Vehicle-mounted atc switch door interlock method and system

Abstract

This invention provides a method and system for interlocking door opening and closing of an onboard ATC (Automatic Train Control) system, comprising: Step S1: identifying the train's location and direction of travel; Step S2: identifying the train's operating mode and door control mode; Step S3: calculating the expected door opening command and door opening sequence based on the train's direction of travel, location, and door control mode; Step S4: comparing the received door opening command with the pre-calculated expected door opening command, and, in conjunction with the train's operating mode, executing all / partially / rejecting the door opening and closing actions. Compared to the traditional design of onboard ATC executing door opening and closing based on received door opening and closing commands, this invention provides a technical approach for onboard ATC to independently calculate door opening and closing commands and verify the received commands, enabling a safe and orderly door opening process and improving transportation efficiency.

Description

Technical Field

[0001] This invention relates to rail transit signaling systems, specifically to an onboard ATC door opening and closing interlocking control system, and more particularly to a flexible and practical onboard ATC door opening and closing interlocking control system. Background Technology

[0002] In traditional rail transit operations, passengers typically board and alight from only one platform, regardless of time of day or passenger flow. However, with technological advancements and societal development, people's travel habits have drastically changed, leading to a significant increase in the number of people relying on rail transit. In this context, relying solely on a single platform for all passengers inevitably results in congestion, increased accident risks, and reduced operational efficiency. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the purpose of this invention is to provide a vehicle-mounted ATC door interlocking method and system.

[0004] A vehicle-mounted ATC door interlocking method according to the present invention includes:

[0005] Step S1: Identify the train's location and direction of travel;

[0006] Step S2: Identify the train's operating mode and gating mode;

[0007] Step S3: Calculate the expected door opening command and door opening sequence based on the train's running direction, positioning, and door control mode;

[0008] Step S4: Based on the received door opening command, compare it with the pre-calculated expected door opening command, and in combination with the train operation mode, execute all / partially / reject the door opening and closing actions.

[0009] Preferably, in step S1, the train's position information is obtained by acquiring data from beacons installed on the road surface through the on-board ATC; the train's direction of travel is determined by calculating the sequence in which it passes multiple beacons consecutively.

[0010] Preferably, the operating modes include UTO mode: exactly as expected; MATP mode: within the range allowed by the expected command; FM mode: allows for non-expected commands.

[0011] The gate control modes include: full door opening mode: all doors open after the train enters the station and stops; phased door opening mode: the train opens and closes the doors in multiple stages; single-side door opening mode: only one side door opens after the train enters the station and stops; and group door opening mode: the doors corresponding to some berths open while the other doors remain closed.

[0012] In the phased door opening mode, each segment of the door opening and closing mode adopts any one of the following: full door opening mode, single-side door opening mode, or group door opening mode.

[0013] Preferably, in UTO mode, the onboard ATC only receives trackside movement authorization; in MATP mode, the onboard ATC simultaneously receives trackside movement authorization and driver gate commands; and in FM mode, the onboard ATC only receives driver gate commands.

[0014] Preferably, the on-board ATC executes the received door opening / closing command based on the independently calculated expected door opening / closing command and the corresponding door control mode;

[0015] In case of emergencies, the train operation mode will be changed, or an order to cancel the onboard ATC interlocking will be issued from the trackside.

[0016] Preferably, the expected door opening command is calculated based on the train's running direction, positioning, and door control mode. The door opening direction corresponds to the train's running direction, and the onboard ATC performs the door opening and closing operation in conjunction with the door control mode corresponding to the station.

[0017] Preferably, the switching criteria for the first stage to the second stage in the phased door opening mode include: in UTO mode, the passenger clearing system issues a successful passenger clearing result after the first stage ends, or in MATP mode and FM mode, the on-board ATC receives a door opening command.

[0018] According to the present invention, a vehicle-mounted ATC door interlocking system includes:

[0019] Module M1: Identifies train location and direction of travel;

[0020] Module M2: Identifies the train's operating mode and gating mode;

[0021] Module M3: Calculates the expected door opening command and door opening sequence based on the train's running direction, positioning, and door control mode;

[0022] Module M4: Based on the received door opening command, compares it with the pre-calculated expected door opening command, and combines it with the train operation mode to execute all / partially / reject the door opening and closing actions.

