Dual-mode vehicle control system and method

Abstract

The invention discloses a dual-mode vehicle control system and method. The system comprises CTCS2 + ATO vehicle-mounted equipment, CBTC vehicle-mounted equipment, an output switching unit and a system selection switch, at any moment, one vehicle-mounted device serves as a vehicle control vehicle-mounted device to output a vehicle control command; the output switching unit is used for switching output channels between the CTCS2 + ATO vehicle-mounted equipment and the train and between the CBTC vehicle-mounted equipment and the train; the system selection switch is used for selecting a vehicle control system, and the CTCS2 + ATO vehicle-mounted device is a vehicle control vehicle-mounted device and does not support automatic switching; the CBTC vehicle-mounted equipment is vehicle control vehicle-mounted equipment and does not support automatic switching; and the output switching unit is connected with an output channel between the train control vehicle-mounted equipment and the train and supports automatic switching. The system selection switch is used for achieving train control right switching of CTCS2 + ATO and CBTC vehicle-mounted equipment, train cross-line operation is supported, and the train installation space requirement and the equipment cost are reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of train control technology, and in particular, to a dual-mode train control system and method. Background Art

[0002] Existing high-speed railway trains are generally equipped with the Chinese Train Control System (CTCS), while urban rail transit is generally equipped with the Communication Based Train Control System (CBTC). Due to the significant differences between the CBTC signal system and the CTCS-2 signal system in terms of operating characteristics, system equipment composition, and internal and external system interfaces, the two train control systems are incompatible with each other and need to be installed and deployed separately in the train, occupying a large space, with high switching costs, and the trains cannot run across lines. Summary of the invention

[0003] The present application provides a dual-mode train control system and method to achieve the switching of train control rights between CTCS2+ATO and CBTC on-board equipment, support cross-line operation of trains, and reduce train installation space requirements and equipment costs.

[0004] In a first aspect, an embodiment of the present application provides a dual-mode vehicle control system, including:

[0005] CTCS2+ATO on-board equipment, CBTC on-board equipment, output switching unit and system selection switch; at any time, one of the CTCS2+ATO on-board equipment and the CBTC on-board equipment serves as the vehicle control on-board equipment to output vehicle control commands to the vehicle;

[0006] The output switching unit is used to switch the output channels between the CTCS2+ATO on-board equipment and the CBTC on-board equipment and the train, so as to ensure that the train control instructions of the on-board equipment are transmitted to the train;

[0007] The mode selection switch is used to select the vehicle control mode, and the vehicle control mode includes:

[0008] When the system selection switch is in the first position, the CTCS2+ATO vehicle-mounted device is a vehicle-control vehicle-mounted device and does not support automatic switching of vehicle-control vehicle-mounted devices;

[0009] When the system selection switch is in the second position, the CBTC on-board device is a vehicle control on-board device and does not support automatic switching of vehicle control on-board devices;

[0010] When the system selection switch is in the third position, the output switching unit connects the output channel between the vehicle control onboard device and the train, and supports automatic switching of the vehicle control onboard device.

[0011] In a second aspect, an embodiment of the present application further provides a dual-mode vehicle control method, which is applied to an on-board device in a dual-mode vehicle control system, wherein the dual-mode vehicle control system includes a CTCS2+ATO on-board device, a CBTC on-board device, an output switching unit, and a mode selection switch; the method includes:

[0012] Determine the current vehicle control mode according to the mode selection switch;

[0013] If the on-board device is a vehicle control on-board device of the current vehicle control system, the vehicle control command is transmitted to the train through the output channel between the on-board device and the train; the output channel is connected by the output switching unit;

[0014] Among them, determining the current vehicle control mode according to the mode selection switch includes:

[0015] When the mode selection switch is in the first position, the current vehicle control mode is: the CTCS2+ATO vehicle-mounted device is a vehicle control vehicle-mounted device and does not support automatic switching of vehicle control vehicle-mounted devices;

[0016] When the mode selection switch is in the second position, the current vehicle control mode is: the CBTC on-board device is a vehicle control on-board device and does not support automatic switching of vehicle control on-board devices;

[0017] When the mode selection switch is in the third position, the current train control mode is: the output switching unit connects the output channel between the train control on-board device and the train, and supports automatic switching of the train control on-board device.

[0018] The embodiment of the present application provides a dual-mode vehicle control system and method, the dual-mode vehicle control system comprising: a CTCS2+ATO vehicle-mounted device, a CBTC vehicle-mounted device, an output switching unit and a mode selection switch; at any time, one of the CTCS2+ATO vehicle-mounted device and the CBTC vehicle-mounted device outputs a vehicle control command to the vehicle as a vehicle control vehicle-mounted device; the output switching unit is used to switch the output channel between the CTCS2+ATO vehicle-mounted device and the CBTC vehicle-mounted device and the train, so as to ensure that the vehicle control command of the vehicle control vehicle-mounted device is transmitted to the vehicle. train; the mode selection switch is used to select the train control mode, and the train control mode includes: when the mode selection switch is in the first position, the CTCS2+ATO on-board equipment is a train control on-board equipment and does not support automatic switching of the train control on-board equipment; when the mode selection switch is in the second position, the CBTC on-board equipment is a train control on-board equipment and does not support automatic switching of the train control on-board equipment; when the mode selection switch is in the third position, the output switching unit connects the output channel between the train control on-board equipment and the train, and supports automatic switching of the train control on-board equipment. The above technical solution uses the mode selection switch to realize the switching of the train control rights between the CTCS2+ATO and CBTC on-board equipment, supports cross-line operation of trains, and reduces the train installation space requirements and equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0020] Figure 1 A schematic diagram of the structure of a dual-mode vehicle control system provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the structure of another dual-mode vehicle control system provided in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of an output switching unit switching an output channel according to information that the vehicle control right is valid provided by an embodiment;

[0023] Figure 4 A flow chart of a dual-mode vehicle control method provided in an embodiment of the present application;

[0024] Figure 5 A schematic diagram of the hardware structure of a vehicle-mounted device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only the parts related to the present application, rather than all structures, are shown in the accompanying drawings.

