20 results about "Automatic train operation" patented technology

To enable safe initiation of a shuttle operation in an automatic train operation device that uses a point transmission / reception system using a ground element.SOLUTION: An ATO onboard device 10, which is an automatic train operation device installed on a tail-end vehicle 3 of an organized train, sets whether the tail-end vehicle 3 is a leading vehicle or a trailing vehicle, generates an operation pattern that stops at an outer stop position of a departure signal and starts automatic operation control when the tail-end vehicle is switched to the leading vehicle from the trailing vehicle, and updates the operation pattern to an operation pattern that passes through the outer stop position when information satisfies a predetermined display condition indicating that the display correspondence information included in ground element information received from a ground element is a display that permits passage.SELECTED DRAWING: Figure 1

The invention provides an automatic train operation control method and device, equipment, a storage medium and a product, and the method comprises the steps: inputting a current train operation state into a strategy network, and obtaining control action probability distribution; the control action probability distribution is input into an MPC controller, and the future train running state and output data are predicted; inputting the future train operation state and the output data into the value function network to obtain an accumulated return estimated value of each feasible action adopted in the current state; and optimizing the control action probability distribution based on the accumulative return estimated value and the control target to obtain the optimized control action probability distribution so as to adjust the control action of the train and realize train operation control. According to the method, the strategy network and the value function network are integrated into the MPC controller, the learned control strategy can be applied to real-time operation of the train, the optimal train operation effect is achieved, and the train operation comfort, the control precision and the robustness are improved.

Provided by the present disclosure are a method and system for cooperative control of automatic train operation, and a computer storage medium. The method includes the following steps: setting air brake application and cancellation conditions of a behind vehicle according to a safety distance between a front vehicle and the behind vehicle; setting a corresponding variable time headway model according to speed states and air brake states of the front vehicle and the behind vehicle; determining a difference between an actual vehicle distance and an ideal vehicle distance according to driving data of the front vehicle and the behind vehicle as well as the variable time headway model; determining required acceleration of the behind vehicle when the difference tends to 0; restricting the required acceleration of the behind vehicle by using commanded acceleration; determining acceleration of the behind vehicle under a constraint of an air brake force; when the required acceleration of the behind vehicle is less than the acceleration of the behind vehicle under the constraint of the air brake force, taking the acceleration of the behind vehicle under the constraint of the air brake force as the required acceleration of the behind vehicle; and determining a corresponding traction or brake level according to the required acceleration of the behind vehicle. The selection of appropriate air brake magnitude of the behind vehicle can be achieved, the transportation efficiency is improved, the automatic train operation ability is improved, and the safety of automatic operation is improved.

The present invention relates to a travel plan calculation device and an automatic train operation device that quickly calculate a new travel plan without deteriorating travel time accuracy. Provided are: a coasting start point adjustment section that adjusts a coasting start point based on route information, vehicle information, a planned speed limit, and a temporary plan; a temporary plan calculation section that calculates a temporary plan based on the route information, the vehicle information, the planned speed limit, and the adjusted coasting start point; and a temporary plan adoption determination section that compares a target travel time with a travel time of the temporary plan and determines whether the temporary plan can be adopted, the coasting start point adjustment section repeatedly adjusting the coasting start point until a boundary of an adjustable range is reached based on an extended adjustable range of the coasting start point during a period in which the travel time of the temporary plan is lower than the target travel time.

The application relates to a method for moving authorization of a reverse train across the boundary of a region controller and a storage medium, which comprises the following steps: step S1, when the authorization of a reverse region is limited, two adjacent region controllers (ZCs) synchronize the state of the authorization of the reverse region; step S2, the adjacent ZCs synchronize the state of the barrier train in the authorization of the reverse region; and step S3, an upstream ZC hands over the train in the authorization of the reverse mode to a downstream ZC. Compared with the prior art, the application has the advantages that the reverse train in an emergency evacuation scene is protected, and the safety of a full-automatic train operation control system is further ensured.

