CN109677466A - A kind of lightweight train automatic controlling system towards Chinese heavy haul railway - Google Patents
A kind of lightweight train automatic controlling system towards Chinese heavy haul railway Download PDFInfo
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- CN109677466A CN109677466A CN201910048417.8A CN201910048417A CN109677466A CN 109677466 A CN109677466 A CN 109677466A CN 201910048417 A CN201910048417 A CN 201910048417A CN 109677466 A CN109677466 A CN 109677466A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0072—On-board train data handling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
- B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2205/00—Communication or navigation systems for railway traffic
- B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of lightweight train automatic controlling systems towards Chinese heavy haul railway, the system is connect with control centre's equipment, interlock device, satellite positioning difference station equipment, transponder device and track circuit equipment respectively, the train automatic controlling system includes ground control centre ROC and mobile unit, the ground control centre ROC is connect with control centre's equipment, interlock device, satellite positioning difference station equipment and mobile unit respectively, and the mobile unit is connect with transponder device, ROC equipment, track circuit equipment；The train automatic controlling system has function of safety protection, operation plan management function, temporary speed limitation management function and Function for Automatic Pilot on the performance basis for being sufficiently multiplexed existing heavily loaded train control system.Compared with prior art, the present invention has many advantages, such as lightweight, safe and efficient.
Description
Technical field
The present invention relates to automatic train operation device ATO, more particularly, to a kind of lightweight towards Chinese heavy haul railway
Train automatic controlling system.
Background technique
The revision that heavy haul transport is defined according to international heavy haul transport association in 2005: heavy haul railway be the weight of train at least
Reach 8000t, axis weight (plan axis weight) is 27t or more, single line annual traffic is greater than 40,000,000 at least 150km track section
Two railways in tri- conditions of t.Develop heavy haul railway to improve Chinese Railway transport capacity, meet growing transport
Demand has important practical significance.
Currently, automatization level is low in Chinese heavy haul railway transport, be not equipped with autopilot facility, traction braking according to
Rely and controlled in driver, the large labor intensity of driver, region especially big in height of lifting needs driver to concentrate one's energy for a long time
Train is manipulated, so that efficiency of operation and security of system have biggish room for promotion.Meanwhile cargo transport is to operation cost and fortune
Battalion's efficiency has higher requirement, it is desirable that automated driving system reduces cost as far as possible.On the other hand, China is few in the world
Several one of the countries for being equipped with 30000 tons of heavy haul trains having predict according to Chinese Railway parent company, arrive the year two thousand twenty, China
The volume of goods transported is up to 47.9 hundred million tons, and to heavily loaded rail transportation efficiency, more stringent requirements are proposed.
Existing solution needs to put into more trackside positioning and control equipment.And do not consider temporary speed limitation, operation
The factors such as plan.The part that can be multiplexed in existing override signal system is not made full use of yet.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind towards Chinese heavy duty
The lightweight train automatic controlling system of railway.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of lightweight train automatic controlling system towards Chinese heavy haul railway, the system are set with control centre respectively
Standby, interlock device, satellite positioning difference station equipment are connected with transponder device, and the train automatic controlling system includes ground
Control centre ROC and mobile unit, the ground control centre ROC respectively with control centre's equipment, interlock device, satellite
Potential difference sub-station equipment is connected with mobile unit, and the mobile unit is connect with transponder device；
The train automatic controlling system has function of safety protection, operation plan management function, temporary speed limitation management
Function and Function for Automatic Pilot.
Preferably, the ground control centre ROC is communicated with mobile unit by GSM-R radio channel；
The ground control centre ROC is for issuing operation plan information, temporary speed limitation information, track switch information, difference
Information；Meanwhile the ground control centre ROC obtains current train location information, temporary speed limitation request letter from mobile unit
Breath.
Preferably, the ground control centre ROC is communicated with interlock device by security net；
The ground control centre ROC receives track switch information from interlock device, determines to run road in station for mobile unit
Diameter.
Preferably, the ground control centre ROC is communicated by digital private channel with controlling equipment；
The ground control centre ROC is communicated with control centre's equipment, for obtaining operation plan information and interim limit
Fast information, and periodically consistency verification of data is carried out with control centre.
Preferably, the ground control centre ROC is communicated with satellite positioning difference station equipment, for obtaining satellite positioning
Difference information.