[0026] It should be mentioned before discussing the exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0027] It should be noted that the concepts of "first", "second", etc. mentioned in the embodiments of the present application are only used to distinguish different devices, modules, units or other objects, and are not used to limit the order or interdependence of the functions performed by these devices, modules, units or other objects.

[0028] In addition, the embodiments in the present application and the features in the embodiments may be combined with each other if there is no conflict.

[0029] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0030] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the relevant content of the solution.

[0031] Figure 1 This is a schematic diagram of the structure of a dual-mode train control system provided in an embodiment of the present application. This embodiment is applicable to the case of dual-mode control of trains. Figure 1 As shown, the system includes a CTCS2+ATO on-board device 10, a CBTC on-board device 20, a system selection switch 30 and an output switching unit 40; at any time, one of the CTCS2+ATO on-board device 10 and the CBTC on-board device 20 can be used as a train control on-board device to output a train control command to the train, and the other on-board device is a non-train control on-board device and does not output a train control command to the train.

[0032] For example, during the operation of the train, the CTCS2+ATO onboard equipment 10 and the CBTC onboard equipment 20 can exchange information periodically through the communication interface to support the switching of control rights. The two onboard equipments work at the same time and collect train information at the same time. The onboard equipment for controlling the train can output the train control command to the train, while the onboard equipment for non-controlling the train does not output the train control command and does not check the feedback signal from the train.

[0033] Specifically, when the train runs on the CTCS line, the CTCS2+ATO on-board equipment 10 is in the train control state to monitor the safe operation of the train; when the train runs on the CBTC line, the CBTC on-board equipment 20 is in the train control state to monitor the safe operation of the train; when the train enters the CBTC line from the CTCS line, the CTCS2+ATO on-board equipment 10 transfers the right of control to the CBTC on-board equipment 20 in the overlapping area (i.e., the switching area); when the train enters the CTCS line from the CBTC line, the CBTC on-board equipment 20 transfers the right of control to the CTCS2+ATO on-board equipment 10 in the overlapping area.

[0034] Optionally, both the CTCS2+ATO onboard equipment 10 and the CBTC onboard equipment 20 can report to the train that the onboard equipment is a train control onboard equipment or a non-train control onboard equipment, and at the same time, only one onboard equipment reports to the train that the onboard equipment is a train control onboard equipment.

[0035] The output switching unit 40 is used to switch the output channels between the CTCS2+ATO on-board equipment 10 and the CBTC on-board equipment 20 and the train, so as to ensure that the train control instructions of the on-board equipment are transmitted to the train.

[0036] The mode selection switch 30 is used to select or switch the vehicle control mode.

[0037] Specifically, the system selection switch 30 may have three gear positions: CTCS-2, CBTC and automatic. Accordingly, the vehicle control systems include the following three types:

[0038] The first type: the CTCS2+ATO vehicle-mounted device 10 is a vehicle-controlling vehicle-mounted device (i.e., has vehicle-control authority) and does not support automatic switching of vehicle-controlling vehicle-mounted devices;

[0039] The second type: the CBTC on-board device 20 is a vehicle control on-board device and does not support automatic switching of vehicle control on-board devices;

[0040] The third type: when the system selection switch 30 is in the third position (automatic position), the output switching unit 40 connects the output channel between the vehicle control onboard equipment and the train, and supports automatic switching of the vehicle control onboard equipment.

[0041] Optionally, the system selector switch can only be operated when the vehicle is parked.

[0042] On this basis, the control rights of CTCS2+ATO and CBTC on-board equipment can be switched, supporting cross-line operation of trains and reducing train installation space requirements and equipment costs.

[0043] Figure 2 FIG. 1 is a schematic diagram of another dual-mode vehicle control system provided by an embodiment. Figure 2 As shown, in addition to the CTCS2+ATO on-board equipment 10, the CBTC on-board equipment 20 and the standard selection switch 30, the system can also add an output switching unit 40, which is used to switch the output channels between the two sets of on-board equipment and the train, ensuring that only the train control instructions of the on-board equipment can be output to the train at any time. During the normal operation of the train, the two on-board equipment can control the output switching unit 20 to automatically connect or disconnect the hard-wire interface between the corresponding on-board equipment and the train. The two on-board equipment can select or switch the control system through the standard selection switch 30. Optionally, the CTCS2+ATO on-board equipment 10 can collect CTCS input signals, the CBTC on-board equipment 20 can collect CBTC input signals, and both the CTCS2+ATO on-board equipment 10 and the CBTC on-board equipment 20 can collect the common input signals of CTCS and CBTC.