To obtain an automatic train operation system capable of achieving both ride comfort and control responsiveness while suppressing influence caused by detection errors of a running state.SOLUTION: An automatic train operation system 10 includes a running state calculation unit 11 that calculates a running state of a train 20, a running plan information holding unit 12 that holds running plan information of the train 20, a dynamic characteristic model holding unit 13 that holds a dynamic characteristic model of a driving device 25, and a command value generation unit 14 that calculates a commanded acceleration for following the running plan information and converts the commanded acceleration into a notch command to output the notch command. The command value generation unit 14 extracts a target trajectory from the running plan information, sets constraint conditions, calculates a predicted running state within a range of the constraint conditions on the basis of the dynamic characteristic model, calculates a commanded acceleration change amount that minimizes, within the range of the constraint conditions, an evaluation value of a sum of a square-sum of a difference between the predicted running state and the target trajectory and an absolute value sum of the commanded acceleration change amounts, and calculates the commanded acceleration using the commanded acceleration change amount.SELECTED DRAWING: Figure 1

The present invention relates to the technical field of automatic train operation, and in particular to an ATO-based high-precision alignment and stopping control system and method for a shunting locomotive. The control system of the present invention comprises a fusion positioning module, a laser ranging module, a speed control module, and a distance compensation module; the fusion positioning module performs high-precision fusion positioning on the basis of precise latitude and longitude, position information of track balises, real-time speed, and wheel revolution pulse counts, and provides precise position information to the speed control module in combination with an electronic map; the laser ranging module receives, in real time via vehicle-to-vehicle communication, a laser-ranging distance from a hot metal ladle car or railway freight car that is being coupled and propelled; the speed control module calls, on the basis of the precise position information provided by the fusion positioning module and the distance information provided by the laser ranging module, a speed control algorithm to perform traction and braking control on the locomotive; and the distance compensation module performs fine distance adjustment after precise stopping.

The invention relates to a direct current vehicle control method, device and system and a direct current vehicle. The method is applied to an automatic train operation device of a direct-current train control system and comprises the steps that in response to entering an automatic driving mode, a traction braking working condition instruction is sent to a networked device of the direct-current train control system; the traction braking working condition instruction is used for instructing the networking device to perform automatic driving configuration on the direct current vehicle and sending a first preparation signal to the automatic train operation device; the first preparation signal represents that automatic driving configuration of a locomotive traction system and a plurality of auxiliary machines of the direct-current vehicle is completed; in response to the received first preparation signal, sending a first level signal to the locomotive traction system; the first level signal is used for indicating the locomotive traction system to automatically execute traction action or braking action. By adopting the method, the automatic driving function of the direct current vehicle can be realized.

This invention provides an automatic train operation system and method that enables safe automated operation by accurately switching control methods corresponding to different automation levels through a simple and low-cost configuration. [Solution] The automatic train operation device 1 can selectively switch between an automatic operation mode M2 ​​for automatic operation of train T and a driver assistance mode M1 for driver assistance, which allows manual intervention in the operation of train T by the driver during automatic operation. Driver assistance mode M1 is selected only when the insertion of a master controller key into the master controller key insertion section 6 by the driver is detected.

This invention proposes a scenario-adaptive ATO (Automatic Train Operation) control system for rail transit, comprising an operation information acquisition module 201, a scenario-adaptive control module 202, and a train traction / braking execution module 203. The scenario-adaptive control module 202 receives information input from the operation information acquisition module 201, and after learning, prediction, and optimization, generates control commands which are then input to the train traction / braking execution module 203. In this system, the parameter tuning module performs self-tuning of the five controller parameters of the sliding mode PID controller, achieving higher efficiency and accuracy compared to manual parameter tuning, and saving more time spent tuning controller parameters during train trial runs. The system prediction module effectively suppresses excessive overshoot that easily occurs when the train switches operating conditions, avoiding emergency braking triggered by overshoot exceeding the maximum overshoot threshold during operation, while also improving the accuracy of the train ATO controller in tracking the target curve.