Preferably, the ground control centre ROC periodically interacts map and temporary speed limitation information with mobile unit, and
It is requested according to mobile unit, replys corresponding information.
Preferably, the ground control centre ROC has virtual signal management function:
When scene does not have deployment track circuit condition, route is divided into and several virtually closes by ground control centre ROC
Fill in subregion, the corresponding virtual signal machine of each block section；Report letter in the vehicle-mounted position that ground control centre ROC receives train
Breath, when, there are when train occupation, ROC settable corresponding virtual signal in ground control centre is to close shape in virtual block subregion
State；
Ground control centre ROC supports to guess train position simultaneously, when train loses position or controls with ground
When ROC communication disruption in center processed, for being not provided with the region of track circuit, ground control centre ROC is according to signal at clear, road
Branch off location information, by train possibly into region be set as blocked styate, and close for virtual signal machine, prevent other
Train drives into virtual block subregion.
Preferably, the mobile unit includes main control unit, track circuit information receiving unit, transponder information reception
Unit, data record unit, wireless transmission unit, the ranging processing unit that tests the speed, GPS/ Beidou interface unit, vehicle-mounted DMI, GPS/
Beidou positioning unit, vehicle radio station, track circuit antenna, velocity sensor, transponder antenna and radar, the main control unit
Respectively with track circuit information receiving unit, answering machine information receiving unit, data record unit, wireless transmission unit, test the speed
Ranging processing unit, GPS/ Beidou interface unit, vehicle-mounted DMI connection, the track circuit information receiving unit and track electricity
The connection of road antenna, the answering machine information receiving unit connect with transponder antenna, the wireless transmission unit with it is vehicle-mounted
Radio station connection, the ranging processing unit that tests the speed are connect with velocity sensor and radar respectively, the GPS/ Beidou interface
Unit is connect with GPS/ Beidou positioning unit.
Preferably, the high-precision distance measuring unit that tests the speed is used for location Calculation by the mobile unit together with satellite positioning, can
Test the speed ranging information and satellite positioning information are merged using Kalman filtering algorithm, obtain the location information of higher precision；
The mobile unit storage inside has electronic map data, and verifies in real time with ground control centre ROC, works as hair
When existing map datum and inconsistent ground, guiding secure side processing should be carried out, and control centre ROC requests map letter to the ground
Breath；
The mobile unit has the function of receiving transponder information, and mobile unit receives track switch information from ROC equipment,
Or replaced by disposing positioning transponder in station track from interlocking reception track switch information；
The mobile unit is believed according to from the received track circuit occupied information of ground control centre ROC, temporary speed limitation
Breath, the cartographic information stored in conjunction with itself, location information calculate braking curve according to these information, carry out train running speed
Monitoring；
The equipment is according to operation plan information, under the monitoring of security certificate, according to vehicle-mounted location information and ground
Figure information realizes Function for Automatic Pilot.
Preferably, there are four types of vehicle-mounted modes for the mobile unit:
ATO mode, when train control on board equipment has the required whole master datas of column control, wherein whole fundamental packets
It includes train data, driving license, map datum, track switch data, location information completely and precision meets given threshold, column control vehicle-mounted
Equipment has had the ability for generating target range continuous velocity control model curve, at this point, pressing ATO enables button, into ATO
Automatic driving mode；
Degraded mode, when ATO mode condition does not have, and handle isolated bit is in " isolation " position, into degradation
Mode should be automatically into ATO mode, at this point, the traditional mode of LKJ control vehicle can be continued to use after ATO mode condition meets；
Isolation mode is isolated in mobile unit needs, and locomotive where mobile unit takes on non-one's own job tractor or assisting vehicle
In the case of task, by isolator operation to " isolation " position, it is isolated the braking output of mobile unit, mobile unit only display portion
Man-machine interface information and necessary information record is carried out, under isolation mode, mobile unit does not undertake control vehicle responsibility；
Standby mode, when mobile unit powers on and open bridge, mobile unit is executing self-test and external equipment test just
After really, it is in standby mode automatically；Into after standby mode, inputted on DMI driver number/secondary driver number and running number, visitor/
Goods type, gross weight, amount number, vehicle commander train data, allow driver's artificial selection uplink/downlink carrier frequency data, to process after,
It is vehicle-mounted have open spoke part；Mobile unit forbids train mobile under standby mode；
When ground has been provided with track circuit equipment, this system should have the ability for reading track circuit signaling information,
To realize that section occupies inspection and train integrity monitoring, it is sufficiently multiplexed existing line equipment, reduces construction and operation cost.