[0044] When the system selection switch 30 is in the CTCS-2 position, the CTCS2+ATO on-board device 10 is a vehicle control on-board device and does not support automatic switching of vehicle control rights. The CTCS2+ATO on-board device 10 sends CTCS vehicle control right validity information to the output switching unit 40; when the system selection switch 30 is in the CBTC position, the CBTC on-board device 20 is a vehicle control on-board device and does not support automatic switching of vehicle control rights. The CBTC on-board device 20 sends CBTC vehicle control right validity information to the output switching unit 40; when the system selection switch 30 is in the automatic position, the CTCS2+ATO on-board device 10 and the CBTC on-board device 20 support automatic switching of vehicle control rights.

[0045] On the basis of the above, the output switching unit 40 can feed back the vehicle control right status to the CTCS2+ATO on-board device 10 and the CBTC on-board device 20 .

[0046] Furthermore, when the CTCS2+ATO on-board equipment 10 has the right to control the vehicle, the output switching unit 40 can send the vehicle control signal of the CTCS2+ATO on-board equipment 10 to the train; when the CBTC on-board equipment 20 has the right to control the vehicle, the output switching unit 40 can send the vehicle control signal of the CBTC on-board equipment 20 to the train.

[0047] In one embodiment, the output switching unit 40 includes a vehicle control right decision module 401 and an output module 402; the vehicle control right decision module 401 is used to receive information that the vehicle control right of the vehicle control on-board device is valid, and then determine the vehicle control on-board device; the output module 402 is used to output the vehicle control command of the vehicle control on-board device to the train through the output channel between the vehicle control on-board device and the train when the vehicle control right of the vehicle control on-board device is valid.

[0048] Figure 3 FIG. 1 is a schematic diagram of an output switching unit switching an output channel according to information that the vehicle control right is valid, provided by an embodiment. Figure 3 As shown, when the system selection switch 30 is in the CTCS-2 position, the CTCS2+ATO vehicle-mounted device 10 is a vehicle-controlling vehicle-mounted device and does not support automatic switching of vehicle-controlling rights. The CTCS2+ATO vehicle-mounted device 10 sends CTCS vehicle-controlling right valid information to the vehicle-controlling right decision module 401 of the output switching unit 40;

[0049] When the mode selection switch 30 is in the CBTC position, the CBTC vehicle-mounted device 20 is a vehicle-control vehicle-mounted device and does not support automatic switching of vehicle-control rights. The CBTC vehicle-mounted device 20 sends CBTC vehicle-control right valid information to the vehicle-control right decision module 401 of the output switching unit 40;

[0050] When the mode selection switch 30 is in the automatic position, the CTCS2+ATO vehicle-mounted device 10 and the CBTC vehicle-mounted device 20 support automatic switching of vehicle control rights. When the CTCS2+ATO vehicle-mounted device 10 is a vehicle control vehicle-mounted device, the CTCS2+ATO vehicle-mounted device 10 sends CTCS vehicle control right valid information to the vehicle control right decision module 401 of the output switching unit 40. When the CBTC vehicle-mounted device 20 is a vehicle control vehicle-mounted device, the CBTC vehicle-mounted device 20 sends CBTC vehicle control right valid information to the vehicle control right decision module 401 of the output switching unit 40;

[0051] The vehicle control right decision module 401 of the output switching unit 40 feeds back the vehicle control right status to the CTCS2+ATO vehicle-mounted device 10 and the CBTC vehicle-mounted device 20;

[0052] When the system selection switch 30 is in the CTCS-2 position and the CTCS vehicle control right information is valid, the vehicle control right decision module 401 of the output switching unit 40 sends the CTCS2+ATO vehicle-mounted device 10 vehicle control right information to the output module 402;

[0053] When the mode selection switch 30 is in the CBTC position and the CBTC vehicle control right information is valid, the vehicle control right decision module 401 of the output switching unit 40 sends the CBTC vehicle-mounted device 20 vehicle control right information to the output module 402;

[0054] When the system selection switch 30 is in the automatic position, the CTCS vehicle control right information is valid and the CBTC vehicle control right information is invalid, and the vehicle control right decision module 401 sends the CTCS2+ATO vehicle-mounted device 10 vehicle control right information to the output module 402;

[0055] When the mode selection switch 30 is in the automatic position, the CTCS vehicle control right information is invalid and the CBTC vehicle control right information is valid, and the vehicle control right decision module 401 sends the CBTC vehicle-mounted device 20 vehicle control right information to the output module 402;

[0056] The CTCS2+ATO on-board device 10 sends the CTCS output signal to the output module 402 of the output switching unit 40; the CBTC on-board device 20 sends the CBTC output signal to the output module 402 of the output switching unit 40;

[0057] When the CTCS2+ATO vehicle-mounted device 10 has the right to control the vehicle, the output module 402 of the output switching unit 40 sends the output signal of the CTCS2+ATO vehicle-mounted device 10 to the vehicle;

[0058] When the CBTC on-board device 20 has the right to control the vehicle, the output module 402 of the output switching unit 40 sends the output signal of the CBTC on-board device 20 to the vehicle.

[0059] In one embodiment, both the CTCS2+ATO on-board device 10 and the CBTC on-board device 20 have corresponding human-machine interfaces (Display and Manage Interface, DMI);

[0060] When the system selection switch is in the first position, the DMI of the CBTC on-board device does not support the selection of the CTCS2+ATO on-board device as the vehicle control on-board device;

[0061] When the system selection switch is in the second position, the DMI of the CTCS2+ATO on-board equipment does not support the selection of the CBTC on-board equipment as the vehicle control on-board equipment;

[0062] When the mode selection switch is in the third position, the DMI of the CBTC on-board equipment and the DMI of the CTCS2+ATO on-board equipment both support receiving the vehicle control mode selection operation through the mode selection component.