[0023] Preferably, in module M1, data from beacons installed on the road surface is obtained through the on-board ATC to obtain the train's position information; the train's direction of travel is determined by calculating the sequence in which it passes multiple beacons consecutively.

[0024] Preferably, the operating modes include UTO mode: exactly as expected; MATP mode: within the range allowed by the expected command; FM mode: allows for non-expected commands.

[0025] The gate control modes include: full door opening mode: all doors open after the train enters the station and stops; phased door opening mode: the train opens and closes the doors in multiple stages; single-side door opening mode: only one side door opens after the train enters the station and stops; and group door opening mode: the doors corresponding to some berths open while the other doors remain closed.

[0026] In the phased door opening mode, each segment of the door opening and closing mode adopts any one of the following: full door opening mode, single-side door opening mode, or group door opening mode.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. Compared with the traditional vehicle-mounted ATC design that executes door opening and closing based on received door opening and closing commands, this invention provides a technical approach for vehicle-mounted ATC to independently calculate door opening and closing commands and verify the received door opening and closing commands, which can achieve a safe and orderly door opening process and improve transportation efficiency.

[0029] 2. This invention improves the flexibility and controllability of train doors by automatically grouping and controlling them.

[0030] 3. This invention combines onboard ATC and passenger clearing system to realize automatic passenger clearing function in unmanned train driving mode. It has a reasonable structure, ingenious design and high safety.

[0031] 4. By coordinating with the platform design, this invention separates the departure and arrival sides and opens and closes doors in an automatic grouping sequence, thereby improving operational efficiency.

[0032] 5. This invention meets the scenario requirements of flexible parking of trains with different formations at multi-berth platforms according to operational organization, solves the problem of detecting berth occupancy after flexible trains stop at different target parking spaces on the platform, and realizes the possibility of flexible trains stopping and transferring at any berth on multi-berth platforms.

[0033] 6. Compared with the traditional design of fixed positions for train stops at stations, this invention provides a technical approach for flexible train formation to stop flexibly at multi-berth platforms according to operational organization, which effectively improves the flexibility of operational organization, reduces operating costs, and improves operational efficiency. Attached Figure Description

[0034] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0035] Figure 1 This is a flowchart of the vehicle-mounted ATC interlocking process in this invention;

[0036] Figure 2 This is a schematic diagram of the dual-stage, dual-side door opening mode in an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of a two-stage group door opening mode in an embodiment of the present invention. Detailed Implementation

[0038] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0039] This invention discloses a method for interlocking vehicle-mounted ATC doors, such as... Figure 1 As shown, it includes the following steps:

[0040] Step S1: Identify the train's location and direction of travel;

[0041] Step S2: Identify the train operation mode and gate control mode;

[0042] Step S3: Calculate the expected door opening command and door opening sequence based on the train's direction of entry, the platform where the current position is located, and the door control mode;

[0043] Step S4: Based on the received door opening command, compare it with the pre-calculated expected door opening command, and in combination with the train operation mode, execute / partially execute / reject the door opening and closing action, i.e., the interlocking process.

[0044] The train positioning and direction of travel identification method is as follows: After the onboard equipment is powered on, the onboard ATC performs a self-test to check the working status of the hardware equipment and the integrity of the software operating environment. After the test is passed, the onboard ATC enters the ready state. The driver uses FM mode to drive the train past the beacons installed on the ground. The onboard beacon reads the antenna to obtain the identification number of the beacon equipment installed on the ground, and parses the MAP database based on this identification number to obtain the location of the beacon installation, that is, the actual location of the train. The onboard equipment passes two consecutive beacons and parses the MAP database to determine the order in which the beacons are passed, thereby determining the direction of travel of the train.