Compared with prior art, the present invention has following innovative point:
(1) train stores map datum, and being especially stored with yard topological data, (in CTCS-2, CTCS-3, train is not necessarily to
The topological relation between the equipment such as track switch in yard, section, semaphore is known, after Correlation method for data processing is in line by ground installation
Control vehicle operation).Based on this, this programme can get rid of traditional true or virtual transponder that passes through and fetter.
Before train driving, to dispatching a car, testing service device application obtains map datum.Map datum, institute are stored with due to vehicle-mounted
With compared with existing scheme, train need to increase the function of periodicity and ROC verification map datum newly.
By yard topological data, the switch location information of combined ground (is incorporated in drawing lines trouble information and map datum, column
The path that vehicle can pass through itself make inferences, and know station track and the line information of entrance, thus get rid of to transponder according to
Rely), train can obtain the station track information currently driven into, and the circuit number data of entrance make up the deficiency of satellite positioning.Pass through ground
Diagram data, especially side line map describe data, and mobile unit can more accurately realize positioning.
(2) operation plan is sent to mobile unit.Train can drive a vehicle according to operation plan.The sending method of operation plan
It can refer to the sending method of operation plan in temporary speed limitation server in the total CTCS-2+ATO scheme of current iron.
(3) it is multiplexed the track circuit resource disposed in Chinese heavy haul railway, realizes train occupation inspection and integrality inspection
It looks into, sufficiently guarantees safety.Reduce the cost requirement to newly added equipment.
(4) it has been multiplexed the existing interlock device of Chinese heavy haul railway, has been believed by the track switch that ROC equipment provides interlock device
Breath is sent to mobile unit, vehicle-mounted to realize precise positioning in conjunction with satellite positioning by switch location, reduce to transponder
Dependence.
(6) the control equipment of ground setting centre grade: ROC equipment is responsible for ground data being sent to mobile unit, and is connect
Receive vehicle-mounted data.A ground control centre is only disposed in one control centre's compass of competency in principle, ground control is reduced and sets
Standby deployment amount.ROC equipment has operation plan management, temporary speed limitation management, virtual signal management, the forwarding of track switch information, difference
The function of information forwarding.
(7) mobile unit using Kalman filtering algorithm fusion test the speed distance measuring unit and dual mode satellite location data (Beidou+
GPS), realize the precise positioning to train position, be applied to Chinese heavy haul train positioning.
(8) Beidou, GPS dual-mode positioning function.Mobile unit can receive Beidou and GPS satellite signal simultaneously and be located
Reason improves positioning accuracy and safety by differentiation satellite location data source.
(9) has temporary speed limitation function.In existing China's heavy haul train control program, temporary speed limitation, this programme is in heavy duty
In Train Control, propose that temporary speed limitation issues function.Train can drive a vehicle according to temporary speed limitation order, improve the row under emergency case
Sail safety.
Also have in view of the existing controlling equipment center of heavy duty does not have temporary speed limitation and draws up with related management function, ROC
For control centre's temporary speed limitation management function in temporary speed limitation operational administrative interface and other CTCS-2, to further decrease
To existing control centre's scrap build cost.
(10) has ATO Function for Automatic Pilot.In heavy haul railway, tired driver intensity is big, needs Function for Automatic Pilot.This
System can be according to operation plan, and by ATO equipment control vehicle operation, ATO equipment is completely in the speed of ATP equipment to the control of train
Under controlling curve, traffic safety is guaranteed by ATP.
(11) the true block section technology for having track circuit condition is supported simultaneously, and without in the case of track circuit
Virtual block partitioning technique.When there is no track circuit, route logically can be divided into several block sections, and according to
Report open or closed virtual signal machine in vehicle-mounted position；When not having track circuit, train integrity monitoring need to be by means of column
Tail equipment is completed.
Specific advantage is as follows:
(1) lightweight.This programme uses satellite positioning tech, and stores line map data by train and can reduce and determine
Position transponder and track data send the deployment amount for using transponder.Grade equipment centered on ROC equipment in this programme, can be simultaneously
Multiple stations are managed, and are communicated by wireless device with vehicle-mounted.To reduce the deployment amount of ground installation.
