Automatic hibernation control method and system for unmanned train

Abstract

The embodiment of the application provides a kind of unmanned train automatic dormancy control method and system, by control center sends the auxiliary driving module of vehicle control unit in train to train vehicle control management system vehicle dormancy request, vehicle control management system controls train to carry out dormancy preparation, if it is detected that dormancy preparation is completed, it waits for auxiliary driving module to send hard line dormancy instruction, after receiving hard line dormancy instruction, train power-off is carried out, if control center detects that train power-off is completed, it is determined that automatic dormancy is completed, realizes after train is returned to warehouse Automatic detection and automatic dormancy control are carried out, and the accuracy, reliability of control dormancy is high.It also solves the train control technical problem of unmanned train automatic control dormancy, provides premise guarantee for train full-automatic unmanned automatic wake-up, and then realizes train command automation, operation efficiency and technical advancement.

Description

Technical Field

[0001] The present invention relates to the field of train control technology, and more specifically to an automatic sleep control method and system for driverless trains. Background Technology

[0002] Currently, fully automated driverless train technology operates under normal conditions, with automated equipment replacing drivers to drive the train across the entire line. However, existing solutions mostly employ a driver-attended operation mode. After the train stops operating on the main line, the driver operates the train to return to the depot and de-energize it, requiring specialized personnel for maintenance and inspection. Furthermore, current driverless train hibernation designs focus on the signaling system and the Train Control and Automation System (TIAS) control process, lacking a method to implement the hibernation process from the perspective of the vehicle and Vehicle Control and Management System (TCMS). The current methods have the following drawbacks: 1) The level of network intelligence control is not high. Vehicles stop on the main line and power outages are achieved by the signal system or by manual hard-wired control, and the TCMS system hardly participates.

[0003] 2) The risk of human error in train operation is high. After the train returns to the depot, operations such as lowering the pantograph / cutting off the power require the driver's operation, which may lead to human error or other human factors.

[0004] 3) The degree of network-automated diagnostics is not high. The status check of the vehicle before power failure is mainly done manually. Remote control automatic testing cannot be achieved, and preparation work cannot be provided for the autonomous vehicle to be woken up again.

[0005] 4) High maintenance and operating costs. A series of post-depot inspections, such as power outages and equipment checks, require a significant amount of manpower and resources. Summary of the Invention

[0006] This application provides an automatic sleep control method and system for driverless trains to solve the above-mentioned problems in the prior art.

[0007] In a first aspect, embodiments of the present invention provide an automatic sleep control method for driverless trains, comprising: If the control center detects that the train has returned to the depot, the control center sends a hibernation command to the auxiliary driving module of the on-board control unit in the train. After receiving the hibernation command, the assisted driving module of the on-board control unit sends a vehicle hibernation request to the train's vehicle control and management system. After receiving a vehicle hibernation request, the vehicle control and management system determines whether the train meets the hibernation preparation conditions. If so, it controls the train to prepare for hibernation. The vehicle control and management system checks the train's hibernation preparation status. If the hibernation preparation status is complete, it controls the train to hibernate. The system then summarizes the train's hibernation preparation status, obtains the hibernation preparation result, and sends the result to the onboard control unit. The vehicle control unit sends the vehicle's sleep preparation results to the control center; If the control center detects that the hibernation preparation is complete, it waits for the auxiliary driving module to send a hard-wire hibernation command, and then cuts off the power to the train after receiving the hard-wire hibernation command. If the control center detects that the train's power outage is complete, it confirms that the automatic hibernation process is finished.

[0008] Optionally, the control train prepares for hibernation, including: The train performs vehicle status checks, load power-off control, and main / pantograph disconnection / lowering control.

[0009] Optionally, before the control center sends a sleep command to the auxiliary driving module of the onboard control unit in the train, the method further includes: The control center checks whether the train has returned to the depot.

[0010] Optionally, the control center detects whether the train has returned to the depot by including: The integrated train operation automation system in the control center checks the current train to ensure it has fully entered the switching track or the main line storage track according to the pre-set operating schedule, determines that the train should return to the depot, and controls the train to stop main line service.

[0011] Optionally, after controlling the train to stop mainline service and before controlling the train to prepare for hibernation, the method further includes: The control center checks whether the train meets the conditions for entering hibernation. If it does, it executes the step whereby the onboard control unit's auxiliary driving module sends a hibernation request to the train's vehicle control and management system after receiving the hibernation command.

[0012] Optionally, after controlling the train to stop mainline service and before controlling the train to prepare for hibernation, the method further includes: If the conditions for entering hibernation are not met, the onboard control unit will report the reason and result of the train not meeting the hibernation conditions to the control center.

[0013] Optionally, before the control center checks whether the train has returned to the depot, the method further includes: The control center checks whether the on-board control unit and the vehicle control management system can communicate normally. If they cannot communicate normally, a communication fault message is issued.

[0014] Secondly, embodiments of the present invention provide an automatic sleep control system for an unmanned train, including a control center, an on-board control unit, and a vehicle control management system. The on-board control unit and the vehicle control management system are installed on the train, and the on-board control unit is communicatively connected to the control center and the vehicle control management system, respectively. The control center is used to send a sleep command to the auxiliary driving module of the on-board control unit in the train if the train is detected to be returning to the depot. The onboard control unit is used to send a vehicle hibernation request to the train's vehicle control and management system after the driver assistance module receives a hibernation command. The vehicle control and management system is used to determine whether the train meets the conditions for sleep preparation after receiving a train sleep request. If so, it controls the train to prepare for sleep. The vehicle control and management system is also used to check the train's hibernation preparation status. If the hibernation preparation status is complete, the system controls the train to hibernate. The system also summarizes the train's hibernation preparation status, obtains the hibernation preparation results, and sends the hibernation preparation results to the on-board control unit. The vehicle control unit is also used to send the vehicle hibernation preparation results to the control center; The control center is also used to wait for the auxiliary driving module to send a hard-wired sleep command if it detects that the sleep preparation is complete, and then cut off the power to the train after receiving the hard-wired sleep command; if it detects that the sleep preparation has failed, it waits for the control center to handle the situation manually before cutting off the power to the train. The control center is also used to determine the completion of automatic hibernation if a power outage of the train is detected.

[0015] The vehicle control and management system is communicatively connected to multiple subsystems of the vehicle. These subsystems include the traction system, auxiliary system, braking system, door system, air conditioning system, smoke and fire alarm system, passenger information system, battery management system, pantograph-catenary monitoring system, lighting system, obstacle detection system, and running gear online monitoring system.

[0016] The embodiments of this application, by adopting the above technical solutions, have the following technical effects: This invention provides an automatic hibernation control method and system for driverless trains. If the control center detects the train returning to the depot, it sends a hibernation command to the auxiliary driving module of the onboard control unit. Upon receiving the hibernation command, the auxiliary driving module sends a vehicle hibernation request to the train's vehicle control management system. Upon receiving the hibernation request, the vehicle control management system determines whether the train meets the hibernation preparation conditions. If so, it controls the train to prepare for hibernation. The system checks the train's hibernation preparation status; if it is complete, it controls the train to hibernate, summarizes the hibernation preparation status, obtains the hibernation preparation result, and sends it to the onboard control unit. The onboard control unit sends the hibernation preparation result to the control center. If the control center detects that hibernation preparation is complete, it waits for the auxiliary driving module to send a hard-wired hibernation command. Upon receiving the command, it de-energizes the train. If the control center detects that the train's power-off is complete, it confirms that automatic hibernation is complete. This method achieves automatic detection and automatic hibernation control after the train returns to the depot, with high accuracy and reliability.