The invention relates to a hydraulic braking system of a low-floor tramcar and a control method and system of the hydraulic braking system, and belongs to the technical field of railway vehicles. The hydraulic unit comprises an oil tank used for storing hydraulic oil; the oil pump is used for pumping hydraulic oil, an inlet of the oil pump communicates with the oil tank, and an outlet of the oil pump is connected with the clamp through a first oil way; the motor is connected with the oil pump; the outlet end of the throttling hole is connected with the oil tank, the inlet end of the throttling hole is connected with an outlet of the oil pump, and the throttling hole is used for forming hydraulic pressure needed by braking according to the Venturi tube principle. The controller is connected with a vehicle control unit VCU, and the controller is configured to calculate hydraulic pressure needed by braking according to the needed hydraulic braking force sent by the vehicle control unit VCU, calculate the rotating speed of the motor according to the hydraulic pressure needed by braking and control the motor to rotate according to the rotating speed of the motor. The reliability of hydraulic braking is high, and the control precision and usability of an automatic train operation system ATO and station fixed-point parking can be effectively improved.

A CAN data receiving method and apparatus for an automatic train operation system. The method comprises: when the data packet count on either CAN0 or CAN1 channel is greater than 0, detecting CAN channel communication by comparing the packet count on CAN0 with the packet count on CAN1, and receiving data; identifying a CAN ID serial number of the received data, and comparing same with an expected serial number; and receiving data packets on the basis of a serial number comparison result. In the method, by means of the redundancy generated by communication using two CAN channels, the CAN ID serial numbers for the same type of data in redundant channels are respectively identified and compared with an expected serial number of this type of data, then packets determined to be correct are received, and packets determined to be abnormal are discarded or retained. By means of the effect of redundant transmission, the method ensures that each data packet received undergoes type and serial number verification against the data in two communication channels, ensuring data accuracy and continuity.

This invention discloses a method and system for intelligent switching of wireless network signal channels, relating to the field of wireless communication technology. The method involves sensing at least one other channel besides the current working channel while maintaining communication on the current working channel, identifying and marking at least one inferior channel. This inferior channel meets preset low-quality conditions and is different from the current working channel. This invention does not rely on external positioning information such as GPS / BeiDou; it can complete channel sensing and coding detection using only communication gaps. It can still function normally in tunnel scenarios, fundamentally solving the switching problem when trains pass through tunnels. Furthermore, by using a timing coupling mechanism that first eliminates inferior channels and then performs binary coding detection, the globally optimal channel can be deterministically locked. Theoretical analysis and simulation verification show that the switching success rate can reach over 99.5%, and the switching delay is controlled within 30ms, fully meeting the stringent requirements of 5G-R systems for high-reliability services such as automatic train operation.

Provided are a control method, apparatus and device for an automatic train operation system. The method includes: acquiring multiple preset traction distribution strategies; determining, for each traction distribution strategy, a performance index of the traction distribution strategy; determining an optimal traction distribution strategy based on performance indexes of the multiple traction distribution strategies; and controlling the automatic train operation system based on the optimal traction distribution strategy.

The invention provides a train protection speed curve optimization method based on a traction level limit proportion, and the method comprises the steps: transmitting a traction limit mode instruction and the traction level limit proportion to an ATO (automatic train operation) by an ATP (automatic train protection) when a train enters a preset traction limit area in an electronic map and the running directions of the train are consistent; and the ATO periodically feeds back a traction control state after receiving, the ATP performs condition inspection in real time, and the traction limiting mode is confirmed to be effective after the inspection is passed. The ATP dynamically calculates a train protection speed curve according to the traction level limiting proportion, and the ATO synchronously calculates an optimized running speed curve and limits an output traction level instruction. Once the condition is not satisfied or the train travels away from the restricted area, the system exits the restricted mode. According to the method, by introducing the traction level limit proportion, the difference between the protection speed and the line civil engineering speed limit when the train laterally passes through the turnout is reduced, so that the running speed of the train passing through the limited area is increased on the premise of ensuring safety, and the running efficiency of the train is improved.

