An autonomous driving control method and system

Abstract

The present invention discloses an automatic driving control method and system. The method includes: First, after the TCMS device and the BCU device determine that the conditions for engaging ATO are met, they send an ATO engagement permission signal to the ATO device; Then, the ATO device interacts with the TCMS device and the BCU device to confirm whether the entire vehicle enters the automatic driving state. After confirmation, the ATO device sends an instruction for the entire vehicle to enter the automatic driving state to the TCMS device; Finally, after receiving the instruction for the entire vehicle to enter the automatic driving state, the TCMS device and the BCU device each enter the automatic driving state and feedback the state information to the ATO device. After receiving it, the ATO device engages the automatic driving mode. In the above method, the ATO device, the TCMS device, and the BCU device can mutually confirm and restrict the conditions for entering the automatic driving state, further ensuring the availability and safety of the devices, and can flexibly adjust or expand the existing automatic driving strategies, with a wide range of applications.

Description

Technical Field

[0001] The present invention belongs to the field of rail transit, and particularly relates to an automatic driving control method and system. Background Art

[0002] The train operation control system is a key technology to ensure the safe and high-speed operation of trains, abbreviated as the train control system. The automatic train operation subsystem (ATO: Automatic Train Operation) is an important part of the train operation control system and also a direct embodiment of the intelligence of rail transit. Among them, the input and withdrawal strategies of automatic train driving are one of the important designs and functions of the ATO subsystem and a key link to realize the automatic driving system.

[0003] At present, the development of the automatic driving technology of locomotives has not been popularized yet. The existing trunk railway systems with automatic driving functions are mainly C2+ATO system, C3+ATO system, and CBTC+ATO system. The implementation schemes of the automatic driving input and exit strategies of the three are similar: after the ATO device is powered on, the system is initialized to the AOS (Automatic Train Operation System) mode. In this working mode, the ATO device receives the soft permission information sent by the ATP (Automatic Train Protection), and at the same time, it will perform periodic checks on the status of its own equipment, but does not execute the train control logic and output train control commands. When the soft permission information is valid and the equipment self-check passes, the ATO device enters the AOR (Automatic Operation Ready) working mode. In this mode, the ATO has functions such as data communication and parsing, equipment self-check, and departure monitoring, but it also does not output train control instructions. Under the conditions of the AOR working mode, if a hard permission valid instruction from the ATP is received and the conditions for train inspection and departure monitoring are met, the driver can press the departure button on the driver's console manually to enter the AOM (Automatic Operation Mode). In this working mode, the ATO device takes over the driving control of the train instead of the driver, and the driver does not need to perform any train control operations. In the AOM mode, when the soft permission from the ATP is invalid, the hard permission is invalid, or the equipment's own periodic self-check fails, the ATO device exits the automatic driving mode. In any of the AOS, AOR, and AOM modes, when the ATO device's periodic self-check fails, it will enter the AOF (Automatic Operation Fault) fault mode. Once it enters this working mode, the ATO device cannot be switched to other modes until it is powered on and restarted. Due to the differences in the control of EMUs and locomotives, the above-mentioned automatic driving input and exit strategies of the C2+ATO system, C3+ATO system, and CBTC+ATO system cannot be effectively applied to the automatic driving of locomotives. This is mainly because compared with the requirements of the automatic driving input and exit strategies of locomotives, the automatic driving input and exit strategies adopted by EMUs have the following deficiencies: (1) Under the condition that the departure monitoring conditions are met, the effectiveness of pressing the departure button is used as one of the conditions for automatic driving input. Entering automatic driving means departure. For locomotive control, separating the functions of automatic driving input and departure is more conducive to the driver's secondary confirmation of information such as equipment and train status, and also increases the flexibility of the driver's operation.However, for locomotive automatic driving control strategies, due to the different properties of locomotives, when the locomotive departs, the driver may need to perform some manual operations and status checks, such as relieving the brakes and re-confirming the train status. This means that in some cases, the input of the automatic driving mode and the departure need to be distinguished. In the existing C2+ATO, C3+ATO and CBTC+ATO technologies, the exit of the automatic driving mode often requires the driver to operate the handle level, apply brakes or traction to exit. However, in some cases, the driver does not want to change the current operating status of the vehicle, such as wanting to exit in coasting mode. At this time, the exit plan directly using the existing automatic driving strategy becomes inapplicable. (2) Since the requirements for locomotive automatic driving technology are more stringent and complex, if the existing EMU train automatic driving technology is directly adopted, it is often not applicable. This is mainly because the locomotive automatic driving plan does not completely depend on the output of the ATO equipment, but needs to comprehensively consider multiple conditions such as the TCMS equipment, BCU equipment and the train's own operating status. The input of the existing train automatic driving mainly depends on the output command information of the ATO equipment, which may cause unexpected control of the train when a logical fault error occurs in the ATO equipment. (3) In the existing autonomous driving engagement and exit strategies, if the driver wants to manually take over the control of the train during driving, he needs to exit the autonomous driving by changing the handle level or other means. Compared with the autonomous driving engagement process, there is a lack of corresponding exit buttons to improve the integrity of the engagement and exit process.

[0004] In addition to the C2+ATO, C3+ATO and CBTC+ATO technologies mentioned above, the existing autonomous driving technology solutions also include the FAO autonomous driving technology solution. The general process of the FAO (Fully Automatic Operation) system's autonomous driving engagement and exit strategy is similar to the autonomous driving engagement and exit process of the C2+ATO system, C3+ATO system and CBTC+ATO system, except that the FAO system is fully automatic and unmanned throughout the entire driving process, and the driver no longer needs to press the start button to engage in autonomous driving. However, the FAO system's autonomous driving engagement and exit solution is not applicable to locomotive autonomous driving, mainly because of the complexity of locomotive operation. Many processes require secondary confirmation from the driver, and timely handling of some emergencies on the vehicle, all of which require the driver to remain on the locomotive.

