Railway vehicle fusion control system and method

Abstract

The invention relates to a railway vehicle fusion control system and method.The railway vehicle fusion control system comprises a train operation control unit, a vehicle driving unit and a vehicle execution unit, the vehicle driving unit is connected with a driver console and / or a vehicle-mounted controller through a hard line, and when a train network fails, the vehicle driving unit collects a train hard line instruction through the hard line and sends the train hard line instruction to the vehicle-mounted controller; the traction or braking force of the vehicle is calculated and distributed, and a vehicle execution unit is directly controlled to execute traction or braking operation through a hard wire; a brake execution mechanism in the vehicle execution unit is connected with the driver console and / or the vehicle-mounted controller through a hard wire, and when the vehicle driving unit breaks down, the brake execution mechanism collects an emergency brake instruction and executes emergency brake operation through the hard wire. According to the invention, through fusion of functions of different subsystems of the train and optimization of a hard wire connection mode, equipment redundancy is reduced, the hardware topology of the train is simplified, and the efficiency and safety of traction and braking cooperation are improved.

Description

Technical Field

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

[0002] Existing urban rail trains generally adopt a distributed electrical and electronic architecture that divides systems by function, in which each system is equipped with its own independent electronic control unit. For example, the train's traction system, braking system, air conditioning system, door control system, etc., each system has a dedicated electronic control unit to realize its specific function, and a single or multiple electronic control units work together to complete the conversion and processing of vehicle information, thereby ensuring the normal operation of the train.

[0003] However, a large number of electronic control units in this distributed electrical and electronic architecture usually need to be connected through complex wiring harnesses to achieve signal transmission and command issuance, which makes the vehicle wiring extremely complicated and increases the difficulty of vehicle manufacturing and maintenance. At the same time, since signals need to be transmitted between the electronic control units for coordinated control, when the train needs to perform emergency braking or rapid start operations, the complex communication links may cause delays in coordination between the electronic control units, making the train's response time longer, which not only affects the train's operating efficiency, but also may threaten the safety of passengers. Summary of the invention

[0004] The purpose of the present invention is to solve one of the above-mentioned technical problems and to provide a rail vehicle fusion control system and method, which integrates the train-level operation control function into the same train operation control unit, and integrates the vehicle-level traction control function and braking control function into the same vehicle drive unit, eliminates the electronic brake control unit, simplifies the vehicle hardware topology, and improves the efficiency and safety of the train traction and braking coordination.

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

[0006] A rail vehicle fusion control system, comprising:

[0007] The train operation control unit is installed at the end car of the train and is used for train management and operation control of the entire train;

[0008] The vehicle drive unit is arranged at the end car and the middle car of the train, and is connected to the train operation control unit through the train network, and is connected to the driver's console and / or the on-board controller through hard wires, and is used to control the start and stop of the vehicle;

[0009] The vehicle execution unit is arranged at the end car and the middle car of the train, and includes a restraining actuator and a braking actuator, which are used to perform traction operation and braking operation respectively; the restraining actuator and the braking actuator are both connected to the vehicle drive unit through hard wires, and the braking actuator is connected to the driver's console and / or the on-board controller through hard wires;

[0010] When the train network fails, the vehicle drive unit collects the train hard-line instructions sent by the driver's console or the on-board controller through hard-line, calculates and distributes the traction or braking force of the vehicle based on the train hard-line instructions, and directly controls the traction actuator to apply traction force or electric braking force through hard-line, and controls the brake actuator to apply mechanical braking force;

[0011] When the vehicle drive unit fails, the brake actuator collects the emergency braking command sent by the driver's console or the on-board controller through hard wires, and performs emergency braking operations based on the emergency braking command.

[0012] In some embodiments of the present invention, a vehicle electrical unit is further included, which is arranged in the end car and the middle car of the train, and is communicatively connected with the train operation control unit through the train network, and is used for unified driving and sampling of vehicle I / O signals;

[0013] In some embodiments of the present invention, when the train network is normal and the train is driving automatically, the train operation control unit directly calculates and allocates the traction or braking force of the entire train of vehicles in units of the entire train, and sends the calculated and allocated traction or braking force to the vehicle drive units of the entire train of vehicles through the train network.

