Rail transit train remote driving system, switching method, device and medium thereof

Abstract

The present application relates to a kind of rail transit train remote driving system and its switching method, equipment and medium, the system is as the backup system of main vehicle-mounted signal system, the system includes vehicle-mounted remote driving system and is arranged in the center remote driving controller of trackside, the vehicle-mounted remote driving system is respectively connected with main vehicle-mounted signal system and center remote driving controller communication;The center remote driving controller is activated after main vehicle-mounted signal system is cut off, and the vehicle-mounted remote driving system of the remote driving system that needs to advance direction side is issued control motor command by security confirmation operation.The present application has the effect of "remote driving system cannot interfere with the normal operation of main system, non-remote driving system control car, its output is invalid" and other advantages compared with prior art.

Description

Technical Field

[0001] This invention relates to rail transit signaling systems, and more particularly to a remote driving system for rail transit trains and its switching method, equipment, and medium. Background Technology

[0002] In the current normal operation of urban rail transit lines in China, when the signaling system stops in a section due to system limitations or specific malfunctions (such as a zone controller failure or a complete failure of the onboard controller), and cannot continue moving forward or backward, the driver must switch to manual driving mode or ATP (Automatic Train Protection) cut-off mode to continue running the train to a nearby station to clear passengers and remove it from the tracks. In driverless lines, if a similar malfunction occurs, passengers must be evacuated from the section, or the driver must walk from the platform to the train to board, which has a significant impact on line operations, directly causing delays of at least 30 minutes, and may even lead to serious public safety hazards during the evacuation process.

[0003] Currently, there are several technical methods that allow trains to be remotely driven, enabling them to continue operating. A search of Chinese Patent Publication No. CN113022653A reveals a remote train driving system and method based on low-latency transmission technology. Specifically, it discloses that the remote driving control module and the remote driving command receiver on each train transmit signals via a low-latency transmission network. The remote driving command receiver is connected to the TOD (Transit-Oriented Development) of the onboard control center (CC), acquires the local operating interface information of the vehicle, and sends it to the remote driving control module. The remote driving control module then sends this information to the remote driving console, which displays the TOD interface. The remote driving console receives control commands from the remote driver and issues control commands to the remote driving control module. The remote driving control module converts the control commands into control quantities and sends them to the remote driving command receiver via the low-latency transmission network.

[0004] However, the existing patent is implemented through a separate on-board controller, which only describes how to control the train operation. It does not explain its relationship with the main on-board signaling system, how to switch between them, or how to avoid affecting the use of the main on-board signaling system under normal circumstances, or how to prevent its output commands from affecting the vehicle. Summary of the Invention

[0005] The purpose of this invention is to overcome the defects of the prior art by providing a remote driving system for rail transit trains and its switching method, equipment and medium.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] According to a first aspect of the present invention, a remote driving system for rail transit trains is provided, which serves as a backup system for a primary onboard signaling system. The system includes an onboard remote driving system and a central remote driving controller located at the trackside. The onboard remote driving system is communicatively connected to both the primary onboard signaling system and the central remote driving controller.

[0008] After the primary vehicle signal system is disconnected, the central remote driving controller activates the vehicle remote driving system on the side requiring forward movement. The vehicle remote driving system issues control commands to the moving train through a safety confirmation operation.

[0009] As a preferred technical solution, the vehicle-mounted remote driving system identifies the environment ahead, the track and the track area, defines the "driving clearance", and detects the distance of the "obstacle" target in a non-contact manner. If the obstacle intrudes into the "driving clearance", the system will alert the dispatcher through the central vehicle dispatching system.

[0010] As a preferred technical solution, the central remote driving controller tractions, brakes, or sends emergency braking control commands to the train. During operation, it monitors the current train speed and alerts the operator or applies emergency braking when the train speed exceeds a predetermined value.

[0011] As a preferred technical solution, the vehicle-mounted remote driving system is also connected to a vehicle interface, which has a built-in remote driving mode enabling circuit, a remote driving mode activating circuit, an ATC disconnect circuit, and a vehicle driving command execution circuit.

[0012] As a preferred technical solution, the remote driving mode allowing circuit includes a relay K1;

[0013] When the primary signal vehicle system does not allow switching to the vehicle remote driving system to control the vehicle, the relay K1 is energized, and the primary signal vehicle system remote driving safety output contact closes.

