34 results about "Automatic train operation" patented technology

The invention provides a train ATO (automatic train operation) energy-saving method, device and equipment, a medium and a program product, and belongs to the technical field of rail transit. Constructing a constraint function in the train operation process; and under the condition of the constraint function, solving the optimal solution of the target function by adopting a dynamic programming algorithm to obtain the lowest traction energy consumption. According to the train ATO energy-saving method provided by the invention, the target function taking the lowest traction energy consumption as the target is constructed, the constraint function is formed by combining the specific constraint conditions in the train operation, and the dynamic programming algorithm is used for solving the target function, so that the optimal solution under the constraint conditions can be accurately found, and the lowest traction energy consumption can be obtained; the traction energy consumption is reduced by optimizing the operation curve in the ATO operation process, the energy efficiency of train operation is improved, and the operation cost of urban rail transit can be greatly reduced.

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

To provide an automatic train operation device based on an automatic train stopping device (ATS device) capable of suppressing deterioration of ride comfort of a train by avoiding useless deceleration of the train after restarting traveling without relocating a directly under ground element of a traffic light or adding a new ground element.SOLUTION: An automatic train operation device 1 based on an ATS device generates an advancing protection pattern for a traffic signal and an operation pattern (an out-of-machine stop pattern and a fixed-position stop pattern for the traffic signal) in which a position in front of a directly under ground element of the traffic signal is a stop target. Then, the automatic train operation device 1 is configured to limit speed of a train T after restart of traveling to be less than speed corresponding to the position of the directly under ground element in the advancing protection pattern when the traveling of the train T is restarted on a condition that the traffic signal indicates advance indication after the train T is stopped by the operation pattern.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.

The present application discloses a train track driving control method and device. The method includes: segmenting the driving route of the train to obtain position points corresponding to different segments; determining the first motion relationship, the second motion relationship and the speed range of the driving speed of different position points in each segment; using the first motion relationship, the second motion relationship and the speed range as constraint conditions to solve the first curve of the speed corresponding to different position points that satisfy the constraint conditions; when triggering train speed control, determining the tracking speed according to the first curve, and determining the target control amount corresponding to reaching the tracking speed based on the current driving speed, the output control amount and the tracking speed; adjusting the currently output control amount according to the target control amount to control the driving speed of the train. This solves the problem of the emergency stop of the train caused by the sudden change of the ATP speed limit during the normal control of the automatic train operation ATO.

The present invention discloses a multi-train simulation platform for fully automatic operation of rail transit trains, including: a semi-physical train vehicle electrical simulation unit, a virtual train group vehicle electrical simulation unit, a train operation simulation unit, an on-vehicle signal system simulation unit, and a data packet unpacking server. In terms of the system architecture, the present invention combines physical devices with virtual systems, which not only ensures the authenticity and accuracy of the simulation, but also ensures the scalability and replaceability of the system; in terms of system functions, it realizes automatic train operation control, system linkage control response, status monitoring and recording, and also supports multi-train operation control so as to support the simulation of multi-train tracking control, and can be used for technology development, function verification, operation training, and post-fault traceability analysis.

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.

The invention relates to the technical field of train control, and provides a train control method and device, electronic equipment and a storage medium. According to the method, in the process that an automatic train operation system controls a train to run, a braking mode transmitted by a temporary speed limiting server arranged on the ground is received through train-mounted equipment of the train; if the braking mode is the rain and snow mode, wet rail braking parameters corresponding to the train are obtained; determining a braking curve of the train according to the wet rail braking parameters and the driving permission end point of the train; according to the train braking control method and device, when the braking mode sent by the temporary speed limit server is the rain and snow mode, the train automatically adopts the wet rail braking parameters to conduct braking, the safety of the train is guaranteed, and the train braking control method and device have the advantages that the train can be automatically braked by the aid of the wet rail braking parameters when the braking mode sent by the temporary speed limit server is the rain and snow mode; the problems that in the prior art, an operator needs to select wet rail braking parameters, operation is complex, and train safety is affected are solved.

To provide an automatic train operation device that, when a train runs through a section including a speed limit section, can prevent the train from exceeding a speed limit in the speed limit section.SOLUTION: An automatic train operation device 1 controls a running state of a train T on the basis of a speed of the train T and a position of the train T calculated on the basis of an output signal, which indicates a higher speed of output signals of first and second speed generators 3A, 3B installed on the train T, and an operation pattern. When the operation pattern is a pattern for running through a section including a speed limit section, the automatic train operation device 1 does not accelerate the train until the train T moves a prescribed distance after it was determined that the train T has passed the speed limit section.SELECTED DRAWING: Figure 1

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

To provide an automatic train operation device capable of avoiding overspeed in speed-restricted sections even when wheels of the train idle or slide.SOLUTION: An automatic train operation device 1 performs train control to limit a speed of a train to a predetermined value or less when idling or slipping of wheels of the train is detected. The automatic train operation device 1 is preferably configured to: upon detecting idling or slipping of the wheels, switch an operation pattern used for controlling the train from a normal pattern to a speed restriction pattern that keeps the train speed equal to or less than the minimum speed limit on a travel route; and, then, upon acquiring, on an on-board side, information from a ground side and correcting the train position, switch the speed restriction pattern to another operation pattern.SELECTED DRAWING: Figure 2

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.

