A method and system for autonomous synchronization of temporary speed limit in overlapping area of CTCS and CBTC

Abstract

This invention discloses a method and system for autonomous synchronization of temporary speed limits in overlapping areas of CTCS and CBTC. The method includes: a dispatching system determining the master control device of the speed limit system based on the speed limit start point; the speed limit system includes master control devices and controlled devices for different track systems. The dispatching system sends control commands to the master control device according to its operating principles, causing it to generate and send its own feedback information to the dispatching system; simultaneously, the master control device forwards the control commands to the controlled device through a data format conversion module, converting the parameters in the control commands into an expression suitable for the controlled device, enabling the controlled device to generate and send its own feedback information to the master control device; the master control device generates comprehensive feedback information based on its own and the other party's feedback information and sends it to the dispatching system. The method and system of this invention simplify the operation procedures of speed limit control, eliminate safety hazards in train operation, and solve the problem of incompatibility between electronic maps of different formats.

Description

Technical Field

[0001] This invention relates to the field of rail transit communication and signaling technology, specifically to a method and system for autonomous synchronization of temporary speed limits in overlapping areas of CTCS and CBTC. Background Technology

[0002] With the continuous development of urban integration in metropolitan areas, the demand for interconnection between different lines such as trunk railways, intercity railways, suburban railways, and urban rail transit is becoming increasingly strong. From the perspective of signaling system technology, this manifests in two situations: trains operating across or on the same track between the CTCS (Train Control System) and CBTC (Continuous Train Control System) track systems. When operating across tracks, the ground connection area between the different systems will have an overlapping area between the CTCS and CBTC track systems, called a "transition zone." When operating on the same track, all trains of different systems travel on the same line; this line can be understood as an overlapping area between the CTCS and CBTC track systems, called a "co-track zone." Both the "transition zone" and the "co-track zone" share a common characteristic: they simultaneously support the safe operation of trains using both the CTCS and CBTC track systems.

[0003] Train speed control (temporary speed limit) is a crucial function related to train operation safety. Currently, the operation procedures for speed control differ between the CTCS track system and the CBTC track system, and the communication protocols and parameter expression methods of the two track systems are also different. This makes it difficult to synchronize the speed control of trains in the overlapping areas of the two track systems, and the setting and management procedures for speed control are cumbersome. Such a design poses a significant hidden danger to train operation safety. Summary of the Invention

[0004] The purpose of this invention is to provide a method and system for autonomous synchronization of temporary speed limits in overlapping areas of CTCS and CBTC, which simplifies the operation procedures for train speed limit control, eliminates potential safety hazards in train operation, and solves the problem of incompatibility between electronic maps of different formats.

[0005] To achieve the above objectives, this invention provides a method for autonomous synchronization of temporary speed limits in overlapping areas of CTCS and CBTC. This method involves sending control commands from the dispatching system to the speed limit system, enabling the speed limit system to control the train and complete the speed limit control. The method includes: The dispatching system determines the main control device of the speed limiting system based on the location of the speed limit starting point, thereby determining the direction of control command transmission; wherein, the speed limiting system includes: main control devices and controlled devices respectively used for different track systems; The scheduling system sends control commands to the main control device according to the operating principles of the main control device, and receives feedback from the speed limiting system; The method for the scheduling system to receive feedback from the speed limiting system includes: the scheduling system sending a control command to the master control device, generating its own feedback information reflecting the execution status of the control command, and sending the own feedback information to the scheduling system; Simultaneously, the master control device sends control commands to the data format conversion module, which converts the parameters in the control commands into an expression suitable for the controlled device, and then forwards the control commands to the controlled device. The controlled device receives a control command, generates feedback information from the other party reflecting the execution status of the control command, and sends the feedback information to the master control device. The main control device generates comprehensive feedback information reflecting the speed limiting system's execution of control commands based on its own feedback information and the other party's feedback information, and sends the comprehensive feedback information to the dispatching system.

[0006] Optionally, both the master control device and the controlled device are either temporary speed limiting servers or line data storage units; The methods by which the dispatching system determines the main control equipment of the speed limiting system based on the location of the speed limit starting point, and thus determines the direction of control command transmission, include: When the starting point of the train's speed limit is located in the CTCS track system, the main control device is a temporary speed limit server; the dispatching system sends control commands to the temporary speed limit server. When the speed limit starting point of the train is located in the CBTC track system, the main control device is the line data storage unit, and the scheduling system sends control commands to the line data storage unit.

[0007] Optionally, after determining the main control device of the speed limit system based on the location of the speed limit start point, the dispatching system will generate corresponding control commands based on the main control device. The dispatching system obtains the CBTC and CTCS commands for train speed control under the CBTC and CTCS track systems, respectively. The parameters in both CBTC and CTCS commands are converted into expressions suitable for the main control equipment. Simultaneously, when the dispatching system finds inconsistencies in the parameter data corresponding to the same parameter in the CBTC and CTCS speed limit commands, it selects the parameter data according to the strictest and safest principles and records this parameter data in the control commands, using it as a parameter in the control commands sent by the dispatching system to the main control equipment.

[0008] Optionally, the method by which the main control device generates comprehensive feedback information reflecting the speed limiting system's execution of control commands based on its own feedback information and the other party's feedback information includes: Both the feedback information from this party and the feedback information from the other party include "success" and "failure". When the feedback information from this party or the feedback information from the other party is "success", it means that the master control device or the controlled device has completed the execution of the control command. Otherwise, when the feedback information from this party or the feedback information from the other party is "failure", it means that the master control device or the controlled device has not completed the execution of the control command. When both the feedback information from this party and the feedback information from the other party are "successful", the comprehensive feedback information generated by the main control device is "successful for both parties", so that the scheduling system continues to operate according to the operating principles of the main control device after receiving the comprehensive feedback information; When only the feedback information from this side or the feedback information from the other side is "success", the comprehensive feedback information generated by the main control device is "partial success", causing the scheduling system to stop any operation after receiving the comprehensive feedback information; When both the feedback information from this party and the feedback information from the other party are "failure", the comprehensive feedback information generated by the main control device is "failure of both parties", causing the scheduling system to stop any operation after receiving the comprehensive feedback information.

[0009] Optionally, the control commands include: a CTCS auxiliary request applicable to the CTCS track system, and speed limit instructions and speed limit cancellation instructions that control the start and end of the speed limit for the train, respectively; wherein, the CTCS auxiliary request is applicable to the operating principles of the CTCS track system; the CTCS auxiliary request includes: a draft request, a verification request, and a verification cancellation request; When the master control device is a temporary speed limiting server and the train needs to start speed limiting, the method by which the dispatching system sends control commands to the master control device according to the operating principles of the master control device includes: The scheduling system sends a proposed request to the temporary speed limiting server to preset the parameters in the temporary speed limiting server; according to the method of the scheduling system receiving feedback from the speed limiting system, the temporary speed limiting server generates its own proposed information, and the line data storage unit generates the other party's proposed information; and the temporary speed limiting server generates comprehensive proposed information based on its own proposed information and the other party's proposed information, and sends the comprehensive proposed information to the scheduling system. After receiving the comprehensive proposed information, the scheduling system sends a verification request to the temporary speed limiting server to check whether the parameter setting specifications meet the requirements; according to the method of receiving feedback from the speed limiting system, the temporary speed limiting server generates its own verification information, and the line data storage unit generates the other party's verification information; and the temporary speed limiting server generates comprehensive verification information based on its own verification information and the other party's verification information, and then sends it to the scheduling system. After receiving the comprehensive verification information, the dispatching system sends a speed limit command to the temporary speed limit server to control the train to start the speed limit; according to the method of the dispatching system receiving feedback from the speed limit system, the temporary speed limit server generates its own speed limit information, and the line data storage unit generates the other party's speed limit information; and the temporary speed limit server generates comprehensive speed limit information based on its own speed limit information and the other party's speed limit information, and sends the comprehensive speed limit information to the dispatching system.

[0010] Optionally, when the master control device is a temporary speed limit server and the train needs to end the speed limit, the method by which the dispatching system sends control commands to the master control device according to the operating principles of the master control device includes: The scheduling system sends a verification cancellation request to the temporary speed limit server to confirm the speed limit instruction to be cancelled; according to the method of the scheduling system receiving feedback from the speed limit system, the temporary speed limit server generates its own verification cancellation information, and the line data storage unit generates the other party's verification cancellation information; and the temporary speed limit server generates comprehensive verification cancellation information based on its own verification cancellation information and the other party's verification cancellation information, and sends the comprehensive verification cancellation information to the scheduling system. After receiving the comprehensive verification cancellation information, the dispatching system sends a speed limit cancellation command to the temporary speed limit server to control the train to end the speed limit; according to the method of the dispatching system receiving feedback from the speed limit system, the temporary speed limit server generates its own speed limit cancellation information, and the line data storage unit generates the other party's speed limit cancellation information; and the temporary speed limit server generates comprehensive speed limit information based on its own speed limit cancellation information and the other party's speed limit cancellation information, and sends the comprehensive speed limit cancellation information to the dispatching system.

[0011] Optionally, the control command further includes: a CBTC auxiliary request applicable to the CBTC orbital system; the CBTC auxiliary request is applicable to the operating principles of the master control equipment in the CBTC orbital system, including: an operation request; When the master control device is a line data storage unit and a train needs to begin speed limiting, the method by which the dispatching system sends control commands to the master control device according to its operating principles includes: The scheduling system sends an operation request to the line data storage unit to preset the parameters in the temporary speed limiting server and check whether the parameters meet the parameter setting requirements; according to the method of the scheduling system receiving feedback from the speed limiting system, the line data storage unit generates its own operation information, and the temporary speed limiting server generates the other party's operation information; and the line data storage unit generates comprehensive operation information based on its own operation information and the other party's operation information, and sends the comprehensive operation information to the scheduling system. After receiving the comprehensive operation information, the dispatching system sends a speed limit command to the line data storage unit to control the train to start speed limiting; according to the method of receiving feedback from the speed limit system, the line data storage unit generates local speed limit information, and the temporary speed limit server generates the other party's speed limit information; and the line data storage unit generates comprehensive speed limit information based on its own speed limit information and the other party's speed limit information, and sends the comprehensive speed limit information to the dispatching system.

