Vehicle-mounted control system of tramcar

Abstract

The invention relates to a tramcar vehicle-mounted control system, which adopts an asymmetric master-slave redundancy control system architecture and comprises a vehicle-mounted master control part and a vehicle-mounted backup control part, the vehicle-mounted main control part comprises a vehicle-mounted main control module, and a beacon processing module, a speed measurement module and a function configuration module which are respectively connected with the vehicle-mounted main control module, and the function configuration module generates a vehicle-mounted function configuration file according to project requirements of the tramcar; the vehicle-mounted backup control part comprises a vehicle-mounted backup control module, and a speed measurement module and a Beidou / GPS module which are respectively connected with the vehicle-mounted backup control module. Compared with the prior art, the method has the advantages of high configurability, good robustness, high availability, low cost and the like.

Description

Technical Field

[0001] The invention relates to the technical field of tram operation control, and in particular to a tram on-board control system. Background Art

[0002] Modern trams are a new urban public transportation mode with moderate capacity, green and environmental protection, comfort and energy saving. They are a form of rail transit running on dedicated tracks on the ground. They are generally parallel to the regular roads, located in the center or on both sides, and have overlapping rights of way with ordinary roads at intersections. Modern trams usually share the right of way with private vehicles, have priority at level crossings, and adopt a driving mode where the driver drives visually. The requirements for modern tram on-board control systems have the following characteristics:

[0003] (1) High functional configurability requirements: Due to the diverse road rights and different operating modes of trams, different tram projects have different requirements for train speed measurement methods, functional configurations, safety integrity, and data transmission methods. The on-board control system needs to have a high degree of configurability.

[0004] (2) The installation of on-board equipment is limited: Modern trams usually use 70% or 100% low-floor vehicles. The floor height cannot meet the installation requirements of some speed sensors, and there are no special equipment cabinets in the car, so the installation space of on-board control system equipment is limited.

[0005] (3) Low equipment cost requirement: Usually, the construction cost of a tram is only 1 / 5-1 / 3 of that of a subway. Therefore, the tram onboard control system needs to have a simple architecture and use low-cost devices.

[0006] After searching, Chinese patent publication number CN115817579A discloses a tram on-board control system, which specifically discloses: the tram on-board control system is based on a head-to-tail redundant structure, the on-board control host is connected to the power supply equipment, display, Beidou / GPS module, speed sensor, communication unit, auxiliary communication unit and vehicle, and the train positioning algorithm is based on Beidou / GPS module and speed sensor. However, this patent adopts a head-to-tail redundant architecture, the head end and the tail end have the same components, the equipment cost is high, and it cannot eliminate the impact of common mode failures on the system. Train positioning is based on GPS and speed sensors, and does not take into account scenarios such as poor GPS signals when trams are running in urban areas. The train positioning error is large and cannot meet projects with high safety integrity requirements.

[0007] How to achieve on-board control of trams with high configuration capability, low cost and accurate positioning has become a technical problem that needs to be solved. Summary of the invention

[0008] The purpose of the present invention is to provide a tram on-board control system in order to overcome the defects of the above-mentioned prior art.

[0009] The purpose of the present invention can be achieved by the following technical solutions:

[0010] According to one aspect of the present invention, there is provided a tram onboard control system, the system adopts an asymmetric master-slave redundant control system architecture, including an onboard main control part and an onboard backup control part;

[0011] The on-board main control part includes an on-board main control module, and a beacon processing module, a speed measurement module and a function configuration module respectively connected to the on-board main control module, and the function configuration module generates an on-board function configuration file according to the requirements of the tram project;

[0012] The vehicle-mounted backup control part includes a vehicle-mounted backup control module, and a speed measurement module and a Beidou / GPS module respectively connected to the vehicle-mounted backup control module.

[0013] Preferably, the tram project requirements include train running speed, departure interval, traffic density and vehicle-to-ground data transmission mode.

[0014] Preferably, the vehicle-mounted main control module includes a communication unit, a logic unit, an isolation input unit and an isolation output unit;

[0015] The communication unit forwards the serial port information sent by the beacon processing module and the speed measurement module, and the hard-wired code position information collected by the isolation input unit to the logic unit, and sends the output information calculated by the logic unit to the beacon processing module and the isolation output unit;

[0016] The isolated input unit is responsible for collecting hard-wired code position information from the vehicle;

[0017] The isolated output unit outputs the command from the logic unit to the vehicle through a hard line.