This programme is multiplexed operational railway circuit arrangement, can reduce the input amount of ground installation.
Whole system supports virtual block and the autonomous detection device of integrality, in subsequent adaptation, can be further simplified
The setting of track circuit.
(2) safety.By substituting manual operation by equipment automatic Pilot, this programme is greatly improved the safety of system.
This programme avoids train colliding, ground installation that the danger such as destruction occurs by receiving ground track circuit authorization message
Harmful generation.Meanwhile train integrity monitoring can be realized by track circuit.
It is got on the bus by map datum, train can more efficiently know that the routes such as the gradient, the camber of operation forward box are solid
The case where having attribute information, preventing fixed speed limit hypervelocity.And by verifying with the periodicity on ground, map number is obtained in time
According to more new information.
By perfect temporary speed limitation administrative mechanism, temporary speed limitation consistency desired result is carried out by equipment, issues, manage, from
And avoid the speed of service beyond temporary speed limitation permissible velocity.
For secure data communication, Ying Caiyong meets secure communication protocols as defined in European safety standard and iron total correlation
It is communicated.ROC equipment and onboard control device should meet the requirement of Railway Signal Product safety equipment.
(3) efficiently.Operation plan reaches mobile unit under automatic by ROC equipment by control centre.ATO equipment according to
Operation plan automatic Pilot train operation.Efficiency of operation can be greatly improved compared with people controls vehicle in this programme.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of mobile unit of the present invention；
Fig. 3 is the schematic diagram that main track of the present invention picks up scene；
Fig. 4 is the control schematic diagram that main track of the present invention picks up；
Fig. 5 is the control schematic diagram that side line of the present invention is dispatched a car；
Fig. 6 is the control schematic diagram of ATP of the present invention protection；
Fig. 7 is the schematic diagram of the comprehensive positioning of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is a part of the embodiments of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art's every other reality obtained without making creative work
Example is applied, all should belong to the scope of protection of the invention.
In conjunction with Chinese heavy haul railway signal system status, this programme can be improved automatization level, operating efficiency, reduction department
Machine workload solves the problems such as driver's labor intensity is high, and automation of train control level is low, and efficiency of operation is lower.This programme is based on
The technologies such as satellite positioning tech, multi-mode radio communication and track data map realize the function of ATO automatic running according to plan, reduce
The labor intensity of driver.System can be superimposed upon on the basis of existing signalling arrangement, in the case where not influencing scene operation
Smooth upgrade, save the cost realize the promotion of efficiency.This programme can be applied to Chinese heavy haul railway pick up, dispatch a car, section operation
Operation scene in, and to ATO in world's heavy haul railway application play positive exemplary role.
This programme is by ground control centre (ROC), train overspeeding protection's equipment (ATP), train autopilot facility (ATO)
Composition.Meanwhile need (can by means of existing control centre's equipment (TDCS/CTC), interlock device and transponder device
Choosing；If interlocking has been selected to send the scheme of track switch, the positioning of station track and multiple line can not be realized by transponder).In addition, it is necessary to
Satellite positioning difference station equipment is set at the station ROC, necessary transponder device is set in the line.ROC equipment passes through existing
Digital private channel communicated with controlling equipment.ROC is communicated with mobile unit by GSM-R radio channel.With connection
Lock device is communicated by security net.
This programme has following function:
(1) function of safety protection, ATP equipment calculate parking curve, realize function of safety protection.
(2) operation plan management function.Operation plan should be able to be received from control centre, and is run by operation plan control vehicle.
Has accurate parking function.
(3) temporary speed limitation management function.Temporary speed limitation order should be able to be received from control centre, and execute temporary speed limitation life
It enables.
(4) Function for Automatic Pilot.ATO equipment complex security certificate information, line properties, temporary speed limitation information, operation meter
Information is drawn, tractive force is exported, controls train operation.Substitute driver driving.
Scheme overall structure is as shown in Figure 1:
The design of each equipment is as follows in this programme:
(1) ROC is the ground control centre equipment in this programme.According to on-site actual situations, a ROC can manage multiple
Cluster and section.ROC need to be communicated with control centre's equipment, for obtaining operation plan information and temporary speed limitation information.And
With the consistency of control centre's periodically verification data.