[0005] How to intelligently control the input and output of autonomous driving is becoming an increasingly urgent technical problem that needs to be solved. Summary of the invention

[0006] In response to the above problems, the present invention provides an automatic driving control method and system, which have simple control logic, strong availability and scalability, and strong applicability.

[0007] The object of the present invention is to provide an automatic driving control method, including

[0008] After the TCMS device and the BCU device determine that the conditions for engaging ATO are met, they respectively send signals permitting the engagement of ATO to the ATO device. Among them, the signal permitting the engagement of ATO sent by the BCU device is forwarded to the ATO device via the TCMS device;

[0009] The ATO device interacts with the TCMS device and the BCU device to confirm whether the entire vehicle enters the automatic driving state. After confirming that the entire vehicle enters the automatic driving state, the ATO device sends an instruction that the entire vehicle enters the automatic driving state to the TCMS device, and the TCMS device forwards this instruction to the BCU device;

[0010] After the TCMS device and the BCU device receive the instruction that the entire vehicle enters the automatic driving state, they each enter the automatic driving state and respectively feedback the state information to the ATO device. After receiving the automatic driving state information of the TCMS device and the BCU device, the ATO device enters the automatic driving mode.

[0011] Further, the conditions for engaging ATO include that the train status information, the self - device status of the TCMS device, the BCU device, and the ATP device are all in the normal working state.

[0012] Further, the ATO device interacting with the TCMS device and the BCU device to confirm whether the entire vehicle enters the automatic driving state includes

[0013] After the ATO device receives the signal permitting the engagement of ATO, if it determines that the hard - permit and soft - permit signals from the ATP device are valid, it sends a command that the entire vehicle is permitted to enter the automatic driving state to the TCMS device, and at the same time, the TCMS device forwards this command to the BCU device;

[0014] After the TCMS device receives the command that the entire vehicle is permitted to enter the automatic driving state, it completes the ATO activation operation, and at the same time, the TCMS device sends an automatic - driving key - activation signal to the ATO device;

[0015] After the ATO device receives the automatic - driving key - activation signal, it then confirms that the subsequent entire vehicle enters the automatic driving state.

[0016] Further, after the TCMS device receives the command that the entire vehicle is permitted to enter the automatic driving state, the ATO activation operation includes

[0017] After the TCMS device receives the command that the entire vehicle is permitted to enter the automatic driving state, the ATO activation button on the display screen lights up. By touching and pressing the ATO activation button, an automatic - driving activation signal is sent to the ATO device, where the pressing duration is a preset time.

[0018] Furthermore, the ATO device interacts with the TCMS device and the BCU device to confirm whether the entire vehicle enters the autonomous driving mode, and it also includes that if the hard permission signal received by the ATO device from the ATP device is invalid or the TCMS device fails to complete the ATO activation, it is confirmed that the entire vehicle does not enter the autonomous driving mode.

[0019] Furthermore, the instruction for the entire vehicle to enter the autonomous driving mode is a pulse signal and becomes valid after a certain period of time.

[0020] Furthermore, it also includes that if the ATO device receives the valid ATO isolation field sent by the TCMS device, the ATO device will be initialized to the initial mode. After the valid ATO isolation field is cancelled, the ATO device will re - execute the input of the autonomous driving process.

[0021] Furthermore, it also includes that after entering the autonomous driving mode, the ATO device periodically sends the information of the entire vehicle entering the autonomous driving state to the TCMS device and the BCU device. At the same time, the TCMS device and the BCU device also send the corresponding autonomous driving state information to the ATO device.

[0022] Furthermore, it also includes that after entering the autonomous driving mode, the ATO device and the TCMS device, as well as between the BCU device and the TCMS device, also perform the operation status confirmation. The operation status includes the communication status between the ATO device and the TCMS device, the communication status between the BCU device and the TCMS device, and the vital signals of the ATO device, the TCMS device, and the BCU device.

[0023] Furthermore, it also includes that after entering the autonomous driving mode, if the locomotive is still in a stationary state, after pressing the starting button on the screen of the TCMS device by touch, the locomotive starts to run.

[0024] Furthermore, it also includes that during the autonomous driving process, if there are conditions that do not meet the requirements of autonomous driving, the ATO device exits the autonomous driving mode, sends the instruction for the entire vehicle to exit the autonomous driving mode to the TCMS device, and the TCMS device forwards this instruction to the BCU device.

[0025] Furthermore, the conditions that do not meet the requirements of autonomous driving include

[0026] The TCMS device and the BCU device will monitor the conditions for entering the autonomous driving mode in real - time. When the conditions for entering the autonomous driving mode are not met, the corresponding permission signal for ATO input will be cancelled; or,

[0027] The ATO device receives the ATO isolation command from the TCMS device; or,

[0028] The soft permission signal, hard permission signal of the ATP device is invalid or the periodic self - test fails; or,

[0029] The driver touches and presses the exit automatic driving button on the TCMS device screen to take over the locomotive driving manually.

[0030] Further, the ATO device includes an automatic driving not established mode AOS, an automatic driving preparation mode AOR, and an automatic driving mode AOM. The automatic driving preparation mode AOR includes an AOR1 mode, an AOR2 mode, an AOR3 mode, and an AOR4 mode. The method further includes determining the working mode of the ATO device, including

[0031] When the ATO device is powered on and initialized to the AOS mode, if the first switching condition of the AOR mode is satisfied, it enters the AOR mode;

[0032] After the ATO device enters the AOR mode, it internally performs logical conversions between the AOR1 mode, the AOR2 mode, the AOR3 mode, and the AOR4 mode.