[0017] Based on the above solution, the train control technology problem of automatic control hibernation of driverless trains has been solved, improving the level of network intelligence control and network automation diagnostics. This provides a prerequisite for the automatic wake-up of fully automated driverless trains, thereby realizing automated train command, high-efficiency operation, and advanced technology. Simultaneously, by using TCMS to control a series of automated control and self-diagnostic functions such as stopping mainline operation, returning to the depot for cleaning, and hibernation of fully automated driverless vehicles, the hard wiring layout of trains is reduced, making it possible to reduce train weight and simplify wiring. Furthermore, the remote hibernation process of driverless trains does not require personnel to board the train for inspection; instead, it follows a lean control process for vehicle equipment and power-off control after returning to the depot, forming a standardized and modular vehicle hibernation control method, reducing the risk of manual operation. Moreover, the high level of network intelligence, through unified management and scheduling by the ground control center, realizes intelligent and manual vehicle control, while effectively improving the efficiency of fully automated system management. In addition, the high degree of automation of fully automated driverless trains saves manpower and material resources. Although the initial construction cost is higher than that of ordinary trains, the low maintenance cost reduces operating costs. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A flowchart of an automatic sleep control method for an unmanned train provided in this application embodiment; Figure 2A flowchart of another vehicle sleep control method provided in this application embodiment; Figure 3 A flowchart of the method for determining the conditions for a vehicle to enter hibernation request provided in this application embodiment; Figure 4 A flowchart of a vehicle hibernation state check method provided in this application embodiment; Figure 5 A flowchart illustrating the TCMS diagnostic method for the communication status of each subsystem provided in this application embodiment; Figure 6 A flowchart of a vehicle high-voltage power-off control method provided in an embodiment of this application; Figure 7 A flowchart illustrating the low-voltage power-off method for inspection trains provided in this application embodiment. Detailed Implementation

[0019] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0020] Before departing from the depot, the driverless train automatically wakes up according to the operation plan. After successful wake-up, the train automatically enters the unmanned train operation mode (UTO) and waits for the Automatic Train Monitoring System (ATS) to issue a "standby" operation command to await departure. After completing its mainline operation task, the train stops its mainline operation task, returns to the depot for cleaning, and then enters sleep mode. Before entering sleep mode, a sleep confirmation is required to ensure that the train can automatically start its equipment based on the information stored before sleep mode when it is powered on again, thus enabling the train to be woken up again as a fully automated train. This application proposes a sleep control method and system applicable to driverless trains. It mainly focuses on the entire vehicle control process, from controlling the cessation of mainline operation service, return to the depot for cleaning, and power-off during sleep mode, through the participation of the TCMS. By feeding back the detected sleep state of the train to the control center, it achieves precise parking control after the driverless train returns to the depot and prepares the train for re-entry into operation, providing safety assurance for mainline operation. Specifically, the automatic sleep control method and system for driverless trains provided in this application are described in detail through the following embodiments.

[0021] Example 1

[0022] Please see Figure 1 This application provides an automatic sleep control method for driverless trains, comprising the following steps: S101: If the control center detects that the train has returned to the depot, the control center sends a hibernation command to the auxiliary driving module of the on-board control unit in the train.

[0023] S102: After receiving the hibernation command, the auxiliary driving module of the on-board control unit sends a vehicle hibernation request to the train's vehicle control and management system.

[0024] S103: After receiving a vehicle hibernation request, the vehicle control and management system determines whether the train meets the hibernation preparation conditions. If so, it controls the train to prepare for hibernation.

[0025] S104: The vehicle control and management system checks the train's hibernation preparation status. If the hibernation preparation status is complete, it controls the train to hibernate. The system summarizes the train's hibernation preparation status, obtains the hibernation preparation result, and sends the hibernation preparation result to the on-board control unit.

[0026] S105: The vehicle control unit sends the vehicle hibernation preparation result to the control center.

[0027] S106: If the control center detects that the hibernation preparation is complete, it waits for the auxiliary driving module to send a hard-wire hibernation command, and then cuts off the train power after receiving the hard-wire hibernation command.

[0028] If the control center detects that the hibernation preparation has failed, the train will be powered off after the control center performs manual intervention.

[0029] S107: If the control center detects that the train power outage is complete, it confirms that the automatic hibernation is complete.

[0030] Automatic hibernation is now complete; the train will be ready to wake up the next time it starts operating.

[0031] By adopting the above scheme, automatic detection and automatic sleep control are achieved after the train returns to the depot, with high accuracy and reliability in controlling sleep. This solves the technical problem of automatic sleep control for driverless trains, improves the level of network intelligent control and network automated diagnostics, provides a prerequisite for fully automatic driverless train wake-up, and ultimately realizes automated train command, high operational efficiency, and advanced technology.

[0032] Optionally, the train can be controlled to prepare for hibernation, including: vehicle status checks, load power-off control, and main / pantograph disconnection / lowering control.

[0033] In this embodiment, the basic process of the vehicle automatic sleep control method includes: 1) preparing conditions for the vehicle to enter sleep mode; 2) checking the vehicle's sleep mode permission status; 3) controlling the vehicle's high-voltage power failure (load power failure, main power failure, pantograph lowering, etc.); and 4) controlling the vehicle's low-voltage power failure.

[0034] Please refer to the following: Figure 1 and Figure 2 When both driver's cabs at both ends of the train are in automatic mode, the control center automatically sends a hibernation command to the onboard VOBC (Vehicle-Operated Driver Assistance Module) after the train returns to the depot. Upon receiving the hibernation command, the VOBC sends a vehicle hibernation request to the train's TCMS (Train Control System). The TCMS then controls the train to perform procedures such as vehicle status checks, load power-off control, and main engine disconnection / pantograph lowering control. After all the above steps are successfully completed in sequence, the TCMS summarizes the train load and pantograph lowering status and sends the hibernation preparation result to the VOBC. The VOBC then sends the vehicle hibernation preparation result to the control center. If hibernation preparation is complete, it waits for the hard-wired hibernation command from the driver assistance module and then cuts off the train's power. If hibernation fails, it waits for manual intervention from the control center before cutting off the train's power. After the train is powered off, it waits to be awakened for the next train operation.

[0035] In this embodiment of the application, before the control center sends a hibernation command to the auxiliary driving module of the onboard control unit (VOBC) in the train, the automatic hibernation control method for driverless trains provided in this embodiment of the application further includes: the control center detecting whether the train has returned to the depot. Specifically, the Train Operation Automation System (TIAS) of the control center checks whether the current train has completely entered the switching track or the mainline storage track according to the pre-set planned operation diagram, determines that the train has returned to the depot, and controls the train to stop mainline service.