[0045] The onboard ATC determines the train's operating mode based on the buttons on the train driver's controller. The operating modes include UTO mode: with trackside movement authorization, it receives trackside door control commands and follows the expected commands exactly; MATP mode: with trackside movement authorization, it receives driver door control commands and operates within the range allowed by the expected commands; FM mode: without trackside movement authorization, it receives driver door control commands and allows operations that do not conform to the expected commands. In different train operating modes, the onboard ATC receives door opening and closing commands through different means. For example, in UTO mode, it receives commands from the trackside, while in MATP and FM modes, it receives commands from the driver.

[0046] The gating modes include:

[0047] Full door opening mode: After the train arrives at the station and stops, all doors are opened to allow passengers to board and alight.

[0048] Phased door opening mode: The train doors open and close in multiple stages;

[0049] Single-side door opening mode: After the train enters the station and stops, only one side door is opened (usually the side with the platform and the other side without the platform) to allow passengers to board or alight. The corresponding door on the other side is not opened, or it is opened in the second stage of the phased door opening mode to allow passengers to board or alight.

[0050] Grouped door opening mode: After the train arrives at the station and stops, the doors corresponding to some berths will open to allow passengers to board or alight, while the doors corresponding to other berths will not open, or will open in the second stage of the phased door opening process to allow passengers to board or alight.

[0051] The above-mentioned gate control modes can be selected and combined according to the actual operational needs of the project. The onboard ATC can identify the required gate control mode through pre-configuration (which can correspond to the station) or real-time acquisition from the trackside. If the acquisition is done in real-time from the trackside, the gate control mode pre-configured by the onboard ATC will be used by default when there is no communication with the trackside.

[0052] The onboard ATC executes the received door opening and closing commands based on independently calculated expected commands and corresponding interlocking strategies. If the door opening is phased, for example: in phase one, the left door opens and closes first, then in phase two, the right door opens, and finally all doors are closed, the onboard ATC identifies the current phase based on the door's open / closed status and executes the corresponding interlocking process. Finally, after all doors are closed, the onboard ATC departs and proceeds to the next station.

[0053] In case of emergencies requiring more flexible door opening and closing, such as vehicle malfunctions requiring passenger evacuation from the platform, the train operation mode can be downgraded, or a command to cancel the onboard ATC interlocking can be issued from the trackside. The driver or trackside personnel can then perform full door opening or other safety-required door operations on the platform.

[0054] The calculation method of the onboard ATC for the expected door opening command consists of the train's direction of entry into the station, the platform where the train is currently stopped, and the current door control mode;

[0055] Based on the MAP database, the onboard ATC determines the forward direction of travel from area A to area B as the system's forward direction, and the opposite direction as the system's reverse direction. Before stopping at a station, the onboard ATC identifies and records whether the current direction of entry is the system's forward or reverse direction.

[0056] Different platform designs may result in different train entry routes, such as turnaround and circular routes. In the onboard ATC door interlocking method described here, a simple platform design is assumed. When applied to other platform designs, the corresponding platform door opening scheme can be configured according to the actual situation.

[0057] The platform door opening scheme is related to the direction of entry. For platforms with separate boarding and alighting areas on both sides, if the train enters the station in the direction of the system's forward direction, the left side of the system's forward direction is the alighting area and the right side is the boarding area. When the train enters the station in the direction of the system's reverse direction, the left side of the system's forward direction is the boarding area and the right side is the alighting area.

[0058] For platforms where passengers can only board and alight on one side, if the train enters the station in the direction of the system's forward direction, the passenger boarding and alighting area is on the right side of the system's forward direction. If the train enters the station in the opposite direction of the system, the passenger boarding and alighting area is on the right side of the system's forward direction.

[0059] The current gate control mode involves opening the doors in stages. After stopping at a station, the doors corresponding to the alighting area are opened first to allow passengers to disembark, and then the doors corresponding to the boarding area are opened after the alighting area is closed to allow passengers to board.

[0060] The current gate control mode is grouped door opening, which requires defining drop-off and pick-up areas according to the parking spaces. After stopping, the door corresponding to the parking space in the drop-off area opens to allow passengers to get off, and then the door corresponding to the parking space in the pick-up area opens to allow passengers to get on.