[0063] In this embodiment, both types of vehicle-mounted devices can switch the mode through the mode selection switch; if the DMI interface is configured with a mode selection component (such as a mode button), the mode can be switched through the DMI only when the mode selection switch is in the automatic position.

[0064] Exemplarily, when the system selection switch is in the CTCS-2 position, the CTCS2+ATO vehicle-mounted equipment DMI is prohibited from selecting the CBTC system;

[0065] When the system selection switch is in the CBTC position, the CBTC onboard equipment DMI is prohibited from selecting the CTCS2+ATO system;

[0066] When the mode selection switch is in the automatic position and the CTCS2+ATO on-board equipment is controlling the vehicle, if the CBTC on-board equipment is working normally, the CTCS2+ATO on-board equipment DMI supports the selection of the CBTC mode; if the CBTC on-board equipment is working abnormally, the CTCS2+ATO on-board equipment DMI prohibits the selection of the CBTC mode;

[0067] When the mode selection switch is in the automatic position and the CBTC on-board equipment is controlling the vehicle, if the CTCS2+ATO on-board equipment is in normal working condition, the CBTC on-board equipment DMI supports the selection of the CTCS2+ATO mode; if the CTCS2+ATO on-board equipment is in abnormal working condition, the CBTC on-board equipment DMI prohibits the selection of the CTCS2+ATO mode.

[0068] Optionally, the CTCS2+ATO onboard device 10 and the CBTC onboard device 20 may share a speed transmitter, a radar, an accelerometer and / or a vehicle-to-ground communication antenna, etc. When the CTCS2+ATO onboard device and the CBTC onboard device share a vehicle-to-ground communication antenna, a multi-mode communication antenna may be installed.

[0069] Optionally, when the CTCS2+ATO on-board equipment 10 controls the vehicle, the DMI interface of the CBTC on-board equipment 20 is displayed as inactive, and text can be used to display that the vehicle is currently under CTCS2 control; when the CBTC on-board equipment 20 controls the vehicle, the DMI interface of the CTCS2+ATO on-board equipment 10 is displayed as inactive, and text can be used to display that the vehicle is currently under CBTC control.

[0070] In one embodiment, during the process of switching the vehicle control onboard device from the CBTC onboard device to the CTCS2+ATO onboard device, the DMI of the CBTC onboard device is used to pop up a confirmation text of switching the vehicle control onboard device to the CTCS2+ATO onboard device;

[0071] During the process of switching the vehicle control on-board device from the CTCS2+ATO on-board device to the CBTC on-board device, the DMI of the CTCS2+ATO on-board device is used to pop up a confirmation text for switching the vehicle control on-board device to the CBTC on-board device.

[0072] Exemplarily, the process of switching the vehicle control system from the CTCS2+ATO system to the CBTC system is as follows:

[0073] During operation, when the train approaches the switching point from CTCS2+ATO to CBTC, the DMI of the CTCS2+ATO onboard device 10 pops up switching notice information, such as displaying a confirmation text of switching from CTCS2+ATO to CBTC control, prompting the driver to confirm;

[0074] After the vehicle stops at the system switching station, the boarding and alighting operations are completed and the doors are closed, the DMI of the CTCS2+ATO on-board equipment 10 pops up a confirmation text for switching to CBTC control. After the driver confirms, the vehicle is switched to the CBTC on-board equipment 20. The DMI of the two on-board equipment can display the results of the vehicle control system switching (such as displaying a successful switch, or displaying a switch failure and the reason for the switch failure, and can also display an alarm message to prompt manual processing, etc.);

[0075] If the DMI interface of the CTCS2+ATO on-board device 10 is provided with a mode button, in other parking states after power-on and start-up, the driver can press the "mode" button, select the CBTC mode in the mode menu, and switch to the CBTC on-board device 20 to control the vehicle.

[0076] Exemplarily, the process of switching the vehicle control system from the CBTC system to the CTCS2+ATO system is as follows:

[0077] During operation, when the train approaches the switching point from CBTC to CTCS2+ATO, the DMI of the CBTC onboard device 20 pops up a confirmation text for switching to CTCS2+ATO train control, prompting the driver to confirm;

[0078] After the train stops at the system switching station, the boarding and alighting operations are completed and the doors are closed, the DMI of the CBTC on-board device 20 pops up a confirmation text for switching to CTCS2+ATO vehicle control. After the driver confirms, the vehicle is switched to CTCS2+ATO on-board device 10 for control;

[0079] If the DMI interface of the CBTC on-board device 20 is provided with a mode button, in other parking states after power-on and start-up, the driver can press the "mode" button, select CTCS2 mode in the mode menu, and switch to CTCS2+ATO on-board device 10 to control the vehicle.

[0080] In one embodiment, the CTCS2+ATO on-board equipment and the CBTC on-board equipment both include at least one of the following: a balise transmission module (BTM) unit and a speed and distance measuring unit. The speed and distance measuring unit includes at least one of the following: a speed sensor, an acceleration calculation, and a radar. The CTCS2+ATO on-board equipment may also include a track circuit reader (TCR).