[0014] In some embodiments of the present invention, the vehicle electrical unit of the end car is connected to the driver's control console via a hard wire; when the train network is normal and manually driven, the vehicle electrical unit of the end car collects the train hard wire instructions sent by the driver's control console via the hard wire and sends them to the train operation control unit via the train network. The train operation control unit calculates and allocates the traction or braking force of the entire train of vehicles based on the train hard wire instructions, and sends the calculated and allocated traction or braking force to the vehicle drive units of the entire train of vehicles via the train network.

[0015] In some embodiments of the present invention, the vehicle electrical unit is connected to the vehicle subsystem via a hard line and performs integrated control on the vehicle subsystem.

[0016] In some embodiments of the present invention, when the vehicle drive unit calculates and distributes the braking force of the vehicle based on the train hard-line instructions, it preferentially controls the traction actuator to apply electric braking force. When the electric braking force is insufficient, it controls the brake actuator to supplement the mechanical braking force.

[0017] In some embodiments of the present invention, the vehicle drive unit is used to monitor the idling / sliding state of each axle of the vehicle in real time, and when it is determined that the vehicle is idling / sliding, the output force of the traction actuator and the brake actuator is adjusted to restore adhesion;

[0018] The vehicle drive unit is also used to monitor the anti-skid status of the traction actuator and the brake actuator in real time, and to switch the anti-skid function and perform anti-skid timeout safety cutoff under predetermined conditions.

[0019] In some embodiments of the present invention, a train operation control unit is deployed with a virtual machine, the virtual machine includes at least two sub-operating systems, and the train management and operation control functions of the train operation control unit run in different sub-operating systems respectively.

[0020] Some embodiments of the present invention further provide a rail vehicle fusion control method for controlling the above rail vehicle fusion control system, comprising the following steps:

[0021] Establishing a connection between the vehicle drive unit of each vehicle and the driver console and / or onboard controller via hard wiring;

[0022] When the train network fails, the vehicle drive unit collects the train hard-line instructions sent by the driver's console or the on-board controller through hard-line, calculates and distributes the traction or braking force of the vehicle based on the train hard-line instructions, and directly controls the traction actuator to apply traction force or electric braking force through hard-line, and controls the brake actuator to apply mechanical braking force;

[0023] Establishing a connection between the brake actuator of each vehicle and the driver's console and / or on-board controller via hard wire;

[0024] When the vehicle drive unit fails, the brake actuator collects the emergency braking command sent by the driver's console or the on-board controller through hard wires, and performs emergency braking operations based on the emergency braking command.

[0025] In some embodiments of the present invention, the following steps are further included:

[0026] Establishing a connection between the vehicle electrical unit of the end car and the driver's console through hard wires, and establishing a communication connection between the vehicle electrical unit of each car and the train operation control unit through the train network;

[0027] When the train network is normal and manually driven, the vehicle electrical unit of the end car collects the train hard-line instructions sent by the driver's control console through hard lines and sends them to the train operation control unit through the train network. The train operation control unit calculates and allocates the traction or braking force of the entire train based on the train hard-line instructions, and sends the calculated and allocated traction or braking force to the vehicle drive units of the entire train through the train network.

[0028] In some embodiments of the present invention, the following steps are further included:

[0029] When the vehicle drive unit of each vehicle calculates and distributes the braking force of the vehicle based on the train hard-wired instructions, it preferentially controls the traction actuator to apply the electric braking force. When the electric braking force is insufficient, it controls the brake actuator to supplement the mechanical braking force.

[0030] The beneficial effects of the present invention are:

[0031] 1. The present invention integrates multiple subsystems related to train operation and train management into the same train operation control unit, with strong system integration and high reliability, reducing the number of hardware devices and wiring complexity, shortening the information transmission link, improving information sharing and coordination efficiency, and facilitating more accurate monitoring and prediction of train operation status;

[0032] 2. The train operation control unit provided by the present invention manages and allocates resources on a train-by-train basis, reducing the risk of single-point failure in traditional distributed control and enhancing the fault tolerance of the system;

[0033] 3. The present invention integrates the vehicle-level traction and braking driving functions into the vehicle drive unit, and changes the external communication between the traction and braking control units through the vehicle-level network into the internal communication of the vehicle drive unit, thereby reducing equipment redundancy, simplifying the vehicle hardware topology, and improving the efficiency and safety of traction and braking coordination;