[0033] Further, the first switching condition of the AOR mode is satisfied when: the internal self-check of the ATO device passes, a soft permission sent by the ATP device is received, and an un-isolation command sent by the TCMS device is received.

[0034] Further, the logical conversions between the AOR1 mode, the AOR2 mode, the AOR3 mode, and the AOR4 mode performed internally after the ATO device enters the AOR mode include

[0035] If the ATO device receives an invalid hard permission from the ATP device, a command from the BCU device not allowing the ATO signal to be input, or a command from the TCMS device not allowing the ATO signal to be input, the ATO device is in the AOR1 mode;

[0036] If the ATO device has received a valid hard permission command from the ATP device, and permission commands from the BCU device and the TCMS device to input the ATO signal, but has not received an automatic driving button activation signal sent by the TCMS device, the ATO device enters the AOR2 mode from the AOR1 mode;

[0037] If the ATO device has received a valid hard permission command from the ATP device, permission commands from the BCU device and the TCMS device to input the ATO signal, and an automatic driving button activation signal sent by the TCMS device, but the reception duration of the automatic driving button activation signal is still within the preset time and has not entered the effective stage, the ATO device enters the AOR3 mode from the AOR2 mode;

[0038] If the ATO device has received a valid hard permission command from the ATP device, permission commands from the BCU device and the TCMS device to input the ATO signal, and the duration of receiving the automatic driving button activation signal exceeds the preset time, the ATO device enters the AOR4 mode from the AOR3 mode.

[0039] Furthermore, it also includes that when the ATO device is in the AOR4 mode, it sends a vehicle entering the autonomous driving command to the TCMS device for a certain period of time, and enters the AOM mode after receiving the autonomous driving status information of the TCMS device and the BCU device respectively.

[0040] Furthermore, it also includes that in the AOR2, AOR3, AOR4, and AOM modes, when the ATO device does not receive a valid hard permission command from the ATP device, a valid permission to engage ATO signal from the TCMS device, or a valid permission to engage ATO signal from the BCU device, the ATO device will fallback from the current mode to the AOR1 mode.

[0041] Furthermore, it also includes that the ATO device includes an AOF fault mode. In the AOS, AOR, and AOM modes, the ATO device will perform periodic self-checks. When the self-check fails at any time, the ATO device will enter the AOF fault mode.

[0042] Another object of the present invention is to provide an autonomous driving control system, including an ATO device, a TCMS device, and a BCU device, wherein,

[0043] The TCMS device and the BCU device are used to send a permission to engage ATO signal to the ATO device respectively after determining that the conditions for engaging ATO are met, and are also used to enter the autonomous driving state respectively after receiving the vehicle entering the autonomous driving command, and feedback the status information to the ATO device respectively. Among them, the TCMS device is also used to forward the permission to engage ATO signal sent by the BCU device to the ATO device and forward the vehicle entering the autonomous driving command sent by the ATO device to the BCU device;

[0044] The ATO device is used to interact with the TCMS device and the BCU device to confirm whether the vehicle enters the autonomous driving. After confirming that the vehicle enters the autonomous driving, the ATO device sends a vehicle entering the autonomous driving command to the TCMS device and the BCU device, and is also used to enter the autonomous driving mode after receiving the autonomous driving status information of the TCMS device and the BCU device.

[0045] Furthermore, it also includes an ATP device, and the ATP device is used to send soft permission and hard permission valid commands to the ATO device when the train meets the conditions for engaging ATO.

[0046] Furthermore, the conditions for engaging ATO include that the train status information, the self-device status of the TCMS device, the BCU device, and the ATP device are all in a normal working state.

[0047] Furthermore, the ATO device interacting with the TCMS device and the BCU device to confirm whether the vehicle enters the autonomous driving includes,

[0048] After the ATO device receives the signals allowing the ATO to be engaged from the TCMS device and the BCU device, if it determines that the hard and soft permission signals from the ATP device are valid, it sends a command allowing the whole vehicle to enter the automatic driving mode to the TCMS device, and at the same time, the TCMS device forwards this command to the BCU device;

[0049] After the TCMS device receives the command allowing the whole vehicle to enter the automatic driving mode, it completes the ATO activation operation, and at the same time, the TCMS device sends an automatic driving button activation signal to the ATO device;

[0050] After the ATO device receives the automatic driving button activation signal, it confirms that the whole vehicle subsequently enters the automatic driving mode.

[0051] Furthermore, if there are conditions that do not meet the requirements for automatic driving, the ATO device is also used to exit the automatic driving mode, send a command for the whole vehicle to exit the automatic driving mode to the TCMS device, and the TCMS device forwards this command to the BCU device.

[0052] Furthermore, the conditions that do not meet the requirements for automatic driving include,

[0053] The TCMS device and the BCU device will monitor in real time the conditions for engaging the automatic driving mode. When the conditions for engaging the automatic driving mode are not met, the corresponding signals allowing the ATO to be engaged are cancelled; or,

[0054] The ATO device receives an ATO isolation command from the TCMS device; or,

[0055] The soft permission signal of the ATP device is invalid, the hard permission signal is invalid, or the periodic self-check fails; or,

[0056] Touch and press the exit automatic driving button on the screen of the TCMS device to manually take over the locomotive driving.

[0057] In the control method of the present invention, the ATO device, the TCMS device, and the BCU device can mutually confirm and restrict the conditions for entering the automatic driving mode, further ensuring the availability and safety of the devices, and can flexibly adjust or expand the existing automatic driving strategies, with a wide range of applications. In addition, it is applicable to the automatic driving control of various locomotives with vehicle networks, with simple control logic, strong availability and expandability, and is applicable to both newly built locomotive railway lines and the upgrading and transformation of existing locomotive railway lines with the addition of the ATO function.

