Method and system for synchronously opening and closing door of virtual marshalling train
By evaluating and adjusting the communication delay between train ATOs and utilizing a wireless network to directly connect to the TCMS, the problem of synchronizing ATO door opening and closing commands for virtual train formations was solved, enabling synchronized operation of train doors and improving the accuracy of synchronization control.
Patent Information
- Application Number
- CN202411356622.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2025-01-07
AI Technical Summary
In existing technology, the ATO door opening and closing commands of two trains in a virtual formation cannot be synchronized, resulting in the train doors not being able to open and close simultaneously.
By assessing the communication delay between the front and rear ATOs and adjusting the timing of issuing door opening and closing commands, direct communication between the TCMSs is achieved using a wireless network, ensuring synchronized door operation of the two trains.
This technology enables the doors of two trains to open and close simultaneously after the virtual train sets stop at the platform, improving the accuracy of door synchronization control.
Smart Images
Figure CN119261995A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of virtual marshaling, and in particular to a method and system for synchronously opening and closing doors of a virtual marshaling train. Background Art
[0002] In the train operation control system of urban rail transit, after the ATO (automatic train operation system) and other trains stop at the station, they will send a door opening command to the vehicle TCMS (vehicle control and management system); after a certain time (data configuration) remains before the stop, the ATO will send a door closing command to the vehicle. After receiving the door opening and closing command, the vehicle TCMS sends the door opening and closing command to the door control unit on the corresponding side (left door or right door) through the vehicle bus, realizing the simultaneous opening and closing of all doors on the corresponding side of the train.
[0003] When the new generation of virtual marshaling control system is in operation, it is necessary to realize that after two trains stop at the station, the doors of the two trains are opened and closed at the same time, which requires the door opening and closing instructions of the ATO of the two trains to be synchronized. In the prior art, there is a problem that the door opening and closing instructions of the ATO of the two trains in virtual marshaling cannot be synchronized. Summary of the invention
[0004] In view of this, the present invention proposes a method and system for synchronously opening and closing doors of a virtual train.
[0005] The present invention discloses a method for synchronously opening and closing doors of a virtual marshaling train, which comprises:
[0006] Step 1: In virtual marshaling, the communication delay between the ATOs of the leading and trailing vehicles is evaluated;
[0007] Step 2: The ATO of the leading vehicle sends a door opening and closing command, and adjusts the timing of issuing the door opening and closing commands by evaluating the communication delay between the ATOs of the leading vehicle and the following vehicle to achieve synchronous door opening and closing.
[0008] Furthermore, the step 1 comprises:
[0009] Step 11: The ATO of the front car in the virtual marshaling sends a detection signal to the ATO of the rear car every cycle;
[0010] Step 12: After receiving the detection signal with sequence number n, the ATO of the rear vehicle returns an echo signal to the ATO of the front vehicle, and the echo signal contains the sequence number n of the corresponding detection signal;
[0011] Step 13: After receiving the echo signal, the ATO of the preceding vehicle calculates the period difference between the detection signal sent and the echo signal received;
[0012] Step 14: Perform a weighted average on the calculated inter-ATO communication delays corresponding to the five most recent detection signals to estimate the current inter-ATO communication delay.
[0013] Furthermore, in step 11, the detection signal includes a sequence number information, and the sequence number is added forward every cycle, and after being added to a specified value, it is reset to 0 and continues to be added.
[0014] Further, the step 13 comprises:
[0015] The period difference between the detection signal sent and the received echo signal is: the difference between the current period number and the period number of the detection signal corresponding to the detection signal number n contained in the sent echo signal;
[0016] The communication delay between ATOs corresponding to the detection signal n is estimated through the cycle difference.