[0036] Before the train prepares for hibernation after it stops mainline service, the automatic hibernation control method for driverless trains further includes: the control center detecting whether the train meets the conditions for entering hibernation; if the conditions are met, the auxiliary driving module of the onboard control unit (VOBC) sends a vehicle hibernation request to the train's vehicle control management system (TCMS) after receiving the hibernation command.

[0037] In this embodiment, before the train prepares for hibernation after ceasing mainline service, the automatic hibernation control method for the driverless train further includes: the driverless train making a hibernation request control. That is, if the conditions for entering hibernation are not met, the onboard control unit (VOBC) reports the reason and result to the control center that the train does not meet the hibernation conditions. In other words, before entering the vehicle hibernation request state after completing mainline operation service, the train must first complete preparatory work such as ceasing mainline service, returning to the depot, and cleaning. The control method for the train preparing to enter the vehicle hibernation request state is as follows: Figure 3 As shown. Specific methods for controlling the hibernation request of driverless trains include: If it is determined that the train has entered a state of stopping mainline service, check whether the communication between VOBC and the vehicle TCMS is normal.

[0038] If the communication between VOBC and the vehicle TCMS is normal, VOBC sends a command to the vehicle TCMS to stop the mainline service condition, and the train is controlled to run back to the depot in the mainline service operation mode.

[0039] After the train enters the depot, the VOBC sends a horn command to the TCMS. The TCMS controls the train to sound its horn through the DO output and simultaneously controls the train speed limit. The TCMS sends the speed limit setting command to the train traction system control unit (TCU). The TCU controls the speed of the traction motor to achieve low-speed operation of the train in the depot until the train comes to a complete stop.

[0040] After the train comes to a complete stop, the VOBC sends a cleaning instruction to the TCMS. The TCMS then locks the train traction according to the cleaning instruction to prevent the train from moving during the cleaning process. The TCMS starts timing according to the cleaning instruction and sends an automatic broadcast instruction to the Vehicle Passenger Information System (PIS) within a set time before the end of the cleaning. The PIS system broadcasts the message on the train according to the pre-recorded information to remind the cleaning personnel to get off the train in time.

[0041] If the VOBC still sends a cleaning command to the TCMS within the specified cleaning time, the TCMS will report a cleaning timeout fault to the control center through the VOBC, and wait for manual handling by the control center.

[0042] Once cleaning is complete and VOBC detects no faults in its own system, it sends a vehicle hibernation request to the vehicle TCMS via VOBC.

[0043] As an optional implementation, before the driverless train completes its mainline service operation and enters sleep mode, it must meet the preparation conditions for entering sleep mode. The train first enters the stopped mainline service condition. If a communication failure occurs between the VOBC and the vehicle TCMS at this time, the VOBC will request the control center to enter creep mode (CAM). After confirmation by the control center, the train stops in creep mode at the switching track, mainline storage line, or terminal turnaround track without departing, awaiting manual intervention. If communication between the VOBC and the vehicle TCMS is normal, the VOBC sends a "stop mainline service condition" command to the vehicle TCMS, and the train operates in mainline service mode until it returns to the depot. After entering the depot, the TCMS controls the vehicle to sound its horn via DO output and simultaneously controls the train speed limit. The TCMS sends a speed limit command of 5 km / h (specific parameters can be adjusted) to the train traction system control unit (TCU). The TCU controls the traction motor speed to achieve low-speed operation within the depot until the train comes to a complete stop. After the train comes to a complete stop, the VOBC sends a cleaning instruction to the TCMS. The TCMS, based on this instruction, locks the train's traction to prevent movement during cleaning. The TCMS starts the timer according to the cleaning instruction and sends an automatic broadcast instruction to the Vehicle Passenger Information System (PIS) 5 minutes before the end of cleaning (specific details can be adjusted). The PIS system broadcasts pre-recorded information to remind cleaning personnel to disembark. If the VOBC still sends a cleaning instruction to the TCMS within the specified cleaning time (e.g., 60 minutes, adjustable as needed), the TCMS reports a cleaning timeout fault to the control center via the VOBC, awaiting manual intervention. Once cleaning is complete and the VOBC detects no faults in its own system, the control center sends a "vehicle hibernation request" to the vehicle's TCMS via the VOBC. During the control process for the vehicle to enter hibernation request preparation conditions, if a fault or other unmet conditions occur, the onboard VOBC reports the reason and result of the train not meeting the hibernation conditions to the control center.

[0044] Optionally, the method for controlling the hibernation request of driverless trains also includes: If a communication failure occurs between the VOBC and the vehicle TCMS, the VOBC will request the control center to enter creep mode (CAM). After the control center confirms, the train will stop in creep mode on the switching track, mainline storage track, or terminal turnaround track and will not depart, waiting for manual intervention.

[0045] During the control process of preparing the train for hibernation, if a fault or other conditions are not met, the onboard VOBC will report the reason and result of the train not meeting the hibernation conditions to the control center.

[0046] The method for controlling hibernation requests of driverless trains also includes: After receiving the "vehicle hibernation request" from VOBC, the train TCMS checks whether the vehicle has entered a hibernation-allowed state. If the vehicle has entered a hibernation-allowed state, it controls the vehicle to hibernate.

[0047] The process of detecting whether a vehicle has entered a permitted sleep state includes: Determine if the hibernation request command is valid; If the hibernation request command is valid, determine whether the train is in FAM mode; If the train is in FAM mode, TCMS performs a status check on the train. Determine if the train is under maintenance; If the train is not under maintenance, determine whether the train is in emergency traction / CAM mode; If the train is not in emergency traction / CAM mode, determine whether the train is at zero speed. If the train is at zero speed, check if the key to the train driver's cab is in the OFF position. If the train driver's cab key is in the OFF position, determine whether the TCMS is communicating normally with the onboard subsystems. If the TCMS communicates normally with each of the vehicle's subsystems, the TCMS sends a "sleep" command to the control units of each of the vehicle's subsystems. Determine if all vehicle subsystems are functioning correctly. If there are no faults in any of the vehicle's subsystems, each of the vehicle's subsystems sends a hibernation permission message to the TCMS. TCMS enters the high-voltage power-off sleep control process.

[0048] As an optional implementation, the driverless train hibernation request control method further includes: If the train is not in FAM mode, the train is under maintenance, the train is in emergency traction / CAM mode, the train is not at zero speed, or the driver's cab key is not in the OFF position, it is determined that the vehicle status does not meet the conditions for TCMS to issue a hibernation command. TCMS reports the train hibernation fault to the control center OCC via VOBC.

[0049] The method for controlling hibernation requests of driverless trains also includes: If the TCMS is not communicating with the vehicle's various subsystems, the TCMS will diagnose a communication failure in the subsystem. TCMS reports the train hibernation fault to the control center OCC via VOBC.

[0050] The method for controlling hibernation requests of driverless trains also includes: If the communication between TCMS and the vehicle's various subsystems is abnormal and the detection time exceeds 2 seconds, TCMS will diagnose a communication failure in the subsystem. TCMS reports the train hibernation fault to the control center OCC via VOBC.