[0018] More preferably, the output information calculated by the logic unit includes information on speed measurement and positioning, route application, intersection priority, safety protection and operation management of the tram.

[0019] Preferably, the beacon processing module comprises a resolution transmitter and a beacon antenna, and the types of the resolution transmitter and the beacon antenna are configured according to a vehicle-mounted functional configuration file.

[0020] Preferably, the speed measurement module includes at least one speed sensor, and the number of the speed sensors is configured according to the vehicle-mounted function configuration file;

[0021] The vehicle function configuration file includes a speed measurement safety integrity level. If the configured speed measurement safety integrity level is SIL0, one speed sensor is configured; if the configured speed measurement safety integrity level is higher than SIL0, multiple speed sensors are configured.

[0022] Preferably, the system further comprises a radar module connected to the vehicle-mounted main control module, for providing obstacle detection information to the vehicle-mounted main control module.

[0023] Preferably, the vehicle-mounted backup control module includes a communication unit and a logic unit;

[0024] The communication unit forwards network messages, serial port information sent by the Beidou / GPS module and the speed measurement module to the logic unit, and sends output information calculated by the logic unit to the Beidou / GPS module.

[0025] Preferably, if the on-board backup control module does not receive the heartbeat information of the on-board main control module for a set period of time, the on-board backup control module sends train control related information to the control center and the trackside equipment.

[0026] Preferably, the system further comprises a wireless communication module, through which the on-board main control module and the on-board backup control module are connected to the control center and the trackside equipment, and receive and send network messages.

[0027] Preferably, the on-board backup control module calculates the train position information through the speed information of the speed measurement module and the satellite positioning information of the Beidou / GPS module.

[0028] More preferably, the safety integrity of the train position information calculated by the on-board backup control module is SIL0.

[0029] Preferably, the system further comprises a human-computer interaction module connected to the vehicle-mounted main control module;

[0030] The human-computer interaction module sends the driver's input information to the vehicle-mounted main control module, and the vehicle-mounted main control module sends the operation information to the human-computer interaction module.

[0031] More preferably, the human-computer interaction module is also connected to the on-board backup control module, and only when the on-board main control module fails, the human-computer interaction module responds to the output message of the on-board backup control module, wherein the output message includes GPS positioning, train speed and center instructions.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1) The vehicle-mounted system of the present invention adopts an asymmetric master-slave redundant control system architecture. The main control part realizes speed measurement and positioning through a beacon processing module and a speed measurement module, which overcomes the problem of large train positioning error when the GPS signal is poor when the tram is running, meets the projects with high safety integrity requirements, and enhances the robustness and availability of the system.

[0034] 2) The present invention configures information such as train running speed, departure interval, traffic density, vehicle-ground data transmission method, and safety integrity of speed measurement in the function configuration module according to project requirements, thereby determining and analyzing information such as transmitter type, beacon type, and number of speed sensors. The system is highly configurable, which improves the flexibility of the application of the on-board control system.

[0035] 3) The present invention adopts an asymmetric master-slave redundant control system architecture, including an on-board main control part and an on-board backup control part. The on-board backup control module is cut according to the on-board main control module, which reduces the complexity of the tram on-board control system, reduces equipment configuration, reduces equipment cost, and enhances the robustness and availability of the system.

[0036] 4) When the on-board main control part fails, the on-board backup control part of the present invention uses the speed measurement module and the Beidou / GPS module to measure speed and position, thereby enhancing the robustness of the system.

[0037] 5) The vehicle-mounted main control part and the vehicle-mounted backup control part of the present invention are connected via a wireless network and can be placed in different cabinets, with low requirements on installation conditions, thus being applicable to a wide range of scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of the vehicle-mounted control system of the present invention;

[0039] Figure 2 It is a structural schematic diagram of the vehicle-mounted main control module in the present invention;

[0040] Figure 3 It is a structural schematic diagram of the vehicle-mounted backup control module in the present invention;

[0041] In the accompanying drawings, 101 is the vehicle-mounted main control module, 102 is the wireless communication module, 103 is the human-computer interaction module, 104 is the beacon processing module, 105 is the speed measurement module, 106 is the radar module, 107 is the function configuration module, 108 is the Beidou / GPS module, and 109 is the vehicle-mounted backup control module. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0043] This embodiment relates to a tram vehicle-mounted control system, such as Figure 1 The system includes a vehicle-mounted main control module 101, a function configuration module 107, a wireless communication module 102, a human-computer interaction module 103, a beacon processing module 104, a speed measurement module 105, a radar module 106, a Beidou / GPS module 108, and a vehicle-mounted backup control module 109.