[0012] Optionally, when the master control device is a temporary speed limit server and the train needs to end the speed limit, the method by which the dispatching system sends control commands to the master control device according to the operating principles of the master control device includes: The dispatching system sends a speed limit command to the line data storage unit to control the train to end the speed limit; according to the method of the dispatching system receiving feedback from the speed limit system, the line data storage unit generates its own speed limit cancellation information, and the temporary speed limit server generates the other party's speed limit cancellation information; and the line data storage unit generates comprehensive speed limit cancellation information based on its own speed limit cancellation information and the other party's speed limit cancellation information, and sends the comprehensive speed limit cancellation information to the dispatching system.

[0013] Optionally, the master control device and the controlled device periodically check whether their execution of control commands is synchronized through periodic signals; when the master control device and the controlled device are not synchronized in executing control commands, the master control device and the controlled device will issue an alarm in time to remind personnel to check in time.

[0014] Optionally, it also includes: The temporary speed limiting server forwards the speed limiting command or the speed limiting cancellation command to the CTSC controller. At the same time, the line data storage unit forwards the speed limiting command or the speed limiting cancellation command to the CBTC controller. The CTSC controller and CBTC controller forward speed limit commands or speed limit cancellation commands to the onboard equipment, causing the train to start or end the speed limit.

[0015] In addition, the present invention also provides a temporary rate-limiting autonomous synchronization system for the overlapping area of ​​CTCS and CBTC, comprising: The dispatching system sends control commands to determine whether trains should be subject to speed limits. A speed limiting system includes: a master control device and a controlled device; the master control device is connected to the dispatch system via signal transmission, used to receive control commands, and generate its own feedback information reflecting the execution status of the control commands, and then send the own feedback information to the dispatch system; the controlled device is connected to the master control device via signal transmission, receives control commands forwarded by the master control device, and generates other party feedback information reflecting whether it has executed the control commands; and the controlled device forwards the other party feedback information to the master control device, so that the master control device generates comprehensive feedback information reflecting the execution status of the speed limiting system's control commands based on its own feedback information and the other party feedback information, and sends the comprehensive feedback information to the dispatch system; A data format conversion module is located between the master control device and the controlled device to convert the parameters in the control commands into an expression format suitable for the controlled device; the data format conversion module transmits signals with the master control device and receives the control commands from the master control device; the data format conversion module transmits signals with the controlled device and sends the control commands converted into an expression format suitable for the controlled device to the controlled device. The master control device and the controlled device are both temporary speed limiting servers and line data storage units, and they are different from each other.

[0016] Optionally, the data format conversion module is located on the master control device or the controlled device.

[0017] Optionally, the master control device and the controlled device periodically check whether their execution of control commands is synchronized through periodic signals; when the master control device and the controlled device are not synchronized in executing control commands, the master control device and the controlled device will issue an alarm in time to remind personnel to check in time.

[0018] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects: The method described in this invention establishes a signal transmission relationship between the master control device and the controlled device (i.e., the Temporary Speed ​​Limiting Server (TSRS) and the Line Data Storage Unit (DSU)) of the speed limiting system. This enables the master control device to send control commands to the controlled device and receive feedback information from the controlled device, thereby achieving signal transmission and synchronization between the master control device and the controlled device. Simultaneously, the master control device and the controlled device can send periodic signals to ensure that the speed limiting control processes of the two speed limiting devices (i.e., the master control device and the controlled device) applicable to different track systems are always synchronized. This solves the problem of potential inconsistencies in the operation steps of various devices in the speed limiting system during system transition zones (i.e., "transition zones" or "co-track zones"), eliminating potential safety hazards for train operation.

[0019] The scheduling system described in this invention determines the main control device of the speed limit system and the direction of control command transmission by identifying the speed limit starting point. Simultaneously, it sends corresponding control commands according to the operating principles of the main control device, thereby achieving unified management of train speed limit control (i.e., temporary speed limit). This enables the one-time issuance and cancellation of speed limit instructions in "system conversion zones" or "co-line zones," simplifies the operation procedures for train speed limit control, and reduces the relevant requirements for personnel's operating experience.

[0020] The method described in this invention converts the expression of parameters in the control commands transmitted between the Temporary Speed ​​Limit Server (TSRS) and the Line Data Storage Unit (DSU) into an expression that can be read by the main control equipment by passing the data format conversion module. This enables the conversion between the mileage coordinates of the CTCS track system and the "segment + offset" of the CBTC track system, and solves the problem of misalignment between electronic maps of different formats. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the temporary speed-limiting autonomous synchronization system for the overlapping area of ​​CTCS and CBTC described in this invention.

[0022] Figure 2 This is a schematic diagram of signal transmission between the scheduling system and the speed limiting system in the temporary speed limiting autonomous synchronization system of the CTCS and CBTC overlapping area described in this invention, where the main control device is a temporary speed limiting server.

[0023] Figure 3 This is a schematic diagram of signal transmission between the scheduling system and the speed limiting system in the temporary speed limiting autonomous synchronization system of the CTCS and CBTC overlapping area described in this invention, where the main control device is the line data storage unit.

[0024] Figure 4 This is a schematic diagram illustrating the parameter expression conversion between the master control device and the controlled device in the temporary speed limiting autonomous synchronization system of the CTCS and CBTC overlapping area described in this invention.

[0025] In the diagram, 1-Dispatch system, 2-Temporary speed limit server, 3-Line data storage unit, 4-CTCS controller, 5-CBTC controller, 6-On-board equipment, 7-Data format conversion module. Detailed Implementation

[0026] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] like Figure 1 As shown, this invention provides an autonomous synchronization system for temporary speed limits in overlapping areas of CTCS and CBTC, enabling the simultaneous issuance and activation of speed limit commands or cancellation commands when trains are running in "system conversion zones" and "co-line zones". The system includes: a dispatching system 1, a speed limit system, a controller group, and onboard equipment 6.

[0030] The dispatching system 1 (typically an integrated dispatching system, NDMS) can send control commands to control whether trains are subject to speed limits. These control commands include: CTCS auxiliary requests, CBTC auxiliary requests, speed limit commands, and speed limit cancellation commands. Specifically, the CTCS auxiliary requests are used to preset and verify parameters in the speed limit system applied to the CTCS track system; the CBTC auxiliary requests are used to preset and verify parameters in the speed limit system applied to the CBTC track system; the speed limit commands control the train to begin speed limiting to enter a speed-limited state, including: speed limit start point, speed limit end point, maximum speed limit value, and minimum speed limit value; and the speed limit cancellation commands control the train to end its journey to enter a non-speed-limited state.

[0031] Furthermore, the scheduling system 1 automatically determines the sending direction of the control command based on the project specifications and the speed limit starting point in the speed limit instruction (e.g., sending it to the temporary speed limit server 2 or the line data storage unit 3 of the speed limit system).

[0032] The speed limiting system includes a master control device and a controlled device. The master control device is connected to the dispatch system 1 via signal transmission, receives control commands, generates feedback information reflecting the execution status of the control commands, and then sends the feedback information to the dispatch system 1. The controlled device is connected to the master control device, receives control commands (0x0306) forwarded by the master control device, generates feedback information (0x0301 or 0x0307) reflecting whether it has executed the control commands, and then forwards the feedback information to the master control device. The master control device can generate comprehensive feedback information reflecting the execution status of the speed limiting system's control commands based on the feedback information and the feedback information, and sends the comprehensive feedback information to the dispatch system 1.

[0033] Furthermore, both the master control device and the controlled device are one of the Temporary Speed ​​Limit Server (TSRS) 2 and the Line Data Storage Unit (DSU) 3, and the two are different from each other. Specifically, the Temporary Speed ​​Limit Server (TSRS) 2 is applied to the CTCS track system to control the speed limit of trains within the CTCS track system area; the Line Data Storage Unit (DSU) 3 is applied to the CBTC track system to control the speed limit of trains on the CBTC track.

[0034] The signal transmission format between the master control device and the controlled device is shown in Table 1.

[0035] Table 1. Messages transmitted between TSRS and DSU Furthermore, both the feedback information from this party and the feedback information from the other party correspond to the control commands.

[0036] Specifically, such as Figure 2As shown, when the Temporary Speed ​​Limit Server (TSRS) 2 is the main control device, the speed limit or cancellation of the train must be implemented according to the operating principles of the Temporary Speed ​​Limit Server (TSRS) 2. The Temporary Speed ​​Limit Server (TSRS) 2 transmits signals with the dispatching system 1, receives CTCS auxiliary requests, speed limit commands, or speed limit cancellation commands sent by the dispatching system 1, and generates corresponding feedback information based on the corresponding control commands. The Temporary Speed ​​Limit Server (TSRS) 2 can also send its own feedback information to the dispatching system 1. Simultaneously, the Temporary Speed ​​Limit Server (TSRS) 2 forwards the CTCS auxiliary requests, speed limit commands, or speed limit cancellation commands to the Line Data Storage Unit (DSU) 3, causing the Line Data Storage Unit (DSU) 3 to generate feedback information corresponding to the control commands.

[0037] like Figure 3 As shown, when the main control device is the Line Data Storage Unit (DSU) 3, the speed limit or cancellation of the train must be implemented according to the operating principles of the Line Data Storage Unit (DSU) 3. The Line Data Storage Unit (DSU) 3 transmits signals with the dispatching system 1, receives CBTC auxiliary requests, speed limit commands, or speed limit cancellation commands sent by the dispatching system 1, and generates its own feedback information corresponding to the control commands to reflect whether the corresponding control commands have been executed. The Line Data Storage Unit (DSU) 3 also sends its own feedback information to the dispatching system 1. Simultaneously, the Line Data Storage Unit (DSU) 3 forwards the CBTC auxiliary requests, speed limit commands, or speed limit cancellation commands to the Temporary Speed ​​Limit Server (TSRS) 2, causing the Temporary Speed ​​Limit Server (TSRS) 2 to generate corresponding feedback information for the control commands.