[0051] If not all vehicle subsystems are fault-free, the vehicle subsystems may report or the TCMS may diagnose a hibernation fault in the subsystem. TCMS reports the train hibernation fault to the control center OCC via VOBC.

[0052] If not all vehicle subsystems are fault-free, and the detection time exceeds 30 seconds, the vehicle subsystems will report or the TCMS will diagnose a hibernation fault in the subsystem. TCMS reports the train hibernation fault to the control center OCC via VOBC.

[0053] As an optional embodiment, in this invention, after receiving a "vehicle hibernation request" from the VOBC, the train TCMS will perform a vehicle hibernation permission check. The vehicle hibernation permission check mainly examines the vehicle's status / faults, such as... Figure 4 As shown. The information required for checking the vehicle's sleep mode includes: a valid sleep request command, the train being in FAM mode, the maintenance button not activated, non-emergency traction / CAM mode, train at zero speed, the driver's cab key in the OFF position, normal communication between the TCMS and all onboard subsystems, and all onboard subsystems being normal and fault-free. Specifically, the checking method is as follows: Sleep request command valid: When the VOBC and the vehicle TCMS are communicating normally, the "sleep request command" sent by the VOBC to the TCMS through the communication bus is always valid, and this signal is active high.

[0054] Train in FAM mode: When the VOBC and the vehicle TCMS are communicating normally, the "FAM mode" sent by the VOBC to the TCMS through the communication bus is valid. Otherwise, when the train is in non-FAM mode, the remote hibernation command cannot be executed.

[0055] Inspection button not activated: The vehicle's TCMS monitors the status of the inspection button via the DI module. If it is in inspection mode, the remote sleep command will not be executed in the wake-up state, and the inspection status will be sent to the control center OCC via the onboard VOBC. When the inspection button is pressed, the vehicle automatically enters inspection mode and turns on the lights and air conditioning.

[0056] Non-emergency traction / CAM mode: The vehicle TCMS collects the train line status of "emergency traction train line" and "CAM mode train line" via the DI module. When the TCMS detects that the train line status is valid, it cannot execute the remote sleep command.

[0057] Train at zero speed: The vehicle's TCMS collects the zero-speed train track status of the signal system / braking system via the DI module. If the TCMS detects that the train track status is not at zero speed, it cannot execute the remote sleep command.

[0058] When the driver's cab key is in the OFF position: The vehicle TCMS collects the driver's cab key activation status via a hardwired DI module. When the driver's cab key is activated, the onboard VOBC is in manual driving mode (non-FAM mode) and does not execute remote hibernation commands. If the driver presses the vehicle's local hibernation button while the driver's cab key is activated, the onboard VOBC and vehicle TCMS will no longer exchange hibernation requests and confirmations; instead, each system will complete its own hibernation operation and report the hibernation result to the control center.

[0059] The TCMS communicates normally with all onboard subsystems: These subsystems mainly include the traction system (TCU), auxiliary system (SIV), braking system (BCU), door system, air conditioning system (ACU), smoke and fire alarm system, passenger information system (PIS), battery management system, pantograph-catenary monitoring system, lighting system, obstacle detection system, and running gear online monitoring system. Only when the TCMS communicates normally with these subsystems can it send control commands and collect status information; otherwise, remote automatic sleep mode cannot be achieved. The control method for normal communication between the TCMS and the onboard subsystems is as follows: Figure 5 As shown, the data transmission cycle between the TCMS system and its subsystems is mainly defined based on the transmission performance of the communication boards in each subsystem and the importance of the data.

[0060] Therefore, before the control center checks whether the train has returned to the depot, the method also includes: the control center checking whether the on-board control unit and the vehicle control management system can communicate normally; if they cannot communicate normally, a communication fault message is issued.

[0061] All vehicle subsystems are functioning normally without faults: Each vehicle subsystem checks its own equipment's working status and performance to ensure it is normal. Taking the air conditioning system as an example, after receiving the "sleep" command from the TCMS, the air conditioning system begins to check the working status of related equipment, such as the three-phase power contactor, ventilator, condenser fan, compressor, emergency ventilation inverter, contactors of various equipment, compressor high and low pressure, temperature sensors, etc., to check for faults. If there are no faults, the air conditioning system reports "sleep allowed" status to the TCMS. If there are faults, the air conditioning system sends fault flag information to the vehicle TCMS. The TCMS sends the fault information to the control center via VOBC and reports sleep failure to the control center. The vehicle then maintains its current state.

[0062] In this application, after the vehicle's TCMS checks that the vehicle status is in a dormant state, the TCMS controls the vehicle's high-voltage and low-voltage power cut-offs. This primarily involves protective shutdown of the vehicle's AC loads before high-voltage power is cut off, including main circuit breaker disconnection and pantograph lowering. Please refer to... Figure 6 and Figure 7 The high and low voltage power outage control methods for driverless trains include: If it is determined that the train has entered a state where hibernation is permitted, the vehicle TCMS sends a hibernation command to the ACU and the intelligent operation and maintenance on-board host, and the TCMS stops sending compressor start commands to the ACU.

[0063] After the train arrives at the switching track, the onboard host of the intelligent operation and maintenance system stops packaging vehicle data and begins transmitting intelligent operation and maintenance system data to the ground. When the data transmission is complete, it sends a signal indicating that the intelligent operation and maintenance system data has been successfully transmitted to the TCMS.

[0064] When the ACU receives a hibernation command from the TCMS, the ACU controls the unit to shut down and sends a shutdown signal back to the TCMS.

[0065] If the TCMS receives a shutdown signal from the ACU within 40 seconds (adjustable time) after sending the hibernation command, the TCMS will output a master shutdown command via DO to control the master shutdown to open.

[0066] If the TCMS monitors the main circuit failure, the TCMS will shut off the lighting via the DO output, control the power outage of the hard-line lighting circuit 1 and 2 train lines, and activate the emergency lighting on the train, setting the lighting status to emergency lighting mode.

[0067] If the lighting status is emergency lighting status, and the TCMS receives the intelligent operation and maintenance data transmission completion signal within 180 seconds after outputting the sleep command, the TCMS outputs the pantograph lowering command through DO to control the hard-line pantograph lowering train line to be energized.

[0068] If the TCMS detects that the pantograph has been lowered into position within 10 seconds (adjustable time) after issuing a command, the TCMS sends a "dormant preparation complete" signal to the VOBC and waits for the train to lose power.

[0069] If it is confirmed that the high-voltage power outage of the train has been completed, the vehicle's TCMS sends a hibernation preparation completion command to the VOBC to control the low-voltage power outage of the driverless train.

[0070] If it is confirmed that the high-voltage power outage of the train has been completed, the vehicle's TCMS sends a hibernation preparation completion command to the VOBC to control the low-voltage power outage of the driverless train, including: If it is confirmed that the high-voltage power outage of the train has been completed, the vehicle's TCMS sends a hibernation preparation completion command to the VOBC.

[0071] After receiving the hibernation preparation completion command, VOBC sends a hard-wire hibernation command to the driverless train through the auxiliary driving equipment.