[0017] Furthermore, in step 2, the timing of issuing the door opening command is adjusted, including:
[0018] In virtual marshaling, after the front car arrives at the station, it waits for the rear car to stop accurately and steadily; after the rear car arrives at the station and stops accurately and steadily, it sends a stop accurately and steadily signal to the front car; after the front car receives the stop accurately and steadily signal from the rear car, the ATO of the front car sends a door opening command to the ATO of the rear car, and after waiting for a period of time, the ATO of the front car sends a door opening command to the TCMS of this car; the period of time is the communication delay between the ATOs of the front car and the rear car;
[0019] After receiving the door opening command from the ATO of the front vehicle, the ATO of the rear vehicle sends the door opening command to the TCMS.
[0020] Furthermore, in step 2, the timing of issuing the door closing command is adjusted, including:
[0021] In the virtual marshaling, the ATO of the front car counts down for departure. When the required time is left in the countdown, the ATO of the front car sends a door closing command to the ATO of the rear car. The required time is the sum of the advance departure time and the communication delay between the ATOs of the front car and the rear car.
[0022] After the ATO of the front vehicle continues to wait for a period of time, it sends a door closing command to the TCMS of the front vehicle; the period of time is the communication delay between the ATO of the front vehicle and the rear vehicle; after receiving the door closing command sent by the ATO of the front vehicle, the ATO of the rear vehicle sends a door closing command to the TCMS of the rear vehicle.
[0023] Furthermore, it also includes:
[0024] The TCMS of the two virtually formed trains communicate with each other via a wireless network, that is, the TCMS of one train controls the door control units of the two trains.
[0025] The present invention also discloses a system for synchronous door opening and closing of a virtual marshaled train, and a method for synchronous door opening and closing of a virtual marshaled train as described in any of the above items, which includes a front car and a rear car; the front car and the rear car are both equipped with an ATO, an ATP (automatic train protection system) and a communication module connected in sequence; the ATO between the front car and the rear car communicates respectively through the ATP and the communication module connected thereto.
[0026] Due to the adoption of the above technical solution, the present invention has the following advantages:
[0027] 1. After the virtual marshaling train stops at the platform, the doors of the two trains open and close at the same time, thus meeting the technical requirements of virtual marshaling.
[0028] 2. The communication delay of the vehicle TCMS network direct connection is smaller than the delay of the signal system, and the synchronous control of the door can be more precise. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.
[0030] Figure 1 Schematic diagram of the communication topology of front and rear vehicles in virtual marshaling according to an embodiment of the present invention;
[0031] Figure 2 This is an interactive sequence diagram of ATO communication delay evaluation for front and rear vehicles according to an embodiment of the present invention. DETAILED DESCRIPTION
[0032] The present invention is further described in conjunction with the accompanying drawings and embodiments, and the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present invention.
[0033] The present invention provides an embodiment of a method for synchronously opening and closing doors of a virtual marshaling train, which comprises:
[0034] S1: In virtual marshaling, the communication delay between the ATOs of the leading and trailing vehicles is evaluated;
[0035] In a specific embodiment, in a virtual formation, the communication topology relationship between the onboard devices of the front and rear vehicles is as follows: Figure 1As shown in the figure. The communication between the front and rear ATOs must go through the ATP, communication module, and wireless network of the two vehicles. Among them, the wireless network is greatly affected by the environment, which leads to the communication delay between the front and rear ATOs not being a fixed value. In order to synchronize the ATO gate control commands between the two vehicles, the communication delay between the ATOs needs to be evaluated.
[0036] The evaluation method is as follows:
[0037] i. The ATO of the front car in the marshaling sends a "detection signal" to the ATO of the rear car in each cycle. The signal contains a sequence number information. The sequence number is added forward each cycle, and after adding to 255, it is reset to 0 and continues to add;
[0038] ii. After receiving the detection signal with sequence number n, the ATO of the rear car in the marshaling group returns an "echo signal" to the ATO of the front car in the marshaling group. The echo signal contains the sequence number n of the corresponding detection signal;
[0039] iii. After the ATO in the front of the marshaling receives the echo signal, the cycle difference between the detection signal sent and the response received is calculated, that is: the current cycle number - the detection signal sequence number n contained in the sent echo signal corresponds to the cycle number of the detection signal. Through the cycle difference, the communication delay between the ATOs corresponding to the detection signal n can be estimated (assuming that the communication market from the front ATO to the rear ATO is equal to that from the rear ATO to the front ATO): ATO cycle length * (cycle difference - 1) / 2.