[0081] Optionally, the train provides a main power switch for the two on-board devices, and the train can simultaneously power on or off the CTCS2+ATO on-board device and the CBTC on-board device through the main power switch. In addition, the train can provide a power switch for the CTCS2+ATO on-board device 10 and a power switch for the CBTC on-board device 20 for the two on-board devices, and the CTCS2+ATO on-board device 10 can be powered on or off separately, and the CBTC on-board device 20 can be powered on or off separately through the power switch of the CTCS2+ATO on-board device 10.

[0082] In one embodiment, the hard-wire interface between the two on-board devices and the train may adopt a dry contact interface, a level interface, a pulse width modulation (PWM) and / or a current loop, etc. The output switching unit is used to switch the output channel between the CTCS2+ATO on-board device and the CBTC on-board device and the train by connecting or disconnecting the hard-wire interface.

[0083] In one embodiment, the two on-board devices and the train communication interface adopt Train Real-time Data Protocol (TRDP) Ethernet or Multifunction Vehicle Bus (MVB) interface.

[0084] In one embodiment, two on-board devices send information to the Train Control and Management System (TCMS) at the same time, and all nodes of the network interface of the two on-board devices and the train TCMS system are online at the same time. At the same time, the train only uses the information of the on-board control device and only responds to the control instructions of the on-board control device.

[0085] In one embodiment, the two vehicle-mounted devices may share a vehicle-to-ground communication antenna. In the case of sharing a vehicle-to-ground communication antenna, a multi-mode communication antenna may be installed.

[0086] In one embodiment, the CTCS2+ATO on-board device 10 and the CBTC on-board device 20 both support non-stop mode switching and parking mode switching.

[0087] In this embodiment, the two on-board devices support non-stop mode switching when the train is controlled by the Automatic Train Protection (ATP) system, and also support non-stop mode switching when the train is controlled by the Automatic Train Operation (ATO) system. Optionally, when the mode selection switch is in the automatic position, if a mode button is configured in the DMI interface of any on-board device, the DMI control mode can be manually operated to switch the vehicle control mode in the parked state, and the vehicle control mode can also be switched without stopping according to ground commands in the moving state.

[0088] Exemplarily, when the system is switched, information such as switch notice, switch result, and switch failure reason is displayed on the DMI of the vehicle control onboard device, and a voice prompt or alarm is given.

[0089] When performing a system switching in the parking state at a system switching station, control the door switches and platform doors in linkage under the station parking control system. Wait until the passengers have completed the transfer and the doors and platform doors are closed normally before performing the system switching to avoid affecting passenger transfers due to system switching failures.

[0090] When the mode selection switch is in the automatic position, the CTCS2+ATO on-board equipment and the CBTC on-board equipment exchange switching requests and switching responses through periodic communication to complete the mode switching process. When the communication between the CTCS2+ATO on-board equipment and the CBTC on-board equipment is interrupted, or a switching failure or equipment failure occurs during the switching process, the vehicle control on-board equipment maintains the mode before the switching and continues to control the vehicle, and stops normally at the end boundary of the current mode switching area, waiting for manual processing.

[0091] In one embodiment, when the mode selection switch is in the third position, the CTCS2+ATO on-board equipment and the CBTC on-board equipment are used to exchange switching requests and switching responses through periodic communication; in the event of communication interruption between the CTCS2+ATO on-board equipment and the CBTC on-board equipment, failure in the switching of the train control mode, and / or failure of the on-board equipment, the train operation is controlled by the on-board equipment before the switching of the train control mode, and the train is controlled to stop before the end boundary of the switching area.

[0092] In one embodiment, for non-stop mode switching: the train control on-board equipment is used to configure the forecast point and the switching point in the electronic map; after the train passes the forecast point, the train control on-board equipment and the non-train control on-board equipment are used to check the switching conditions; the train control on-board equipment is also used to determine whether the train performs the train control mode switching at the switching point according to the mode attribute of the target station in the operation plan, and to display the train control mode switching confirmation text through the corresponding DMI before the train arrives at the switching point; before the train leaves the switching area, the train control on-board equipment is also used to receive track data and transponder data; if the train control mode switching is successful, the non-train control on-board equipment serves as the new train control on-board equipment, and displays the train control mode switching success text through the corresponding DMI; if the train control mode switching fails, the train control on-board equipment displays the train control mode switching failure text through the corresponding DMI, and controls the train to stop.

[0093] Take the non-stop switching from CBTC to CTCS2+ATO as an example:

[0094] The CBTC on-board equipment configures the locations of the forecast points and switching points in the electronic map;

[0095] After the train passes the predicted point, the two on-board equipments switch the control mode. The CBTC on-board equipment and the CTCS2+ATO on-board equipment check the switching conditions through internal information exchange. The CBTC on-board equipment can also determine whether the train switches the mode at the switching point in combination with the mode attributes of the target station in the operation plan issued by the Automatic Train Supervision (ATS). When the switching conditions are met, the CBTC on-board equipment prompts the driver to confirm the mode switch through the DMI at a certain distance (configurable) or a certain time (configurable) before the switching point. If the driver confirms the mode switch, the train passes the switching point, and the CBTC on-board equipment is not in the emergency braking state, the two on-board equipments switch to the CTCS2+ATO mode, and the CBTC on-board equipment switches to the background non-control state.

[0096] If the mode switching is successful, the CTCS2+ATO on-board equipment will inform the driver through DMI that the mode switching is successful. The CTCS2+ATO on-board equipment will control the train operation. Before the train leaves the switching area, the CBTC on-board equipment will normally receive data from the trackside zone controller (Zone Controller, ZC) and the transponder, but will not control the train.