[0014] When the primary signal vehicle system allows switching to the vehicle remote driving system for vehicle control, or when the primary signal vehicle system malfunctions, the relay K1 is de-energized, and the primary signal vehicle system's remote driving safety output contact is disconnected.

[0015] As a preferred technical solution, the remote driving mode activation circuit includes a relay K2;

[0016] When relay K1 is de-energized, the vehicle-mounted remote driving system receives an activation command from the central remote driving controller and energizes relay K2, causing the contact of the vehicle-mounted remote driving system activation output to close.

[0017] As a preferred technical solution, the ATC cut-off circuit includes an ATC cut-off button connected in parallel with the relay K2 contact;

[0018] When relay K2 is energized, the relay K2 contacts close, and the ATC cut-off button closes, thereby energizing the main vehicle system's safe input and entering the ATC cut-off mode, setting the main vehicle system's output to the vehicle to a restricted state.

[0019] As a preferred technical solution, the vehicle driving command execution circuit includes a relay K3;

[0020] After relay K2 is energized, relay K3 is controlled by the output of the vehicle remote driving system to complete the switching of vehicle control from the main vehicle signal system to the vehicle remote driving system.

[0021] According to a second aspect of the present invention, a switching method using the aforementioned remote driving system for rail transit trains is provided, the method comprising a process of switching a primary on-board signaling system to an on-board remote driving system, and a process of switching the on-board remote driving system to a primary on-board signaling system.

[0022] As a preferred technical solution, the process of switching the primary vehicle signal system to the vehicle remote driving system specifically includes the following steps:

[0023] Step S101: The train makes an emergency stop in the section;

[0024] Step S102: On the ATS interface of the primary signal system, block the area where the vehicle is controlled by the onboard remote driving system.

[0025] Step S103: Determine whether the main onboard signaling system is working properly based on the train status on the ATS interface. If it is working properly, proceed to step S104; otherwise, proceed to step S105.

[0026] Step S104: Send a command to the primary vehicle signal system to enable the primary vehicle signal system to switch to vehicle remote driving system control.

[0027] Step S105: The central remote driving controller sends a remote driving control command to the vehicle remote driving system;

[0028] Step S106: After receiving the command, the vehicle remote driving system sends a remote driving mode activation message to the vehicle.

[0029] Step S107: The vehicle is controlled using remote driving mode;

[0030] In step S108, the central remote driving controller controls the onboard remote driving system to traction and brake, causing the train to move forward.

[0031] As a preferred technical solution, the process of switching the vehicle-mounted remote driving system to the primary vehicle-mounted signal system specifically includes the following steps:

[0032] Step S201: The central remote driving controller sends a command to cancel remote driving control.

[0033] Step S202: After receiving the message, the vehicle remote driving system sends a message to the vehicle to cancel the activation of the remote driving mode.

[0034] Step S203: Send a command to the train to cancel the command to allow remote driving and train control;

[0035] Step S204: The vehicle resumes control via the primary onboard signal system, and the onboard remote driving system becomes ineffective in controlling the vehicle.

[0036] Step S205: On the ATS interface, unblock the area where the remote driving system controls the vehicle.

[0037] According to a third aspect of the present invention, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the program to implement the method described thereon.

[0038] According to a fourth aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method described thereon.

[0039] Compared with the prior art, the present invention has the following advantages:

[0040] 1) This invention can serve as a backup system for the primary onboard signaling system and can safely switch between the two systems. The interface with the vehicle is simple. The train can be remotely controlled to move forward or backward by the central dispatch / maintenance personnel, so that the train can automatically move to the nearest station platform at low speed.

[0041] 2) This invention achieves the effect that "the remote driving system cannot interfere with the normal operation of the main system, and when the non-remote driving system controls the vehicle, its output is invalid for the vehicle".

[0042] 3) After the system of the present invention detects the trigger event, it does not need to calculate the linkage action and area in real time. It only needs to find the data in the configuration file and execute the corresponding action, which saves the system resource overhead of real-time software processing.