[0040] iv. Take a weighted average of the calculated inter-ATO communication delays corresponding to the last five probe signals to estimate the current inter-ATO communication delay. For example, the last five probe signals received are (sequence numbers) 1, 2, 3, 4, and 5, and their corresponding inter-ATO communication delays are a, b, c, d, and e, respectively. Then the final estimated inter-ATO communication delay = (λ1a+λ2b+λ3c+λ4d+λ5e) / (λ1+λ2+λ3+λ4+λ5), where λ 1-5 is the weight coefficient (needs to be calibrated based on experiments). In principle, the closer the distance is, the greater the weight coefficient is.
[0041] An example of an interaction between ATOs in the ATO communication assessment process is as follows: Figure 2 As shown in the figure: the front car sends detection signal 1 to the rear car after the end of the first cycle. After receiving the detection signal, the rear car returns the echo signal 1 to the front car after one cycle (calculation cycle). The front car receives the echo signal 1 at the beginning of the fourth cycle. Then it can be calculated that the communication delay corresponding to the detection signal 1 is 3 cycles.
[0042] S2: The ATO of the leading vehicle sends a door opening and closing command, and adjusts the timing of issuing the door opening and closing commands by evaluating the communication delay between the ATOs of the leading vehicle and the following vehicle to achieve synchronous door opening and closing.
[0043] In a specific embodiment, the synchronous door opening process:
[0044] i. After the front car of the marshaling arrives at the station, wait for the rear car to stop accurately and steadily (under normal operation scenarios, the front car of the marshaling must stop first, followed by the rear car).
[0045] ii. After the rear car in the marshaling group arrives at the station and stops completely, it sends a stop signal to the front car.
[0046] iii. After the front car of the marshaling receives the signal of the rear car to stop, the front car ATO sends a door opening command to the rear car ATO, and after waiting for the communication delay time between ATOs, the front car ATO sends a door opening command to the TCMS of this car.
[0047] iv. After receiving the door opening command from the front vehicle ATO, the rear vehicle ATO sends a door opening command to TCMS.
[0048] In a specific embodiment, the synchronous door closing process:
[0049] i. The ATO of the front car in the marshaling starts the countdown for departure. When the countdown is equal to the advance departure time + the communication delay between ATOs, the ATO of the front car sends a door closing command to the ATO of the rear car;
[0050] ii. The ATO of the preceding vehicle continues to wait for the inter-ATO communication delay time and then sends a door closing command to the vehicle TCMS.
[0051] iii. After receiving the door closing command from the front vehicle ATO, the rear vehicle ATO sends a door closing command to the vehicle TCMS.
[0052] In a specific embodiment, the synchronous switching gates are realized by virtual bus technology:
[0053] The TCMS of two virtually assembled trains communicate with each other via a wireless network, realizing a "virtual bus", that is, the TCMS of one train can control the door control units of two trains (via a wireless network).
[0054] The communication delay of the vehicle TCMS network direct connection is smaller than that of the signal system, and the synchronous control of the door can be more precise. However, the vehicle needs to support the virtual bus function.
[0055] See also Figure 1 The present invention also provides an embodiment of a system for synchronous door opening and closing of a virtual marshaling train, which implements the method for synchronous door opening and closing of a virtual marshaling train described in the above embodiment, and includes a front car and a rear car; the front car and the rear car are both equipped with an ATO, an ATP and a communication module connected in sequence; the ATO between the front car and the rear car communicates respectively through the ATP and the communication module connected thereto.