[0038] The CTCS auxiliary requests include: a drafting request for presetting parameters in the Temporary Rate Limiting Server (TSRS) 2; a verification request for verifying whether the parameters meet the setting requirements; and a verification cancellation request for confirming the currently executed rate limiting command. The CBTC auxiliary requests include: an operation request for setting parameters in the Line Data Storage Unit (DSU) 3 and checking whether the parameters meet the setting requirements. The local feedback information includes: local drafting information corresponding to the drafting request; local verification information corresponding to the verification request; local verification cancellation information corresponding to the verification cancellation request; local operation information corresponding to the operation request; and local execution information corresponding to the rate limiting command or rate limiting cancellation command. The counterparty feedback information includes: counterparty drafting information corresponding to the drafting request; counterparty verification information corresponding to the verification request; counterparty verification cancellation information corresponding to the verification cancellation request; counterparty operation information corresponding to the operation request; and counterparty execution information corresponding to the rate limiting command or rate limiting cancellation command. The comprehensive feedback information is obtained by comparing the local feedback information and the counterparty feedback information, and includes: comprehensive drafting information, comprehensive verification information, comprehensive verification cancellation information, comprehensive counterparty operation information, and comprehensive execution information.

[0039] Furthermore, the proposed request and operation request include the same content as the speed limit command, including: speed limit start point, speed limit end point, speed limit maximum value, and speed limit minimum value.

[0040] Furthermore, the master control device and the controlled device (i.e., Temporary Speed ​​Limiting Server (TSRS) 2 and Line Data Storage Unit (DSU) 3) transmit signals via Ethernet, serial port or fieldbus.

[0041] Furthermore, the master control device and the controlled device periodically check whether their execution of control commands is synchronized through a periodic signal ("0x031F"). If the master control device and the controlled device are not synchronized in executing control commands, the master control device and the controlled device will issue an alarm in a timely manner to remind personnel to check promptly.

[0042] like Figure 1 As shown, the controller group consists of two controllers. Each controller transmits signals with both the master control device and the controlled device, and receives control commands (i.e., speed limit instructions / speed limit cancellation instructions) forwarded by the master control device and the controlled device. Specifically, the two controllers are CBTC controller 5 and CTCS controller 4. CTCS controller 4 is applied to the CTCS track system and is located beside the track, typically as part of the Train Control Center (TCC), transponder, or Ground Electronic Unit (LEU). CTCS controller 4 transmits signals with the Temporary Speed ​​Limit Server (TSRS) 2 and receives speed limit instructions or speed limit cancellation instructions forwarded by the Temporary Speed ​​Limit Server (TSRS) 2.

[0043] In one specific embodiment, before sending a speed-limiting command / cancel speed-limiting command to the CTSC controller, the Temporary Speed ​​Limiting Server (TSRS) 2 also sends a verification execution request to check the communication status between the Temporary Speed ​​Limiting Server (TSRS) 2 and the CTSC controller, causing the CTSC controller to generate verification execution information. The CTSC controller then sends the verification execution information to the Temporary Speed ​​Limiting Server (TSRS) 2. The verification execution information includes: "Verification execution successful" and "Verification execution failed". When the verification execution information is "Verification execution successful", it means that the communication between the Temporary Speed ​​Limiting Server (TSRS) 2 and the CTSC controller is normal, and then the Temporary Speed ​​Limiting Server (TSRS) 2 sends the speed-limiting command / cancel speed-limiting command to the CTSC controller.

[0044] The CBTC controller 5 is applied to the CBTC track system and is located beside the track, typically as a zone controller (ZC). The CBTC controller 5 transmits signals with the line data storage unit (DSU) 3 and receives speed limit commands or speed limit cancellation commands forwarded by the line data storage unit (DSU) 3.

[0045] The onboard equipment 6 is installed on the train and transmits signals with two controllers to execute control commands (i.e., speed limit commands or speed limit cancellation commands) forwarded by the controllers. The onboard equipment 6 includes: a CBTC onboard unit (e.g., VOBC) for the CBTC track system, and a CTCS onboard unit (e.g., Automatic Train Protection System, ATP) for the CTCS track system. The CBTC onboard unit transmits signals with the CBTC controller 5, receiving and executing speed limit commands or speed limit cancellation commands sent by the CBTC controller 5. The CTCS onboard unit transmits signals with the CTCS controller 4, receiving and executing speed limit commands or speed limit cancellation commands sent by the CTCS controller 4.

[0046] Furthermore, the electronic map in the CTCS track system uses kilometer markers (i.e., mileage coordinates), while the electronic map in the CBTC track system uses the offset of the train relative to track section markers (such as the beginning of a track section) (i.e., "section + offset"). Because the electronic maps in the CTCS and CBTC track systems use different coordinate systems, the expression of parameters in the transmitted control commands needs to be converted when the Temporary Speed ​​Limit Server (TSRS) 2 and the Line Data Storage Unit (DSU) 3 transmit signals. To solve the above problem, a data format conversion module 7 is also provided between the master control device and the controlled device (i.e., between the Line Data Storage Unit (DSU) 3 and the Temporary Speed ​​Limit Server (TSRS) 2) in the system described in this invention.

[0047] For details, please see Figure 4 The data format conversion module 7 transmits signals bidirectionally with both the master control device and the controlled device. It can receive control commands forwarded by the master control device, convert the parameters in the control commands into an expression suitable for the controlled device, and then send the control commands to the controlled device. For example, when the master control device is a Temporary Rate Limiting Server (TSRS) 2, the data format conversion module 7 can receive control commands (e.g., draft requests, verification requests, rate limiting instructions, and rate limiting cancellation instructions) forwarded by the TSRS 2, convert the expression of each parameter in the control commands into an expression suitable for the Line Data Storage Unit (DSU) 3 to read, and then send the control commands to the Line Data Storage Unit (DSU) 3. When the master control device is a Line Data Storage Unit (DSU) 3, the data format conversion module 7 can receive control commands forwarded by the Line Data Storage Unit (DSU) 3, convert the parameters in the control commands into an expression suitable for the Temporary Rate Limiting Server (TSRS) 2 to read, and then send the control commands to the Temporary Rate Limiting Server (TSRS) 2.

[0048] In other embodiments, please refer to Figure 4 The data format conversion module 7 can also be installed on the master control device or the controlled device (i.e., the line data storage unit (DSU) 3 or the temporary speed limiting server (TSRS) 2).

[0049] In track project design, a system conversion zone is typically set at the boundary between the CTCS and CBTC track systems. This conversion zone includes the boundary line between the two track systems, allowing the train to complete the handover of speed limit control between the Line Data Storage Unit (DSU) 3 and the Temporary Speed ​​Limit Server (TSRS) 2 within the conversion zone. In the first scenario, both the train's speed limit start and end points are within the conversion zone and within the CTCS track system. In the second scenario, both the train's speed limit start and end points are within the conversion zone and within the CBTC track system. In the third scenario, both the train's speed limit start and end points are within the conversion zone, but they are on different track systems. In the fourth scenario, the train's speed limit start and end points are located within and outside the conversion zone, respectively.

[0050] For both the first and second scenarios, the main control device in the speed limit system is determined based on the type of track system where the train's speed limit starting point is located. For example, in the first scenario, if the train's speed limit starting point is located in the CTCS track system, the main control device is the Temporary Speed ​​Limit Server (TSRS) 2, and the controlled device is the Line Data Storage Unit (DSU) 3. (See [link to relevant documentation]). Figure 2In the second scenario, the train's speed limit originates in the CBTC track system. The master control device is the Line Data Storage Unit (DSU) 3, and the controlled device is the Temporary Speed ​​Limit Server (TSRS) 2. (See [link / reference]). Figure 3 .

[0051] For the third scenario, the dispatching system divides the train's speed-limited path into a first speed-limited path and a second speed-limited path based on the location of the boundary line between the two track systems. The first and second speed-limited paths are then matched to the corresponding first and second scenarios, respectively. This allows the train to switch the main control equipment of the speed-limited system when crossing the boundary line between the two track systems. (See [link]). Figure 1 .

[0052] For example, such as Figure 1 As shown, the original speed limit start point and original speed limit end point of the train's speed limit path are in the CBTC track system and the CTCS track system, respectively. Therefore, the dispatching system 1 divides the train's speed limit path into a first speed limit path TSR1 and a second speed limit path TSR2 according to the boundary line position of the two track systems. In the first speed limit path TSR1, the main control device is the line data storage unit (DSU) 3. In the second speed limit path TSR2, the main control device is the temporary speed limit server (TSRS) 2.

[0053] For the fourth scenario, the train's speed-limited path is divided into a "system conversion zone" and a "non-system conversion zone," with separate speed limit controls applied to each zone. In the "non-system conversion zone," when the train is running on the CTCS or CBTC track system, speed limit control is applied separately via the Temporary Speed ​​Limit Server (TSRS) 2 or the Line Data Storage Unit (DSU) 3. In the "system conversion zone," when the train is running within the system conversion zone, speed limit control is applied according to the first, second, or third scenario.

