A train control system and method based on vehicle-to-vehicle communication

Abstract

The present invention relates to a train control system and method based on vehicle-to-vehicle communication, the system comprising: ground equipment and onboard equipment; wherein the ground equipment comprises intelligent platform doors, intelligent switches, and intelligent signals arranged at the trackside; the onboard equipment comprises an autonomous sensing system and a fusion controller; the autonomous sensing system acquires train position and speed information in real time and transmits it to the fusion controller; the fusion controller communicates with the intelligent platform doors, intelligent switches, and intelligent signals in real time based on the received position and speed information, directly controls the intelligent platform doors, intelligent switches, and intelligent signals, and acquires corresponding platform door resources, switch resources, and signal resources. By directly communicating with the fusion controller and directly controlling each trackside device, the present invention simplifies the control logic of the train and trackside devices, effectively improving the control efficiency of ancillary resources such as trackside platform doors, switches, and signals.

Description

Technical Field

[0001] The present invention belongs to the technical field of rail vehicles, and in particular relates to a train control system and method based on vehicle-to-vehicle communication. Background Art

[0002] Existing Urban Rail Transit Control Systems (TACS) are typically improved upon the traditional Communication-Based Train Automatic Control System (CBTC). After a train requests resources from trackside equipment, the trackside controller sends commands to indirectly control the equipment. Trains also share resources through mutual communication. However, this system has several significant drawbacks. For example, because trains need to indirectly control trackside equipment through trackside controllers, equipment operation response times are long; the large number of trackside equipment increases system complexity and maintenance costs; and the system's overall intelligence level is low, hindering the accuracy and efficiency of train control, impacting operational efficiency and driving safety.

[0003] In addition, in the existing technology, the signal control system and the train control system operate separately, resulting in a long response time for the signal-driven train and complex interfaces between the systems, further increasing the complexity and maintenance costs of the system and increasing the cost of subsequent system upgrades. Summary of the Invention

[0004] The purpose of the present invention is to solve one of the above technical problems and provide a train control system and method based on vehicle-to-vehicle communication.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A train control system based on vehicle-to-vehicle communication, comprising: onboard equipment and ground equipment;

[0007] Onboard equipment includes a fusion controller and autonomous perception system;

[0008] Ground equipment includes intelligent platform door system, intelligent switch system and intelligent signal system;

[0009] The autonomous perception system obtains the train's position and speed information based on satellite signals and / or data collected by onboard sensors, and transmits the obtained information to the fusion controller;

[0010] Based on the received position information and speed information, the fusion controller directly controls the intelligent platform doors, intelligent switch systems and intelligent signal systems through real-time communication with the intelligent platform door system, intelligent switch system and intelligent signal system to apply for corresponding auxiliary resources, including platform door resources, switch resources and signal resources.

[0011] In some embodiments of the present invention, the specific process of the fusion controller applying for platform gate resources is as follows:

[0012] During the train entering the station, the fusion controller sends door and platform door status information to the intelligent platform door system; after the train enters the station and stops, the fusion controller sends a door opening and closing control command to the intelligent platform door system. After receiving the door opening and closing control command, the intelligent platform door system controls the intelligent platform door to achieve linkage opening and closing with the train door.

[0013] In some embodiments of the present invention, the specific process of the fusion controller applying for turnout resources is as follows:

[0014] Before entering a section containing a turnout, the fusion controller establishes a communication connection with the intelligent switch machine to which the turnout belongs, registers, and queries the turnout status;

[0015] The fusion controller sends a corresponding control command to the intelligent switch machine based on the current route and electronic map information, and waits to receive feedback information from the intelligent switch machine. After receiving the control command, the intelligent switch machine operates the action module based on the command and no longer accepts registrations from other vehicles.

[0016] After receiving feedback from the intelligent switch, the fusion controller establishes a communication connection with the intelligent signal and sends a route development command to the intelligent signal to update the driving resources ahead of the train;

[0017] After the train passes the predetermined distance of the turnout, the fusion controller sends an application message to the intelligent switch machine to apply for resource cancellation. After receiving the application, the intelligent switch machine disconnects the communication connection with the fusion controller.