[0061] The onboard ATC, in conjunction with the gate control mode corresponding to the station stop and the left and right passenger areas corresponding to the direction of entry, calculates the expected door opening command for the first stage and the expected door opening command for the second stage (when the gate control mode is phased door opening).

[0062] After the train stops at the platform, the onboard ATC selects the corresponding interlocking strategy based on the current train operation mode, including: UTO mode, MATP mode, and FM mode. For example, UTO mode requires strict adherence to the expected commands; MATP mode requires compliance within the limits allowed by the expected commands; and FM mode allows for deviations from the expected commands.

[0063] In the phased door opening mode, after the first phase of door opening, passengers disembark. If it is the terminal station or other stations with passenger clearing requirements, it is necessary to ensure that all passengers have disembarked. In UTO mode, the passenger clearing system usually outputs the passenger clearing result to the onboard ATC after the doors close. The onboard ATC uses the successful passenger clearing as the basis for entering the second phase.

[0064] If there is no passenger clearing system, or no need to clear passengers, or if it is in MATP mode or FM mode, the on-board ATC will determine from the received door opening command that it belongs to the second stage door opening command, and use it as the basis for entering the second stage.

[0065] In UTO mode or MATP mode, if passengers have not been cleared or other operational requirements necessitate re-entering the first stage of the passenger drop-off area, the vehicle will receive a first-stage door opening command again after the first door closes. This process continues until the vehicle closes and receives a second-stage door opening command, at which point it will enter the second-stage door opening phase. The onboard ATC will not allow the first-stage door opening to be executed again, and will not execute the first-stage door opening command upon receipt.

[0066] The onboard ATC receives door opening and closing commands from the trackside in UTO mode, and receives door opening and closing commands from the driver in MATP and FM modes.

[0067] If the door opening is phased, in the first phase, the onboard ATC identifies the current train's operating mode and executes the received door opening / closing commands based on the calculated expected door opening command for the first phase and the corresponding interlocking strategy. For example: in UTO mode, the onboard ATC will only execute the door opening command if the trackside door opening command received is exactly the expected door opening command; in MATP mode, the onboard ATC will execute the door opening command if the driver's door opening command received is within the expected door opening command range; in FM mode, the onboard ATC will also execute the door opening command if the driver's door opening command received is outside the expected door opening range.

[0068] After the doors close, the onboard ATC, upon receiving a new door opening / closing command, determines whether to re-enter the first stage of door opening or the second stage. If it's the second stage, the onboard ATC executes the same interlocking strategy as the first stage, opening the doors and not allowing re-entry into the first stage (FM mode can execute unexpected door opening commands, so there's no difference between the two stages). Once all doors are closed, the onboard ATC, based on the door closing status, determines if the departure conditions are met, and then departs for the next station.

[0069] In case of emergencies requiring more flexible door opening and closing, such as vehicle malfunctions requiring passenger evacuation from the platform, the train operation mode can be downgraded, or a command to cancel the onboard ATC interlocking can be issued from the trackside. The driver or trackside personnel can then issue commands to safely open and close the doors at the platform.

[0070] The invention will be further described in detail below with reference to specific examples.

[0071] Example 1

[0072] like Figure 2 As shown, taking a 6-car train as an example, the train operation mode is UTO mode, and the current platform door control mode is: phased double-sided door opening mode, entering the station from the system forward and system reverse directions respectively.

[0073] Step S1: Identify the train's location and direction of travel;

[0074] The identification of train location and direction of travel is completed during the initialization of the onboard ATC. The specific operation is as follows: After the onboard equipment is powered on, the onboard ATC performs a self-test to check the working status of the hardware equipment and the integrity of the software operating environment. After the test is passed, the onboard ATC enters the ready state. The driver uses FM mode to drive the train past the beacons installed on the ground. The onboard beacon reads the antenna to obtain the identification number of the beacon equipment installed on the ground, and parses the MAP database based on this identification number to obtain the location of the beacon installation, that is, the actual location of the train. The onboard equipment passes two consecutive beacons and parses the MAP database to determine the order in which the beacons are passed, thereby determining the direction of travel of the train.