ROC need to be communicated with interlock device, for obtaining track switch information.
ROC need to be communicated with differential device, for obtaining satellite positioning difference information.
ROC need to be by wireless network and vehicle equipment communication, for issuing operation plan information, temporary speed limitation information, road
Trouble information, difference information.Meanwhile ROC can obtain current train location information, temporary speed limitation solicited message from mobile unit.
ROC should also receive track switch information from interlocking, determine interior operating path of standing for mobile unit.
ROC equipment periodically interacts map and temporary speed limitation information with mobile unit, and according to vehicle-mounted request, replys and correspond to
Information.
ROC is also equipped with virtual signal management.When scene does not have deployment track circuit condition, ROC equipment draws route
It is divided into several virtual block subregions, the corresponding virtual signal machine of each block section；ROC receives the vehicle-mounted position report of train
Information, when, there are when train occupation, the settable corresponding virtual signal of ROC is in off state in virtual block subregion.ROC is propped up simultaneously
It holds and train position is guessed, when train loses position or when with ROC communication disruption, for being not provided with track circuit
Region, ROC should according to signal at clear, switch location information, by train possibly into region be set as blocked styate, and close
For virtual signal machine, prevent other trains from driving into virtual block subregion.
There are the information of the influences such as temporary speed limitation, track switch safety in above- mentioned information, and therefore, ROC should be safety equipment, operation
On the fail-safe computer for meeting the European safeties standard such as EN50126, EN50129, EN50128.ROC is communicated with above equipment
When, Ying Caiyong secure communication protocols.ROC should verify the legitimacy of input information, when finding invalid data, guiding should be taken to pacify
The measure of full side.
(2) mobile unit.
The structural representation of mobile unit is as shown in Figure 2:
Mobile unit should have GPS/ big-dipper satellite location information receiving device, and it is quasi- to improve positioning by dual mode satellite signal
Exactness, high precision speed-measuring ranging localization equipment.
The high-precision distance measuring unit that tests the speed is used for location Calculation by mobile unit together with satellite positioning.Kalman filtering can be used
Algorithm fusion tests the speed ranging information and satellite positioning information, obtains the location information of higher precision.
Mobile unit storage inside has electronic map data, and in real time with ground ROC equipment verification, when discovery map datum
When inconsistent with ground, guiding secure side processing should be carried out, and to ROC device request cartographic information.
In view of in certain areas, satellite positioning is unstable or precision is unsatisfactory for requiring (the fields such as major long tunnel, multiple line
Scape), alternatively, vehicle need to be improved by efficiency at station track, the outbound place of multiple line, need transponder auxiliary positioning, it is vehicle-mounted should have connect
Receive the function of transponder information.In view of station track and trouble zone distance be unsatisfactory for the precise requirements of satellite positioning, therefore,
Needing ATP equipment to receive track switch information from ROC equipment (can be according to engineering construction feature, by disposing positioning transponder in station track
Replace from interlocking and receive track switch information).
Mobile unit is stored according to the track circuit occupied information from ground receiver, temporary speed limitation information in conjunction with itself
Cartographic information, location information calculate braking curve according to these information, carry out train running speed monitoring.
ATO equipment is according to operation plan information, under the monitoring of security certificate, is believed according to vehicle-mounted location information and map
Breath realizes Function for Automatic Pilot.
There are four types of vehicle-mounted modes for design:
ATO mode.Whole master datas needed for train control on board equipment has column control (including train data, driving are permitted
Can, map datum, track switch data, location information is complete and precision is enough) when, train control on board equipment has had generation target range
The ability of continuous velocity control model curve, at this point, driver, which presses ATO, enables button, into ATO automatic driving mode.
Degraded mode.When ATO mode condition does not have, and handle isolated bit should enter drop not in " isolation " position
Grade mode.It, should be automatically into ATO mode after ATO mode condition meets.At this point, the traditional mode of LKJ control vehicle can be continued to use.
Isolation mode.It is isolated in mobile unit needs, locomotive where mobile unit takes on non-one's own job tractor or assisting vehicle
In the case of task, by isolator operation to " isolation " position, it is isolated the braking output of mobile unit, mobile unit only display portion
Man-machine interface information and the necessary information record of progress.Under isolation mode, mobile unit does not undertake control vehicle responsibility.