[0043] 4) The configuration file of this invention is highly readable, making it easy for designers and verification personnel to check and confirm the consistency between the design and the requirements. During software testing, it is not necessary for the software to traverse every scenario and check the response at every point on the line to see if it matches the expected design, thus saving software testing time. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the structure of the remote driving system for rail transit trains of the present invention;

[0045] Figure 2 A flowchart illustrating the switch from the primary onboard signaling system to the onboard remote driving system;

[0046] Figure 3 A flowchart illustrating the switch from the onboard remote driving system to the primary signal onboard system;

[0047] Figure 4 A schematic diagram of the remote driving mode enable circuit;

[0048] Figure 5 A schematic diagram of the circuit for activating remote driving mode;

[0049] Figure 6 A schematic diagram of the ATC cut-off circuit;

[0050] Figure 7 A schematic diagram of the vehicle driving command execution circuit;

[0051] Figure 8 A diagram illustrating the need to move a train forward or in the opposite direction to the nearest platform in case of a train malfunction;

[0052] Figure 9 A flowchart illustrating how a train needs to be moved forward or in the opposite direction to the nearest platform in case of a train malfunction. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0054] This invention can be used for signaling systems that use remote train driving systems as an independent backup mode under various systems such as fixed block systems, quasi-moving block systems, moving block systems, as well as CBTC systems, CTCS systems, ETCS systems, PTC systems, ITCS systems, TACS systems, and autonomous sensing systems. Therefore, the claims of this invention also apply to these systems and similar systems.

[0055] like Figure 1As shown, a remote driving system for rail transit trains serves as a backup system for the main onboard signaling system. The system includes an onboard remote driving system and a central remote driving controller located at the trackside. The onboard remote driving system is communicatively connected to both the main onboard signaling system and the central remote driving controller.

[0056] After the primary vehicle signal system is disconnected, the central remote driving controller activates the vehicle remote driving system on the side requiring forward movement. The vehicle remote driving system issues control commands to the moving train through a safety confirmation operation.

[0057] Its main functions include:

[0058] 1. Remote Train Control Command Issuance: Through the central remote driving controller, after the main onboard signaling system is disconnected from the main signaling system, the onboard remote driving system on the side requiring forward movement is activated. After a safety confirmation operation, the train control command is issued. It also has the capability to issue braking and emergency braking commands to the train from the central remote driving controller.

[0059] 2. The onboard remote driving system can be equipped with obstacle detection and alarm functions as needed: accurately identifying the preceding environment, track, and track area, and accurately defining the "driving clearance". It accurately detects the distance to "obstacle" targets in a non-contact manner; the detection function is unaffected by lighting conditions. For obstacles outside the equipment clearance, the system does not issue alarms or braking requests. If an obstacle is detected encroaching within the equipment clearance, the system alerts dispatchers through the central vehicle dispatch center.

[0060] 3. Train speed monitoring and alarm: During operation, the train's current speed is monitored. When the train speed exceeds the predetermined value, the operator is alerted or emergency braking is applied through the central remote driving controller.

[0061] 4. Traction and Braking Control: In remote driving mode, the vehicle's traction and braking control commands and corresponding control level information are sent by the onboard remote driving system.

[0062] This invention also provides a switching method using a remote driving system for rail transit trains. The method includes a process of switching from a primary onboard signaling system to an onboard remote driving system, and a process of switching from the onboard remote driving system to a primary onboard signaling system.

[0063] like Figure 2 As shown, the process of switching the primary vehicle signal system to the vehicle remote driving system specifically includes the following steps:

[0064] Step S101: The train makes an emergency stop in the section;

[0065] Step S102: On the ATS interface of the primary signal system, block the area where the vehicle is controlled by the onboard remote driving system.

[0066] Step S103: Determine whether the main onboard signaling system is working properly based on the train status on the ATS interface. If it is working properly, proceed to step S104; otherwise, proceed to step S105.

[0067] Step S104: Send a command to the primary vehicle signal system to enable the primary vehicle signal system to switch to vehicle remote driving system control.

[0068] Step S105: The central remote driving controller sends a remote driving control command to the vehicle remote driving system;

[0069] Step S106: After receiving the command, the vehicle remote driving system sends a remote driving mode activation message to the vehicle.

[0070] Step S107: The vehicle is controlled using remote driving mode;

[0071] In step S108, the central remote driving controller controls the onboard remote driving system to traction and brake, causing the train to move forward.