[0018] In some embodiments of the present invention, the specific process of the fusion controller applying for traffic light resources is as follows:

[0019] The fusion controller establishes a communication connection with the intelligent signal machine mainboard to which the intelligent signal machine belongs and queries the status of the signal machine ahead;

[0020] The fusion controller sends signal control commands to the intelligent signal based on the current train operation plan and electronic map information, requesting the signal to be opened or closed to obtain or cancel the route resources ahead;

[0021] After the train leaves the route by a predetermined distance, the fusion controller sends an application message to the intelligent signal machine to request the release of the signal machine resources. After receiving the application, the intelligent signal machine disconnects the communication connection with the fusion controller.

[0022] In some embodiments of the present invention, the autonomous perception system includes an autonomous perception unit, a satellite navigation unit, an onboard inertial navigation unit, a speed sensor, a laser radar, a millimeter wave radar, and a binocular camera;

[0023] The satellite navigation unit, onboard inertial navigation unit and speed sensor are used to obtain the train's position and speed information in real time while the train is moving;

[0024] The autonomous perception unit is used to detect obstacles based on data collected by lidar, millimeter-wave radar and binocular cameras, and to locate the train through terrain matching.

[0025] In some embodiments of the present invention, the autonomous perception system includes a UWB positioning tag, and adopts UWB positioning technology when the train has no communication, and realizes high-precision positioning of the train by cooperating with the UWB base station beside the track through the UWB positioning tag.

[0026] In some embodiments of the present invention, the ground equipment further includes an automatic monitoring system ATS, an object controller OC, and an intelligent operation and maintenance system MSS. The fusion controller, the intelligent platform door system, the intelligent switch system, and the intelligent signal system are all communicatively connected to the automatic monitoring system ATS to feed back door status information, turnout status information, and signal status information to the automatic monitoring system ATS.

[0027] The fusion controller is also used to initialize, report, query, transfer and reclaim driving resources based on the received position information and speed information through real-time communication with the target controller OC.

[0028] In some embodiments of the present invention, when there is a communication failure between the train and the ground, the automatic monitoring system ATS sends a train route command to the target controller OC based on the current train operation plan, and controls the intelligent platform doors, intelligent switches and intelligent signals within the train route range through the target controller OC, so that the train runs to the target platform according to the predetermined operation plan.

[0029] In some embodiments of the present invention, the fusion controller integrates the signal control function of the TACS signal system with the train control function of the TCMS system, and replaces the vehicle circuit with the LCU to achieve unified dispatching control of the train signal, traction, braking and network systems.

[0030] Some embodiments of the present invention further provide a train control method based on vehicle-to-vehicle communication, comprising the following steps:

[0031] Integrate the signal control functions of the TACS signal system with the train control functions of the TCMS system to provide an on-board integrated controller;

[0032] The onboard autonomous perception system obtains the train's position and speed information based on satellite signals and / or data collected by onboard sensors, and transmits the obtained information to the fusion controller;

[0033] Based on the received position and speed information, the fusion controller directly controls the intelligent platform doors, intelligent switch systems and intelligent signals through real-time communication with the intelligent platform door system, intelligent switch system and intelligent signal system to apply for corresponding platform door resources, switch resources and signal resources.

[0034] The beneficial effects of the present invention are:

[0035] 1. This invention uses a fusion controller to communicate with each trackside intelligent device in real time and directly control the corresponding trackside equipment to perform corresponding actions to obtain trackside resources. This simplifies the control logic, shortens the information transmission time, and effectively improves the control efficiency of platform doors, switches, and signal equipment.

[0036] 2. Compared with the existing technology, the present invention reduces the number of interfaces between signals, switches, platform doors and trackside controllers, thus achieving refined resource management of track equipment resources and reducing the costs of train operation, maintenance management and system upgrades;

[0037] 3. The fusion controller provided by the present invention integrates the signal control function of the TACS signal system with the train control function of the TCMS system, realizing real-time Ethernet train control and multi-network integration, unifying the dispatching and control of multiple systems including signaling, traction, braking, and network, reducing the intermediate links and hardware equipment of key control systems, optimizing train control accuracy, system response time, comfort, and stability, and reducing cable equipment, thereby lowering train maintenance costs and workload.