[0034] 4. The present invention realizes the integration of vehicle I / O drive and acquisition and integrated control of vehicle subsystems based on the vehicle electrical unit, reduces repeated I / O acquisition and repeated hardware settings, further reduces equipment redundancy, simplifies vehicle hardware topology, improves space utilization and overall vehicle lightweight. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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 in conjunction with the accompanying drawings. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 This is a system architecture diagram of a rail vehicle fusion control system;

[0037] Figure 2 The present invention is a flow chart of a rail vehicle fusion control method. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0039] 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 of their variations 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.

[0040] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0041] The technical solution of the present invention is described in detail below in conjunction with specific embodiments and the accompanying drawings.

[0042] As attached Figure 1 As shown, in an illustrative embodiment of a rail vehicle fusion control system of the present invention, the fusion control system includes a train operation control unit, a vehicle drive unit and a vehicle execution unit.

[0043] The train operation control unit integrates the functions related to train operation control. It is installed at the end car of the train and is used for train management and operation control of the entire train. The two train operation control units distributed at the front and rear cars are hot standby redundant to each other. When the main end fails, the standby end takes over.

[0044] In the train operation control unit, the train management and operation control function logic are developed and compiled on a unified platform. The compiled code runs in the real-time operating system of the train operation control unit, exchanges information through internal variables, shares core data such as line information and vehicle status, and accurately controls the train.

[0045] The vehicle drive unit is used to control the start and stop of the vehicle. It is installed in the end car and the middle car of the train, realizing the integration of the traction control unit and the brake control unit. The vehicle drive unit of each vehicle is connected to the same train network through a switch, and communicates with the train operation control unit through the train network. The vehicle drive unit of each vehicle is connected to the driver's console and / or the on-board controller through a hard line.

[0046] In the vehicle drive unit, the traction and braking function logic is developed and compiled on a unified platform. The compiled code runs in the real-time operating system of the vehicle drive unit, exchanges information through internal variables, shortens the control link, and improves the reusability of software modules.

[0047] The vehicle actuator unit is installed at the end car and the middle car of the train, including a traction actuator and a brake actuator, which are used to perform traction operations and braking operations respectively. Among them, the traction mechanism and the brake actuator are connected to the vehicle drive unit through hard wires, and the brake actuator is connected to the driver's console and / or the on-board controller through hard wires. The traction actuator is specifically an inverter power module and a traction motor, etc., and the brake actuator is specifically a wire-controlled brake clamp, a traditional brake clamp and a valve block, etc.

[0048] When the train network is normal and the train is driving automatically, the train operation control unit that integrates the automatic operation function directly calculates and distributes the traction or braking force of the entire train as a unit, and sends the calculated and distributed traction or braking force to the vehicle drive units of the entire train through the train network.

[0049] When the train network is normal and manually driven, the train operation control unit receives control instructions sent by the driver's console or the on-board controller, calculates and allocates the traction or braking force of the entire train of vehicles based on the control instructions, and sends the calculated and allocated traction or braking force to the vehicle drive units of the entire train of vehicles through the train network.

[0050] When the train operation control unit manages and distributes traction and braking force as a whole train unit, a single component failure can be eliminated independently, and the traction or braking force can be compensated by other non-faulty components to reduce the impact of single-point failure and improve train availability.

[0051] When emergency traction or train network failure occurs, the vehicle drive unit collects the train hard-wired instructions sent by the driver's console or on-board controller through hard-wired, calculates and distributes the traction or braking force of the vehicle based on the train hard-wired instructions, and directly controls the traction actuator to apply traction or electric braking force through hard-wired, and controls the brake actuator to apply mechanical braking force. Among them, the train hard-wired instructions specifically include braking, traction, level and other instructions.

[0052] When the vehicle drive unit fails, the brake actuator directly collects the emergency braking command sent by the driver's console or the on-board controller through hard lines, and performs emergency braking operations based on the emergency braking command.