[0072] If the driverless train receives the hard-line hibernation command within 30 seconds (adjustable time) after the VOBC sends the hibernation preparation completion command, it will check the status of the maintenance button.

[0073] If the maintenance button is not pressed, the train power is cut off by controlling the train activation disconnect relay. The TCMS monitors the status of the train activation disconnect relay through DI.

[0074] If the TCMS detects that the train activation disconnection relay is active within 3 seconds (adjustable time), it controls the driverless train to power off the entire vehicle after a 30-second delay (adjustable time).

[0075] As an optional implementation method, the high and low voltage power failure control method for driverless trains also includes: The TCMS monitors the auxiliary contact of the main disconnect status. If the TCMS issues a main disconnect command and receives a main disconnect status auxiliary contact indicating that the main disconnect has not been disconnected 3 seconds later (time adjustable), the TCMS requests the TCU to disconnect the main disconnect. TCU controls the main circuit to disconnect.

[0076] The TCMS monitors the main disconnect status auxiliary contact. If the TCMS requests the TCU to disconnect the main disconnect for 2 seconds (time adjustable), and receives a message from the main disconnect status auxiliary contact indicating that the main disconnect has not been disconnected, the TCMS will report the vehicle main disconnect fault to the control center via VOBC.

[0077] Determine whether the high-voltage component is allowed to disconnect. If the high-voltage component allows the main disconnection, determine whether the remote input / output module of the high-voltage vehicle is normal.

[0078] If the remote input / output module of the high-voltage vehicle is normal, determine whether there is a main disconnection closing command.

[0079] If there is no main disconnection closing instruction, determine whether the main disconnection is open.

[0080] If the main segment is not disconnected, determine whether the main segment has been cut off.

[0081] If the main circuit is not disconnected, determine whether there is a main circuit insulation fault.

[0082] If there is no main insulation fault, determine whether it is a non-emergency traction mode.

[0083] If not in emergency traction mode, the vehicle's TCMS outputs a master-slave disconnect command via DO.

[0084] Optionally, the high and low voltage power failure control for driverless trains also includes: TCMS monitors the lighting status. If TCMS issues a command to turn off the lighting and detects that the lighting status is normal and not turned off 5 seconds later, TCMS reports to the control center via VOBC that the vehicle lighting system has failed to go into sleep mode.

[0085] If the TCMS fails to detect the pantograph being lowered within 10 seconds of outputting the pantograph lowering command, it will report a pantograph lowering failure to the control center via VOBC, causing the train to fail to go into sleep mode.

[0086] Determine if the total air pressure is below 6 bar; if the total air pressure is not below 6 bar, determine if there is a low-voltage battery fault.

[0087] If there is no low battery voltage fault, determine whether there is an internal fire alarm or an external fire alarm.

[0088] If there is no fire alarm inside or under the vehicle, determine whether the expert diagnostic system data has been successfully transferred.

[0089] If the expert diagnostic system data is successfully downloaded, the vehicle TCMS will output a bow lowering command via DO.

[0090] If the TCMS does not receive a shutdown status feedback from the ACU within 40 seconds of sending the hibernation command, the TCMS will report a vehicle air conditioning malfunction to the control center via VOBC.

[0091] If the TCMS does not receive a signal indicating completion of intelligent operation and maintenance data transmission within 180 seconds after issuing the hibernation command, the TCMS will report to the control center via VOBC that the on-board host of the intelligent operation and maintenance system has failed to hibernate.

[0092] After VOBC sends a hard-line hibernation command to the driverless train through the auxiliary driving equipment, TCMS monitors the status of the hard-line hibernation command through the DI module of the remote input / output module.

[0093] If the driverless train does not receive the hard-line hibernation command within 30 seconds of the VOBC sending the hibernation preparation completion command, the TCMS will send a hibernation failure alarm and the reason for the alarm to the control center via the VOBC.

[0094] If the maintenance button is pressed, the driverless train's hibernation process is stopped, and the TCMS sends a hibernation failure alarm and the reason for the alarm to the control center via VOBC.

[0095] If the TCMS does not detect that the train activation disconnection relay is active within 3 seconds (adjustable time), the TCMS will send a sleep failure alarm and the reason for the alarm to the control center via VOBC.

[0096] If the TCMS detects that the train activation disconnection relay is active within 3 seconds (adjustable time), the driverless train will automatically shut down the power supply to the entire vehicle after a 30-second delay (adjustable time).

[0097] If the TCMS does not detect that the train activation disconnect relay is active within 3 seconds (adjustable time) and the sleep button is not pressed by a human, it will wait for the human to press the sleep button to process the operation.

[0098] If the TCMS does not detect that the train activation disconnect relay is active within 3 seconds (adjustable time) and the sleep button is pressed by a human, the driverless train will be powered off after a 30-second delay (adjustable time).

[0099] Regarding the above Figure 6 During the remote automatic hibernation process after the train returns to the depot, the TCMS controls the high-voltage power cut-off of the vehicle as follows: The TCMS controls the air conditioning system to hibernate as follows: The TCMS sends a 3-second (adjustable time) hibernation command pulse to the ACU. Simultaneously, the TCMS stops sending compressor start commands to the ACU. Upon receiving the command, the ACU shuts down and sends a stop signal back to the TCMS. If the TCMS counts down for more than 40 seconds (adjustable time) after sending the hibernation command and still hasn't received a stop signal from the ACU, the TCMS reports a hibernation failure to the control center via VOBC. For the brake system air compressor, depending on whether the equipment is in operation (air blowing), if the air compressor is in operation (air blowing), the TCMS can control it to hibernate, following the same hibernation control method as the air conditioning system. If the air compressor is not in operation (air blowing), but vehicle maintenance requires testing of the brake system air compressor, the TCMS controls the brake system air compressor to be tested, and then controls it to hibernate after the test is completed. If the air compressor is not in operation (air blowing) and vehicle maintenance does not require testing of the brake system air compressor, the TCMS does not need to control the brake system air compressor to hibernate.

[0100] For EMU projects, the medium-voltage load of the train also includes converter cooling pumps, main transformer oil pumps, traction converter cooling fans, main transformer cooling fans, traction motor cooling fans, etc. Based on the equipment's operating status, TCMS determines whether to implement sleep control. If sleep is required, the sleep control process refers to the air conditioning sleep control method.

[0101] The method for TCMS to control the onboard host of the intelligent operation and maintenance system to go into hibernation: After the train arrives at the switching track, the onboard host of the intelligent operation and maintenance system stops packaging vehicle data and begins transmitting intelligent operation and maintenance system data to the ground. When TCMS receives a signal indicating that the intelligent operation and maintenance system data has been successfully transmitted, it determines that the data transmission is complete. If no signal indicating that the data transmission is complete is received within 180 seconds (adjustable) after TCMS outputs the hibernation command, TCMS diagnoses the data transmission failure and reports the hibernation failure of the onboard host to the control center via VOBC.

[0102] The TCMS-controlled intelligent operation and maintenance vehicle host hibernation process can be synchronized with the TCMS-controlled air conditioning system, main circuit and lighting hibernation processes, or it can be adjusted according to different projects.

