the train will be restored to FAM mode operation.

[0086] The train control system provided by the present invention is described below. The train control system described below can be referred to in correspondence with the train control method described above.

[0087] like Figure 3 As shown, the system includes a judgment module 301, a first sending module 302, a second sending module 303, an update module 304, and a control module 305, wherein:

[0088] The judgment module 301 is used to determine whether the train meets the conditions for entering the remote speed-limited operation mode when the train loses its location while operating in FAM or CAM mode.

[0089] The first sending module 302 is used to send an application to the TIAS of the train to enter the remote speed-limited operation mode when it is determined that the train meets the conditions for entering the remote speed-limited operation mode.

[0090] The second sending module 303 is used to send the application to the ZC of the train after receiving the information from the TIAS that agrees to the application;

[0091] The update module 304 is used to receive the latest safety envelope of the train maintained by the ZC when the ZC agrees to the application, update the current safety envelope of the train according to the latest safety envelope, and send the current safety envelope to the ZC;

[0092] The control module 305 is used to receive the movement authorization calculated by ZC based on the current safety envelope, and control the train to run at a limited speed based on the movement authorization in the remote speed-limited operation mode.

[0093] This embodiment determines whether the train meets the conditions for entering the remote speed-limited operation mode after it loses its location. If the conditions are met, it sends an application to TIAS and ZC to enter the remote speed-limited operation mode. After the application is approved, the train's internal safety envelope is updated according to the safety envelope maintained by ZC so that ZC can calculate the movement authorization. Based on the movement authorization, the train is controlled to continue to operate at a limited speed, reducing the impact on train operation and facilitating staff to board the train for rescue.

[0094] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include a processor 410, a communications interface 420, a memory 430, and a communication bus 440, wherein the processor 410, communications interface 420, and memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a train control method, which includes: determining whether the train meets the conditions for entering a remote speed-limited operation mode when the train loses its location while operating in FAM or CAM mode; if the conditions for entering the remote speed-limited operation mode are met, sending an application to the train's TIAS to enter the remote speed-limited operation mode; after receiving the consent application information sent by the TIAS, sending the application to the train's ZC; receiving the latest safety envelope of the train maintained by the ZC sent by the ZC when the application is consented, updating the train's current safety envelope according to the latest safety envelope, and sending the current safety envelope to the ZC; receiving the movement authorization calculated by the ZC based on the current safety envelope, and controlling the train to operate at a limited speed in the remote speed-limited operation mode according to the movement authorization.

[0095] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the train control method provided by the above methods. The method includes: determining whether the train meets the conditions for entering a remote speed-limited operation mode when the train is lost in FAM or CAM mode; sending an application to the train's TIAS to enter the remote speed-limited operation mode when the conditions for entering the remote speed-limited operation mode are met; sending the application to the train's ZC after receiving the consent application information sent by TIAS; receiving the latest safety envelope of the train maintained by ZC sent by ZC when the consent application is received, updating the current safety envelope of the train according to the latest safety envelope, and sending the current safety envelope to ZC; receiving the movement authorization calculated by ZC according to the current safety envelope, and controlling the train to operate at a limited speed in the remote speed-limited operation mode according to the movement authorization.

[0097] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform the train control methods provided by the above methods. The method includes: determining whether a train meets the conditions for entering a remote speed-limited operation mode when its location is lost while operating in FAM or CAM mode; if the conditions for entering the remote speed-limited operation mode are met, sending an application to the train's TIAS to enter the remote speed-limited operation mode; after receiving a consent request from the TIAS, sending the application to the train's ZC; receiving the latest safety envelope of the train maintained by the ZC when the consent request is sent by the ZC, updating the train's current safety envelope according to the latest safety envelope, and sending the current safety envelope to the ZC; receiving a movement authorization calculated by the ZC based on the current safety envelope, and controlling the train to operate at a limited speed in the remote speed-limited operation mode according to the movement authorization.

[0098] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A train control method characterized by, The application comprises the following steps: In the case that the train running in full automatic mode (FAM) or in peristaltic mode (CAM) loses positioning, it is determined whether the train meets the condition of entering remote speed limit mode; In the case that it is determined that the train meets the condition of entering remote speed limit mode, an application for entering the remote speed limit mode is sent to the TIAS of the train; After receiving the information sent by the TIAS that the application is agreed, the application is sent to the ZC of the train, and before the step of sending the application to the ZC of the train after receiving the information sent by the TIAS that the application is agreed, the following steps are further included: receiving the information sent by the TIAS that the application is agreed in the case that there is no fire or stop-jump in front of the train, and sending the information that the application is agreed to the VOBC through the TIAS in the case that the central dispatch personnel judge that there is no fire or stop-jump in front of the train, otherwise, the information that the application is agreed is not sent; Receiving the latest safety envelope of the train maintained by the ZC when the ZC agrees to the application, updating the current safety envelope of the train according to the latest safety envelope, and sending the current safety envelope to the ZC; Receiving the movement authorization calculated by the ZC according to the current safety envelope, and controlling the train to run at a limited speed according to the movement authorization in the remote speed limit mode.

2. The train control method according to claim 1, characterized by, The step of determining whether the train meets the condition of entering remote speed limit mode comprises the following steps: According to the reason why the train loses positioning, it is determined whether the train meets the condition of entering remote speed limit mode; In the case that the train meets the condition of entering remote speed limit mode, the train can enter remote speed limit mode; In the case that the train does not meet the condition of entering remote speed limit mode, the train cannot enter remote speed limit mode.

3. The train control method according to claim 2, characterized by, The condition of the train entering remote speed limit mode includes that the speed and distance measuring function of the train is normal, the data configuration is correct, and the integrity is not lost.

4. The train control method according to claim 1, characterized by, The application further comprises the following steps: In the case that the train loses positioning, emergency braking is output to the train.

5. The train control method according to any one of claims 1 to 4, characterized by, After the step of controlling the train to run according to the movement authorization in the remote speed limit mode, the following steps are further included: The train is positioned through the transponder on the track where the train is located; In the case that the train re-establishes positioning and meets the condition of upgrading FAM mode, the train is restored to FAM mode.

6. A train control system characterized by, The application comprises the following steps: A judgment module is configured to determine whether a train running in full automatic mode (FAM) or in peristaltic mode (CAM) meets the condition of entering remote speed limit mode in the case that the train loses positioning; A first sending module is configured to send an application for entering the remote speed limit mode to the TIAS of the train in the case that it is determined that the train meets the condition of entering remote speed limit mode; a second sending module, configured to send the application to the ZC of the train after receiving the information of approval of the application sent by the TIAS, and before sending the application to the ZC of the train after receiving the information of approval of the application sent by the TIAS, further comprising: receiving the information of approval of the application sent by the TIAS in the case that there is no fire or stop-jump ahead of the train, and sending the information of approval of the application to the VOBC through the TIAS in the case that the central dispatch personnel judge that there is no fire or stop-jump ahead of the train, otherwise, not sending the information of approval of the application; an updating module, configured to receive the latest safety envelope of the train maintained by the ZC and sent by the ZC when approving the application, update the current safety envelope of the train according to the latest safety envelope, and send the current safety envelope to the ZC; a control module, configured to receive the movement authority calculated by the ZC according to the current safety envelope, and control the train to run at a limited speed according to the movement authority in the remote speed-limiting running mode.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the train control method according to any one of claims 1 to 5 when executing the program.

8. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program implements the train control method according to any one of claims 1 to 5 when executed by the processor.

9. A computer program product comprising a computer program, characterized in that, The computer program implements the train control method according to any one of claims 1 to 5 when executed by the processor.

Images