Methods and systems implement an output interface of a display computing system to display a visualization of predictive output of an onboard computing system of a train. A display computing system obtains, from an onboard predictive control system of a train traveling along a rail from a departure to a destination, predicted speeds which the predictive control system uses to preemptively adjust control signals sent by an onboard train control system of the train. The display computing system provides a visualization of the predicted speeds obtained by the predictive control system.

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.

The invention discloses a vehicle-mounted system control method and device, and the method comprises the steps: enabling a vehicle-mounted system to transmit the position information of a train and a safety envelope region to a train monitoring system in a safety state mode; a traction cutting instruction and a braking instruction are sent to the train, and the train is controlled to stop moving; enabling of a train automatic control system ATO is controlled to be invalid; the type information of the abnormal fault is sent to a train monitoring system, and if a remote restart instruction sent by the train monitoring system is received, the restart repair process of the vehicle-mounted system is carried out; and fault display information is sent to a man-machine interaction interface MMI, and log information is sent to a data recording unit DRU. The vehicle-mounted system repairing efficiency is improved, and the influence on the line operation efficiency is reduced.

To provide an automatic train operation device allowing a train to stop at an appropriate position when there occurs an event that obstructs train running in a path ahead of the train.SOLUTION: An automatic train operation device 1 comprises a running control unit 15 that controls a train in accordance with an operation pattern, and is configured to generate, when acquiring information of distance to a stop target position of a station on the basis of trackside transponder information from a trackside transponder, a stop pattern for causing the train to stop at the stop target position as the operation pattern, and delete the stop pattern when acquiring opening information indicating that the station is a station where a train passes without stopping and that the path ahead of the station is open from a different trackside transponder installed between the trackside transponder and the station.SELECTED DRAWING: Figure 2

To provide an automatic train operation device which realize safe and untroubled automatic operation even after a train arrives at a stop position corresponding to an onward movement prohibited area.SOLUTION: An automatic train operation device 1 is configured such that, on the basis of information related to an operation route stored in on-board data 14 of a train in an automatic operation and travel position information of a train T transferred from a ground side to a train side, if a position where the train T stops next is in an onward movement prohibited area, the automatic operation of the train T is stopped after the train T arrives at the stop position.SELECTED DRAWING: Figure 2

The invention discloses a rail transit train driving automatic control method and system and a storage medium, and belongs to the technical field of rail transit. The method comprises the following steps: S1, acquiring train running position, running speed and running time data in real time through a sensor; s2, inputting data of the running position, the running speed and the running time of the train into a train controller of a full-connection feedforward neural network (FNN) containing a deep reinforcement learning algorithm DRL-NNC to perform equilibrium calculation of a recommended speed difference value p and a limited speed difference value q; s3, a control instruction is generated according to an epsilon-greedy strategy, and an optimal control instruction is selected to guide a Sigmoid activation function to adapt to running routes of different section environments and lengths; and S4, respectively calculating probability values of p and q, and selecting a recommended speed difference value p and a limited speed difference value q with the maximum train running speed and position reward value and the lowest energy consumption to carry out automatic train running control. According to the invention, the stability and efficiency of automatic control of the train are improved, and a good energy-saving effect is achieved.

The invention discloses an inter-station line automatic generation method and device of a train control system and electronic equipment, and belongs to the field of train control and information interaction. The method comprises the steps that current position information reported by a train and a pre-configured static data configuration table are obtained, the current position information comprises an identifier of a first transponder of a first station where the train passes currently, and the static data configuration table comprises static data between stations in all operation plan ranges; according to the identifier of the first transponder and the static data in the static data configuration table, automatically calculating train data in the operation plan range; and sending the train data to an automatic train operation system ATO to control the train to operate according to the train data. The train data can be automatically generated, the labor cost and human errors are reduced, and the safety and accuracy of train operation are ensured.

To perform transition from acceleration to constant-speed traveling at a target speed, with satisfactory ride comfort, without requiring complicated prediction calculation until a notch change is completed, or without requiring manual adjustments though repetition of travel testing.SOLUTION: An automatic train operation device comprises: a train speed position detection unit for detecting a speed and a position of a train; a storage unit for storing track information and vehicle information; and a control command calculation unit for calculating a control command to be output to a drive / brake control device, on the basis of at least detection results of the train speed position detection unit, and the track information and vehicle information stored in the storage unit. In the automatic train operation device, when calculating a control command, using, as an acceleration threshold, acceleration of when reaching a target speed from a current speed of the train in prescribed time, the control command calculation unit makes corrections so that acceleration of the train corresponding to the control command does not exceed the acceleration threshold.SELECTED DRAWING: Figure 2

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.