[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.
Claims
1. A method for synchronously opening and closing doors of a virtual train, characterized in that: include: Step 1: In virtual marshaling, the communication delay between the ATOs of the leading and trailing vehicles is evaluated; Step 2: The ATO of the leading vehicle sends a door opening and closing command, and adjusts the timing of issuing the door opening and closing commands by evaluating the communication delay between the ATOs of the leading vehicle and the following vehicle to achieve synchronous door opening and closing.
2. The method for synchronously opening and closing doors of a virtual train according to claim 1, characterized in that: The step 1 comprises: Step 11: The ATO of the front car in the virtual marshaling sends a detection signal to the ATO of the rear car every cycle; Step 12: After receiving the detection signal with sequence number n, the ATO of the rear vehicle returns an echo signal to the ATO of the front vehicle, and the echo signal contains the sequence number n of the corresponding detection signal; Step 13: After receiving the echo signal, the ATO of the preceding vehicle calculates the period difference between the detection signal sent and the echo signal received; Step 14: Perform a weighted average on the calculated inter-ATO communication delays corresponding to the five most recent detection signals to estimate the current inter-ATO communication delay.
3. The method for synchronously opening and closing doors of a virtual train according to claim 2, characterized in that: In step 11, the detection signal includes a sequence number information, and the sequence number is added forward every cycle, and after being added to a specified value, it is reset to 0 and continues to be added.
4. The method for synchronously opening and closing doors of a virtual train according to claim 2, characterized in that: The step 13 comprises: The period difference between the detection signal sent and the received echo signal is: the difference between the current period number and the period number of the detection signal corresponding to the detection signal number n contained in the sent echo signal; The communication delay between ATOs corresponding to the detection signal n is estimated through the cycle difference.
5. The method for synchronously opening and closing doors of a virtual train according to claim 2, characterized in that: In step 2, the timing of issuing the door opening command is adjusted, including: In virtual marshaling, after the front car arrives at the station, it waits for the rear car to stop accurately and steadily; after the rear car arrives at the station and stops accurately and steadily, it sends a stop accurately and steadily signal to the front car; after the front car receives the stop accurately and steadily signal from the rear car, the ATO of the front car sends a door opening command to the ATO of the rear car, and after waiting for a period of time, the ATO of the front car sends a door opening command to the TCMS of this car; the period of time is the communication delay between the ATOs of the front car and the rear car; After receiving the door opening command from the ATO of the front vehicle, the ATO of the rear vehicle sends the door opening command to the TCMS.
6. The method for synchronously opening and closing doors of a virtual train according to claim 1, characterized in that: In step 2, the timing of issuing the door closing command is adjusted, including: In the virtual marshaling, the ATO of the front car counts down for departure. When the required time is left in the countdown, the ATO of the front car sends a door closing command to the ATO of the rear car. The required time is the sum of the advance departure time and the communication delay between the ATOs of the front car and the rear car. After the ATO of the front vehicle continues to wait for a period of time, it sends a door closing command to the TCMS of the front vehicle; the period of time is the communication delay between the ATO of the front vehicle and the rear vehicle; after receiving the door closing command sent by the ATO of the front vehicle, the ATO of the rear vehicle sends a door closing command to the TCMS of the rear vehicle.
7. The method for synchronously opening and closing doors of a virtual train according to claim 1, characterized in that: Also includes: The TCMS of the two virtually formed trains communicate with each other via a wireless network, that is, the TCMS of one train controls the door control units of the two trains.
8. A system for synchronous door opening and closing of a virtual train, which implements the method for synchronous door opening and closing of a virtual train as claimed in any one of claims 1 to 7, characterized in that: It includes a front car and a rear car; the front car and the rear car are both equipped with an ATO, an ATP and a communication module connected in sequence; the ATO between the front car and the rear car communicates respectively through the ATP and the communication module connected thereto.