[0058] Furthermore, the physical departure button is cancelled and replaced with activation, start, and exit buttons on the TCMS screen. This not only saves space on the driver's console but also separates the functions of engaging and departing for autonomous driving, better adapting to the operating habits of locomotive drivers. Additionally, in the locomotive autonomous driving engagement and exit process provided by the present invention, an autonomous driving exit button is added. Compared with existing solutions, the processes for engaging and exiting autonomous driving are more complete.

[0059] Other features and advantages of the present invention will be described in the following specification, and in part will be obvious from the specification or understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained by the structures pointed out in the specification, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] To more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for describing the embodiments or the prior art. Obviously, the following described drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0061] Figure 1 Shows a flowchart of an autonomous driving control method in an embodiment of the present invention;

[0062] Figure 2 Shows a structural diagram of an autonomous driving control system in an embodiment of the present invention;

[0063] Figure 3 Shows another flowchart of an autonomous driving control method in an embodiment of the present invention;

[0064] Figure 4 Shows a conversion diagram of an ATO working mode in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0065] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0066] Such as Figure 1As shown in the figure, an automatic driving control method is introduced in an embodiment of the present invention. The method includes: First, after the TCMS device and the BCU device determine that the conditions for engaging ATO are met, they respectively send an ATO enabling signal to the ATO device. Among them, the ATO enabling signal sent by the BCU device is forwarded to the ATO device via the TCMS device. Second, the ATO device interacts with the TCMS device and the BCU device to confirm whether the entire vehicle enters automatic driving. After confirming that the entire vehicle enters automatic driving, the ATO device sends an instruction that the entire vehicle enters automatic driving to the TCMS device, and the TCMS device forwards this instruction to the BCU device. Then, after receiving the instruction that the entire vehicle enters automatic driving, the TCMS device and the BCU device respectively enter the automatic driving state and feedback the state information to the ATO device. After receiving the automatic driving state information of the TCMS device and the BCU device, the ATO device enters the automatic driving mode. The ATO device, the TCMS device, and the BCU device can mutually confirm and restrict the conditions for entering automatic driving, further ensuring the availability and safety of the devices, and can flexibly adjust or expand the existing automatic driving strategies. The applicable range is wide, and it is applicable to both newly built locomotive railway lines and the upgrading and transformation of existing locomotive railway lines with the addition of ATO functions.

[0067] Specifically, as Figure 2 shown in the figure, an automatic driving control system is also introduced in an embodiment of the present invention. The system includes an ATO (Automatic Train Operation) device, an ATP (Automatic Train Protection) device, a TCMS (Train Control and Monitoring System) device, and a BCU (Brake Control Unit) device. The ATO device is respectively connected to the ATP device and the TCMS device, and the TCMS device is connected to the BCU device. Further, the ATO device and the TCMS device communicate via the RS485 serial bus method. The ATO device and the BCU device achieve indirect communication through the information forwarding method of the TCMS device. The BCU device and the TCMS device also communicate via the RS485 serial bus method. The communication method between the ATO device and the ATP device is UDP (User Datagram Protocol) network communication. At the same time, the ATO device indirectly obtains the required vehicle information through the ATP device. The ATP device is connected to the locomotive through an IO (Input / Output) interface.

[0068] In the embodiments of the present invention, the ATO device and the TCMS device perform communication data interaction, so as to determine the communication fields that need to be interacted between the two during the process of engaging and disengaging the automatic driving. Specifically, some of the communication fields between the two are shown in Table 1.

[0069] Table 1 Some communication fields between the ATO device and the TCMS device

[0070]

[0071] Furthermore, an ATO activation button, a starting button, and an automatic driving exit button are provided on the display screen of the TCMS device. In view of the situation that the engagement and departure cannot be effectively distinguished in the existing automatic driving engagement and disengagement strategies, in the embodiments of the present invention, the physical departure button is cancelled, and the ATO activation and starting buttons are set on the display screen of the TCMS device, so as to distinguish the engagement of the automatic driving from the starting of the vehicle, which is more convenient for the driver to perform a secondary confirmation of the locomotive operation. In addition, an automatic driving exit button is added, which is touched and pressed by the driver through the TCMS display screen, which can further improve the engagement and disengagement of the automatic driving and increase the flexibility of the automatic driving exit method.

[0072] In the embodiments of the present invention, the method for engaging the automatic driving requires mutual confirmation among the ATO, TCMS, and BCU. As Figure 3 shown, it includes,

[0073] Step S10: After the TCMS device and the BCU device respectively determine that the conditions for engaging the ATO are met according to the train status information, the self-device status information of the TCMS device, the BCU device, and the ATP device, they send an ATO engagement permission signal to the ATO device. Among them, the ATO engagement permission signal sent by the BCU device is forwarded to the ATO device via the TCMS device; the ATO engagement signal is the "TCMS allows automatic driving" and "BCU allows entry into automatic driving (forwarded)" in the communication field. Further, the ATO engagement condition is that the train status information, the self-device status of the TCMS device, the BCU device, and the ATP device are all in normal working states, but it is not limited thereto. The ATO engagement condition also includes communication status information, etc. Further, the train status information includes but is not limited to the vehicle condition, road condition, and its own status, and the own status is the signal sent by the train itself; the self-device status of the TCMS device, the BCU device, and the ATP device includes but is not limited to the board card status, communication interface status, self-check status, etc.