[0038] 4. The autonomous perception system provided by the present invention adopts positioning technology based on a combination of satellite and inertial navigation, which improves the accuracy of train positioning and speed measurement. In the degraded mode, UWB positioning technology is used to make up for the shortcomings of satellite positioning and improve the safety of train operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] Figure 1 This is a structural diagram of a train control system based on vehicle-to-vehicle communication;

[0041] Figure 2 This is a flow chart of the auxiliary resource management solution for a train control system based on vehicle-to-vehicle communication;

[0042] Figure 3 This is a flow chart of the train control system's train resource management solution based on train-to-train communication;

[0043] Figure 4 Flowchart of a train control method based on vehicle-to-vehicle communication. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is described and illustrated below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely used to explain this application and are not intended to limit this application. Based on the embodiments provided in this application, all other embodiments obtained by those of ordinary skill in the art without making any creative efforts are within the scope of protection of this application.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0047] The technical solution of the present invention is described in detail below in conjunction with specific embodiments and the accompanying drawings.

[0048] As attached Figure 1-3 As shown, in an illustrative embodiment of a train control system based on vehicle-to-vehicle communication according to the present invention, the train control system includes ground equipment and on-board equipment.

[0049] Ground equipment includes intelligent platform doors, intelligent switches and intelligent signals installed on the trackside.

[0050] The intelligent platform door system has a safety integrity level of SIL4 and includes an intelligent platform door controller. This controller communicates in real time with onboard equipment and / or a trackside target controller (OC) via a secure wireless communication protocol. It controls the opening and closing of the intelligent platform door based on control commands from the onboard equipment or the target controller (OC). In this embodiment, the intelligent platform door can implement functions such as alignment isolation and gap protection. The intelligent platform door further includes an intelligent display screen, located on the fixed platform door, that displays information such as train operation information and door and platform door status for passengers to view during boarding and alighting.

[0051] The system safety integrity level of the intelligent switch machine is SIL4, which includes an intelligent switch machine controller. The intelligent switch machine controller communicates in real time with the on-board equipment and / or the target controller OC on the trackside through a fully electronic safety computer platform and a safety communication protocol (RSSP-I). The intelligent switch machine is directly controlled based on the control commands sent by the on-board equipment or the target controller OC. According to the control commands, the intelligent switch machine realizes wireless intelligent control of the ground infrastructure equipment through technical means such as the fully electronic safety computer platform (SIL4), the safety communication protocol (RSSP-I), the Internet of Things, satellite positioning and communication, smart sensors, and edge computing.

[0052] The system safety integrity level of the intelligent traffic signal is SIL4, which includes an intelligent traffic signal controller. The intelligent traffic signal controller communicates with the on-board equipment and / or the target controller OC in real time through a fully electronic safety computer platform and a safety communication protocol (RSSP-I), and directly controls the intelligent traffic signal based on the control commands sent by the on-board equipment or the target controller OC.

[0053] The on-board equipment includes an autonomous perception system and a fusion controller. The autonomous perception system and the fusion controller are communicated with each other. Fusion controllers are installed at the front and rear of the train. The two fusion controllers are connected through the TRDP vehicle communication network and are redundant to each other.

[0054] The safety integrity level of the autonomous perception system is SIL4. It uses the Beidou satellite navigation system and inertial navigation technology to obtain the train's position and speed information based on satellite signals and / or data collected by on-board sensors, and performs real-time, high-precision positioning of the train, thereby realizing autonomous speed measurement and positioning as well as intelligent collision avoidance. After obtaining the train's position and speed information, the autonomous perception system transmits the information obtained to the fusion controller in real time.

[0055] The safety integrity level of the fusion controller is SIL4, and it adopts a two-by-two redundant structure design. The fusion controller receives the position and speed information sent by the autonomous perception system. Based on the received information, it directly controls the intelligent platform doors, intelligent switch machines, and intelligent signal machines through real-time communication with the intelligent platform doors, intelligent switch machines, and intelligent signal machines to obtain the corresponding platform door resources, switch resources, and signal machine resources. It should be noted that the fusion controller provided by the present invention integrates the signal control functions of the TACS signal system with the train control functions of the TCMS system, replacing the vehicle circuit with the LCU, saving hard wiring. That is, the fusion controller provided by the present invention is an intelligent device that integrates the on-board controller (OBC) of the traditional TACS signal system and the train control system (TCMS) of the vehicle system. Compared with the traditional TACS system, the fusion controller of the new TACS system in the present invention realizes real-time Ethernet vehicle control and multi-network integration, unifying the dispatching and control of multiple systems such as signaling, traction, braking, and network, reducing the intermediate links and hardware equipment of the key control system, optimizing vehicle control accuracy, system response time, comfort, and stability, and reducing cable equipment, thereby reducing train maintenance costs and maintenance workload.