[0097] If the mode switch fails, the CBTC on-board equipment will inform the driver of the failure through DMI and sound an alarm. The train will stop according to the control curve. After stopping, the driver will manually switch to CTCS2+ATO mode after confirmation by the driver and dispatcher.

[0098] Take the non-stop switching from CTCS2+ATO to CBTC as an example:

[0099] After the train passes the advance balise group, the two on-board devices control the train mode switching process. The CTCS2+ATO on-board device and the CBTC on-board device check the switching conditions through internal information exchange. The CTCS2+ATO on-board device can also determine whether the train switches the mode at the switching point based on the mode attributes of the next station in the operation plan issued by CTC.

[0100] When the switching conditions are met, at a certain distance (configurable) or a certain time (configurable) before the switching point, the CTCS2+ATO vehicle equipment DMI prompts the driver to confirm the system switching;

[0101] If the driver confirms the mode switch, the train passes the transponder group, and the CTCS2+ATO on-board equipment is not in the emergency braking state, the two on-board equipment will switch to the CBTC mode, and the CTCS2+ATO on-board equipment will enter the background non-control state;

[0102] If the mode switching is successful, the CBTC on-board equipment will notify the driver through DMI that the mode switching is successful. The CBTC on-board equipment controls the train operation according to the driving permission sent by the ZC. Before the train leaves the switching area, the CTCS2+ATO on-board equipment receives the track circuit and balise data normally, but does not control the train.

[0103] If the system switching fails, the CTCS2+ATO on-board equipment will inform the driver of the failure of the system switching through DMI and issue an alarm. The train will stop according to the control curve. After stopping, the driver will manually switch to the CBTC system after confirmation by the driver and the dispatcher.

[0104] In one embodiment, for the parking mode switching: the train control on-board equipment is used to control the train to complete automatic parking at the train control mode switching station and automatically open the doors and platform doors in linkage according to the operation plan containing the train control mode switching information; after the stop time is over, the train control on-board equipment is also used to complete the door closing and automatically close the platform door in linkage according to the door control mode; the train control on-board equipment is also used to automatically trigger the train control mode switching process, or display the train control mode switching confirmation text through the corresponding DMI; if the train control mode switching is successful, the non-train control on-board equipment serves as the new train control on-board equipment to control the train departure; if the train control mode switching fails, wait for manual train control mode switching.

[0105] Take the parking mode switching from CBTC to CTCS2+ATO as an example:

[0106] The CBTC on-board equipment receives the operation plan containing the control mode switching information, and controls the train to complete automatic parking at the mode switching station; after parking, the CBTC on-board equipment automatically links to open the doors and platform doors; after the stop time is over, the CBTC on-board equipment completes the automatic / manual closing of the doors according to the door control mode, and automatically links to close the platform doors; after the doors are closed, the CBTC on-board equipment prompts the driver to switch the mode through the DMI, or the CBTC on-board equipment automatically triggers the mode switching process;

[0107] After the driver manually or the on-board equipment automatically completes the system switching, the CTCS2+ATO on-board equipment enters the foreground vehicle control state, and the CBTC on-board equipment enters the background non-vehicle control state;

[0108] If the system switching is successful, the exit signal is open, and the departure conditions are met, the CTCS2+ATO on-board equipment controls the departure indicator light to flash to prompt the driver to depart. The driver presses the start button and the ATO controls the train to depart.

[0109] If the mode switch fails, the train stops at the platform. After confirmation by the driver and dispatcher, the driver manually switches to the CTCS2+ATO mode.

[0110] Take the parking mode switching from CTCS2+ATO to CBTC as an example:

[0111] The CTCS2+ATO on-board equipment receives the operation plan containing the system switching information and completes automatic parking at the system switching station; after parking, the CTCS2+ATO on-board equipment automatically links to open the train doors and platform doors; after the stop time is over, the CTCS2+ATO on-board equipment completes automatic / manual closing of the train doors according to the door control mode, and automatically links to close the platform doors; after the doors are closed, the CTCS2+ATO on-board equipment displays the confirmation text of switching to CBTC control through the DMI, or the CTCS2+ATO on-board equipment automatically triggers the system switching process;

[0112] After the driver manually or the on-board equipment automatically completes the system switching, the CBTC on-board equipment enters the foreground vehicle control state, and the CTCS2+ATO on-board equipment enters the background non-vehicle control state.

[0113] If the system switching is successful, the exit signal is open, and the departure conditions are met, the CBTC on-board equipment controls the departure indicator light to flash to remind the driver to depart. The driver presses the start button, and the ATO controls the train to depart.

[0114] If the mode switch fails, the train stops at the platform, and after confirmation by the driver and dispatcher, the driver manually switches to the CBTC mode.

[0115] In one embodiment, in the scenario of transferring the right to control the vehicle, both types of on-board equipment can check the conditions for transferring the right to control the vehicle, including: the confirmation text of the vehicle control mode switching is confirmed; the train passes the switching point; the vehicle control on-board equipment does not perform emergency braking. It should be noted that the three conditions have no causal or correlation relationship with each other. If all three conditions are met, the vehicle control on-board equipment can transfer the right to control the vehicle to the non-vehicle control on-board equipment. On this basis, the safety and reliability of the vehicle control right switching process can be guaranteed, and the switching scenes and processes can be simplified. On this basis, the dual-mode vehicle control system of the embodiment of the present application supports switching the right to control the vehicle when stopping, and also supports switching the right to control the vehicle without stopping. By reasonably designing the conditions for switching the right to control the vehicle, it is easy to implement, and gets rid of the mutual correlation of the conditions for switching the levels of existing high-speed rail on-board equipment and the complex scenarios it brings.