[0074] Step S11: After the ATO device receives the allow - to - engage - ATO signals from the TCMS device and the BCU device, if it determines that the hard - allow and soft - allow signals from the ATP device are valid, it sends a vehicle - wide allow - to - enter - autonomous - driving command to the TCMS device, and at the same time, the TCMS device forwards this command to the BCU device.

[0075] Step S12: After the TCMS device receives the vehicle - wide allow - to - enter - autonomous - driving command, the ATO activation button on the display screen lights up. The driver touches and presses the ATO activation button to send an autonomous - driving activation signal to the ATO device.

[0076] Step S13: After the ATO device receives the autonomous - driving button activation signal and it is valid after accumulating a preset time, it sends a vehicle - wide enter - autonomous - driving instruction to the TCMS device. This vehicle - wide enter - autonomous - driving instruction is a pulse signal that is valid for a certain period of time. After the TCMS device and the BCU device receive the vehicle - wide enter - autonomous - driving instruction, they each enter the autonomous - driving state and respectively feedback this state information to the ATO device. After the ATO device receives the autonomous - driving state information of the TCMS and BCU, it enters the autonomous - driving mode. Here, both the activation signal and the vehicle - wide enter - autonomous - driving instruction are pulse signals, and they are valid only when they last for the corresponding time. The preset time and the certain time are both 2 s (seconds), but are not limited to this. The time lengths of the preset time and the certain time can be other values greater than 0, and all are applicable to the present invention.

[0077] In the embodiment of the present invention, after entering the autonomous - driving mode, the ATO device periodically sends vehicle - wide enter - autonomous - driving state information to the TCMS device and the BCU device. At the same time, the TCMS device and the BCU device also send corresponding autonomous - driving state information to the ATO device, which is convenient for mutual confirmation of the device states among the three.

[0078] In the embodiment of the present invention, the method further includes that during the information interaction process of engaging autonomous - driving, if an ATO isolation valid field from the TCMS is received, the ATO device is initialized to the initial mode (AOS mode), that is, the autonomous - driving process is stopped. Wait until the ATO isolation valid field is cancelled, and then re - perform the information interaction for the autonomous - driving process.

[0079] In the embodiment of the present invention, the method further includes that pairwise device - running - state confirmation can be achieved between the ATO device and the TCMS device, and between the BCU device and the TCMS device. The running states include information such as the ATO - TCMS communication state, the BCU - TCMS communication state, and the vital signals of each device. When a fault occurs, rapid and effective preliminary problem location can be achieved.

[0080] In the embodiment of the present invention, the method further includes that the BCU device indirectly communicates with the ATO through the TCMS device. The ATO can obtain the status information of the BCU device through the TCMS forwarding. At the same time, the ATO can also forward the corresponding control commands to the BCU through the TCMS device to realize the locomotive braking control.

[0081] In the embodiment of the present invention, the method further includes that in a static situation, when the locomotive enters the automatic driving mode, the locomotive is still in a static state. After the driver touches and presses the starting button on the display screen of the TCMS device, the locomotive starts to run.

[0082] In the embodiment of the present invention, the method further includes the exit of the automatic driving. Specifically, during the automatic driving process, if there are conditions that do not meet the requirements of automatic driving, the ATO device exits the automatic driving mode and sends an instruction for the whole vehicle to exit the automatic driving to the TCMS device, and the TCMS device forwards this instruction to the BCU device. Among them, the conditions that do not meet the requirements of automatic driving include that the TCMS device and the BCU device will monitor the conditions for engaging in automatic driving in real time. When the conditions for engaging in automatic driving are not met, the corresponding ATO signal allowing engagement is cancelled; or, the ATO device receives the ATO isolation command from the TCMS device; or, the soft permission signal, hard permission signal of the ATP device is invalid or the periodic self-check fails; or, the driver touches and presses the exit automatic driving button on the screen of the TCMS device to take over the locomotive driving manually. Each device confirms and restricts each other, forming a strategy for the engagement and exit of locomotive automatic driving applicable to vehicles with a vehicle network. This strategy is safer and more perfect than the existing engagement and exit strategies for the automatic driving of multiple units.

[0083] In the embodiment of the present invention, the ATO device includes an automatic train operation system (AOS) in which automatic driving is not established, an automatic operation ready (AOR) mode, and an automatic operation mode (AOM). The automatic operation ready (AOR) mode includes AOR1 mode, AOR2 mode, AOR3 mode, and AOR4 mode. The method further includes determining the working mode of the ATO device.

[0084] As Figure 4 shown, first, the ATO device is powered on and initialized to the AOS state. In this state, the ATO device has functions such as periodic self-check, communication and data parsing with the ATP device, and communication and data parsing with the TCMS device, and does not execute the vehicle control logic and output.

[0085] Secondly, if the first switching condition of the AOR mode is satisfied, the AOR mode is entered. After the ATO device enters the AOR mode, the logical conversion among the AOR1 mode, AOR2 mode, AOR3 mode, and AOR4 mode is executed internally. The first switching condition of the AOR mode is satisfied when the internal self-check of the ATO device passes, the soft permission sent by the ATP device is received, and the non-isolation command sent by the TCMS device is received. Further, the logical conversion among the AOR1 mode, AOR2 mode, AOR3 mode, and AOR4 mode executed internally after the ATO device enters the AOR mode includes,

[0086] If the ATO device receives an invalid hard permission from the ATP device, a command from the BCU device not to allow the ATO signal to be input, or a command from the TCMS device not to allow the ATO signal to be input, the ATO device is in the AOR1 mode;

[0087] If the ATO device has received a valid hard permission command from the ATP device, valid commands from the BCU device and the TCMS device to allow the ATO signal to be input, but has not received the activation signal of the automatic driving button sent by the TCMS device, the ATO device enters the AOR2 mode from the AOR1 mode;

[0088] If the ATO device has received a valid hard permission command from the ATP device, valid commands from the BCU device and the TCMS device to allow the ATO signal to be input, and the activation signal of the automatic driving button sent by the TCMS device, but the reception duration of the activation signal of the automatic driving button is still within the preset time and has not entered the effective stage, the ATO device enters the AOR3 mode from the AOR2 mode;

[0089] If the ATO device has received a valid hard permission command from the ATP device, valid commands from the BCU device and the TCMS device to allow the ATO signal to be input, and the duration of receiving the activation signal of the automatic driving button exceeds the preset time, the ATO device enters the AOR4 mode from the AOR3 mode.