[0056] The intelligent signal machine, intelligent switch machine and intelligent platform door provided by the present invention are all equipped with independent host controllers, and can communicate independently with the on-board fusion controller to enable the train to directly apply for resources and send control commands to the trackside targets. Compared with the method in the prior art in which the train communicates with the trackside area controller ZC, and the trackside area controller ZC then controls and dispatches the signal machines, switches and other equipment on the trackside, the control logic is more efficient and direct, and the system response speed is faster.

[0057] In some embodiments of the present invention, the specific process of the fusion controller obtaining platform door resources is as follows:

[0058] During a train's arrival, the fusion controller communicates wirelessly with the intelligent platform door to exchange information about the train and platform doors' status. Once the train arrives and stops safely, the fusion controller sends a door opening / closing control command to the intelligent platform door controller. Upon receiving this command, the intelligent platform door controller controls the intelligent platform door to open and close in conjunction with the train's doors. Compared to traditional platform door control systems, this invention significantly improves platform door control efficiency through direct communication and actuation between the fusion controller and the intelligent platform door.

[0059] In some embodiments of the present invention, the specific process of the fusion controller applying for turnout resources is as follows:

[0060] When a train is about to pass through a section containing a turnout and is a certain distance away from a signal, the fusion controller establishes a communication connection with the intelligent switch machine to which the turnout belongs, registers and queries the turnout status. The specific method is that the fusion controller first initiates a registration and query turnout status request, and the intelligent switch machine verifies its identity through the RSSP-I protocol, establishes a communication link, and feedbacks the turnout status.

[0061] The fusion controller sends corresponding control commands to the intelligent switch machine based on the current route and electronic map information, and waits to receive feedback information from the intelligent switch machine; after receiving the control command, the intelligent switch machine operates the action module based on the command, and no longer accepts registrations from other vehicles.

[0062] After receiving the control command, the intelligent switch machine will move the switch to the corresponding position and feed back to the fusion controller.

[0063] After receiving the turnout position information fed back by the intelligent switch machine, the fusion controller sends a route development command to the intelligent signal machine to update the driving resources ahead of the train, so that the train can enter the route.

[0064] After the rear of a train passes a predetermined distance from a switch, the fusion controller sends a request to the intelligent switch associated with the switch to cancel the resource. This predetermined distance is configurable based on the train's operating environment. Upon receiving the request, the intelligent switch disconnects from the fusion controller and waits for the next vehicle to request a resource.

[0065] The vehicle fusion controller in this invention directly communicates with ground equipment via intelligent switch machines to obtain switch resources. This significantly shortens information transmission time and accelerates the transmission of information such as switch movement and status, thereby improving travel speed, linkage efficiency, and switch machine response speed. Furthermore, ground equipment can communicate with the vehicle fusion controller, further reducing equipment response time and improving line efficiency.

[0066] In some embodiments of the present invention, the specific process of the fusion controller applying for traffic light resources is as follows:

[0067] When the train is running on the line, the fusion controller establishes a communication connection with the intelligent signal mainboard to which the intelligent signal belongs in advance and queries the status of the signal ahead. The specific method is that the on-board fusion controller first initiates registration with the intelligent signal and sends a query to the status of the signal ahead. After receiving the query information from the train, the intelligent signal verifies its identity through the RSSP-I protocol, establishes a communication link, and feedbacks the status of the signal ahead of the train.

[0068] The fusion controller sends signal control commands to the intelligent signal based on the current train operation plan and electronic map information, applying for signal development or closure information to obtain or cancel the route resources ahead.

[0069] After the train leaves the route a predetermined distance, the fusion controller sends a request to the intelligent signal to release the signal's resources. The predetermined distance can be configured based on the train's actual operating environment. After receiving the request, the intelligent signal disconnects from the fusion controller.

[0070] In some embodiments of the present invention, the autonomous perception system includes an autonomous perception unit, a satellite navigation unit, an onboard inertial navigation unit, a speed sensor, a lidar, a millimeter-wave radar, a binocular camera, and a transponder transmission module (BTM). The satellite navigation unit includes a GNSS satellite navigation system, and the onboard inertial navigation unit includes IMU and UWB inertial sensors. The signaling system does not include a separate speed sensor; instead, it uses a brake system to transmit speed information on each axle of the vehicle to measure wheel axle speed.

