Zone controller (zc) boundary handover management method for coupled trains

Abstract

The present disclosure relates to a zone controller (ZC) boundary handover management method for coupled trains. The coupled trains include a master-control train for obtaining movement authorization of ZCs and multiple non-master-control trains by coupling. The method includes: one ZC determines a safety positioning zone of a train according to a position message transmitted by the train, calculates time delay protection and a time delay protection sequence thereof and transmits a message to an adjacent ZC; the ZC creates a train set according to the position message of the train therein and the message transmitted by the adjacent ZC, calculates a valid movement authorization and variable information for the master-control train, concatenates adjacent movement authorization and variable information together and transmits the concatenated movement authorization and variable information to the master-control train as a running basis.

1 . A method of operating coupled trains for zone controller (ZC) boundary handover management, comprising:
 determining, by each ZC of a plurality of ZCs, a safety positioning zone of each train of coupled trains according to a position message transmitted by a train of the coupled trains, wherein the coupled trains include a master-control train for obtaining movement authorization of zone controllers (ZCs) and multiple non-master-control trains by coupling, the master-control train taking the obtained movement authorization as a running basis of the coupled trains;   when the safety positioning zone of each train of the coupled trains has an intersection with a ZC area of the ZCs, calculating, by each ZC located within the intersection, time delay protection of each train according to the safety positioning zone of the train, and determining a train time delay protection sequence;   when a movement authorization of the master-control train reaches a ZC boundary, transmitting, by two adjacent ZCs on two sides of the ZC boundary, handover messages to each other according to the train time delay protection sequences thereof, wherein a handover message includes a train sequence, the position message, the movement authorization and variable information;   creating, by the two adjacent ZCs, a train set according to the position messages of the coupled trains located within the ZCs and the messages transmitted from each other;   calculating, by at least one ZC of the two adjacent ZCs, a valid movement authorization and variable information for the master-control train of the train set;   concatenating, by the two adjacent ZCs, the movement authorization and the variable information transmitted from each other when the movement authorization and the variable information cross the ZC boundary;   transmitting, by one of the two adjacent ZCs, the concatenated movement authorization and variable information to the master-control train as the running basis; and   operating the coupled trains according to the concatenated movement authorization.   
     
     
         2 . The method according to  claim 1 , wherein the safety positioning zone of the train satisfies:
 when the train does not reach the ZC boundary, the safety positioning zone thereof is completely located within a current ZC area;   when the train is crossing the ZC boundary, the safety positioning zone thereof is located within two adjacent ZC areas on two sides of the ZC boundary respectively; and   after the train has completely crossed the ZC boundary, the safety positioning zone thereof has no intersection with the current ZC area.   
     
     
         3 . The method according to  claim 1 , wherein when the movement authorization of the master-control train reaches the ZC boundary, a current ZC of the master-control train triggers a train handover process, and the current ZC transmits the position messages of the coupled trains, train sequences, and a “handover” state, the movement authorization and the variable information of the coupled trains to an incoming ZC; and
 wherein when the train reaches the ZC boundary, the current ZC serves as an upstream ZC, and the incoming ZC serves as a downstream ZC. 
 
     
     
         4 . The method according to  claim 3 , wherein after the downstream ZC receives a handover message of the upstream ZC, the coupled trains continue to run, the downstream ZC searches for the movement authorization at the ZC boundary, the downstream ZC replies with a reply message to the upstream ZC according to valid or invalid movement authorization based on the searching, and according to the reply message, the upstream ZC determines that the upstream ZC or the downstream ZC transmits a train control message to the master-control train as the running basis of the coupled trains. 
     
     
         5 . The method according to  claim 4 , wherein when the master-control train does not cross the ZC boundary and the downstream ZC searches out a valid movement authorization, the downstream ZC calculates variable information for the master-control train and replies with a handover state of “takeover”, the movement authorization and the variable information to the upstream ZC, and the upstream ZC concatenates a complete train control message according to the reply message of the downstream ZC and transmits the complete train control message to the master-control train as the running basis of the coupled trains. 
     