[0090] In an embodiment of the present invention, in the AOR4 mode, the ATO device sends a command for the whole vehicle to enter the autonomous driving state to the TCMS device for a certain period of time, and enters the AOM mode after receiving the autonomous driving state information from the TCMS device and the BCU device respectively. Further, in the AOR2, AOR3, AOR4, and AOM modes, when the ATO device does not receive a valid hard permission command from the ATP device, a valid permission signal for the ATO device input from the TCMS device, or a valid permission signal for the ATO device input from the BCU device, the ATO device will return from the current mode to the AOR1 mode. That is, in the AOM working mode, the ATO replaces the driver to control the locomotive. When the ATO device does not receive the hard permission, the permission signals from the TCMS and the BCU, or one or more of the three permission signals are invalid, the locomotive exits the AOM mode and returns to AOR1 in the AOR mode.

[0091] In an embodiment of the present invention, the ATO device includes an AOF (Automatic Operation Fault) fault mode. In the AOS, AOR, and AOM modes, the ATO device performs periodic self-checks. When the self-check fails at any time, the ATO device will enter the AOF fault mode.

[0092] The above-mentioned strategies for enabling and disabling autonomous driving are more stringent for the entry conditions of locomotive autonomous driving. The three devices confirm and restrict each other. In addition, it takes into account that the conversion of different driving modes in the ATO is also carried out through the mutual confirmation and restriction among the three devices, further ensuring the safety and rationality of locomotive autonomous driving from the system level.

[0093] As Figure 2 shown, an embodiment of the present invention also introduces an autonomous driving control system capable of executing the above method. The system includes an ATO device, a TCMS device, and a BCU device. Among them, the TCMS device and the BCU device are used to send a permission signal for the ATO device input to the ATO device respectively after determining that the conditions for enabling the ATO are met, and are also used to enter the autonomous driving state respectively after receiving the command for the whole vehicle to enter the autonomous driving state, and feedback the state information to the ATO device respectively. Among them, the TCMS device is also used to forward the permission signal for the ATO device input sent by the BCU device to the ATO device and forward the command for the whole vehicle to enter the autonomous driving state sent by the ATO device to the BCU device; the ATO device is used to interact with the TCMS device and the BCU device to confirm whether the whole vehicle enters the autonomous driving state. After confirming that the whole vehicle enters the autonomous driving state, the ATO device sends a command for the whole vehicle to enter the autonomous driving state to the TCMS device and the BCU device, and is also used to enter the autonomous driving mode after receiving the autonomous driving state information from the TCMS device and the BCU device.

[0094] In an embodiment of the present invention, an ATP device is further included. The ATP device is configured to send soft and hard enable valid commands to the ATO device when the train meets the conditions for enabling ATO.

[0095] In an embodiment of the present invention, the conditions for enabling ATO include that the train status information, the TCMS device, the BCU device, and the self-device status of the ATP device are all in normal operating states.

[0096] In an embodiment of the present invention, the ATO device interacts with the TCMS device and the BCU device to confirm whether the entire vehicle enters the automatic driving mode, including

[0097] After the ATO device receives the enable ATO signals from the TCMS device and the BCU device, if it determines that the hard and soft enable signals from the ATP device are valid, it sends a command for the entire vehicle to be allowed to enter the automatic driving mode to the TCMS device, and at the same time, the TCMS device forwards this command to the BCU device;

[0098] After the TCMS device receives the command for the entire vehicle to be allowed to enter the automatic driving mode, it completes the ATO activation operation, and at the same time, the TCMS device sends an automatic driving button activation signal to the ATO device;

[0099] After the ATO device receives the automatic driving button activation signal, it then confirms that the entire vehicle enters the automatic driving mode.

[0100] In an embodiment of the present invention, during the automatic driving process, if there are conditions that do not meet the requirements for automatic driving, the ATO device is further configured to exit the automatic driving mode, send a command for the entire vehicle to exit the automatic driving mode to the TCMS device, and the TCMS device forwards this command to the BCU device.

[0101] In an embodiment of the present invention, the conditions that do not meet the requirements for automatic driving include

[0102] The TCMS device and the BCU device will continuously monitor the conditions for enabling automatic driving. When the conditions for enabling automatic driving are not met, the corresponding enable ATO signals are cancelled; or,

[0103] The ATO device receives an ATO isolation command from the TCMS device; or,

[0104] The soft enable signal, the hard enable signal of the ATP device is invalid, or the periodic self-check fails; or,

[0105] The driver touches and presses the exit automatic driving button on the screen of the TCMS device to manually take over the locomotive driving.

[0106] The above system can be used in locomotive control systems with vehicle networks. Compared with the existing automatic driving input and output strategies of C2+ATO, C3+ATO, and CBTC+ATO, the present invention further comprehensively considers the operating states of trains and equipment. Mutual confirmation and constraint can be achieved among various equipment, ensuring that when the locomotive enters automatic driving, the operating states of the locomotive and various equipment are good. At the same time, the input conditions for automatic driving become more rigorous and safe. Moreover, based on the existing ATO working mode, this solution further takes into account the information interaction among various equipment in the process of input and output of locomotive automatic driving, and can effectively save some newly added design modification costs and maintenance costs.