Standby mode.When mobile unit powers on and opens bridge, after vehicle-mounted execution self-test and external equipment test correctly,
Automatically it is in standby mode；Into after standby mode, driver inputted on DMI driver number/secondary driver number and running number, visitor/
The train datas such as goods type, gross weight, amount number, vehicle commander, allow the data such as driver's artificial selection uplink/downlink carrier frequency, to the end of process
Afterwards, it is vehicle-mounted have open spoke part；Mobile unit forbids train mobile under standby mode.
(3) other signalling arrangements
In order to complete Function for Automatic Pilot.It needs configured with control centre's equipment in route, dispatcher can be by scheduling
Heart editor issues, manages temporary speed limitation order and operation plan.
Need to be provided with interlock device (when being provided with transponder at semaphore out of the station, can not obtain from interlock device
Track switch information).It is vehicle-mounted to obtain track switch information from interlock device by ROC, to learn station track in the travelling route station in station
The line information in information and section.
In view of the positioning accuracy of GPS or Beidou can be arranged positioning transponder in exit, use for multiple line route
In knowing circuit number information.As needed, transponder can also be set at the exit signal of station track, for obtaining station track number
Information.With existing scheme ratio, the number of transponders sharp fall of this programme, or even according to on-site actual situations, by means of road
Trouble information, knows run routing information, can be completely without deployment transponder information.According to the actual situation, when from interlock device
Read track circuit equipment.This programme need to obtain security certificate information from track circuit equipment, learn train occupation in route
Situation.Above-mentioned " other signalling arrangements " is present in the signal system of current heavy haul railway.
Locomotive Positioning System (LZDX): in this system, locomotive is with GPS positioning, odometer, acceleration transducer equipment
Fusion positioning is carried out, when encountering longer tunnel, distinguishing the scenes such as multiple line route, when GPS positioning is not suitable for, can assist using and answer
Answer device positioning.When train side line enters the station, line information need to be gone out by switch location, auxiliary positioning.When side line is dispatched a car, need to lead to
Turnout passing auxiliary positioning goes out the line information that will enter.
In the present system, ATP system is only used for the security protection of ATO operation, and system is available without independent ATP mode.
The backup mode that LKJ drives a vehicle as ATO mode, hot standby on-line operation.
When any information lacks in LZDX, alternatively, train is transferred to degraded mode when positioning accuracy is inadequate.To related data
It, can be automatically into ATO mode after restoring normal.
1, main track picks up scene, as shown in Figure 3.
Mobile unit wirelessly receiving circuit information and temporary speed limitation information and complete when previous station is set out
Location information needed for whole LZDX, at this point, train enters ATO control vehicle mode.When cab signal is stop sign, train is at this
After stopping 2 minutes before semaphore, parking toll is released by driver operation, is transferred to isolation mode, monitors train to be no more than 20km/
The speed of h crosses the semaphore.If mobile unit is transferred to degradation when incomplete because of master data needed for failure ATO mode
Mode.
2, main track picks up, as shown in Figure 4.
When main track picks up, wirelessly believe from ground receiver track data and temporary speed limitation before entering this station
Breath obtains LZDX related position information.Exit signal does not open, and receiving route sends out HU code.Mobile unit can be according to track electricity
The information monitorings highest running speed of train such as road signaling information, comprehensive temporary speed limitation, line properties.
3, side line is dispatched a car, as shown in Figure 5.
Train and ROC are verified, and after map datum, temporary speed limitation data are normal, location information is complete and precision is enough, presses
ATO mode normally travel, into yard.Wherein, mobile unit is needed through transponder in LZDX or track switch information, Ke Yishi
The circuit number that Chu do not enter.
4, map datum explanation
In the present solution, vehicular map data divide the following two kinds:
(1) the line properties data such as the gradient, phase-separating section contained in CTCS-2, CTCS-3 transponder message.
(2) yard topological data.For describing section in yard, track switch, the topological connection relation between signal machine equipment.
This partial data is not comprised in the transponder message data of CTCS-2, CTCS-3.Exactly because vehicle-mounted have this part
Data, so that mobile unit also may be implemented to be accurately positioned at multiply road and multiple line；Get rid of this concept of transponder
Constraint.
5, ATP is protected, as shown in Figure 6.