The invention relates to an automatic running planning method and device for a train running on a lower computer. The method comprises the following steps: performing format conversion on a target function for performing automatic train operation planning to obtain the target function after format conversion; obtaining a non-positive definite matrix based on the target function after format conversion, and converting the non-positive definite matrix into a positive definite matrix to obtain a first model; performing data type conversion on the data of the first model to obtain a second model; and the second model is operated on the lower computer, and automatic train operation planning is carried out. According to the invention, the automatic train operation planning algorithm can be matched with the performance and precision of the lower computer, so that ATO planning can be carried out on the lower computer.

The application provides a traction brake control method and system for automatic train operation based on PWM technology, comprising the following steps: a control setting step: setting the control logic and control equipment of the traction brake of the automatic train operation, connecting the control equipment with a vehicle-mounted system VATC and a vehicle; a control using step: using the control logic and control equipment for traction electric control and mechanical brake hybrid control, and using a hard-wired circuit to drive a vehicle traction brake device to perform traction brake control for the automatic train operation. The control interface of the application adopts a hard-wired interface circuit, has high reliability, and reduces the dependence on a TCMS system.

Provided are a fault detection method and apparatus for an automatic train operation system, and a device and a medium. The method comprises: in response to a fault detection instruction, determining a self-test program configuration table for performing the current fault detection on an automatic train operation system (S110); on the basis of the self-test program configuration table, performing the current fault detection on the automatic train operation system, and on the basis of a detection result, updating a detection item information table (S120); determining a target detection item identifier from a detection type information table, and on the basis of the target detection item identifier, the detection type information table and the updated detection item information table, determining a target detection code and a target offset which correspond to the target detection item identifier (S130); and on the basis of the target offset, assembling the target detection code to obtain a target fault code of the current fault detection, and on the basis of the target fault code, determining an operating state of the automatic train operation system (S140). The solution improves the applicability of fault detection on an automatic train operation system.

This invention belongs to the field of rail transit control technology, and relates to a backup control system, method, equipment, and medium for platform screen door linkage in urban rail transit. The system includes: onboard equipment, a train control center (TCC), an onboard radio, and a transponder. The onboard radio is installed in a cabinet and communicates bidirectionally with the TCC via a wireless network. The CTC sends ATO (Automatic Train Operation) plans and temporary speed limit information to the onboard equipment through an existing TSRS (Train Safety System) server or the TCC. Furthermore, when the TSRS equipment fails, the onboard equipment sends door opening / closing control commands to the TCC to achieve linkage between the train doors and platform screen doors. Compared with existing technologies, this invention improves system availability by adding wireless communication between the onboard equipment and the TCC. After a TSRS equipment failure, the onboard equipment obtains the ATO plan and temporary speed limit information through the TCC to control the safe operation of the train. Upon arrival at the station, the TCC enables platform screen door linkage control, further enhancing system availability.

This invention provides a single-vehicle traction simulation method and system considering a protected section model, comprising the following steps: acquiring track data, train data, and signaling system data; obtaining the automatic protection speed curve of the train based on track speed limits, train speed limits, and a train braking model; obtaining the automatic train operation speed curve of the train based on the automatic protection speed curve and the train braking model, and determining the length of the protected section. Based on the automatic train operation speed curve, a system framework for simulating train operation curves is obtained. This invention provides a single-vehicle traction simulation method and system considering a protected section model, supporting the optimization of train operation strategies and improving the overall performance and safety of rail transit systems. The system provided by this invention can fully simulate the train's operating state on actual tracks and accurately calculate key parameters, providing a scientific basis for simulation analysis and optimization of train operation.