[0072] like Figure 3 As shown, the process of switching the vehicle-mounted remote driving system to the primary vehicle signal system specifically includes the following steps:

[0073] Step S201: The central remote driving controller sends a command to cancel remote driving control.

[0074] Step S202: After receiving the message, the vehicle remote driving system sends a message to the vehicle to cancel the activation of the remote driving mode.

[0075] Step S203: Send a command to the train to cancel the command to allow remote driving and train control;

[0076] Step S204: The vehicle resumes control via the primary onboard signal system, and the onboard remote driving system becomes ineffective in controlling the vehicle.

[0077] Step S205: On the ATS interface, unblock the area where the remote driving system controls the vehicle.

[0078] To achieve the above switching method, the following vehicle interface method is required to achieve the effect that "the remote driving system cannot interfere with the normal operation of the main system, and when the non-remote driving system controls the vehicle, its output is invalid for the vehicle". The vehicle remote driving system of the present invention is also connected to the vehicle interface, which has a built-in remote driving mode enabling circuit, remote driving mode activation circuit, ATC cut-off circuit and vehicle driving command execution circuit.

[0079] like Figure 4As shown, this is the remote driving mode enabling circuit. When the main signal vehicle system does not allow switching to the remote control system to control the vehicle, the "main signal vehicle system enables remote driving safety output" is closed, and relay K1 is energized; when the main signal vehicle system allows switching to the remote control system to control the vehicle, the "main signal vehicle system enables remote driving safety output" is open, and relay K1 is de-energized.

[0080] like Figure 5 As shown, this is the remote driving mode activation circuit: When relay K1 is de-energized, it indicates that the main signal vehicle system allows remote driving safety output; when the remote driving system receives the activation command from the central controller, it controls the remote driving system activation output contact to close, energizing relay K2 (remote driving mode relay) and simultaneously obtaining feedback on remote driving mode activation.

[0081] like Figure 6 As shown, this is the ATC cutoff circuit: When the K2 relay is energized, the K2 relay contacts close, the main vehicle system safety input is energized, and the ATC cutoff mode is entered, setting all outputs to the vehicle to a limited state.

[0082] like Figure 7 The diagram shows the vehicle driving command execution circuit: When relay K2 is energized, its contacts close, bypassing the ATC of the primary onboard system. The traction / braking output contacts of the primary onboard system then open. At this time, the vehicle driving command execution relay K3 (such as emergency braking, traction command, braking command, traction braking level, traction safety, etc.) is only controlled by the output of the remote driving system. This completes the switch of vehicle control from the primary signal onboard system to the remote driving system.

[0083] like Figure 8 and 9 As shown, the train of this invention experiences a complete failure of its onboard ATC (Automatic Train Control) within the section and cannot continue moving forward. It needs to be moved forward or in the opposite direction to the nearest station.

[0084] The above is an introduction to the system and method embodiments. The following embodiments using electronic devices and storage media will further illustrate the solution of the present invention.

[0085] This invention also provides an electronic device including a central processing unit (CPU), which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) or loaded from a storage unit into a random access memory (RAM). The RAM may also store various programs and data required for device operation. The CPU, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0086] Multiple components in the device are connected to the I / O interface, including: input units such as keyboards and mice; output units such as various types of displays and speakers; storage units such as disks and optical discs; and communication units such as network interface cards (NICs), modems, and wireless transceivers. The communication unit allows the device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0087] The processing unit performs the various methods and processes described above, such as the methods of the present invention. For example, in some embodiments, the methods of the present invention may be implemented as computer software programs tangibly contained in a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on the device via ROM and / or a communication unit. When the computer program is loaded into RAM and executed by the CPU, one or more steps of the methods of the present invention described above may be performed. Alternatively, in other embodiments, the CPU may be configured to execute the methods of the present invention by any other suitable means (e.g., by means of firmware).