[0103] The method of TCMS controlling the main circuit disconnection: The vehicle TCMS outputs a main circuit disconnection command through the DO of the remote input / output module, thereby controlling the hard-wired main circuit disconnection. After the TCMS issues the command, 3 seconds later (time adjustable), the TCMS monitors the main circuit disconnection status and the auxiliary contact shows that the main circuit disconnection has not been disconnected. Then the TCMS requests the TCU to disconnect the main circuit. 2 seconds later (time adjustable), if the TCMS monitors the main circuit disconnection status and the auxiliary contact shows that the main circuit disconnection has still not been disconnected, the TCMS diagnoses the vehicle's main circuit disconnection fault and reports the vehicle's main circuit disconnection fault to the control center through VOBC, causing the train to fail to hibernate.

[0104] When the vehicle's TCMS outputs a master-slave disconnect instruction via DO, the following preconditions must be met: High-voltage components are allowed to disconnect the main circuit breaker, the high-voltage vehicle remote input / output module is normal, there is no main circuit breaker closing command, the main circuit breaker is not disconnected, the main circuit breaker is not cleared, there is no main circuit breaker insulation fault, and it is in non-emergency traction mode, etc.

[0105] The TCMS controls the lighting shutdown process as follows: The vehicle's TCMS shuts off the lighting via the DO output of the remote input / output module, thereby de-energizing the hard-line lighting tracks 1 and 2 and initiating emergency lighting mode. Five seconds after the TCMS issues the command (adjustable time), it monitors the lighting status. If the lighting fails to transition from normal to emergency lighting, the TCMS reports a lighting system hibernation failure to the control center via VOBC. The TCMS-controlled lighting shutdown process can be synchronized with the main disconnection process, or the sequence can be adjusted according to different projects. Alternatively, it can directly shut off the lighting after the pantograph is lowered, as required by the project.

[0106] The TCMS controls pantograph lowering as follows: The vehicle's TCMS outputs a pantograph lowering command via the DO (Direct Input / Output) module, thereby controlling the energization of the hard-line pantograph lowering train line. Within 10 seconds (adjustable) of the TCMS command, if the TCMS detects the pantograph has lowered to the correct position, it waits for the train's low-voltage power to be cut off. If the detection time (adjustable) exceeds 10 seconds, the TCMS diagnoses a pantograph lowering fault and reports it to the control center via VOBC, indicating that the fault caused the train's sleep mode to fail. When the vehicle's TCMS outputs the pantograph lowering command via DO, the following prerequisites must be met: total wind pressure not lower than 6 bar, no low-voltage battery fault, no fire alarm inside or under the vehicle, and expert diagnostic system data has been successfully implemented.

[0107] During the hibernation process, if the TCMS detects that the above conditions are not met, it will send a hibernation failure message to the VOBC and report the fault to the control center OCC.

[0108] In this invention, after the vehicle's high-voltage power is normally cut off by the vehicle's TCMS control system, the TCMS sends a hibernation preparation completion signal to the control center via VOBC. At this time, the vehicle is powered by low-voltage electricity from the battery. The control method for TCMS-controlled low-voltage power cutoff is as follows: Figure 7 As shown.

[0109] exist Figure 7 During the process, the TCMS reports the completion of hibernation preparation to the control center via the VOBC, i.e., after the high-voltage power is cut off from the train. The onboard VOBC sends a hibernation command (hard-wire) to the vehicle through its auxiliary driving equipment, and the TCMS monitors the status of the hard-wire hibernation command through the DI module of the remote input / output module. If the vehicle's TCMS does not receive the hard-wire hibernation command within 30 seconds (adjustable time) from the start of the hibernation preparation completion timer, the TCMS sends a hibernation failure alarm and the reason for the alarm to the control center via the VOBC.

[0110] After receiving the hard-wired hibernation command, the vehicle checks the status of the maintenance button. If the button is pressed, the hibernation process is stopped, and the TCMS sends a hibernation failure alarm and the reason for the alarm to the control center via VOBC.

[0111] If the vehicle determines that the maintenance button is not pressed, the vehicle will control the power outage of the train through the train activation disconnect relay. At the same time, the TCMS monitors the status of the train activation disconnect relay through DI. If the TCMS does not detect the train activation disconnect being effective within 3 seconds (adjustable time), the TCMS will send a hibernation failure alarm and the reason for the alarm to the control center through VOBC. At the same time, a person will board the train and operate the hibernation button to handle the situation.

[0112] By remotely activating the automatic sleep mode or manually pressing the sleep button, the vehicle control system will shut off power after a 30-second delay (time adjustable), thus completing the low-voltage power-off control of the vehicle.

[0113] Once the vehicle completes the low-voltage power-off control, it awaits the next wake-up and departure. During local hibernation, the vehicle experiences a delayed power-off, and the onboard VOBC requests deregistration from the signaling system's zone controller (ZC). If the ZC monitors and confirms successful deregistration with the onboard VOBC and that the train has completed front-end and back-end screening, it considers the train capable of being reawakened as a fully automated operating train; otherwise, the train cannot be reawakened as a fully automated operating train.

[0114] In summary, the automatic hibernation control method for unmanned trains provided in this application, on the one hand, controls the train's status during periods such as stopping mainline service, returning to the depot, and cleaning, ensuring that the train meets the conditions for entering hibernation and preparing for automatic hibernation. On the other hand, the control method for checking the allowed hibernation status involves the vehicle's TCMS detecting and diagnosing allowed hibernation states such as a valid hibernation request command, the train being in FAM mode, the maintenance button being inactive, non-emergency traction / CAM mode, the train being at zero speed, the driver's cab key being in the OFF position, normal communication between the TCMS and all onboard subsystems, and all onboard subsystems being normal and fault-free. The TCMS then feeds back the allowed hibernation check results to the VOBC and reports them to the control center. Furthermore, the control method for controlling the high-voltage power outage involves the vehicle's TCMS controlling the air conditioning system to shut down, the intelligent maintenance onboard host completing data landing, disconnecting the main power supply, turning off lighting, and lowering the pantograph. The signal control procedures and judgment methods in each control process must be performed according to requirements, and the control results must be reported to the control center. In addition, the control method for low-voltage power failure control of vehicles is that the vehicle TCMS receives the hard-wire sleep command sent by the vehicle and activates the "train activation disconnection" train line through the vehicle hard-wire circuit control. The TCMS reports the hard-wire sleep command diagnosis and train activation disconnection status diagnosis results to the control center through VOBC.

[0115] Based on the above embodiments, in the automatic sleep control method for unmanned trains provided in this application, during the high-voltage power-off control process of the vehicle, the load power-off can realize the power-off control of various loads according to the actual situation of the project. The test order of main power-off and lighting shutdown control can also be adjusted, and the detection timeout time of sleep failure for each test can also be adjusted according to the actual situation of the project.