[0107] Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An autonomous driving control method, characterized in that, including After the TCMS device and the BCU device determine that the conditions for engaging ATO are met, they respectively send an ATO engagement permission signal to the ATO device. Among them, the ATO engagement permission signal sent by the BCU device is forwarded to the ATO device via the TCMS device; on the display screen of the TCMS device, there are an ATO activation button, a starting button, and an automatic driving exit button. The ATO activation button and the starting button distinguish between the engagement of automatic driving and the starting of the vehicle; the conditions for engaging ATO include that the train status information, the self-device status of the TCMS device, the BCU device, and the ATP device are all in normal working conditions. The ATO device interacts with the TCMS device and the BCU device to confirm whether the whole vehicle enters automatic driving, including that after the ATO device receives the ATO engagement permission signals from the TCMS device and the BCU device, if it determines that the hard permission and soft permission signals from the ATP device are valid, it sends a command for the whole vehicle to be allowed to enter automatic driving to the TCMS device, and at the same time, the TCMS device forwards this command to the BCU device. After the TCMS device receives the command for the whole vehicle to be allowed to enter automatic driving, the ATO activation operation is completed, including that the ATO activation button on the display screen of the TCMS device lights up. By touching and pressing the ATO activation button, an automatic driving activation signal is sent to the ATO device, where the pressing duration is a preset time. After the ATO device receives the automatic driving button activation signal, it confirms that the whole vehicle enters automatic driving subsequently. After confirming that the whole vehicle enters automatic driving, the ATO device sends an instruction for the whole vehicle to enter automatic driving to the TCMS device, and the TCMS device forwards this instruction to the BCU device. After the TCMS device and the BCU device receive the instruction for the whole vehicle to enter automatic driving, they each enter the automatic driving state and respectively feedback their own automatic driving state information to the ATO device. After the ATO device receives the automatic driving state information of the TCMS device and the BCU device, it engages the automatic driving mode. The ATO device also conducts an operation status confirmation with the TCMS device, and the BCU device also conducts an operation status confirmation with the TCMS device. The operation status includes the communication status between the ATO device and the TCMS device, the communication status between the BCU device and the TCMS device, and the vital signals of the ATO device, the TCMS device, and the BCU device.

2. The automatic driving control method according to claim 1, wherein The ATO device interacting with the TCMS device and the BCU device to confirm whether the whole vehicle enters automatic driving also includes that if the hard permission signal from the ATP device received by the ATO device is invalid or the TCMS device fails to complete ATO activation, it is confirmed that the whole vehicle does not enter automatic driving.

3. The automatic driving control method according to claim 1, characterized in that, The instruction for the whole vehicle to enter automatic driving is a pulse signal and is valid after lasting for a certain time.

4. The automatic driving control method according to any one of claims 1 to 3, characterized in that, It also includes that if the ATO device receives the valid ATO isolation field sent by the TCMS device, the ATO device will be initialized to the initial mode. After the valid ATO isolation field is cancelled, the engagement of the automatic driving process will be executed again.

5. The automatic driving control method according to claim 4, wherein It also includes that after entering the automatic driving mode, the ATO device periodically sends the information that the whole vehicle enters the automatic driving state to the TCMS device and the BCU device. At the same time, the TCMS device and the BCU device also send the corresponding automatic driving state information to the ATO device.

6. The automatic driving control method according to claim 5, wherein It also includes that after entering the automatic driving mode, the ATO device and the TCMS device, as well as the BCU device and the TCMS device, also perform operation status confirmation. The operation status includes the communication status between the ATO device and the TCMS device, the communication status between the BCU device and the TCMS device, and the vital signals of the ATO device, the TCMS device, and the BCU device.

7. The automatic driving control method according to claim 6, wherein It also includes that after entering the automatic driving mode, if the locomotive is still in a stationary state, after pressing the starting button on the screen of the TCMS device by touch, the locomotive starts to run.

8. The automatic driving control method according to claim 7, wherein It also includes that during the automatic driving process, if there are conditions that do not meet the requirements of automatic driving, the ATO device exits the automatic driving mode, sends an instruction for the whole vehicle to exit the automatic driving mode to the TCMS device, and the TCMS device forwards this instruction to the BCU device.

9. The automatic driving control method according to claim 8, wherein The conditions that do not meet the requirements of automatic driving include the TCMS device and the BCU device will monitor the conditions for entering the automatic driving mode in real time. When the conditions for entering the automatic driving mode are not met, the corresponding permission signal for entering the ATO is cancelled; or the ATO device receives the ATO isolation command from the TCMS device; or the soft permission signal, the hard permission signal of the ATP device is invalid or the periodic self-check fails; or press the exit automatic driving button on the screen of the TCMS device by touch to take over the locomotive driving manually.

10. The automatic driving control method according to claim 9, characterized in that, The ATO device includes the automatic driving not established mode AOS, the automatic driving preparation mode AOR, and the automatic driving mode AOM. The automatic driving preparation mode AOR includes the AOR1 mode, the AOR2 mode, the AOR3 mode, and the AOR4 mode. The method also includes determining the working mode of the ATO device. including when the ATO device is powered on, it is initialized to the AOS mode. If the first switching condition of the AOR mode is met, it enters the AOR mode; after the ATO device enters the AOR mode, it internally performs the logical conversion between the AOR1 mode, the AOR2 mode, the AOR3 mode, and the AOR4 mode.

11. The automatic driving control method according to claim 10, wherein, The first switching condition of the AOR mode is met: the internal self-check of the ATO device passes, it receives the soft permission sent by the ATP device, and it receives the non-isolation command sent by the TCMS device.