[0071] The satellite navigation unit, onboard inertial navigation unit, and speed sensor are used to obtain real-time train position and speed information during the train's operation. Specifically, during the train's operation, the Beidou satellite navigation system and inertial navigation technology, combined with a speed measuring motor, detect the train's current position and speed in real time and transmit this information to the onboard fusion controller. Upon receiving this position and speed information, the onboard fusion controller communicates with ground equipment in real time to request the corresponding signal, switch, and platform door resources, thereby achieving efficient operation of the entire line.

[0072] As an auxiliary unit for train operation, the autonomous perception unit can accurately match the terrain based on data collected by lidar, millimeter-wave radar and binocular cameras, and thus accurately locate the train position and stop. It can also identify whether there are obstacles within the limit in front of the train. When obstacle information is detected, it will send the information to the fusion controller, which will issue an emergency braking control command to the train.

[0073] The autonomous perception system provided by the present invention greatly reduces the number of ground transponders, from one every 300 meters to only the transponders for entering and leaving the station, and also reduces the equipment used for idling slip judgment, such as Doppler radar. Compared with the traditional TACS system's positioning method based on ground transponders, the autonomous perception system achieves real-time and high-precision positioning of the train by combining satellite navigation systems and inertial navigation technology, thereby improving positioning accuracy and reducing the number of equipment and costs.

[0074] In some embodiments of the present invention, the autonomous perception system includes a UWB positioning tag, and adopts UWB positioning technology when the train has no communication, and realizes high-precision positioning of the train by cooperating with the UWB base station beside the track through the UWB positioning tag.

[0075] In some embodiments of the present invention, as shown in the attached Figure 2As shown in the figure, the ground equipment further includes an automatic monitoring system (ATS), an object controller (OC), and an intelligent operation and maintenance system (MSS). The fusion controller, intelligent platform door system, intelligent switch system, and intelligent signal system are all connected to the automatic monitoring system (ATS) via 5G / LTE communication to provide feedback on door status information, turnout status information, and signal status information to the ATS, thus achieving efficient operation of intelligent vehicle-to-vehicle communication along the entire line.

[0076] Based on the received position and speed information, the fusion controller also communicates with the central target controller OC in real time, and completes the initialization, reporting, query, transfer and recovery of driving resources together with OC. Among them, the fusion controller, as the user of driving resources, is used to initiate driving resource reporting, query, application, and transfer; OC, as the manager of driving resources, is used to initialize, record, query and respond, and recover driving resources. The process of the fusion controller and the target controller OC communicating in real time to complete the scheduling of driving resources is shown in the attached figure. Figure 3 shown.

[0077] When train communication is normal, the train operates at the TACS level, and vehicle-to-vehicle communication and direct communication between the vehicle and ground equipment are achieved through the onboard vehicle-to-ground communication unit.

[0078] When the train has no communication, that is, when the communication between the train and the ground fails, the central control mode is operated. The autonomous perception system achieves high-precision positioning of the train through the UWB base station and positioning tags deployed in advance. The automatic monitoring system ATS sends the train route command to the target controller OC based on the current train operation plan, and controls the intelligent platform doors, intelligent switches and intelligent signals within the train route range through the target controller OC, so that the train can run to the target platform according to the predetermined operation plan.

[0079] Some embodiments of the present invention further provide a train control method based on vehicle-to-vehicle communication, as shown in the attached Figure 4 As shown, the following steps are included.

[0080] The signal control function of the TACS signal system is integrated with the train control function of the TCMS system to provide an on-board fusion controller.

[0081] The onboard autonomous perception system obtains the train's position and speed information based on satellite signals and / or data collected by onboard sensors, and transmits the obtained information to the fusion controller.

[0082] Based on the received position and speed information, the fusion controller directly controls the intelligent platform doors, intelligent switch systems and intelligent signals through real-time communication with the intelligent platform door system, intelligent switch system and intelligent signal system to apply for corresponding platform door resources, switch resources and signal resources.