ATP subsystem is realized for security protection under the conditions of ATO in this programme, brakes algorithm using target-distance
Identical, the information for influencing train operation has:
Track circuit four shows signaling data, is responsible for train occupation and integrity checking.
Temporary speed limitation data.
Route build-in attribute.The intrinsic speed limit of route, the gradient, bend, switch crossing speed etc..
Train attribute.Intrinsic speed limit of train etc..Ka Sike should fully consider the characteristics such as heavy haul train braking distance length.
6, comprehensive positioning function, as shown in Figure 7.
7, ATO function
(1) it is run in the case where ATP controls vehicle curve, it can guarantee driving safety.
(2) operation plan from control centre via ROC device forwards can be handled, realizes automatic traveling crane according to plan.
8, temporary speed limitation scene
When train operation ahead generation natural calamity, the situations such as temporary construction, drawn up by dispatcher by control centre
And temporary speed limitation order is issued to ROC, mobile unit is forwarded to by ROC.
Mobile unit uni-directional hash coding (such as CRC MD5 code) letter periodically corresponding with ROC verification speed limit order
Breath should be braked when mobile unit discovery is corresponding inconsistent with the temporary speed limitation stored in ROC equipment, be oriented to secure side.
Dispatcher can also draw up speed limit order in ROC, without being drawn up by control centre's equipment, to reduce system deployment
To the change amount of existing equipment.
ROC should verify temporary speed limitation data with control centre, when finding inconsistent, should take arranging for guiding secure side
It applies, control train speed is lower than license speed.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (10)
1. a kind of lightweight train automatic controlling system towards Chinese heavy haul railway, the system respectively with control centre's equipment,
Interlock device, satellite positioning difference station equipment, transponder device are connected with track circuit equipment, which is characterized in that the column
Vehicle automatic control system includes ground control centre ROC and mobile unit, and the ground control centre ROC is respectively and in scheduling
Heart equipment, interlock device, satellite positioning difference station equipment are connected with mobile unit, the mobile unit and transponder device,
ROC equipment, track circuit equipment connection；
The train automatic controlling system has safety anti-on the performance basis for being sufficiently multiplexed existing heavily loaded train control system
Protective function, operation plan management function, temporary speed limitation management function and Function for Automatic Pilot.
2. a kind of lightweight train automatic controlling system towards Chinese heavy haul railway according to claim 1, feature
It is, the ground control centre ROC is communicated with mobile unit by GSM-R radio channel；
The ground control centre ROC is for issuing operation plan information, temporary speed limitation information, track switch information, difference information；
Meanwhile the ground control centre ROC obtains current train location information, temporary speed limitation solicited message from mobile unit.
3. a kind of lightweight train automatic controlling system towards Chinese heavy haul railway according to claim 1, feature
It is, the ground control centre ROC is communicated with interlock device by security net；
The ground control centre ROC receives track switch information from interlock device, determines interior operating path of standing for mobile unit.
4. a kind of lightweight train automatic controlling system towards Chinese heavy haul railway according to claim 1, feature
It is, the ground control centre ROC is communicated by digital private channel with controlling equipment；
The ground control centre ROC is communicated with control centre's equipment, for obtaining operation plan information and temporary speed limitation letter
Breath, and the consistency periodically with control centre's verification temporary speed limitation information.
5. a kind of lightweight train automatic controlling system towards Chinese heavy haul railway according to claim 1, feature
It is, the ground control centre ROC is communicated with satellite positioning difference station equipment, for obtaining satellite positioning difference information.
6. a kind of lightweight train automatic controlling system towards Chinese heavy haul railway according to claim 1, feature
It is, the ground control centre ROC periodically interacts map and temporary speed limitation information with mobile unit, and is set according to vehicle-mounted
Standby request, replys corresponding information.
7. a kind of lightweight train automatic controlling system towards Chinese heavy haul railway according to claim 1, feature
It is, the ground control centre ROC has virtual signal management function:
When scene does not have deployment track circuit condition, route is divided into several virtual blocks point by ground control centre ROC
Area, the corresponding virtual signal machine of each block section；Ground control centre ROC receives the vehicle-mounted position report information of train,
When, there are when train occupation, ROC settable corresponding virtual signal in ground control centre is in off state in virtual block subregion；
Ground control centre ROC simultaneously support train position is guessed, when train lose position or with ground control in
When heart ROC communication disruption, for being not provided with the region of track circuit, ground control centre ROC is according to signal at clear, track switch position
Confidence breath, by train possibly into region be set as blocked styate, and close for virtual signal machine, prevent other trains
Drive into virtual block subregion.