[0116] By adopting the above solutions, and utilizing TCMS to control a series of automated control and self-diagnostic functions for fully automated driverless trains, such as stopping mainline operation, returning to the depot for cleaning, and entering hibernation, the amount of hard wiring on the trains is reduced, making it possible to reduce train weight and simplify wiring. The remote hibernation process of the driverless train does not require personnel to board the train for inspection; instead, it follows a lean control process to control vehicle equipment and power-off control after returning to the depot, forming a standardized and modular vehicle hibernation control method and reducing the risks of manual operation. The network has a high degree of intelligence; unified management and scheduling through a ground control center achieves intelligent and manual vehicle control, while effectively improving the efficiency of fully automated system management. The fully automated driverless train has a high degree of automation, saving manpower and resources. Although the initial construction cost is higher than that of ordinary trains, the maintenance cost is low, reducing operating costs.

[0117] Example 2 Based on the automatic sleep control method for unmanned trains provided in the above embodiments, this application provides an automatic sleep control system for unmanned trains, used to execute the above-described automatic sleep control method. The automatic sleep control system for unmanned trains includes a control center, an onboard control unit, and a vehicle control management system. The onboard control unit and the vehicle control management system are installed on the train, and the onboard control unit is communicatively connected to the control center and the vehicle control management system, respectively. The control center is used to send a sleep command to the auxiliary driving module of the onboard control unit in the train if it detects that the train has returned to the depot.

[0118] The onboard control unit is used to send a vehicle hibernation request to the train's vehicle control and management system after the driver assistance module receives a hibernation command.

[0119] The vehicle control and management system is used to control the train to prepare for hibernation after receiving a hibernation request.

[0120] The vehicle control and management system is also used to summarize the train's sleep preparation status, obtain the sleep preparation results, and send the sleep preparation results to the on-board control unit.

[0121] The onboard control unit is also used to send the vehicle's sleep preparation results to the control center.

[0122] The control center is also used to wait for the auxiliary driving module to send a hard-wired hibernation command if it detects that hibernation preparation is complete, and then cut off the train power after receiving the hard-wired hibernation command; if it detects that hibernation preparation has failed, it waits for the control center to handle the situation manually before cutting off the train power.

[0123] The control center is also used to determine the completion of automatic hibernation if a power outage of the train is detected.

[0124] The vehicle control and management system (TCMS) communicates with multiple subsystems of the vehicle. The data transmission cycle between the TCMS and each subsystem is defined primarily based on the transmission performance of the communication boards in each subsystem and the importance of the data. In this embodiment, the multiple subsystems of the vehicle include the traction system (TCU), auxiliary system (SIV), braking system (BCU), door system, air conditioning system (ACU), smoke and fire alarm system, passenger information system (PIS), battery management system, pantograph-catenary monitoring system, lighting system, obstacle detection system, and running gear online detection system.

[0125] The control center is also used to detect whether trains have returned to the depot.

[0126] The control center includes the Train Operation Automation System (TIAS), which checks whether the current train has fully entered the switching track or the mainline storage track according to the pre-set operating schedule, determines whether the train should return to the depot, and controls the train to stop mainline service.

[0127] The control center is also used to detect whether a train meets the conditions for entering hibernation, and if so, to detect it.

[0128] The onboard control unit (VOBC) is also used to report to the control center the reasons and results of the train not meeting the conditions for entering hibernation if the conditions for entering hibernation are not met.

[0129] The control center is also used to check whether the on-board control unit and the vehicle control management system can communicate normally. If they cannot communicate normally, a communication fault message is issued.

[0130] In summary, the automatic hibernation control method and system for unmanned trains provided in this application are applicable to unmanned trains. By employing TCMS to participate in the entire vehicle control process, including stopping mainline operation, returning to the depot for cleaning, and power-off during train hibernation, and by feeding back the detected train hibernation status to the control center, precise stopping control is achieved after the unmanned train returns to the depot, preparing it for re-entry into service and providing safety assurance for mainline operation. This achieves automatic detection and automatic hibernation control after the train returns to the depot, with high accuracy and reliability in hibernation control. Simultaneously, it solves the technical problems of automatic hibernation control for unmanned trains, improves the level of network intelligent control and network automated diagnostics, provides a prerequisite for fully automatic unmanned train wake-up, and ultimately realizes automated train command, high operational efficiency, and advanced technology.

[0131] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0132] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0133] Similarly, it should be understood that, in order to simplify this disclosure and aid in understanding one or more of the various aspects of the invention, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into this detailed description, wherein each claim itself is a separate embodiment of the invention.

[0134] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0135] Furthermore, those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.

[0136] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components in the apparatus according to embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0137] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

Claims

1. A method for automatic sleep control of an unmanned train, characterized in that, include, The control center checks whether the train has returned to the depot; If the control center detects that the train has returned to the depot, the control center sends a hibernation command to the auxiliary driving module of the on-board control unit in the train. After receiving the hibernation command, the assisted driving module of the on-board control unit sends a vehicle hibernation request to the train's vehicle control and management system. After receiving a vehicle hibernation request, the vehicle control and management system determines whether the train meets the hibernation preparation conditions. If the conditions are met, the system executes the step where the onboard control unit's auxiliary driving module sends a hibernation request to the train's vehicle control and management system after receiving the hibernation command. If the conditions are not met, the onboard control unit reports the reason and result to the control center that the train does not meet the hibernation conditions. The determination of whether the train meets the hibernation preparation conditions includes: determining whether the hibernation request command is valid; if valid, determining whether the train is in FAM mode; if not in emergency traction / CAM mode, determining whether the train is at zero speed; if the driver's cab key is in the OFF position, determining whether the TCMS communicates normally with each onboard subsystem; and determining whether each onboard subsystem is fault-free. If so, the system controls the train to prepare for hibernation, including: vehicle status checks, load power-off control, and main / pantograph disconnection / lowering control. If the train is determined to be in a hibernation-allowed state, the vehicle control and management system sends a hibernation command to the air conditioning system and the intelligent maintenance onboard host, and stops sending compressor start commands to the air conditioning system. The air conditioning system receives the hibernation command from the vehicle control and management system. When the system sends a hibernation command, the air conditioning system control unit shuts down and sends a shutdown signal to the vehicle control management system. If the vehicle control management system receives the shutdown signal from the air conditioning system within 40 seconds of sending the hibernation command, it outputs a main disconnect command via DO to control the main disconnect to open. If the vehicle control management system detects the main disconnect to open, it outputs a shutdown signal via DO to turn off the lighting, controlling the power outage of the hard-line lighting lines 1 and 2, and the vehicle activates emergency lighting, setting the lighting status to emergency lighting mode. If the lighting status is emergency lighting mode, and the vehicle control management system receives a smart maintenance data transmission completion signal within 180 seconds after outputting the hibernation command, the vehicle TCMS outputs a pantograph lowering command via DO and determines whether the vehicle meets the following conditions: total air pressure not lower than 6 bar, no low battery voltage fault, no in-vehicle or under-vehicle fire alarm, and expert diagnostic system data landing completed. The vehicle control management system outputs a pantograph lowering command via DO to control the power supply to the hard-line pantograph lowering train line. If the vehicle control management system detects the pantograph lowering is in place within 10 seconds of issuing the command, it sends a hibernation preparation completion signal to the onboard control unit and waits for the train to be powered off. If it is confirmed that the high-voltage power outage of the train has been completed, the vehicle control and management system sends a hibernation preparation completion command to the onboard control unit, controlling the low-voltage power outage of the driverless train. This includes: if it is confirmed that the high-voltage power outage of the train has been completed, the vehicle control and management system sends a hibernation preparation completion command to the onboard control unit; after receiving the hibernation preparation completion command, the onboard control unit sends a hard-wire hibernation command to the driverless train through the auxiliary driving equipment; if the driverless train receives the hard-wire hibernation command within 30 seconds of the onboard control unit sending the hibernation preparation completion command, it checks the status of the maintenance button; if the maintenance button is not pressed, it controls the train to power out through the train activation disconnect relay, and the vehicle control and management system monitors the status of the train activation disconnect relay through DI; if the vehicle control and management system detects that the status of the train activation disconnect relay is valid within 3 seconds, it controls the driverless train to power out after a 30-second delay. The vehicle control and management system checks the train's hibernation preparation status. If the hibernation preparation status is complete, it controls the train to hibernate. The system then summarizes the train's hibernation preparation status, obtains the hibernation preparation result, and sends the result to the onboard control unit. The vehicle control unit sends the vehicle's sleep preparation results to the control center; If the control center detects that the hibernation preparation is complete, it waits for the auxiliary driving module to send a hard-wire hibernation command, and then cuts off the power to the train after receiving the hard-wire hibernation command. If the control center detects that the train's power outage is complete, it confirms that the automatic hibernation process is finished.