[0054] Regarding the process of Temporary Speed ​​Limit Server (TSRS) or Line Data Storage Unit (DSU) individually controlling train speed limits, when the train is running in the CBTC track system, the operating principle of the Line Data Storage Unit (DSU) is as follows: receiving speed limit commands through a secondary confirmation operation. Specifically, the dispatching system sends an operation request to the Line Data Storage Unit (DSU), causing the Line Data Storage Unit (DSU) to preset parameters according to the operation request and check whether the parameters meet the parameter setting requirements; then the Line Data Storage Unit (DSU) generates its own operation information and sends it to the dispatching system; subsequently, when the dispatching system receives the operation information as "successful," it sends a speed limit command to the Line Data Storage Unit (DSU), forwards the speed limit command to the CBTC controller 5, generates its own execution information, and sends the execution information to the dispatching system; after receiving the speed limit command, the CBTC controller 5 forwards the speed limit command to the onboard equipment 6, causing the train to enter the speed-limited state. When a train needs to end its speed limit state, the dispatching system sends a speed limit cancellation command to the line data storage unit (DSU) and forwards the speed limit cancellation command to the CBTC controller 5. At the same time, the line data storage unit (DSU) generates its own execution information and sends it to the dispatching system. After receiving the speed limit cancellation command, the CBTC controller 5 forwards the speed limit cancellation command to the on-board equipment 6, so that the train changes from a speed limit state to a speed-free state.

[0055] When a train is running on the CTCS track system, the operating principle of the Temporary Speed ​​Limit Server (TSRS) is as follows: before the Temporary Speed ​​Limit Server (TSRS) forwards the speed limit instruction, the drafting and verification operations are completed first; before the Temporary Speed ​​Limit Server (TSRS) forwards the cancellation speed limit instruction, the verification operation is completed first. When a train needs to enter a speed-limited state, the dispatching system sends a proposed request to the Temporary Speed ​​Limit Server (TSRS). The TSRS sets the parameters according to the proposed request, generates its own proposed information, and sends it to the dispatching system. Upon receiving the proposed information, the dispatching system sends a verification request to the TSRS. The TSRS checks whether the parameters meet the requirements and generates its own verification information, which it then sends to the dispatching system. After receiving the verification information, the dispatching system sends a speed-limiting command to the TSRS, which forwards the command to the CTCS controller 4. Simultaneously, the TSRS generates its own execution information and sends it to the dispatching system. The CTCS controller 4 then forwards the speed-limiting command to the onboard equipment 6, causing the train to enter the speed-limited state. When a train needs to end its speed-limited state, the dispatching system sends a verification cancellation request to the Temporary Speed ​​Limit Server (TSRS), which confirms the speed limit instruction to be cancelled and generates its own verification cancellation information to send to the dispatching system. After receiving its own verification cancellation information, the dispatching system sends a speed limit cancellation instruction to the Temporary Speed ​​Limit Server (TSRS), which forwards the speed limit cancellation instruction to the CTCS controller 4. At the same time, the Temporary Speed ​​Limit Server (TSRS) generates its own execution information and sends it to the dispatching system. The CTCS controller 4 sends the speed limit cancellation instruction to the onboard equipment 6, causing the train to change from a speed-limited state to a speed-free state.

[0056] When the train is subject to speed control within the system switching zone, see Figure 2 and Figure 3 The Temporary Speed ​​Limiting Server (TSRS) 2 and the Line Data Storage Unit (DSU) 3 will transmit signals and periodically check whether their execution of control commands is synchronized through a periodic signal ("0x031F").

[0057] Specifically, in the first scenario, both the starting and ending points of the train's speed limit are located within the CTCS track system, meaning the main control device is the Temporary Speed ​​Limit Server (TSRS) 2, and the controlled device is the Line Data Storage Unit (DSU) 3. In this case, the speed limit system sends speed limit commands according to the operating principles of the Temporary Speed ​​Limit Server (TSRS) 2. The operating principles of the Temporary Speed ​​Limit Server (TSRS) 2 are as follows: Before sending a speed limit command, the dispatching system 1 first sends a draft request and a verification request to the Temporary Speed ​​Limit Server in sequence to verify whether the preset and verification parameter settings in the Temporary Speed ​​Limit Server meet the equipment's parameter setting requirements; before sending a speed limit cancellation command, the dispatching system 1 first sends a verification cancellation request to the Temporary Speed ​​Limit Server to confirm the speed limit command to be cancelled.

[0058] Please see Figure 2When a train needs to enter a speed-limited state, the dispatching system 1 sends a proposed request to the main control device (i.e., the Temporary Speed ​​Limit Server (TSRS) 2), causing the TSRS 2 to preset its parameters and generate its own proposed information. The TSRS 2 then sends its proposed information to the dispatching system 1. Simultaneously, the TSRS 2 forwards the proposed request to the controlled device (i.e., the Line Data Storage Unit (DSU) 3), causing the DSU 3 to preset its parameters and generate the other party's proposed information. The DSU 3 then sends the other party's proposed information to the TSRS 2. The TSRS 2 then generates comprehensive proposed information based on its own and the other party's proposed information, which is then sent to the dispatching system 1. After receiving the comprehensive proposed information, the dispatch system 1 sends a verification request to the Temporary Speed ​​Limiting Server (TSRS) 2. The TSRS 2 checks whether the preset parameters meet the parameter setting requirements and generates its own verification information, which it then sends back to the dispatch system 1. Simultaneously, the TSRS 2 forwards the verification request to the Line Data Storage Unit (DSU) 3. The DSU 3 checks whether its preset parameters meet the parameter setting requirements and generates the other party's verification information, which it then sends back to the TSRS 2. The TSRS 2 then generates comprehensive verification information based on its own and the other party's verification information and sends it back to the dispatch system 1. Upon receiving the integrated verification information, dispatching system 1 sends a speed limit command to the Temporary Speed ​​Limit Server (TSRS) 2. The TSRS 2 then forwards the speed limit command to the CTCS controller 4 and generates its own execution information. Simultaneously, the TSRS 2 forwards the speed limit command to the Line Data Storage Unit (DSU) 3, which in turn forwards it to the CBTC controller 5, generating the other party's execution information. The DSU 3 then forwards the other party's speed limit command back to the TSRS 2. The TSRS 2 then generates integrated execution information based on its own and the other party's execution information and sends this information to dispatching system 1. The CTCS controller 4 and CBTC controller 5 then send the speed limit command to the onboard equipment 6, which executes the command, putting the train into a speed-limited state.

[0059] When a train needs to end its speed limit state, the dispatching system 1 sends a verification cancellation request to the Temporary Speed ​​Limit Server (TSRS) 2. The TSRS 2 then locates the speed limit instruction to be cancelled, generates its own verification cancellation information, and sends this information back to the dispatching system 1. Simultaneously, the TSRS 2 forwards the verification cancellation request to the Line Data Storage Unit (DSU) 3. The DSU locates all cancelled speed limit instructions and generates corresponding verification cancellation information, which is then sent back to the TSRS 2. The TSRS 2 then generates a comprehensive verification cancellation information based on both its own and the corresponding information and sends it back to the dispatching system 1. Upon receiving the integrated verification cancellation information, dispatching system 1 sends a speed limit cancellation command to the Temporary Speed ​​Limit Server (TSRS) 2. The TSRS 2 then forwards the command to the CTCS controller 4 and generates its own execution information. Simultaneously, the TSRS 2 forwards the command to the Line Data Storage Unit (DSU), which in turn forwards it to the CBTC controller 5, generating the other party's execution information. The DSU then forwards the other party's speed limit cancellation command back to the TSRS 2. The TSRS 2 generates integrated execution information based on its own and the other party's execution information and sends it to dispatching system 1. The CTCS controller 4 and CBTC controller 5 then send the speed limit cancellation command to the onboard equipment 6, which executes the command, changing the train from a speed-limited state to a non-speed-limited state, thus completing the speed limit control for the train in the first scenario.

[0060] In the second scenario, both the starting and ending points of the train's speed limit are located within the CBTC track system. The main control device is the Line Data Storage Unit (DSU) 3, and the controlled device is the Temporary Speed ​​Limit Server (TSRS) 2. In this case, the speed limiting system controls the speed according to the operating principles of the Line Data Storage Unit (DSU) 3. The speed limiting system sends speed limit commands according to the operating principles of the Line Data Storage Unit 3. The operating principles of the Line Data Storage Unit 3 are as follows: before the dispatching system 1 sends a restriction command to the Line Data Storage Unit 3, it first sends an operation request to the Line Data Storage Unit 3 to complete the preset parameters of the Line Data Storage Unit 3 and verify whether the parameter settings meet the requirements.

[0061] Please see Figure 3When a train needs to enter a speed-limited state, the dispatching system 1 sends an operation request to the main control device (i.e., the line data storage unit (DSU) 3). The line data storage unit (DSU) 3 then presets parameters according to the operation request, checks whether the parameters meet the requirements of the parameter settings, and generates its own operation information. The line data storage unit (DSU) 3 then sends its own operation information to the dispatching system 1. Simultaneously, the line data storage unit (DSU) 3 forwards the operation request to the controlled device (i.e., the temporary speed limit server (TSRS) 2). The temporary speed limit server (TSRS) 2 then presets parameters according to the operation request, checks whether the parameters meet the requirements of the parameter settings, and generates the other party's operation information. The temporary speed limit server (TSRS) 2 then sends the other party's operation information to the line data storage unit (DSU) 3. The line data storage unit (DSU) 3 then generates comprehensive operation information based on its own operation information and the other party's operation information, and sends the comprehensive operation information to the dispatching system 1. After receiving the integrated operation information, the dispatching system 1 sends a speed limit command to the line data storage unit (DSU) 3 and forwards the command to the CBTC controller 5, generating local execution information. The line data storage unit (DSU) 3 then sends this local execution information to the dispatching system 1. Simultaneously, the line data storage unit (DSU) 3 forwards the speed limit command to the temporary speed limit server (TSRS) 2, which in turn forwards the command to the CTCS controller 4, generating counterpart execution information. The TSRS 2 then sends this counterpart execution information to the line data storage unit (DSU) 3. The line data storage unit (DSU) 3 generates integrated execution information based on its own and counterpart execution information and sends this integrated execution information to the dispatching system 1. The CTCS controller 4 and CBTC controller 5 then send the speed limit command to the onboard equipment 6, which executes the command, putting the train into a speed-limited state.