12. The automatic driving control method according to claim 11, wherein The internal execution of the logical conversion between the AOR1 mode, the AOR2 mode, the AOR3 mode, and the AOR4 mode after the ATO device enters the AOR mode includes when the ATO device receives the invalid hard permission from the ATP device, the command of the BCU device not allowing the input of the ATO signal, or the command of the TCMS device not allowing the input of the ATO signal, the ATO device is in the AOR1 mode; when the ATO device has received the valid hard permission command from the ATP device and the permission commands for the ATO signal from the BCU device and the TCMS device, but has not received the activation signal of the automatic driving button sent by the TCMS device, the ATO device enters the AOR2 mode from the AOR1 mode; The ATO device has received the hard enable valid command from the ATP device, the enable ATO signal command from the BCU device and the TCMS device, and the activation signal of the automatic driving button sent by the TCMS device. However, since the receiving duration of the activation signal of the automatic driving button is still within the preset time and has not entered the effective stage, the ATO device enters the AOR3 mode from the AOR2 mode; If the ATO device has received the hard enable valid command from the ATP device, the enable ATO signal command from the BCU device and the TCMS device, and the duration of receiving the activation signal of the automatic driving button exceeds the preset time, the ATO device enters the AOR4 mode from the AOR3 mode.

13. The autonomous driving control method according to claim 12, wherein It also includes that in the AOR4 mode, the ATO device sends the command for the whole vehicle to enter the automatic driving state to the TCMS device for a certain period of time, and enters the AOM mode after receiving the automatic driving state information of the TCMS device and the BCU device respectively.

14. The automatic driving control method according to claim 13, characterized in that, It also includes that in the AOR2, AOR3, AOR4 and AOM modes, when the ATO device does not receive the valid hard enable command from the ATP device, the valid enable ATO signal from the TCMS device or the valid enable ATO signal from the BCU device, the ATO device will fallback from the current mode to the AOR1 mode.

15. The automatic driving control method according to claim 14, characterized in that, It also includes that the ATO device includes the AOF fault mode. In the AOS, AOR and AOM modes, the ATO device will perform periodic self-checks. When the self-check fails at any time, the ATO device will enter the AOF fault mode.

16. An automatic driving control system, characterized in that, It includes the ATO device, the TCMS device and the BCU device, where the TCMS device and the BCU device are used to send the enable ATO signal to the ATO device respectively after determining that the conditions for enabling ATO are met, and are also used to enter the automatic driving state respectively after receiving the command for the whole vehicle to enter the automatic driving state, and feedback their respective automatic driving state information to the ATO device respectively. Among them, the TCMS device is also used to forward the enable ATO signal sent by the BCU device to the ATO device and forward the command for the whole vehicle to enter the automatic driving state sent by the ATO device to the BCU device; The ATO activation button, the start button and the automatic driving exit button are set on the display screen of the TCMS device. The ATO activation button and the start button distinguish the activation of the automatic driving and the start of the vehicle; the conditions for enabling ATO include that the train status information, the self-device status of the TCMS device, the BCU device and the ATP device are all in the normal working state; The ATO device is used to interact with the TCMS device and the BCU device to confirm whether the whole vehicle enters the automatic driving state. That is, after the ATO device receives the enable ATO signals from the TCMS device and the BCU device, if it determines that the hard enable and soft enable signals from the ATP device are valid, it sends the command for the whole vehicle to be allowed to enter the automatic driving state to the TCMS device, and at the same time, the TCMS device forwards this command to the BCU device; After the TCMS device receives the command allowing the whole vehicle to enter the autonomous driving mode, it completes the ATO activation operation, including the ATO activation button on the TCMS device display screen lighting up. By touching and pressing the ATO activation button, an autonomous driving activation signal is sent to the ATO device, where the pressing duration is a preset time; After the ATO device receives the autonomous driving button activation signal, it confirms that the subsequent whole vehicle enters the autonomous driving mode; And after confirming that the whole vehicle enters the autonomous driving mode, the ATO device sends an instruction that the whole vehicle enters the autonomous driving mode to the TCMS device and the BCU device, and is also used to enter the autonomous driving mode after receiving the autonomous driving status information of the TCMS device and the BCU device; The ATO device also conducts an operation status confirmation with the TCMS device, and the BCU device also conducts an operation status confirmation with the TCMS device. The operation status includes the communication status between the ATO device and the TCMS device, the communication status between the BCU device and the TCMS device, and the vital signals of the ATO device, the TCMS device, and the BCU device.

17. The automatic driving control system according to claim 16, characterized in that, The conditions for engaging ATO include that the train status information, the self-device statuses of the TCMS device, the BCU device, and the ATP device are all in the normal working state.

18. The automatic driving control system according to claim 16, characterized in that, During the autonomous driving process, if there are conditions that do not meet the requirements for autonomous driving, the ATO device is also used to exit the autonomous driving mode, send an instruction that the whole vehicle exits the autonomous driving mode to the TCMS device, and the TCMS device forwards this instruction to the BCU device.

19. The automatic driving control system according to claim 18, characterized in that, The conditions that do not meet the requirements for autonomous driving include, The TCMS device and the BCU device will continuously monitor the conditions for engaging autonomous driving. When the conditions for engaging autonomous driving are not met, the corresponding signal allowing ATO engagement is cancelled; or, The ATO device receives an ATO isolation command from the TCMS device; Or, The soft permission signal, the hard permission signal of the ATP device is invalid, or the periodic self-check fails; or, The driver touches and presses the exit autonomous driving button on the TCMS device screen to manually take over the locomotive driving.

Images