[0088] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0089] The program code used to implement the methods of the present invention can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0090] In the context of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0091] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A remote driving system for rail transit trains, which serves as a backup system for the primary onboard signaling system, characterized in that: The system includes an onboard remote driving system and a central remote driving controller located beside the track. The onboard remote driving system is communicatively connected to the main onboard signaling system and the central remote driving controller. After the main vehicle signal system is disconnected, the central remote driving controller activates the vehicle remote driving system on the side requiring forward direction. The vehicle remote driving system issues control commands to the moving train through a safety confirmation operation. The vehicle-mounted remote driving system is also connected to a vehicle interface, which has a built-in remote driving mode enabling circuit, a remote driving mode activating circuit, an ATC disconnect circuit, and a vehicle driving command execution circuit. The remote driving mode allows the circuit to include relay K1; When the primary signal vehicle system does not allow switching to the vehicle remote driving system to control the vehicle, the relay K1 is energized, and the primary signal vehicle system remote driving safety output contact closes. When the primary signal vehicle system allows switching to the vehicle remote driving system for vehicle control, or when the primary signal vehicle system malfunctions, the relay K1 is de-energized, and the primary signal vehicle system's remote driving safety output contact is disconnected.

2. The remote driving system for rail transit trains according to claim 1, characterized in that, The vehicle-mounted remote driving system identifies the environment ahead, the track and the track area, defines the "driving clearance", and detects the distance of "obstacle" targets in a non-contact manner. If an obstacle is found to have entered the "driving clearance", the system will alert the dispatcher through the central vehicle dispatching center.

3. The remote driving system for rail transit trains according to claim 1, characterized in that, The central remote driving controller tractions, brakes, or sends emergency braking commands to the train. During operation, it monitors the train's current speed and alerts the operator or applies emergency braking when the train speed exceeds a predetermined value.

4. The remote driving system for rail transit trains according to claim 1, characterized in that, The remote driving mode activation circuit includes a relay K2; When relay K1 is de-energized, the vehicle-mounted remote driving system receives an activation command from the central remote driving controller and energizes relay K2, causing the contact of the vehicle-mounted remote driving system activation output to close.

5. A remote driving system for rail transit trains according to claim 4, characterized in that, The ATC cut-off circuit includes an ATC cut-off button connected in parallel with the relay K2 contact; When relay K2 is energized, the relay K2 contacts close, and the ATC cut-off button closes, thereby energizing the main vehicle system's safe input and entering the ATC cut-off mode, setting the main vehicle system's output to the vehicle to a restricted state.

6. A remote driving system for rail transit trains according to claim 4, characterized in that, The vehicle driving command execution circuit includes relay K3; After relay K2 is energized, relay K3 is controlled by the output of the vehicle remote driving system to complete the switching of vehicle control from the main vehicle signal system to the vehicle remote driving system.

7. A switching method using the remote driving system for rail transit trains as described in claim 1, characterized in that, The method includes the process of switching from the primary vehicle signaling system to the vehicle remote driving system, and the process of switching from the vehicle remote driving system to the primary vehicle signaling system.

8. The switching method according to claim 7, characterized in that, The process of switching from the primary vehicle signal system to the vehicle remote driving system specifically includes the following steps: Step S101: The train makes an emergency stop in the section; Step S102: On the ATS interface of the primary signal system, block the area where the vehicle is controlled by the onboard remote driving system. Step S103: Determine whether the main onboard signaling system is working properly based on the train status on the ATS interface. If it is working properly, proceed to step S104; otherwise, proceed to step S105. Step S104: Send a command to the primary vehicle signal system to enable the primary vehicle signal system to switch to vehicle remote driving system control. Step S105: The central remote driving controller sends a remote driving control command to the vehicle remote driving system; Step S106: After receiving the command, the vehicle remote driving system sends a remote driving mode activation message to the vehicle. Step S107: The vehicle is controlled using remote driving mode; In step S108, the central remote driving controller controls the onboard remote driving system to traction and brake, causing the train to move forward.

9. The switching method according to claim 7, characterized in that, The process of switching the on-board remote driving system to the primary on-board signal system specifically includes the following steps: Step S201: The central remote driving controller sends a command to cancel remote driving control. Step S202: After receiving the message, the vehicle remote driving system sends a message to the vehicle to cancel the activation of the remote driving mode. Step S203: Send a command to the train to cancel the command to allow remote driving and train control; Step S204: The vehicle resumes control via the primary onboard signal system, and the onboard remote driving system becomes ineffective in controlling the vehicle. Step S205: On the ATS interface, unblock the area where the remote driving system controls the vehicle.

10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 7 to 9.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 7 to 9.

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