[0083] In this embodiment, the fusion controller also communicates with the central target controller (OC) in real time based on the received position and speed information, and together with the OC, completes the initialization, reporting, querying, transfer, and recovery of driving resources. The fusion controller, as a user of driving resources, initiates driving resource reporting, querying, applying for, and transferring driving resources; the OC, as a manager of driving resources, initializes, records, responds to queries, and recovers driving resources.

[0084] In some embodiments of the present invention, a method for a fusion controller to apply for platform door resources includes the following steps.

[0085] During a train's arrival, the fusion controller communicates with the intelligent platform door via wireless communication to exchange information about the train and platform doors' status. Once the train arrives and stops safely, the fusion controller sends a door opening / closing command to the intelligent platform door controller. The intelligent platform door controller then controls the intelligent platform door to open and close in conjunction with the train doors.

[0086] In some embodiments of the present invention, a method for a fusion controller to apply for switch resources includes the following steps.

[0087] When a train is about to pass through a section containing a turnout and is a certain distance away from a signal, the fusion controller initiates registration with the intelligent switch machine to which the turnout belongs and sends a request to query the turnout status. The intelligent switch machine verifies its identity through the RSSP-I protocol, establishes a communication link with the fusion controller, and feedbacks the turnout status.

[0088] The fusion controller sends corresponding control commands to the intelligent switch machine based on the current route and electronic map information, and waits to receive feedback information from the intelligent switch machine; after receiving the control command, the intelligent switch machine will operate the switch to the corresponding position and feedback to the fusion controller.

[0089] After receiving the turnout position information fed back by the intelligent switch machine, the fusion controller sends a route development command to the intelligent signal machine to update the driving resources ahead of the train, so that the train can enter the route.

[0090] After the rear of a train passes a predetermined distance from a switch, the fusion controller sends a request to the intelligent switch associated with the switch to cancel the resource. This predetermined distance is configurable based on the train's operating environment. Upon receiving the request, the intelligent switch disconnects from the fusion controller and waits for the next vehicle to request a resource.

[0091] In some embodiments of the present invention, a method for a fusion controller to apply for traffic signal resources includes the following steps.

[0092] When a train is running on the line, the fusion controller registers with the intelligent signal mainboard to which the intelligent signal belongs in advance and queries the status of the signal ahead. After receiving the query information from the train, the intelligent signal verifies its identity through the RSSP-I protocol, establishes a communication link, and feedbacks the status of the signal ahead of the train.

[0093] The fusion controller sends signal control commands to the intelligent signal based on the current train operation plan and electronic map information, applying for signal development or closure information to obtain or cancel the route resources ahead.

[0094] After the train leaves the route a predetermined distance, the fusion controller sends a request to the intelligent signal to release the signal's resources. The predetermined distance can be configured based on the train's actual operating environment. After receiving the request, the intelligent signal disconnects from the fusion controller.

[0095] Some embodiments of the present invention further include the following steps.

[0096] When train communication is normal, the train adopts the TACS level operation mode, and the trains communicate directly with each other and with ground equipment.

[0097] When the train has no communication, it runs in central control mode. The autonomous perception system achieves high-precision positioning of the train through pre-deployed UWB base stations and positioning tags. The automatic monitoring system ATS sends the train route command to the target controller OC, which controls the intelligent platform doors, intelligent switches and intelligent signals within the train route range through the target controller OC.

[0098] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0099] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to preferred embodiments, persons skilled in the art should understand that the specific implementation methods of the present invention may still be modified or some technical features may be replaced by equivalents without departing from the spirit of the technical solutions of the present invention, and all of these should fall within the scope of the technical solutions claimed for protection by the present invention.

Claims

1. A train control system based on vehicle-to-vehicle communication, characterized in that: include: Ground equipment and vehicle-mounted equipment; The ground equipment includes intelligent platform doors, intelligent switches and intelligent signals arranged beside the track; The vehicle-mounted equipment includes an autonomous perception system and a fusion controller; The autonomous perception system obtains the train's position information and speed information based on satellite signals and / or data collected by onboard sensors, and transmits the obtained information to the fusion controller; Based on the received position information and speed information, the fusion controller directly controls the intelligent platform doors, intelligent switch machines and intelligent signals by communicating with them in real time to obtain corresponding auxiliary resources, including platform door resources, switch resources and signal resources; The ground equipment further includes an automatic monitoring system ATS, an object controller OC and an intelligent operation and maintenance system MSS, The fusion controller, the intelligent platform door system, the intelligent switch system, and the intelligent signal system are all in communication with the automatic monitoring system ATS to feed back door status information, turnout status information, and signal status information to the automatic monitoring system ATS; The fusion controller is also used to realize initialization, reporting, query, transfer and recovery of driving resources through real-time communication with the target controller OC based on the received position information and speed information; When there is a communication failure between the train and the ground, the automatic monitoring system ATS sends a train route command to the target controller OC based on the current train operation plan. The target controller OC controls the intelligent platform doors, intelligent switches and intelligent signals within the train route range to ensure that the train runs to the target platform according to the predetermined operation plan. The fusion controller integrates the signal control function of the TACS signal system with the train control function of the TCMS system, and replaces the vehicle circuit with the LCU to achieve unified dispatching control of the train signal, traction, braking and network systems.