2. The method according to claim 1, characterized in that, The control center detects whether a train has returned to the depot, including: The integrated train operation automation system in the control center checks the current train to ensure it has fully entered the switching track or the main line storage track according to the pre-set operating schedule, determines that the train should return to the depot, and controls the train to stop main line service.

3. The method according to claim 1, characterized in that, Before the control center checks whether the train has returned to the depot, the method also includes: The control center checks whether the on-board control unit and the vehicle control management system can communicate normally. If they cannot communicate normally, a communication fault message is issued.

4. An automatic sleep control system for an unmanned train, characterized in that, It includes a control center, on-board control units, and a vehicle control and management system. The on-board control units and the vehicle control and management system are installed on the train, and the on-board control units communicate with the control center and the vehicle control and management system, respectively. The control center is used to detect whether the train has returned to the depot; if the train has returned to the depot, it sends a sleep command to the auxiliary driving module of the on-board control unit in the train. The onboard control unit is used to send a vehicle hibernation request to the train's vehicle control and management system after the driver assistance module receives a hibernation command. The vehicle control and management system is used to, upon receiving a vehicle hibernation request, determine whether the train meets the hibernation preparation conditions. If the conditions for entering hibernation are met, the system executes the step whereby the auxiliary driving module of the onboard control unit sends a vehicle hibernation request to the train's vehicle control and management system after receiving the hibernation command. If the conditions for entering hibernation are not met, the onboard control unit reports the reason and result to the control center that the train does not meet the hibernation conditions. The determination of whether the train meets the hibernation preparation conditions includes: determining whether the hibernation request command is valid; if the hibernation request command is valid, determining whether the train is in FAM mode; if the train is not in emergency traction / CAM mode, determining whether the train is in a zero-speed state; and if the train driver's cab key is in the OFF position, determining whether the TCMS (Train Control System) and... The system checks whether all onboard subsystems are communicating normally and whether all onboard subsystems are fault-free. If so, it controls the train to prepare for hibernation, including: vehicle status checks, load power-off control, and main / pantograph disconnection / lowering control. If it is determined that the train has entered a hibernation-allowed state, the vehicle control management system sends a hibernation command to the air conditioning system and the intelligent maintenance onboard host, and stops sending compressor start commands to the air conditioning system. When the air conditioning system receives the hibernation command from the vehicle control management system, the air conditioning system control unit shuts down and sends a stop signal back to the vehicle control management system. If the vehicle control management system receives the stop signal from the air conditioning system within 40 seconds of sending the hibernation command, the vehicle control management system outputs a main / pantograph disconnection command via DO, controlling... If the main circuit breaker is disconnected; if the vehicle control and management system detects the main circuit breaker disconnection, the vehicle control and management system will turn off the lighting via DO output, control the power supply of the hard-wired lighting 1 and 2 train lines, and the vehicle will activate emergency lighting, setting the lighting status to emergency lighting state; if the lighting status is emergency lighting state, and the vehicle control and management system receives the intelligent operation and maintenance data transmission completion signal within 180 seconds after outputting the sleep command, when the vehicle TCMS outputs the pantograph lowering command via DO, it will determine whether the vehicle meets the following conditions: total wind pressure is not lower than 6 bar, there is no low battery voltage fault, there is no fire alarm inside or under the vehicle, and the expert diagnostic system data has been successfully implemented; the vehicle control and management system will output the pantograph lowering command via DO, controlling the hard-wired pantograph lowering train line to be energized; if the vehicle control and management system detects the main circuit breaker disconnection, the vehicle control and management system will activate ... If the vehicle control and management system detects that the pantograph has been lowered to the correct position within 10 seconds of receiving the instruction, it sends a sleep preparation completion signal to the onboard control unit and waits for the train to be powered off. If it is confirmed that the high-voltage power outage has been completed, the vehicle control and management system sends a sleep preparation completion instruction to the onboard control unit, controlling the low-voltage power outage of the driverless train. This includes: if it is confirmed that the high-voltage power outage has been completed, the vehicle control and management system sends a sleep preparation completion instruction to the onboard control unit; after receiving the sleep preparation completion instruction, the onboard control unit sends a hard-wire sleep instruction to the driverless train through the auxiliary driving equipment; if the driverless train receives the hard-wire sleep instruction within 30 seconds of the onboard control unit sending the sleep preparation completion instruction, it checks the status of the maintenance button.If the inspection button is not pressed, the train power is cut off via the train activation disconnect relay. The vehicle control management system monitors the status of the train activation disconnect relay via DI. If the vehicle control management system detects that the train activation disconnect relay is active within 3 seconds, the driverless train is powered off after a 30-second delay. The vehicle control and management system is also used to check the train's hibernation preparation status. If the hibernation preparation status is complete, the system controls the train to hibernate. The system summarizes the train's hibernation preparation status, obtains the hibernation preparation result, and sends the hibernation preparation result to the on-board control unit. The vehicle control unit is also used to send the vehicle hibernation preparation results to the control center; The control center is also used to wait for the auxiliary driving module to send a hard-wired sleep command if it detects that the sleep preparation is complete, and then cut off the power to the train after receiving the hard-wired sleep command; if it detects that the sleep preparation has failed, it waits for the control center to handle the situation manually before cutting off the power to the train. The control center is also used to determine the completion of automatic hibernation if a power outage of the train is detected.

5. The system according to claim 4, characterized in that, The vehicle control and management system is communicatively connected to multiple subsystems of the vehicle.

6. The system according to claim 5, characterized in that, The vehicle's multiple subsystems include traction system, auxiliary system, braking system, door system, air conditioning system, smoke and fire alarm system, passenger information system, battery management system, pantograph-catenary monitoring system, lighting system, obstacle detection system, and running gear online monitoring system.

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