[0053] like Figure 1 As shown, based on the above structure, the rail vehicle fusion control system provided by this embodiment forms a three-level fusion control architecture including a centralized computing layer, a dedicated drive layer, and a perception execution layer, wherein the train operation control unit and the switch constituting the train network are located in the centralized computing layer, the vehicle drive unit is located in the dedicated drive layer, and the vehicle execution unit is located in the perception execution layer. In this architecture, the business data between devices are integrated through real-time Ethernet, and a small amount of hard wires are retained to realize the basic operation control function of trains under network failure conditions. This architecture is a centralized collaborative work architecture, which is different from the serial cooperation work architecture of traditional train subsystems. The traditional architecture divides the system by function, and the systems work together through interfaces. The fusion architecture deconstructs and reconstructs the system functions, and realizes centralized scheduling and unified execution according to the professional layering of "centralized computing-dedicated drive-perception execution".

[0054] In the above exemplary embodiments, the unified carrying of train-level control functions such as traction, network, and braking is achieved based on the train operation control unit, and at the same time, it has the ability to further integrate the train automatic operation function and cancel its hardware equipment, realize data sharing, reduce interaction delay, and improve train control accuracy and performance. Based on the vehicle drive unit, the integration of traction and braking drive functions is achieved, and the traction control unit and braking control unit corresponding to the traction control function and the braking control function are cancelled. The external communication between the traction and braking control units originally carried out through the vehicle-level network is changed to the internal communication of the vehicle drive unit, simplifying the vehicle hardware topology and improving the efficiency and safety of the core system coordination.

[0055] In some embodiments of the present invention, the dedicated drive layer further includes a vehicle electrical unit, which is arranged in the end car and the middle car of the train, and is communicatively connected to the train operation control unit through the train network. The drive hardware resources required by the SIL4 / SIL2 / SIL0 safety functions can be configured based on actual needs to replace the on-board controller IO acquisition device to perform unified drive of the vehicle I / O signals.

[0056] In some embodiments of the present invention, the vehicle electrical unit adopts 2×2oo2, 2oo2, 1oo1 and other architecture designs, and achieves the safety and reliability of IO drive through measures such as hot standby switching of the main and standby systems and two-out-of-two periodic voting.

[0057] In some embodiments of the present invention, the vehicle electrical unit of the end car is connected to the driver's console via a hard line, and the vehicle electrical unit of the end car and the train operation control unit are connected to the same train network via a switch.

[0058] When the train network is normal and manual driving is in progress, the vehicle electrical unit of the end car collects the train hard-line instructions sent by the driver's console through hard-line and sends them to the train operation control unit through the train network. The train operation control unit calculates and allocates the traction or braking force of the entire train based on the train hard-line instructions, and sends the calculated and allocated traction or braking force to the vehicle drive units of the entire train through the train network.

[0059] In some embodiments of the present invention, the vehicle electrical unit integrates relevant functions of vehicle local control, is connected to the vehicle subsystem through the train hard line, and performs integrated control on the vehicle subsystem, which can replace the functional expansion of local IO control such as air conditioning and lighting, and is conducive to reducing the number of controllers in the vehicle.

[0060] In the above exemplary embodiment, the vehicle I / O drive and acquisition integration is realized based on the vehicle electrical unit, reducing I / O repeated acquisition and hardware repeated settings, supporting the integration of vehicle control algorithm functions such as air conditioning and lighting, and maximizing resource utilization. At the same time, hardware resources with different safety levels of SIL4 / SIL2 / SIL0 are flexibly configured to realize the digitization of vehicle electrical, and the safety and reliability of the system are improved through the control performance and diagnostic capabilities of IO.

[0061] In some embodiments of the present invention, when the vehicle drive unit calculates and distributes the braking force of the vehicle based on the hard-wired instructions of the train, it first calculates the braking demand of the train according to the load and braking deceleration, and preferentially controls the traction actuator to apply electric braking force. When the electric braking force meets the braking demand of the train, the braking actuator does not supplement the mechanical braking force; when the electric braking force cannot meet the braking demand of the train, the braking actuator is controlled to supplement the mechanical braking force. Under the premise of ensuring safe braking, energy saving and consumption reduction can be achieved and brake shoe wear can be reduced.

[0062] In some embodiments of the present invention, the vehicle drive unit is used to monitor the idling / slipping status of each axle of the vehicle in real time, and adjust the output force of the traction actuator and the brake actuator to restore adhesion when it is determined that the vehicle is idling / slipping.