[0044] like Figure 2 The vehicle-mounted main control module 101 includes a power supply unit (PPU), a communication unit (GWU), a logic unit (MPU), an isolated input unit (VIU) and an isolated output unit (VOU). The power supply unit provides power to the vehicle-mounted main control module 101, and the input is a wide voltage input, and the input voltage is DC 24V~110V. The communication unit forwards the network message received by the wireless communication module 102, the serial port information sent by the beacon processing module 104 and the speed measurement module 105, and the hard-wired code information collected by the isolated input unit to the logic unit, and sends the output information calculated by the logic unit to the wireless communication module 102, the beacon processing module 104 and the isolated output unit. The logic unit realizes the functions of speed measurement and positioning, route application, intersection priority, safety protection and operation management of the tram according to the input of the function configuration module 107. The isolated input unit is responsible for collecting the hard-wired code information from the vehicle. The isolated output unit outputs the instructions from the logic unit to the vehicle through the hard line.

[0045] The function configuration module 107 can generate a vehicle-mounted function configuration file according to specific project requirements such as the tram project train running speed, departure interval, traffic density, and vehicle-to-ground data transmission method.

[0046] The wireless communication module 102 is connected to the vehicle-mounted main control module 101 and the vehicle-mounted backup control module 109 and is responsible for receiving and sending network messages.

[0047] The human-computer interaction module 103 is connected to the vehicle-mounted main control module 101 and the vehicle-mounted backup control module 109. When the message of the vehicle-mounted main control module 101 is valid, the human-computer interaction module 103 does not respond to the output message of the vehicle-mounted backup control module 109. The human-computer interaction module 103 sends the driver's input information to the vehicle-mounted main control module 101, such as driver number, route selection and other information; the vehicle-mounted main control module 101 sends the operation information to the human-computer interaction module 103, such as train positioning, speed, speed limit, route, distance between the front and rear vehicles, center instructions, alarms and other information. The human-computer interaction module 103 does not send messages to the vehicle-mounted backup control module 109, and the vehicle-mounted backup control module 109 sends GPS positioning, train speed, center instructions and other information to the human-computer interaction module 103.

[0048] The positioning of the vehicle-mounted main control module 101 does not rely on satellite positioning, but is based on the beacon processing module 104 and the beacon processing module 104 .

[0049] The beacon processing module 104 includes a parsing transmitter and a beacon antenna. The beacon antenna is responsible for transmitting radio frequency information between the beacon and the parsing transmitter. The parsing transmitter is responsible for parsing the beacon content and then sending it to the on-board main control module 101, and encoding the content sent by the on-board main control module 101 to the trackside device and sending it to the beacon through the antenna. The types of the parsing transmitter and the beacon antenna in the beacon processing module 104 are configured according to the on-board functional configuration file. The combination of the parsing transmitter and the beacon antenna can support various beacons installed on the trackside, including European beacons, American beacons, Tagmaster beacons, or French Balogh company beacons that are widely used in foreign tram systems.

[0050] The speed measurement module 105 transmits speed pulse signals to the vehicle main control module 101 and the vehicle backup control module 109. The number of speed sensors of the speed measurement module 105 is configured according to the vehicle function configuration file. When the project requires the safety integrity level of speed measurement to be SIL0, one speed sensor is configured; when the project requires the safety integrity level of speed measurement to be higher than SIL0, two speed sensors are configured.

[0051] The radar module 106 provides obstacle detection information to the onboard main control module 101. When obstacle information that affects the operation of the train is detected, the onboard main control module 101 outputs an alarm to the driver.

[0052] The Beidou / GPS module 108 uses Beidou and / or GPS positioning to provide satellite positioning information to the vehicle-mounted backup control module 109 .

[0053] like Figure 3The on-board backup control module 109 is cut out through the on-board main control module 101, including a power supply unit (PPU), a communication unit (GWU) and a logic unit (MPU). Considering that the tram is driven by the driver in the backup mode, the on-board backup control module 109 cuts out the isolated input unit (VIU) and the isolated output unit (VOU).