[0062] When a train needs to exit a speed-limited state, the dispatching system 1 sends a speed-limit cancellation command to the line data storage unit (DSU) 3 and forwards the command to the CBTC controller 5, generating local execution information. The line data storage unit (DSU) 3 then sends this local execution information to the dispatching system 1. Simultaneously, the line data storage unit (DSU) 3 forwards the speed-limit cancellation command to the temporary speed limit server (TSRS) 2, which in turn forwards the command to the CTCS controller 4, generating counterpart execution information. The TSRS 2 then sends this counterpart execution information to the line data storage unit (DSU) 3. The line data storage unit (DSU) 3 generates comprehensive execution information based on its own and counterpart execution information and sends this comprehensive execution information to the dispatching system 1. The CTCS controller 4 and CBTC controller 5 then send the speed-limit cancellation command to the onboard equipment 6, which executes the command, causing the train to change from a speed-limited state to a non-speed-limited state, completing the speed control for the train exiting the second scenario.

[0063] It should be noted that in the above system, dispatching system 1 is an integrated dispatching system (NDMS). The dispatching system described in this invention can also be a discrete dispatching system, such as a dispatching system composed of a central dispatching system (CTC) and an automatic train monitoring system (ATS).

[0064] In one specific embodiment, the Temporary Speed ​​Limiting Server (TSRS) 2, the Line Data Storage Unit (DSU) 3, and the data format conversion module can be integrated into a single speed limiting device to simultaneously transmit signals to the controller group (i.e., the CBTC controller and the CTCS controller) and the vehicle-mounted equipment.

[0065] In addition, this invention also provides a method for temporary rate limiting autonomous synchronization in the overlapping area of ​​CTCS and CBTC, applied to the aforementioned system. Specifically, it includes: Step 1: The scheduling system determines the main control device of the speed limiting system based on the location of the speed limiting start point, so as to determine the direction of sending control commands; wherein, the speed limiting system includes: main control devices and controlled devices used for different track systems respectively.

[0066] When the speed limit starting point of the train is located in the CTCS track system (i.e., in the first scenario), the main control device is the Temporary Speed ​​Limit Server (TSRS) 2; at this time, the dispatching system 1 sends a control command to the Temporary Speed ​​Limit Server (TSRS) 2.

[0067] When the speed limit starting point of the train is located in the CBTC track system (i.e., in the second scenario), the main control device is the line data storage unit (DSU) 3; at this time, the scheduling system 1 sends a control command to the line data storage unit (DSU) 3.

[0068] After the dispatching system 1 confirms the train speed limit control scenario based on the speed limit start point (and speed limit end point), it obtains the corresponding CBTC and CTCS commands for speed limit control under the CBTC track system and CTCS track system, respectively. It then integrates and calculates the parameters (speed limit start point, speed limit end point, maximum speed limit, and minimum speed limit) in the CBTC and CTCS commands to ensure that the expression of each parameter in the speed limit command is suitable for the main control equipment. Specifically, the coordinate representations of the speed limit start point and speed limit end point in the CBTC and CTCS commands are converted to the coordinate representation method of the main control equipment. Simultaneously, the dispatching system 1 (e.g., NDMS) uses a long-short chain calculation method for each parameter in the CBTC and CTCS speed limit commands according to the fail-safe principle. That is, when the parameter data corresponding to the same parameter in the CBTC and CTCS speed limit commands is inconsistent, the parameter data is selected according to the strictest and safest principle and recorded in the speed limit command as a parameter in the speed limit command sent by the dispatching system 1 to the main control equipment.

[0069] Furthermore, both the CTCS auxiliary request (i.e., the draft request) and the CBTC auxiliary request (i.e., the operation request) are generated based on the rate limit command.

[0070] Step 2: The scheduling system sends control commands to the main control device according to the operating principles of the main control device, and receives feedback from the speed limiting system; The method for the scheduling system 1 to receive feedback from the speed limiting system includes: the scheduling system 1 sending a control command to the master control device, generating its own feedback information reflecting the execution status of the control command, and sending the own feedback information back to the scheduling system 1; simultaneously, the master control device sending the control command to the data format conversion module 7, which converts the parameters in the control command into an expression suitable for the controlled device, and then forwards the control command to the controlled device; the controlled device receiving the control command, generating other party feedback information reflecting the execution status of the control command, and sending the other party feedback information back to the master control device.

[0071] The main control device generates comprehensive feedback information reflecting the speed limiting system's execution of control commands based on its own feedback information and the other party's feedback information, and sends the comprehensive feedback information to the dispatching system 1.

[0072] Furthermore, both the feedback information from this party and the feedback information from the other party include "success" and "failure". When the feedback information from this party or the feedback information from the other party is "success", it indicates that the master control device or the controlled device has completed the execution of the control command; otherwise, when the feedback information from this party or the feedback information from the other party is "failure", it indicates that the master control device or the controlled device has not completed the execution of the control command.

[0073] When both the feedback information from this party and the feedback information from the other party are "successful", the comprehensive feedback information generated by the main control device is "successful for both parties", so that the scheduling system 1 continues to operate according to the operating principles of the main control device after receiving the comprehensive feedback information.

[0074] When only the feedback information from this side or the feedback information from the other side is "success", the comprehensive feedback information generated by the main control device is "partial success", causing the scheduling system 1 to stop any operation after receiving the comprehensive feedback information.

[0075] When both the feedback information from this party and the feedback information from the other party are "failure", the comprehensive feedback information generated by the main control device is "failure of both parties", causing the scheduling system 1 to stop any operation after receiving the comprehensive feedback information.

[0076] Furthermore, when the main control device is a Temporary Speed ​​Limiting Server (TSRS) 2, the operating principle is as follows: before sending a speed limiting command, the scheduling system 1 first completes the planning and verification operations on the Temporary Speed ​​Limiting Server (TSRS) 2 to verify whether the preset parameters and verification parameters in the Temporary Speed ​​Limiting Server (TSRS) 2 meet the parameter setting requirements of the device; before sending a speed limiting cancellation command, the scheduling system 1 first confirms the speed limiting command to be cancelled with the Temporary Speed ​​Limiting Server (TSRS) 2. When the main control device is a Line Data Storage Unit (DSU) 3, the operating principle is as follows: when the scheduling system 1 sends a limiting command to the Line Data Storage Unit (DSU) 3, the preset parameters and verification parameters are verified to meet the parameter setting requirements of the device through a two-stage determination method.

[0077] Step 3: The controller group receives the speed limit command / non-speed limit command forwarded by the master control device and the controlled device, and sends the speed limit command / non-speed limit command to the on-board device 6, so that the on-board device 6 controls the train to enter the speed limit state / non-speed limit state.

[0078] Furthermore, the dispatch system 1 is configured with a feedback time threshold for receiving comprehensive feedback information to prevent communication interruption between the master control device and the controlled device in the speed limiting system. If the dispatch system 1 does not receive comprehensive feedback information after issuing a control command and a feedback time threshold has elapsed, the dispatch system 1 will issue an alarm to remind personnel to promptly repair the communication between the master control device and the controlled device.

[0079] Example 1 In the first scenario, the Temporary Speed ​​Limit Server (TSRS) is the main control device of the speed limiting system, and when the train needs to start speed limiting, please refer to [link to relevant documentation]. Figure 2 The specific process of the scheduling system 1 sending control commands to the main control device according to the operating principles of the main control device and receiving feedback from the speed limiting system includes: Step A1: The scheduling system 1 sends a proposed request to the Temporary Rate Limiting Server (TSRS) 2 to preset the parameters of the Temporary Rate Limiting Server (TSRS) 2 and the Line Data Storage Unit (DSU) 3.

[0080] The proposed request includes: the starting point of the speed limit, the ending point of the speed limit, the maximum speed limit, and the minimum speed limit.

[0081] The scheduling system 1 sends a proposed request to the Temporary Rate Limiting Server (TSRS) 2, causing the TSRS 2 to preset parameters based on the proposed request and generate its own proposed information reflecting whether the preset parameters were successful. Then, the TSRS 2 sends its own proposed information back to the scheduling system 1.

[0082] Simultaneously, the Temporary Rate Limiting Server (TSRS) 2 sends the proposed request to the Line Data Storage Unit (DSU) 3 via the data format conversion module 7. The Line Data Storage Unit (DSU) 3 then presets parameters based on the proposed request and generates a request message indicating whether the preset parameters were successful. This message is then sent from the Line Data Storage Unit (DSU) 3 to the Temporary Rate Limiting Server (TSRS) 2.

[0083] The information proposed by this party and the information proposed by the other party both include "success" and "failure".

[0084] The Temporary Speed ​​Limiting Server (TSRS) 2 determines whether the parameters in the Temporary Speed ​​Limiting Server (TSRS) 2 and the Line Data Storage Unit (DSU) 3 have been successfully preset, and generates comprehensive planning information to be sent to the scheduling system 1.

[0085] When both the information proposed by this party and the information proposed by the other party are "successful", the generated comprehensive proposed information is "successful", indicating that the preset parameters of the Temporary Rate Limiting Server (TSRS) 2 and the Line Data Storage Unit (DSU) 3 are successful; If neither the information proposed by this party nor the information proposed by the other party is "successful", the generated combined proposed information will be "failure for both parties".

[0086] Step A2 involves the dispatching system 1 sending a verification request to the Temporary Speed ​​Limiting Server (TSRS) 2 based on the comprehensive proposed information, to verify whether the preset parameters in the Temporary Speed ​​Limiting Server (TSRS) 2 and the Line Data Storage Unit (DSU) 3 meet the parameter setting requirements. These parameter setting requirements refer to the requirements of each speed limiting device in the speed limiting system regarding the range and format of parameter settings.

[0087] Specifically, when the overall proposed information in step A1 is "both sides failed", the scheduling system 1 will not perform any operation and will exit the entire process.