[0116] Figure 4 A flow chart of a dual-mode train control method provided in an embodiment of the present application, which can be applied to the case of dual-mode train control. Specifically, the dual-mode train control method can be executed by a dual-mode train control device, which can be implemented by software and / or hardware and integrated in the on-board equipment. The dual-mode train control method can be applied to any on-board equipment in the dual-mode train control system.

[0117] like Figure 4 As shown, the method specifically comprises the following steps:

[0118] S110, determining the current vehicle control mode according to the mode selection switch.

[0119] S120. If the on-board device is a vehicle control on-board device of the current vehicle control system, a vehicle control command is transmitted to the train through an output channel between the on-board device and the train; the output channel is connected by the output switching unit.

[0120] Among them, the position of the system selection switch can determine the current vehicle control system.

[0121] Specifically, when the system selection switch is in the first position, the current vehicle control system is: CTCS2+ATO on-board equipment is the vehicle control on-board equipment and does not support automatic switching of the vehicle control on-board equipment;

[0122] When the mode selection switch is in the second position, the current vehicle control mode is: the CBTC on-board device is a vehicle control on-board device and does not support automatic switching of vehicle control on-board devices;

[0123] When the mode selection switch is in the third position, the current train control mode is: the output switching unit connects the output channel between the train control on-board equipment and the train, and supports automatic switching of the train control on-board equipment.

[0124] The dual-mode train control method of the embodiment of the present application uses a mode selection switch to achieve the switching of train control rights between CTCS2+ATO and CBTC on-board equipment, supports cross-line operation of trains, and reduces train installation space requirements and equipment costs.

[0125] In one embodiment, the output switching unit includes a vehicle control right decision module and an output module;

[0126] Transmitting a train control command to the train through an output channel between the on-board device and the train includes:

[0127] Sending information that the vehicle control right of the vehicle-mounted device is valid to the vehicle control right decision module;

[0128] A vehicle control command is sent to the output module, so that the output module transmits the vehicle control command to the train through an output channel between the on-board device and the train when the vehicle control right of the on-board device is valid.

[0129] In one embodiment, the vehicle-mounted device has a corresponding DMI;

[0130] When the system selection switch is in the first position, the DMI of the CBTC on-board device does not support the selection of the CTCS2+ATO on-board device as the vehicle control on-board device;

[0131] When the system selection switch is in the second position, the DMI of the CTCS2+ATO on-board device does not support the selection of the CBTC on-board device as the vehicle control on-board device;

[0132] When the mode selection switch is in the third position, the DMI of the CBTC on-board device and the DMI of the CTCS2+ATO on-board device both support receiving the vehicle control mode selection operation through the mode selection component.

[0133] In one embodiment, the method further includes: if the on-board device is a CBTC on-board device, and the vehicle control on-board device is switched from the CBTC on-board device to a CTCS2+ATO on-board device, a confirmation text popping up through the DMI of the on-board device that the vehicle control on-board device is switched to the CTCS2+ATO on-board device;

[0134] If the vehicle-mounted device is a CTCS2+ATO vehicle-mounted device, and the vehicle-control vehicle-mounted device is switched from the CTCS2+ATO vehicle-mounted device to a CBTC vehicle-mounted device, a confirmation text for switching the vehicle-control vehicle-mounted device to a CBTC vehicle-mounted device is popped up through the DMI of the vehicle-mounted device.

[0135] In one embodiment, the method further comprises: sending information to a TCMS system of the train.

[0136] The dual-mode vehicle control method provided in the embodiment of the present application can be used to execute the dual-mode vehicle control system provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0137] Figure 5 The structural schematic diagram of the vehicle-mounted device that can be used to implement the embodiment of the present application is shown. The vehicle-mounted device can be a CBTC vehicle-mounted device or a CTCS2+ATO vehicle-mounted device. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present application described and / or required herein.

[0138] like Figure 5 As shown, the vehicle-mounted device includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the vehicle-mounted device can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0139] A number of components in the vehicle-mounted device are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the vehicle-mounted device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, wireless networks.

[0140] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various dual-mode vehicle control methods and processes described above.

[0141] In some embodiments, the dual-mode vehicle control method of the above-mentioned embodiment can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the vehicle-mounted device via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the dual-mode vehicle control method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the dual-mode vehicle control method of any of the above-mentioned embodiments in any other appropriate manner (for example, by means of firmware).

[0142] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0143] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow charts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0144] In the context of the present application, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device or equipment. A computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. A more specific example of a machine readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0145] To provide interaction with a user, the systems and techniques described herein may be implemented on an in-vehicle device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball), through which the user can provide input to the in-vehicle device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0146] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0147] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0148] An embodiment of the present application also provides a computer program product, including a computer program and / or instructions, which, when executed by a processor, implements the dual-mode vehicle control method as described in any of the above embodiments.