8. a kind of lightweight train automatic controlling system towards Chinese heavy haul railway according to claim 1, feature
It is, the mobile unit includes main control unit, track circuit information receiving unit, answering machine information receiving unit, data
Recording unit, wireless transmission unit, the ranging processing unit that tests the speed, GPS/ Beidou interface unit, the positioning of vehicle-mounted DMI, GPS/ Beidou
Unit, vehicle radio station, track circuit antenna, velocity sensor, transponder antenna and radar, the main control unit respectively with rail
Road circuit information receiving unit, answering machine information receiving unit, data record unit, wireless transmission unit, ranging of testing the speed processing
Unit, GPS/ Beidou interface unit, vehicle-mounted DMI connection, the track circuit information receiving unit and track circuit antenna connect
It connecing, the answering machine information receiving unit is connect with transponder antenna, and the wireless transmission unit is connect with vehicle radio station,
The ranging processing unit that tests the speed is connect with velocity sensor and radar respectively, the GPS/ Beidou interface unit and GPS/
Beidou positioning unit connection.
9. a kind of lightweight train automatic controlling system towards Chinese heavy haul railway according to claim 1 or 8, special
Sign is that the high-precision distance measuring unit that tests the speed is used for location Calculation by the mobile unit together with satellite positioning, and karr can be used
Graceful filtering algorithm merges test the speed ranging information and satellite positioning information, obtains the location information of higher precision；
The mobile unit storage inside has electronic map data, and verifies in real time with ground control centre ROC, when discovery ground
When diagram data and ground are inconsistent, guiding secure side processing should be carried out, and control centre ROC requests cartographic information to the ground；
The mobile unit has the function of receiving transponder information, and mobile unit receives track switch information from ROC equipment, or
Replaced by disposing positioning transponder in station track from interlocking reception track switch information；
The mobile unit is tied according to from the received track circuit occupied information of ground control centre ROC, temporary speed limitation information
Cartographic information, the location information for closing itself storage, calculate braking curve according to these information, carry out train running speed monitoring；
The equipment is according to operation plan information, under the monitoring of security certificate, is believed according to vehicle-mounted location information and map
Breath realizes Function for Automatic Pilot.
10. a kind of lightweight train automatic controlling system towards Chinese heavy haul railway according to claim 1 or 8,
It is characterized in that, there are four types of vehicle-mounted modes for the mobile unit:
ATO mode, when train control on board equipment has the required whole master datas of column control, wherein whole master datas include column
Car data, driving license, map datum, track switch data, location information are completely and precision meets given threshold, train control on board equipment
Have the ability for generating target range continuous velocity control model curve, at this point, pressing ATO enables button, it is automatic into ATO
Driving mode；
Degraded mode, when ATO mode condition does not have, and handle isolated bit is in " isolation " position, into degraded mode,
It, should be automatically into ATO mode, at this point, the traditional mode of LKJ control vehicle can be continued to use after ATO mode condition meets；
Isolation mode is isolated in mobile unit needs, and locomotive where mobile unit takes on non-one's own job tractor or assisting vehicle task
In the case of, by isolator operation to " isolation " position, the braking output of mobile unit is isolated, only display portion is man-machine for mobile unit
Interface information and necessary information record is carried out, under isolation mode, mobile unit does not undertake control vehicle responsibility；
Standby mode, when mobile unit powers on and opens bridge, after mobile unit executes self-test and external equipment test correctly,
Automatically it is in standby mode；Into after standby mode, driver number/secondary driver number and running number, visitor/goods class are inputted on DMI
Type, gross weight, amount number, vehicle commander train data, allow driver's artificial selection uplink/downlink carrier frequency data, to process after, it is vehicle-mounted
Have and opens spoke part；Mobile unit forbids train mobile under standby mode；
When ground has been provided with track circuit equipment, this system should have the ability for reading track circuit signaling information, with reality
Existing section occupies inspection and train integrity monitoring, is sufficiently multiplexed existing line equipment, reduces construction and operation cost.
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