[0088] When the overall information in step A1 is "successful for both parties", the scheduling system 1 sends a verification request to the Temporary Rate Limiting Server (TSRS) 2, causing the TSRS 2 to check whether the current preset parameters meet the requirements according to its parameter setting specifications and generate its own verification information. The TSRS 2 then sends its own verification information to the scheduling system 1.

[0089] Simultaneously, the Temporary Speed ​​Limiting Server (TSRS) 2 sends a verification request to the Line Data Storage Unit (DSU) 3 via the data format conversion module 7. This prompts the Line Data Storage Unit (DSU) 3 to check whether the current preset parameters meet the parameter setting requirements according to its parameter setting specifications and generate verification information. Subsequently, the Line Data Storage Unit (DSU) 3 sends the verification information to the Temporary Speed ​​Limiting Server (TSRS) 2.

[0090] The verification information provided by this party and the verification information provided by the other party both include "success" and "failure".

[0091] The Temporary Rate Limiting Server (TSRS) 2 determines whether the preset parameters meet the parameter setting requirements, generates comprehensive verification information, and then sends it to the scheduling system 1.

[0092] When both the verification information from this party and the verification information from the other party are "successful", the generated comprehensive verification information is "successful for both parties", indicating that the Temporary Rate Limiting Server (TSRS) 2 and the Line Data Storage Unit (DSU) 3 both meet the parameter setting requirements.

[0093] When neither the verification information of this party nor the verification information of the other party is "successful", the generated comprehensive verification information is "failed by both parties", indicating that the Temporary Rate Limiting Server (TSRS) 2 and / or Line Data Storage Unit (DSU) 3 do not meet the parameter setting requirements.

[0094] In step A3, the dispatching system 1 sends a speed limit command to the Temporary Speed ​​Limiting Server (TSRS) 2 based on the comprehensive verification information, so that the Temporary Speed ​​Limiting Server (TSRS) 2 and the Line Data Storage Unit (DSU) 3 send speed limit commands to the controller group respectively.

[0095] Specifically, when the comprehensive verification information in step A2 is "both sides failed", the scheduling system 1 does not perform any operation and terminates the entire process.

[0096] When the comprehensive verification information in step A2 is "both parties successful", the scheduling system 1 sends a rate limiting command to the Temporary Rate Limiting Server (TSRS) 2 and forwards it to the CTSC controller; simultaneously, it generates its own execution information based on the forwarding of the rate limiting command. Then, the Temporary Rate Limiting Server (TSRS) 2 sends its own feedback information to the scheduling system 1.

[0097] Meanwhile, the Temporary Rate Limiting Server (TSRS) 2 sends a rate limiting command to the Line Data Storage Unit (DSU) 3 through the Data Format Conversion Module 7, and forwards it to the CBTC Controller 5, so that the Line Data Storage Unit (DSU) 3 generates the other party's execution information according to the forwarding of the rate limiting command.

[0098] The execution information of this party and the execution information of the other party include: "success" and "failure".

[0099] The Temporary Rate Limiting Server (TSRS) 2 generates comprehensive execution information based on its own execution information and the other party's execution information, and sends it to the scheduling system 1 so that the scheduling system 1 can understand the execution status of the rate limiting command in real time.

[0100] When both the execution information of this party and the execution information of the other party are "successful", the generated comprehensive execution information is "both parties successful". At this time, proceed to step A4.

[0101] When either the local execution information or the other party's execution information is "successful," the generated comprehensive execution information is "partially successful." At this time, the speed limiting system will not perform any further operations, and personnel can determine the reason for the speed limiting system's failure based on the local execution information received by dispatch system 1. For example, if the local execution information is "successful," but the comprehensive execution information is "failure," then personnel need to inspect the line data storage unit (DSU) 3.

[0102] When both the execution information from this party and the execution information from the other party are "failed," the generated comprehensive execution information is "failed by both parties." At this time, the speed limiting system will no longer perform any operations, and personnel will check the speed limiting system through the comprehensive execution information received from the dispatch system 1.

[0103] In step A4, the controller group sends the speed limit command to the vehicle-mounted device 6.

[0104] The CTSC controller sends the speed limit command to the CTSC vehicle unit of the vehicle-mounted device 6.

[0105] At the same time, the CBTC controller 5 sends the speed limit command to the CBTC vehicle unit of the vehicle-mounted device 6.

[0106] Then, the onboard equipment 6 controls the train to begin speed limiting, putting the train into a speed-limited state.

[0107] In the first scenario, when the train needs to end the speed limit, the dispatching system 1 will cancel the train's speed limit status according to the project regulations (e.g., preset speed limit time, manual triggering).

[0108] In step B1, the scheduling system 1 sends a verification cancellation request to the Temporary Rate Limiting Server (TSRS) 2, so that the Temporary Rate Limiting Server (TSRS) 2 and the Line Data Storage Unit (DSU) 3 confirm the rate limiting instruction to be cancelled.

[0109] The scheduling system 1 sends a verification cancellation request to the temporary rate limiting server (TSRS) 2, enabling the TSRS 2 to confirm the rate limiting instruction to be cancelled and generate its own verification cancellation information. The temporary rate limiting server (TSRS) 2 then sends its own verification cancellation information to the scheduling system 1.

[0110] Simultaneously, the Temporary Rate Limiting Server (TSRS) 2 forwards the verification cancellation request to the Line Data Storage Unit (DSU) 3 via the data conversion module, enabling the DSU 3 to confirm the rate limiting instruction to be cancelled and generate verification cancellation information from the other party. Then, the DSU 3 transmits the verification cancellation information to the Temporary Rate Limiting Server (TSRS) 2.

[0111] The verification cancellation information provided by both the party and the other party includes "success" and "failure".

[0112] The Temporary Rate Limiting Server (TSRS) 2 generates the comprehensive verification cancellation information based on its own verification cancellation information and the other party's verification cancellation information, and then sends the comprehensive verification cancellation information to the scheduling system 1.

[0113] When both the verification cancellation information of this party and the verification cancellation information of the other party are "successful", the comprehensive verification cancellation information generated by the Temporary Rate Limiting Server (TSRS) 2 is "successful for both parties".

[0114] When neither the verification cancellation message from this party nor the verification cancellation message from the other party is "successful", the comprehensive verification cancellation message generated by the Temporary Rate Limiting Server (TSRS) 2 is "failure for both parties".

[0115] In step B2, the scheduling system 1 determines whether to send a cancellation command to the Temporary Rate Limiting Server (TSRS) 2 based on the comprehensive verification cancellation information.

[0116] When the comprehensive verification cancellation information in step B1 is "both sides failed", the scheduling system 1 does not perform any operation and ends the entire process.

[0117] When the comprehensive verification cancellation information in step B1 is "both parties successful", the scheduling system 1 sends a cancellation command to the Temporary Rate Limiting Server (TSRS) 2, causing the TSRS 2 to forward the cancellation command to the CTCS controller 4 and generate its own execution information. The TSRS 2 then sends this execution information to the scheduling system 1.

[0118] Meanwhile, the Temporary Rate Limiting Server (TSRS) 2 forwards the rate limit cancellation command to the Line Data Storage Unit (DSU) 3 through the data format conversion module 7, so that the Line Data Storage Unit (DSU) 3 forwards the rate limit cancellation command to the CBTC controller 5 and generates the other party execution information, and then forwards the other party execution information to the Temporary Rate Limiting Server (TSRS) 2.

[0119] The Temporary Rate Limiting Server (TSRS) 2 generates comprehensive execution information based on its own execution information and the other party's execution information, and feeds the comprehensive execution information back to the scheduling system 1.

[0120] When both the execution information of this party and the execution information of the other party are "successful", the generated comprehensive execution information is "both parties successful". At this time, proceed to step B3.

[0121] When either the local execution information or the other party's execution information is "successful," the generated comprehensive execution information is "partially successful." At this time, the speed limiting system will not perform any further operations, and personnel can determine the reason for the speed limiting system's failure based on the local execution information received by dispatch system 1. For example, if the local execution information is "successful," but the comprehensive execution information is "failure," then personnel need to inspect the line data storage unit (DSU) 3.

[0122] When both the execution information of this party and the execution information of the other party are "failed", the generated comprehensive execution information is "failed by both parties". At this time, the speed limiting system will no longer perform any operation.

[0123] In step B3, the controller group sends the speed limit cancellation command to the vehicle-mounted device 6.

[0124] The CTSC controller sends the speed limit cancellation command to the CTSC vehicle unit of the vehicle-mounted device 6.

[0125] At the same time, the CBTC controller 5 sends the speed limit cancellation command to the CBTC vehicle unit of the vehicle-mounted device 6.

[0126] Then, the train's onboard equipment 6 executes the command to cancel the speed limit, causing the train to end the speed limit and enter a non-speed-limited state.

[0127] In one specific embodiment, before the Temporary Speed ​​Limiting Server (TSRS) 2 sends a speed limiting command / cancel speed limiting command to the CTSC controller, the TSRS 2 sends a verification execution request to the CTSC controller. This causes the CTSC controller to generate verification execution information reflecting the communication status between the TSRS 2 and the CTSC controller, which then sends the verification execution information to the TSRS 2. The verification execution information includes "verification execution successful" and "verification execution failed". When the verification execution information is "verification execution successful", it means that the communication between the TSRS 2 and the CTSC controller is normal, and then the TSRS 2 sends the speed limiting command / cancel speed limiting command to the CTSC controller.

[0128] Example 2 In the second scenario, where the Line Data Storage Unit (DSU) 3 is the main control device for the speed limiting system, and the train needs to initiate speed limiting, please refer to [the relevant documentation / reference]. Figure 3 The specific methods for the scheduling system to send control commands to the main control device according to the operating principles of the main control device and to receive feedback from the speed limiting system include: In step C1, the dispatching system 1 sends an operation request to the line data storage unit (DSU) 3, so that the line data storage unit (DSU) 3 configures its internal parameters to ensure that the speed limit command meets the parameter setting requirements.