[0075] Step S2: Identify the train operation mode and gate control mode;

[0076] The onboard ATC determines the train's operating mode based on the buttons on the train driver's controller; currently, it is in UTO mode.

[0077] The gate control mode is defined according to the instructions sent from the trackside, including: phased double-sided door opening mode: after the train enters the station and stops, the doors on the side corresponding to the alighting area open to allow passengers to disembark, while the doors on the opposite side corresponding to the boarding area do not open. After the doors close, the passenger clearing system reports the passenger clearing status. If passenger clearing is not completed, only the alighting area doors are allowed to open until passenger clearing is completed and the doors are closed. Then, the doors on the side corresponding to the boarding area open, and the doors on the side corresponding to the alighting area are no longer allowed to open.

[0078] Step S3: Calculate the expected door opening command and door opening sequence based on the train's direction of entry, the platform where the current position is located, and the door control mode;

[0079] The calculation method of the onboard ATC for the expected door opening command consists of the train's direction of entry into the station, the platform where the train is currently stopped, and the current door control mode;

[0080] Based on the MAP database, the onboard ATC assumes that the direction of travel from area A to area B is the system forward direction, and the opposite direction is the system reverse direction. Before stopping at the station, the onboard ATC identifies and records whether the current direction of entry is the system forward or the system reverse direction.

[0081] The platform door opening scheme is related to the direction of entry. For platforms with separate boarding and alighting areas on both sides, such as... Figure 2 As shown, if the train enters the station in the forward direction of the system, the left side of the system direction is the disembarkation area and the right side is the boarding area. When the train enters the station in the reverse direction of the system, the left side of the system direction is the boarding area and the right side is the disembarkation area.

[0082] The current door control mode is to open the doors on both sides in stages. After stopping at the station, the doors corresponding to the alighting area open in the first stage to allow passengers to get off the train. After closing the doors, the doors corresponding to the boarding area open to allow passengers to board the train.

[0083] The onboard ATC, combined with the door control mode corresponding to the station stop and the left and right passenger areas corresponding to the direction of entry, calculates the expected door opening command for the first stage and the expected door opening command for the second stage:

[0084] If the train is entering the station in the direction of the system's forward direction, the left-side door will open in the first stage, and the right-side door will open in the second stage.

[0085] If the train enters the station in the opposite direction of the system, the right-side door will open in the first stage, and the left-side door will open in the second stage.

[0086] Step S4: Based on the received door opening command, compare it with the pre-calculated expected door opening command, and in combination with the train operation mode, execute / partially execute / reject the door opening and closing action, i.e., the interlocking process.

[0087] After the train stops at the platform, the onboard ATC, based on the current train operation mode (UTO mode), requires the doors to be opened and closed exactly as intended.

[0088] After receiving the door opening command from the trackside, the onboard ATC compares it with the calculated expected door opening command. If they match perfectly, the first stage of door opening is executed, passengers disembark, and the passenger clearing system outputs the clearing result to the onboard ATC. If passenger clearing is unsuccessful, the first stage of door opening is allowed to continue until passenger clearing is successful. Otherwise, the expected second stage door opening is not allowed. After the door closes and a report of successful passenger clearing is received, the expected second stage door opening is allowed. If the received trackside door opening command matches the expected second stage door opening command, the second stage door opening is initiated; otherwise, door opening is not executed.

[0089] Example 2

[0090] like Figure 3 As shown, the train consists of 6 cars and operates in MATP mode. The current platform's gate control mode is a phased group opening mode, with trains entering the station from both the forward and reverse directions of the system.

[0091] Step S1: Identify the train's location and direction of travel;

[0092] Specifically, the identification of train location and direction of travel is completed during the initialization of the onboard ATC: After the onboard equipment is powered on, the onboard ATC performs a self-test to check the working status of the hardware equipment and the integrity of the software operating environment. After the test is passed, the onboard ATC enters the ready state. The driver uses FM mode to drive the train past beacons installed on the ground. The onboard beacon reads the antenna to obtain the identification number of the beacon equipment installed on the ground, and parses the MAP database based on this identification number to obtain the location of the beacon installation, i.e., the actual location of the train. The onboard equipment passes two consecutive beacons and parses the MAP database to determine the order in which the beacons are passed, thereby determining the direction of travel of the train.