[0149] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

[0150] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A dual-mode vehicle control system, characterized in that: include: CTCS2+ATO on-board equipment, CBTC on-board equipment, output switching unit and standard selection switch; At any time, one of the CTCS2+ATO on-board equipment and the CBTC on-board equipment serves as the vehicle control on-board equipment to output a vehicle control command to the vehicle; The output switching unit is used to switch the output channels between the CTCS2+ATO on-board equipment and the CBTC on-board equipment and the train, so as to ensure that the train control instructions of the on-board equipment are transmitted to the train; The mode selection switch is used to select the vehicle control mode, and the vehicle control mode includes: When the system selection switch is in the first position, the CTCS2+ATO vehicle-mounted device is a vehicle-control vehicle-mounted device and does not support automatic switching of vehicle-control vehicle-mounted devices; When the system selection switch is in the second position, the CBTC on-board device is a vehicle control on-board device and does not support automatic switching of vehicle control on-board devices; When the system selection switch is in the third position, the output switching unit connects the output channel between the vehicle control onboard device and the train, and supports automatic switching of the vehicle control onboard device.

2. The system according to claim 1, characterized in that The output switching unit includes a vehicle control right decision module and an output module; The vehicle control right decision module is used to receive information about the vehicle control right being valid from the vehicle control device; The output module is used to output the vehicle control instruction of the vehicle control device to the train through the output channel between the vehicle control device and the train when the vehicle control right of the vehicle control device is valid.

3. The system according to claim 1, characterized in that The CTCS2+ATO on-board equipment and the CBTC on-board equipment both have corresponding human-machine interfaces DMI; When the system selection switch is in the first position, the DMI of the CBTC on-board device does not support the selection of the CTCS2+ATO on-board device as the vehicle control on-board device; When the system selection switch is in the second position, the DMI of the CTCS2+ATO on-board device does not support the selection of the CBTC on-board device as the vehicle control on-board device; When the mode selection switch is in the third position, the DMI of the CBTC on-board device and the DMI of the CTCS2+ATO on-board device both support receiving the vehicle control mode selection operation through the mode selection component.

4. The system according to claim 3, characterized in that During the process of switching the vehicle control on-board device from the CBTC on-board device to the CTCS2+ATO on-board device, the DMI of the CBTC on-board device is used to pop up a confirmation text for switching the vehicle control on-board device to the CTCS2+ATO on-board device; During the process of switching the vehicle control on-board device from the CTCS2+ATO on-board device to the CBTC on-board device, the DMI of the CTCS2+ATO on-board device is used to pop up a confirmation text for switching the vehicle control on-board device to the CBTC on-board device.

5. The system according to claim 1, characterized in that The CTCS2+ATO on-board equipment and the CBTC on-board equipment both include at least one of the following: a transponder transmission module and a speed and distance measurement unit.

6. The system according to claim 1, characterized in that The hard-wire interface between the CTCS2+ATO on-board equipment and the CBTC on-board equipment and the train includes at least one of the following: Dry contact interface, level interface, PWM or current loop; The output switching unit is used to switch the output channel between the CTCS2+ATO on-board equipment and the CBTC on-board equipment and the train by connecting or disconnecting the hard-line interface.

7. The system according to claim 1, characterized in that The CTCS2+ATO on-board equipment and the CBTC on-board equipment are both used to send information to the TCMS system of the train; The communication interface between the CTCS2+ATO on-board equipment and the CBTC on-board equipment includes at least one of the following: a TRDP Ethernet or MVB bus interface; The CTCS2+ATO vehicle-mounted device and the CBTC vehicle-mounted device share a vehicle-to-ground communication antenna.

8. A dual-system vehicle control method, characterized in that: The vehicle-mounted device used in the dual-mode vehicle control system includes a CTCS2+ATO vehicle-mounted device, a CBTC vehicle-mounted device, an output switching unit and a mode selection switch; the method includes: Determine the current vehicle control mode according to the mode selection switch; If the on-board device is a vehicle control on-board device of the current vehicle control system, the vehicle control command is transmitted to the train through the output channel between the on-board device and the train; the output channel is connected by the output switching unit; Among them, determining the current vehicle control mode according to the mode selection switch includes: When the mode selection switch is in the first position, the current vehicle control mode is: the CTCS2+ATO vehicle-mounted device is a vehicle control vehicle-mounted device and does not support automatic switching of vehicle control vehicle-mounted devices; When the mode selection switch is in the second position, the current vehicle control mode is: the CBTC on-board device is a vehicle control on-board device and does not support automatic switching of vehicle control on-board devices; When the mode selection switch is in the third position, the current train control mode is: the output switching unit connects the output channel between the train control on-board device and the train, and supports automatic switching of the train control on-board device.

9. The method according to claim 8, characterized in that The output switching unit includes a vehicle control right decision module and an output module; Transmitting a train control command to the train through an output channel between the on-board device and the train includes: Sending information that the vehicle control right of the vehicle-mounted device is valid to the vehicle control right decision module; A vehicle control command is sent to the output module, so that the output module transmits the vehicle control command to the train through an output channel between the on-board device and the train when the vehicle control right of the on-board device is valid.

10. The method according to claim 8, characterized in that The vehicle-mounted device has a corresponding human-machine interface DMI; the method further includes: If the vehicle-mounted device is a CBTC vehicle-mounted device, and the vehicle-control vehicle-mounted device is switched from the CBTC vehicle-mounted device to a CTCS2+ATO vehicle-mounted device, a confirmation text that the vehicle-control vehicle-mounted device is switched to a CTCS2+ATO vehicle-mounted device is popped up through the DMI of the vehicle-mounted device; If the on-board device is a CTCS2+ATO on-board device, and the vehicle control on-board device is switched from the CTCS2+ATO on-board device to a CBTC on-board device, a confirmation text for switching the vehicle control on-board device to the CBTC on-board device will pop up through the DMI of the on-board device.

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