[0063] In some embodiments of the present invention, the vehicle drive unit is also used to monitor the anti-skid status and anti-skid timeout of traction and braking, so as to cut off the traction anti-skid when the traction anti-skid timeout or deep sliding conditions occur, switch to the braking to take over the anti-skid function, and safely cut off the braking anti-skid when the braking anti-skid timeout occurs.

[0064] In some embodiments of the present invention, when the brake actuator adopts electronic mechanical braking, the vehicle drive unit needs to be equipped with SIL4 safety function hardware such as safety input, safety output, and safety calculation to realize high safety level functions such as emergency braking and parking braking, and at the same time monitor the anti-skid state of the brake actuator to perform safe cutting off of anti-skid timeout.

[0065] In some embodiments of the present invention, a train operation control unit is deployed with a virtual machine, which includes at least two sub-operating systems. The train management and operation control functions of the train operation control unit are respectively run in different sub-operating systems, so that the various functions of the train operation control unit can share physical resources such as CPU, and can also rely on different kernel environments and drivers to run, thereby meeting the scenario requirements of diversified applications in the urban rail field.

[0066] In some embodiments of the present invention, a human-computer interaction screen is further included, which is connected to the train operation control unit through the train network. An integrated large screen can be used to integrate the network screen, signal screen and CCTV screen, and the diversity and flexibility of interaction with the user can be improved through sliding / multi-touch, audio and video, etc. At the same time, through the linkage of equipment abnormalities with videos, the association of fault information with multi-system environmental data, and the association of text with voice, functional linkage is achieved, providing users with more comprehensive information display and improving the intelligence level of the system.

[0067] Some embodiments of the present invention further provide a rail vehicle fusion control method for controlling the above rail vehicle fusion control system, as shown in the attached Figure 2 As shown, the following steps are included:

[0068] A connection is established between the vehicle drive unit of each vehicle and the driver console and / or onboard controller via hard wiring.

[0069] When emergency traction or train network fails, the vehicle drive unit collects the train hard-wired instructions sent by the driver's console or on-board controller through hard-wired cables, calculates and allocates the traction or braking force of the vehicle based on the train hard-wired instructions, and directly controls the traction actuator to apply traction force or electric braking force through hard-wired cables, and controls the brake actuator to apply mechanical braking force.

[0070] A connection is established between the brake actuator of each vehicle and the driver's console and / or on-board controller via hard wiring.

[0071] When the vehicle drive unit fails, the brake actuator collects the emergency braking command sent by the driver's console or the on-board controller through hard wires, and performs emergency braking operations based on the emergency braking command.

[0072] In some embodiments of the present invention, the following steps are further included:

[0073] When the train network is normal and the train is driving automatically, the train operation control unit that integrates the automatic operation function directly calculates and distributes the traction or braking force of the entire train as a unit, and sends the calculated and distributed traction or braking force to the vehicle drive units of the entire train through the train network.

[0074] In some embodiments of the present invention, the following steps are further included:

[0075] Establishing a connection between the vehicle electrical unit of the end car and the driver's console through hard wires, and establishing a communication connection between the vehicle electrical unit of each car and the train operation control unit through the train network;

[0076] When the train network is normal and manual driving is in progress, the vehicle electrical unit of the end car collects the train hard-line instructions sent by the driver's console through hard-line and sends them to the train operation control unit through the train network. The train operation control unit calculates and allocates the traction or braking force of the entire train based on the train hard-line instructions, and sends the calculated and allocated traction or braking force to the vehicle drive units of the entire train through the train network.

[0077] In some embodiments of the present invention, the following steps are further included:

[0078] When the vehicle drive unit of each vehicle calculates and distributes the braking force of the vehicle based on the train hard-wired instructions, it preferentially controls the traction actuator to apply the electric braking force. When the electric braking force is insufficient, it controls the brake actuator to supplement the mechanical braking force.

[0079] 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.