[0093] Step S2: Identify the train operation mode and gate control mode;

[0094] The onboard ATC determines the train's operating mode based on the buttons on the train driver's controller; currently, it is in MATP mode.

[0095] The gate control mode is defined according to the instructions sent from the trackside. It is a phased double-sided door opening mode: After the train enters the station and stops, the door on the side corresponding to the alighting area opens to allow passengers to disembark, while the door on the opposite side corresponding to the boarding area does not open. After the door closes, the driver checks the passenger clearance status. If passenger clearance is not complete, the alighting area door is allowed to open until passenger clearance is complete and the door closes. Then the boarding area door on the opposite side opens, and the alighting area door on the opposite side is no longer allowed to open.

[0096] Step S3: Calculate the expected door opening command and door opening sequence based on the train's direction of entry, the platform where the current position is located, and the door control mode;

[0097] The calculation method of the onboard ATC for the expected door opening command consists of the train's direction of entry into the station, the platform where the train is currently stopped, and the current door control mode;

[0098] Based on the MAP database, the onboard ATC determines the forward direction of travel from area A to area B as the system's forward direction, and the opposite direction as the system's reverse direction. Before stopping at a station, the onboard ATC identifies and records whether the current direction of entry is the system's forward or reverse direction.

[0099] The platform door opening scheme is related to the direction of entry. For platforms with separate boarding and alighting areas, as shown in the figure, if the train enters the station in the forward direction of the system, train group 1 is the alighting area and train group 2 is the boarding area. When the train enters the station in the reverse direction of the system, train group 1 is the boarding area and train group 2 is the alighting area.

[0100] The current gate control mode is to open the doors in stages and groups. After stopping at a station, the doors corresponding to the alighting area are opened in the first stage to allow passengers to get off the train. After the doors are closed, the doors corresponding to the boarding area are opened to allow passengers to board the train.

[0101] The onboard ATC, combined with the door control mode corresponding to the station stop and the passenger area corresponding to the direction of entry, calculates the expected door opening command for the first stage and the expected door opening command for the second stage:

[0102] If the train enters the station in the direction of the system's positive direction, the first stage of the train will start from one side door, and the second stage of the train will start from the other side door.

[0103] If the train enters the station in the opposite direction of the system, the first stage of the train will have two doors on both sides, and the second stage of the train will have one door on one side.

[0104] Step S4: Based on the received door opening command, compare it with the pre-calculated expected door opening command, and in combination with the train operation mode, execute / partially execute / reject the door opening and closing action, i.e., the interlocking process.

[0105] After the train stops at the platform, the onboard ATC, based on the current train operation mode (ATP mode), requires the doors to be opened or closed within the expected range of the door opening command.

[0106] After receiving the driver's door opening command, the onboard ATC compares it with the calculated expected door opening command. If it is within the range, the first stage of door opening is executed, passengers get off, and the door is closed. The driver then checks the passenger clearance status. If passenger clearance is unsuccessful, the first stage of door opening is allowed to continue until passenger clearance is successful. If the driver's door opening command is received, it is compared with the calculated expected door opening command. If it is within the range, the second stage of door opening is executed; otherwise, door opening is not executed.