[0129] The scheduling system 1 sends a speed limit operation request to the line data storage unit (DSU) 3, which then presets its internal parameters according to the operation request and checks whether the current parameter settings meet its parameter setting requirements to generate local operation information; subsequently, the line data storage unit (DSU) 3 sends its local operation information to the scheduling system 1.

[0130] Simultaneously, the line data storage unit (DSU) 3 forwards the operation request to the temporary speed limiting server (TSRS) 2 through the data format conversion module 7, so that the temporary speed limiting server (TSRS) 2 presets its internal parameters according to the operation request and checks whether the parameter settings at this time meet its parameter setting requirements, so as to generate the other party's operation information; then the temporary speed limiting server (TSRS) 2 sends the other party's operation information to the line data storage unit (DSU) 3.

[0131] The operation information provided by both the user and the other party includes "success" and "failure". The operation request includes: speed limit start point, speed limit end point, maximum speed limit, and minimum speed limit.

[0132] When the line data storage unit (DSU) 3 completes the parameter setting and the parameters meet the requirements of the parameter setting, the speed limiting operation information is "successful" and the process jumps to step C2.

[0133] If the line data storage unit (DSU) 3 cannot complete the parameter setting or the parameters do not meet the requirements of the parameter setting, the speed limiting operation information is "failed" and the scheduling system 1 will no longer perform any operation.

[0134] The line data storage unit (DSU) 3 generates integrated operation information based on its own operation information and the other party's operation information, and forwards the integrated operation information to the scheduling system 1.

[0135] When both the operator's and the other party's operation information are "successful", the generated comprehensive operation information is "successful for both parties". When neither the operator's nor the other party's operation information is "successful", the generated combined operation information is "failure for both parties".

[0136] In step C2, the dispatching system 1 generates a speed limit command based on the speed limit operation information and sends it to the line data storage unit (DSU) 3 to complete the issuance of the speed limit command.

[0137] When the scheduling system 1 receives the integrated operation information "both parties succeeded" in step C1, the scheduling system 1 sends a speed limit command to the line data storage unit (DSU) 3, so that the line data storage unit (DSU) 3 can determine whether the speed limit command is consistent with the current parameter settings (i.e., whether the speed limit command is consistent with the operation request).

[0138] When the speed limit command is consistent with the current parameter settings (i.e., the operation request), the line data storage unit (DSU) 3 forwards the speed limit command to the CBTC controller 5 and generates local execution information, which is then sent to the scheduling system 1.

[0139] Meanwhile, the line data storage unit (DSU) 3 forwards the speed limit command to the temporary speed limit server (TSRS) 2 through the data conversion module, so that the temporary speed limit server (TSRS) 2 forwards the speed limit command to the CTSC controller and generates the other party execution information, and then sends the other party execution information to the line data storage unit (DSU) 3.

[0140] The execution information of this party and the execution information of the other party both include "success" and "failure".

[0141] The line data storage unit (DSU) 3 generates comprehensive execution information based on its own execution information and the other party's execution information, and sends it to the dispatching system 1 to provide feedback to the dispatching system 1 on the forwarding status of the speed limit command by the speed limit system.

[0142] When both the execution information of this party and the execution information of the other party are "successful", the generated comprehensive execution information is "both parties successful". At this time, proceed to step C3.

[0143] When either the local execution information or the counterparty execution information is "successful," the generated comprehensive execution information is "partially successful." At this point, the rate limiting system ceases all operations, and personnel can determine the cause of the rate limiting system failure based on the local execution information received by dispatch system 1. For example, if the local execution information is "successful," but the comprehensive execution information is "partially successful," then personnel need to check the Temporary Rate Limiting Server (TSRS) 2.

[0144] When both the execution information from this party and the execution information from the other party are "failed," the generated comprehensive execution information is "failed by both parties." At this time, the speed limiting system will no longer perform any operations, and personnel will check the speed limiting system through the comprehensive execution information received from the dispatch system 1.

[0145] In step C3, the controller group sends the speed limit command to the vehicle-mounted device 6.

[0146] The CTSC controller sends the speed limit command to the CTSC vehicle unit of the vehicle-mounted device 6.

[0147] At the same time, the CBTC controller 5 sends the speed limit command to the CBTC vehicle unit of the vehicle-mounted device 6.

[0148] Then, the onboard equipment 6 controls the train to begin speed limiting, and the train enters the speed-limited state.

[0149] In the second scenario, when a train is in a speed-limited state, the dispatching system 1 will cancel the speed-limited state of the train according to the project regulations (e.g., preset speed limit time, manual triggering).

[0150] In step D1, the scheduling system 1 sends a speed limit cancellation command to the line data storage unit (DSU) 3, causing the speed limit system to forward the speed limit cancellation command to the control system.

[0151] Specifically, the scheduling system 1 sends a speed limit cancellation command to the line data storage unit (DSU) 3, so that the line data storage unit (DSU) 3 receives the speed limit cancellation command and forwards the speed limit cancellation command to the temporary speed limit server (TSRS) 2 through the data format conversion module 7.

[0152] The line data storage unit (DSU) 3 forwards the speed limit cancellation command to the CBTC controller 5 and generates local execution information, which is then forwarded to the scheduling system 1.

[0153] Meanwhile, the Temporary Speed ​​Limiting Server (TSRS) 2 forwards the speed limit cancellation command to the CTCS controller 4 and generates the other party's execution information, and then forwards the other party's execution information to the Line Data Storage Unit (DSU) 3.

[0154] The execution information of this party and the execution information of the other party both include "success" and "failure".

[0155] The line data storage unit (DSU) 3 generates comprehensive execution information based on its own execution information and the other party's execution information, and sends it to the dispatching system 1 to provide feedback to the dispatching system 1 on the forwarding status of the speed limit command by the speed limit system.

[0156] When both the execution information of this party and the execution information of the other party are "successful", the generated comprehensive execution information is "both parties successful". At this time, proceed to step D2.

[0157] When either the local execution information or the counterparty execution information is "successful," the generated comprehensive execution information is "partially successful." At this point, the rate limiting system ceases all operations, and personnel can determine the cause of the rate limiting system failure based on the local execution information received by dispatch system 1. For example, if the local execution information is "successful," but the comprehensive execution information is "partially successful," then personnel need to check the Temporary Rate Limiting Server (TSRS) 2.

[0158] When both the execution information from this party and the execution information from the other party are "failed," the generated comprehensive execution information is "failed by both parties." At this time, the speed limiting system will no longer perform any operations, and personnel will check the speed limiting system through the comprehensive execution information received from the dispatch system 1.

[0159] In step D2, the controller group sends the speed limit cancellation command to the vehicle-mounted device 6.

[0160] The CTSC controller sends the speed limit cancellation command to the CTSC vehicle unit of the vehicle-mounted device 6.

[0161] At the same time, the CBTC controller 5 sends the speed limit cancellation command to the CBTC vehicle unit of the vehicle-mounted device 6.

[0162] Then, the onboard equipment 6 is used to end the speed limit and enter the unrestricted state.

[0163] In one specific embodiment, before the Temporary Speed ​​Limiting Server (TSRS) 2 sends a speed limiting command / cancel speed limiting command to the CTSC controller, the TSRS 2 sends a verification execution request to the CTSC controller. This causes the CTSC controller to generate verification execution information reflecting the communication status between the TSRS 2 and the CTSC controller, which then sends the verification execution information to the TSRS 2. The verification execution information includes "verification execution successful" and "verification execution failed". When the verification execution information is "verification execution successful", it means that the communication between the TSRS 2 and the CTSC controller is normal, and then the TSRS 2 sends the speed limiting command / cancel speed limiting command to the CTSC controller.

[0164] In summary, the CTCS and CBTC overlapping area temporary speed limit autonomous synchronization method of the present invention determines the master control device of the speed limit system and the direction of control command transmission by identifying the speed limit starting point. Simultaneously, it sends corresponding control commands according to the operating principles of the master control device, simplifying the operation procedures for train speed limit control. Furthermore, it establishes signal transmission between the master control device and the controlled device of the speed limit system, enabling signal synchronization between the master control device and the controlled device, thus eliminating potential safety hazards for train operation.

[0165] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A method for autonomous synchronization of temporary speed limits in overlapping areas of CTCS and CBTC, wherein the dispatching system sends control commands to the speed limit system, enabling the speed limit system to control the train to complete speed limit control, characterized in that, include: The dispatching system determines the main control device of the speed limiting system based on the location of the speed limit starting point, thereby determining the direction of control command transmission; wherein, the speed limiting system includes: main control devices and controlled devices respectively used for different track systems; The scheduling system sends control commands to the main control device according to the operating principles of the main control device, and receives feedback from the speed limiting system; The method for the scheduling system to receive feedback from the speed limiting system includes: the scheduling system sending a control command to the master control device, generating its own feedback information reflecting the execution status of the control command, and sending the own feedback information to the scheduling system; Simultaneously, the master control device sends control commands to the data format conversion module, which converts the parameters in the control commands into an expression suitable for the controlled device, and then forwards the control commands to the controlled device. The controlled device receives a control command, generates feedback information from the other party reflecting the execution status of the control command, and sends the feedback information to the master control device. The main control device generates comprehensive feedback information reflecting the speed limiting system's execution of control commands based on its own feedback information and the other party's feedback information, and sends the comprehensive feedback information to the dispatching system; Both the main control device and the controlled device are temporary speed limiting servers and line data storage units. The methods by which the dispatching system determines the main control equipment of the speed limiting system based on the location of the speed limit starting point, and thus determines the direction of control command transmission, include: When the starting point of the train's speed limit is located in the CTCS track system, the main control device is a temporary speed limit server; the dispatching system sends control commands to the temporary speed limit server. When the speed limit starting point of the train is located in the CBTC track system, the main control device is the line data storage unit, and the scheduling system sends control commands to the line data storage unit.