[0054] When the onboard backup control module 109 does not receive the heartbeat information of the onboard main control module 101 for M_Timeout time, the onboard backup control module 109 sends a message to the human-machine interaction module 103, and sends train control related information to the control center and trackside equipment through the wireless communication module 102, including train position, route application and other information. The recommended value of M_Timeout is 1s. The onboard backup control module 109 calculates the train position information through the speed information of the speed measurement module 105 and the satellite positioning information of the Beidou / GPS module 108. The safety integrity of the train position information calculated by the onboard backup control module 109 is SIL0.

[0055] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A tram onboard control system, characterized in that: The system adopts an asymmetric master-slave redundant control system architecture, including an on-board main control part and an on-board backup control part; The on-board main control part comprises an on-board main control module (101), and a beacon processing module (104), a speed measurement module (105) and a function configuration module (107) respectively connected to the on-board main control module (101), wherein the function configuration module (107) generates an on-board function configuration file according to the requirements of the tram project; The vehicle-mounted backup control part comprises a vehicle-mounted backup control module (109), and a speed measurement module (105) and a Beidou / GPS module (108) respectively connected to the vehicle-mounted backup control module (109).

2. A tram onboard control system according to claim 1, characterized in that: The requirements of the tram project include train running speed, departure interval, traffic density and vehicle-ground data transmission method.

3. A tram onboard control system according to claim 1, characterized in that: The vehicle-mounted main control module (101) comprises a communication unit, a logic unit, an isolation input unit and an isolation output unit; The communication unit forwards the serial port information sent by the beacon processing module (104) and the speed measurement module (105), and the hard-wired code position information collected by the isolation input unit to the logic unit, and sends the output information calculated by the logic unit to the beacon processing module (104) and the isolation output unit; The isolated input unit is responsible for collecting hard-wired code position information from the vehicle; The isolated output unit outputs the command from the logic unit to the vehicle through a hard line.

4. A tram onboard control system according to claim 3, characterized in that: The output information calculated by the logic unit includes information on speed measurement and positioning of the tram, route application, intersection priority, safety protection and operation management.

5. A tram onboard control system according to claim 1, characterized in that: The beacon processing module (104) comprises a resolution transmitter and a beacon antenna, and the types of the resolution transmitter and the beacon antenna are configured according to a vehicle-mounted function configuration file.

6. A tram onboard control system according to claim 1, characterized in that: The speed measurement module (105) comprises at least one speed sensor, and the number of the speed sensors is configured according to the vehicle-mounted function configuration file; The vehicle function configuration file includes a speed measurement safety integrity level. If the configured speed measurement safety integrity level is SIL0, one speed sensor is configured; if the configured speed measurement safety integrity level is higher than SIL0, multiple speed sensors are configured.

7. A tram onboard control system according to claim 1, characterized in that: The system further comprises a radar module (106) connected to the vehicle-mounted main control module (101) and used for providing obstacle detection information to the vehicle-mounted main control module (101).

8. A tram onboard control system according to claim 1, characterized in that: The vehicle-mounted backup control module (109) comprises a communication unit and a logic unit; The communication unit forwards network messages, Beidou / GPS module (108) and serial port information sent by the speed measurement module (105) to the logic unit, and sends output information calculated by the logic unit to the Beidou / GPS module (108).

9. A tram onboard control system according to claim 1, characterized in that: If the on-board backup control module (109) fails to receive the heartbeat information of the on-board main control module (101) for a set period of time, the on-board backup control module (109) sends train control related information to the control center and the trackside equipment.

10. A tram onboard control system according to claim 1, characterized in that: The system further comprises a wireless communication module (102), through which the onboard main control module (101) and the onboard backup control module (109) are connected to a control center and trackside equipment, and receive and send network messages.

11. A tram onboard control system according to claim 1, characterized in that: The on-board backup control module (109) calculates the train position information through the speed information of the speed measurement module (105) and the satellite positioning information of the Beidou / GPS module (108).

12. A tram onboard control system according to claim 11, characterized in that: The safety integrity of the train position information calculated by the on-board backup control module (109) is SIL0.

13. A tram onboard control system according to claim 1, characterized in that: The system further comprises a human-computer interaction module (103) connected to the vehicle-mounted main control module (101); The human-computer interaction module (103) sends the driver's input information to the on-board main control module (101), and the on-board main control module (101) sends the operation information to the human-computer interaction module (103).

14. A tram onboard control system according to claim 13, characterized in that: The human-machine interaction module (103) is also connected to an onboard backup control module (109). Only when the onboard main control module (101) fails, the human-machine interaction module (103) responds to an output message of the onboard backup control module (109), wherein the output message includes GPS positioning, train speed and center instructions.

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