[0107] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0108] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for interlocking vehicle-mounted ATC doors, characterized in that, include: Step S1: Identify the train's location and direction of travel; Step S2: Identify the train's operating mode and gating mode; Step S3: Calculate the expected door opening command and door opening sequence based on the train's running direction, positioning, and door control mode; Step S4: Based on the received door opening command, compare it with the pre-calculated expected door opening command, and in combination with the train operation mode, execute all / partially / reject the door opening and closing actions; The operating modes include UTO mode: exactly as expected command; MATP mode: Within the range allowed by the expected command; FM mode: Allows commands that do not conform to the expected command. The gate control modes include: full door opening mode: all doors open after the train enters the station and stops; phased door opening mode: the train opens and closes the doors in multiple stages; single-side door opening mode: only one side door opens after the train enters the station and stops; and group door opening mode: the doors corresponding to some berths open while the other doors remain closed. In the phased door opening mode, each segment of the door opening and closing mode adopts any one of the following: full door opening mode, single-side door opening mode, or group door opening mode; The switching criteria for the first stage to the second stage in the phased door opening mode include: in UTO mode, the passenger clearing system issues a successful passenger clearing result after the first stage ends, or in MATP mode and FM mode, the on-board ATC receives a door opening command. In UTO mode or MATP mode, if passengers have not been cleared or other operational requirements necessitate re-entering the first stage of the passenger drop-off area, the vehicle will receive a first-stage door opening command again after the first door closes. This process continues until the vehicle closes and receives a second-stage door opening command, at which point it will enter the second-stage door opening phase. The onboard ATC will not allow the first-stage door opening to be executed again, and will not execute the first-stage door opening command upon receipt.

2. The vehicle-mounted ATC door interlocking method according to claim 1, characterized in that, In step S1, data from beacons installed on the road surface are obtained through the onboard ATC to acquire the train's position information; the train's direction of travel is determined by calculating the sequence in which it passes multiple beacons consecutively.

3. The vehicle-mounted ATC door interlocking method according to claim 1, characterized in that, In UTO mode, the onboard ATC only receives trackside movement authorization; in MATP mode, the onboard ATC receives both trackside movement authorization and driver gate commands; and in FM mode, the onboard ATC only receives driver gate commands.

4. The vehicle-mounted ATC door interlocking method according to claim 1, characterized in that, The onboard ATC executes the received door opening and closing commands based on the independently calculated expected door opening and closing commands and the corresponding door control mode. In case of emergencies, the train operation mode will be changed, or an order to cancel the onboard ATC interlocking will be issued from the trackside.

5. The vehicle-mounted ATC door interlocking method according to claim 1, characterized in that, The expected door opening command is calculated based on the train's running direction, positioning, and door control mode. The door opening direction corresponds to the train's running direction, and the onboard ATC executes the door opening and closing operation in conjunction with the door control mode corresponding to the station.

6. A vehicle-mounted ATC door interlocking system, characterized in that, include: Module M1: Identifies train location and direction of travel; Module M2: Identifies the train's operating mode and gating mode; Module M3: Calculates the expected door opening command and door opening sequence based on the train's running direction, positioning, and door control mode; Module M4: Based on the received door opening command, compare it with the pre-calculated expected door opening command, and in combination with the train operation mode, execute all / partially execute / reject the door opening and closing actions; The operating modes include UTO mode: exactly as expected command; MATP mode: Within the range allowed by the expected command; FM mode: Allows commands that do not conform to the expected command. The gate control modes include: full door opening mode: all doors open after the train enters the station and stops; phased door opening mode: the train opens and closes the doors in multiple stages; single-side door opening mode: only one side door opens after the train enters the station and stops; and group door opening mode: the doors corresponding to some berths open while the other doors remain closed. In the phased door opening mode, each segment of the door opening and closing mode adopts any one of the following: full door opening mode, single-side door opening mode, or group door opening mode; The switching criteria for the first stage to the second stage in the phased door opening mode include: in UTO mode, the passenger clearing system issues a successful passenger clearing result after the first stage ends, or in MATP mode and FM mode, the on-board ATC receives a door opening command. In UTO mode or MATP mode, if passengers have not been cleared or other operational requirements necessitate re-entering the first stage of the passenger drop-off area, the vehicle will receive a first-stage door opening command again after the first door closes. This process continues until the vehicle closes and receives a second-stage door opening command, at which point it will enter the second-stage door opening phase. The onboard ATC will not allow the first-stage door opening to be executed again, and will not execute the first-stage door opening command upon receipt.

7. The vehicle-mounted ATC door interlocking system according to claim 6, characterized in that, In module M1, data from beacons installed on the road surface is obtained through the on-board ATC to acquire the train's position information; the train's direction of travel is determined by calculating the sequence in which it passes multiple beacons consecutively.

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