[0080] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A rail vehicle fusion control system, characterized in that: include: The train operation control unit is installed at the end car of the train and is used for train management and operation control of the entire train; The vehicle drive unit is arranged at the end car and the middle car of the train, and is connected to the train operation control unit through the train network, and is connected to the driver's console and / or the on-board controller through a hard line, and is used to control the start and stop of the vehicle; The vehicle execution unit is arranged at the end car and the middle car of the train, and includes a restraining actuator and a braking actuator, which are used to perform traction operation and braking operation respectively; the restraining actuator and the braking actuator are both connected to the vehicle drive unit through hard wires, and the braking actuator is connected to the driver console and / or the on-board controller through hard wires; When the train network fails, the vehicle drive unit collects the train hard-line instructions sent by the driver's console or the on-board controller through hard-line, calculates and distributes the traction force or braking force of the vehicle based on the train hard-line instructions, and directly controls the traction actuator to apply traction force or electric braking force through hard-line, and controls the brake actuator to apply mechanical braking force; When the vehicle drive unit fails, the brake actuator collects the emergency braking command sent by the driver's console or the vehicle controller through a hard line, and performs an emergency braking operation based on the emergency braking command.

2. The rail vehicle fusion control system according to claim 1, characterized in that: It further includes a vehicle electrical unit, which is arranged in the end car and the middle car of the train, and is communicatively connected with the train operation control unit through the train network, and is used for unified driving of vehicle I / O signals.

3. The rail vehicle fusion control system according to claim 1 or 2, characterized in that: When the train network is normal, the train operation control unit calculates and distributes the traction force or braking force of the entire train of vehicles in units of the entire train, and sends the calculated and distributed traction force or braking force to the vehicle drive units of the entire train of vehicles through the train network.

4. The rail vehicle fusion control system according to claim 2, characterized in that: The vehicle electrical unit is connected to the vehicle subsystem via hard wires and performs integrated control on the vehicle subsystem.

5. The rail vehicle fusion control system according to claim 1, characterized in that: When the vehicle drive unit calculates and distributes the braking force of the vehicle based on the train hard-line instruction, it preferentially controls the traction actuator to apply the electric braking force. When the electric braking force is insufficient, it controls the brake actuator to supplement the mechanical braking force.

6. The rail vehicle fusion control system according to claim 1, characterized in that: The vehicle drive unit is used to monitor the idling / sliding state of each axle of the vehicle in real time, and when it is determined that the vehicle is idling / sliding, adjust the output force of the traction actuator and the brake actuator to restore adhesion; The vehicle drive unit is also used to monitor the anti-skid status of the traction actuator and the brake actuator in real time, and to switch the anti-skid function and perform anti-skid timeout safety removal under predetermined conditions.

7. The rail vehicle fusion control system according to claim 1, characterized in that: The train operation control unit is deployed with a virtual machine, which includes at least two sub-operating systems. The train management and operation control functions of the train operation control unit are respectively run in different sub-operating systems.

8. A rail vehicle fusion control method, characterized in that: A rail vehicle fusion control system for controlling any one of claims 1 to 7, comprising the following steps: Establishing a connection between the vehicle drive unit of each vehicle and the driver console and / or onboard controller via hard wiring; When the train network fails, the vehicle drive unit collects the train hard-line instructions sent by the driver's console or the on-board controller through hard-line, calculates and distributes the traction force or braking force of the vehicle based on the train hard-line instructions, and directly controls the traction actuator to apply traction force or electric braking force through hard-line, and controls the brake actuator to apply mechanical braking force; Establishing a connection between the brake actuator of each vehicle and the driver's console and / or on-board controller via hard wire; When the vehicle drive unit fails, the brake actuator collects the emergency braking command sent by the driver's console or the on-board controller through a hard line, and performs an emergency braking operation based on the emergency braking command.

9. The rail vehicle fusion control method according to claim 1, characterized in that: Further comprising the steps of: When the train network is normal, the train operation control unit calculates and distributes the traction or braking force of the entire train of vehicles in units of the entire train, and sends the calculated and distributed traction or braking force to the vehicle drive units of the entire train of vehicles through the train network.

10. The rail vehicle fusion control method according to claim 1, characterized in that: Further comprising the steps of: When the vehicle drive unit of each vehicle calculates and distributes the braking force of the vehicle based on the train hard-line instruction, it preferentially controls the traction actuator to apply the electric braking force. When the electric braking force is insufficient, it controls the brake actuator to supplement the mechanical braking force.

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