2. The method for temporary rate limiting autonomous synchronization in the overlapping area of ​​CTCS and CBTC according to claim 1, characterized in that, After determining the main control device of the speed limit system based on the location of the speed limit start point, the dispatching system will generate corresponding control commands based on the main control device. The dispatching system obtains the CBTC and CTCS commands for train speed control under the CBTC and CTCS track systems, respectively. The parameters in both CBTC and CTCS commands are converted into expressions suitable for the main control equipment. Simultaneously, when the dispatching system finds inconsistencies in the parameter data corresponding to the same parameter in the CBTC and CTCS speed limit commands, it selects the parameter data according to the strictest and safest principles and records this parameter data in the control command, using it as a parameter in the control command sent by the dispatching system to the main control equipment.

3. The method for temporary rate limiting autonomous synchronization in the overlapping area of ​​CTCS and CBTC according to claim 1, characterized in that, The method by which the main control device generates comprehensive feedback information reflecting the speed limiting system's execution of control commands based on its own feedback information and the other party's feedback information includes: Both the feedback information from this party and the feedback information from the other party include "success" and "failure". When the feedback information from this party or the feedback information from the other party is "success", it means that the master control device or the controlled device has completed the execution of the control command. Otherwise, when the feedback information from this party or the feedback information from the other party is "failure", it means that the master control device or the controlled device has not completed the execution of the control command. When both the feedback information from this party and the feedback information from the other party are "success", the comprehensive feedback information generated by the main control device is "successful for both parties", so that the scheduling system continues to operate according to the operating principles of the main control device after receiving the comprehensive feedback information; When only the feedback information from this side or the feedback information from the other side is "success", the comprehensive feedback information generated by the main control device is "partial success", causing the scheduling system to stop any operation after receiving the comprehensive feedback information; When both the feedback information from this party and the feedback information from the other party are "failure", the comprehensive feedback information generated by the main control device is "failure of both parties", causing the scheduling system to stop any operation after receiving the comprehensive feedback information.

4. The method for temporary rate limiting autonomous synchronization in the overlapping area of ​​CTCS and CBTC according to claim 3, characterized in that, The control commands include: CTCS auxiliary requests applicable to the CTCS track system, and speed limit commands and speed limit cancellation commands that control the start and end of train speed limits respectively; wherein, the CTCS auxiliary requests are applicable to the operating principles of the CTCS track system; the CTCS auxiliary requests include: draft requests, verification requests, and verification cancellation requests; When the master control device is a temporary speed limiting server and the train needs to start speed limiting, the method by which the dispatching system sends control commands to the master control device according to the operating principles of the master control device includes: The scheduling system sends a proposed request to the temporary speed limiting server to preset the parameters in the temporary speed limiting server; according to the method of the scheduling system receiving feedback from the speed limiting system, the temporary speed limiting server generates its own proposed information, and the line data storage unit generates the other party's proposed information; and the temporary speed limiting server generates comprehensive proposed information based on its own proposed information and the other party's proposed information, and sends the comprehensive proposed information to the scheduling system. After receiving the comprehensive proposed information, the scheduling system sends a verification request to the temporary speed limiting server to check whether the parameter setting specifications meet the requirements; according to the method of receiving feedback from the speed limiting system, the temporary speed limiting server generates its own verification information, and the line data storage unit generates the other party's verification information; and the temporary speed limiting server generates comprehensive verification information based on its own verification information and the other party's verification information, and then sends it to the scheduling system. After receiving the comprehensive verification information, the dispatching system sends a speed limit command to the temporary speed limit server to control the train to start the speed limit; according to the method of the dispatching system receiving feedback from the speed limit system, the temporary speed limit server generates its own speed limit information, and the line data storage unit generates the other party's speed limit information; and the temporary speed limit server generates comprehensive speed limit information based on its own speed limit information and the other party's speed limit information, and sends the comprehensive speed limit information to the dispatching system.

5. The method for temporary rate limiting autonomous synchronization in the overlapping area of ​​CTCS and CBTC according to claim 4, characterized in that, When the master control device is a temporary speed limit server and the train needs to end the speed limit, the method by which the dispatching system sends control commands to the master control device according to the operating principles of the master control device includes: The scheduling system sends a verification cancellation request to the temporary speed limit server to confirm the speed limit instruction to be cancelled; according to the method of the scheduling system receiving feedback from the speed limit system, the temporary speed limit server generates its own verification cancellation information, and the line data storage unit generates the other party's verification cancellation information; and the temporary speed limit server generates comprehensive verification cancellation information based on its own verification cancellation information and the other party's verification cancellation information, and sends the comprehensive verification cancellation information to the scheduling system. After receiving the comprehensive verification cancellation information, the dispatching system sends a speed limit cancellation command to the temporary speed limit server to control the train to end the speed limit; according to the method of the dispatching system receiving feedback from the speed limit system, the temporary speed limit server generates its own speed limit cancellation information, and the line data storage unit generates the other party's speed limit cancellation information; and the temporary speed limit server generates comprehensive speed limit information based on its own speed limit cancellation information and the other party's speed limit cancellation information, and sends the comprehensive speed limit cancellation information to the dispatching system.

6. The method for temporary rate limiting autonomous synchronization in the overlapping area of ​​CTCS and CBTC according to claim 4, characterized in that, The control commands also include: CBTC auxiliary requests applicable to the CBTC orbit system; the CBTC auxiliary requests are applicable to the operating principles of the master control equipment in the CBTC orbit system, including: operation requests; When the master control device is a line data storage unit and a train needs to begin speed limiting, the method by which the dispatching system sends control commands to the master control device according to its operating principles includes: The scheduling system sends an operation request to the line data storage unit to preset the parameters in the temporary speed limiting server and check whether the parameters meet the parameter setting requirements; according to the method of the scheduling system receiving feedback from the speed limiting system, the line data storage unit generates its own operation information, and the temporary speed limiting server generates the other party's operation information; and the line data storage unit generates comprehensive operation information based on its own operation information and the other party's operation information, and sends the comprehensive operation information to the scheduling system. After receiving the comprehensive operation information, the dispatching system sends a speed limit command to the line data storage unit to control the train to start speed limiting; according to the method of receiving feedback from the speed limit system, the line data storage unit generates local speed limit information, and the temporary speed limit server generates the other party's speed limit information; and the line data storage unit generates comprehensive speed limit information based on its own speed limit information and the other party's speed limit information, and sends the comprehensive speed limit information to the dispatching system.

7. The method for temporary rate limiting autonomous synchronization in the overlapping area of ​​CTCS and CBTC according to claim 6, characterized in that, When the master control device is a temporary speed limit server and the train needs to end the speed limit, the method by which the dispatching system sends control commands to the master control device according to the operating principles of the master control device includes: The dispatching system sends a speed limit command to the line data storage unit to control the train to end the speed limit; according to the method of the dispatching system receiving feedback from the speed limit system, the line data storage unit generates its own speed limit cancellation information, and the temporary speed limit server generates the other party's speed limit cancellation information; and the line data storage unit generates comprehensive speed limit cancellation information based on its own speed limit cancellation information and the other party's speed limit cancellation information, and sends the comprehensive speed limit cancellation information to the dispatching system.

8. The method for temporary rate limiting autonomous synchronization in the overlapping area of ​​CTCS and CBTC according to claim 6, characterized in that, The master control device and the controlled device communicate with each other through periodic signals to periodically check whether their execution of control commands is synchronized. When the master control device and the controlled device are not synchronized in executing control commands, the master control device and the controlled device will issue an alarm in time to remind personnel to check in time.

9. The method for temporary rate limiting autonomous synchronization in the overlapping area of ​​CTCS and CBTC according to any one of claims 4-7, characterized in that, Also includes: The temporary speed limiting server forwards the speed limiting command or the speed limiting cancellation command to the CTSC controller. At the same time, the line data storage unit forwards the speed limiting command or the speed limiting cancellation command to the CBTC controller. The CTSC controller and CBTC controller forward speed limit commands or speed limit cancellation commands to the onboard equipment, causing the train to start or end the speed limit.

10. A system based on the autonomous synchronization method for temporary rate limiting in the overlapping area of ​​CTCS and CBTC as described in any one of claims 1-9, characterized in that, include: The dispatching system sends control commands to determine whether trains should be subject to speed limits. A speed limiting system includes: a master control device and a controlled device; the master control device is connected to the dispatch system via signal transmission, used to receive control commands, and generate its own feedback information reflecting the execution status of the control commands, and then send the own feedback information to the dispatch system; the controlled device is connected to the master control device via signal transmission, receives control commands forwarded by the master control device, and generates other party feedback information reflecting whether it has executed the control commands; and the controlled device forwards the other party feedback information to the master control device, so that the master control device generates comprehensive feedback information reflecting the execution status of the speed limiting system's control commands based on its own feedback information and the other party feedback information, and sends the comprehensive feedback information to the dispatch system; A data format conversion module is located between the master control device and the controlled device to convert the parameters in the control commands into an expression format suitable for the controlled device; the data format conversion module transmits signals with the master control device and receives the control commands from the master control device; the data format conversion module transmits signals with the controlled device and sends the control commands converted into an expression format suitable for the controlled device to the controlled device. The master control device and the controlled device are both temporary speed limiting servers and line data storage units, and they are different from each other.

11. The CTCS and CBTC overlapping area temporary speed limiting autonomous synchronization system according to claim 10, characterized in that, The data format conversion module is installed on the master control device or the controlled device.

12. The CTCS and CBTC overlapping area temporary speed limiting autonomous synchronization system according to claim 10, characterized in that, The master control device and the controlled device communicate with each other through periodic signals to periodically check whether their execution of control commands is synchronized. When the master control device and the controlled device are not synchronized in executing control commands, the master control device and the controlled device will issue an alarm in time to remind personnel to check in time.

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