2. The train control system based on vehicle-to-vehicle communication according to claim 1, characterized in that: The specific process of the fusion controller obtaining platform door resources is as follows: The fusion controller sends door and platform door status information to the intelligent platform door during the train entering the station; the fusion controller sends a door opening and closing control command to the intelligent platform door system after the train enters the station and stops steadily. After receiving the door opening and closing control command, the intelligent platform door system controls the intelligent platform door to realize the linkage opening and closing with the train door.

3. The train control system based on vehicle-to-vehicle communication according to claim 1, characterized in that: The specific process of the fusion controller obtaining turnout resources is as follows: The fusion controller establishes a communication connection with the intelligent switch machine to which the switch belongs before entering the section containing the switch, registers and queries the switch status; The fusion controller sends a corresponding control command to the intelligent switch machine based on the current route and electronic map information, and waits to receive feedback information from the intelligent switch machine; after receiving the control command, the intelligent switch machine operates the action module based on the command, and no longer accepts registrations from other vehicles; After receiving the feedback information from the intelligent switch, the fusion controller establishes a communication connection with the intelligent signal machine and sends a development route command to the intelligent signal machine to update the driving resources ahead of the train; After the train passes a predetermined distance through the turnout, the fusion controller sends an application message to the intelligent switch machine to which the turnout belongs to apply for resource cancellation. After receiving the application, the intelligent switch machine disconnects the communication connection with the fusion controller.

4. The train control system based on vehicle-to-vehicle communication according to claim 1 or 3, characterized in that: The specific process of the fusion controller obtaining signal resources is as follows: The fusion controller establishes a communication connection with the intelligent signal machine mainboard to which the intelligent signal machine belongs and queries the status of the signal machine ahead; The fusion controller sends a signal control command to the intelligent signal based on the current train operation plan and electronic map information, requesting the signal to be opened or closed to obtain or cancel the route resources ahead; After the train leaves the route by a predetermined distance, the fusion controller sends an application message to the intelligent signal machine to apply for releasing the signal machine resources. After receiving the application, the intelligent signal machine disconnects the communication connection with the fusion controller.

5. The train control system based on vehicle-to-vehicle communication according to claim 1, characterized in that: The autonomous perception system includes an autonomous perception unit, a satellite navigation unit, an on-board inertial navigation unit, a speed sensor, a laser radar, a millimeter-wave radar, and a binocular camera; The satellite navigation unit, the on-board inertial navigation unit and the speed sensor are used to obtain the position information and speed information of the train in real time during the train's travel; The autonomous perception unit is used to detect obstacles based on data collected by lidar, millimeter-wave radar and binocular cameras, and to locate the train through terrain matching.

6. The train control system based on vehicle-to-vehicle communication according to claim 1 is characterized in that ,The autonomous sensing system includes a UWB positioning tag, which uses UWB positioning technology when the train has no ,communication. The UWB positioning tag cooperates with the trackside UWB base station to ,achieve high-precision positioning of the train.

7. A train control method based on vehicle-to-vehicle communication, comprising: The following steps are involved: Integrate the signal control functions of the TACS signal system with the train control functions of the TCMS system to provide an on-board integrated controller; The on-board autonomous perception system obtains the train's position information and speed information based on satellite signals and / or data collected by on-board sensors, and transmits the obtained information to the fusion controller; Based on the received position information and speed information, the fusion controller directly controls the intelligent platform doors, intelligent switch systems and intelligent signal systems by communicating with them in real time to apply for corresponding platform door resources, switch resources and signal resources.

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