     
         6 . The method according to  claim 4 , wherein when the master-control train does not cross the ZC boundary and the downstream ZC searches out an invalid movement authorization, the downstream ZC replies with a handover state of “rejection” to the upstream ZC, the upstream ZC transmits a train control message of the movement authorization and the variable information calculated by the upstream ZC to the master-control train according to the reply message of the downstream ZC as the running basis of the coupled trains. 
     
     
         7 . The method according to  claim 4 , wherein when the master-control train partially crosses the ZC boundary, the non-master-control trains are located within an upstream ZC area and the downstream ZC searches out a valid movement authorization, the downstream ZC calculates variable information for the master-control train and replies with a handover state of “takeover”, the movement authorization and the variable information to the upstream ZC, and the downstream ZC concatenates a complete train control message according to the handover message of the upstream ZC and ultimately transmits the complete train control message to the master-control train as the running basis of the coupled trains. 
     
     
         8 . The method according to  claim 4 , wherein when the master-control train partially crosses the ZC boundary, the non-master-control trains are located within an upstream ZC area and the downstream ZC searches out an invalid movement authorization, the downstream ZC transmits a control message to the master-control train to control the master-control train to perform emergency braking. 
     
     
         9 . The method according to  claim 4 , wherein when the master-control train totally crosses the ZC boundary, the non-master-control trains are partially located within an upstream ZC area and the downstream ZC searches out a valid movement authorization, the downstream ZC calculates variable information for the master-control train and replies with a handover state of “takeover”, the movement authorization and the variable information to the upstream ZC, and the downstream ZC concatenates a complete train control message and transmits the complete train control message to the master-control train as the running basis of the coupled trains. 
     
     
         10 . The method according to  claim 4 , wherein when the master-control train totally crosses the ZC boundary, the non-master-control trains are partially located within an upstream ZC area and the downstream ZC searches out an invalid movement authorization, the downstream ZC transmits a control message to the master-control train to control the master-control train to perform emergency braking. 
     
     
         11 . The method according to  claim 4 , wherein when the coupled trains totally cross the ZC boundary, the downstream ZC calculates movement authorization and variable information for the master-control train. 
     
     
         12 . The method according to  claim 7 , wherein after receiving the reply message of the downstream ZC, the upstream ZC also transmits control messages to the non-master-control trains to maintain communication. 
     
     
         13 . The method according to  claim 8 , wherein the downstream ZC simultaneously concatenates a list of turnouts on a route where the master-control train is located and a turnout list in the variable information transmitted by the upstream ZC together as final variable information and transmits the final variable information to the master-control train. 
     
     
         14 . The method according to  claim 9 , wherein the downstream ZC transmits control messages to the non-master-control trains to maintain communication. 
     
     
         15 . A train protection system, comprising:
 at least one processor; and   a memory coupled to the at least one processor to store instructions, which when executed by the at least one processor, cause the train protection to perform operations, the operations including:
 determining, by each ZC of a plurality of ZCs, a safety positioning zone of each train of coupled trains according to a position message transmitted by a train of the coupled trains, wherein the coupled trains include a master-control train for obtaining movement authorization of zone controllers (ZCs) and multiple non-master-control trains by coupling, the master-control train taking the obtained movement authorization as a running basis of the coupled trains; 
 when the safety positioning zone of each train of the coupled trains has an intersection with a ZC area of the ZCs, calculating, by each ZC located within the intersection, time delay protection of each train according to the safety positioning zone of the train, and determining a train time delay protection sequence; 
 when a movement authorization of the master-control train reaches a ZC boundary, transmitting, by two adjacent ZCs on two sides of the ZC boundary, handover messages to each other according to the train time delay protection sequences thereof, wherein a handover message includes a train sequence, the position message, the movement authorization and variable information; 
 creating, by the two adjacent ZCs, a train set according to the position messages of the coupled trains located within the ZCs and the messages transmitted from each other; 
 calculating, by at least one ZC of the two adjacent ZCs, a valid movement authorization and variable information for the master-control train of the train set; 
 concatenating, by the two adjacent ZCs, the movement authorization and the variable information transmitted from each other when the movement authorization and the variable information cross the ZC boundary; 
 transmitting, by one of the two adjacent ZCs, the concatenated movement authorization and variable information to the master-control train as the running basis; and 
 operating the coupled trains according to the concatenated movement authorization. 
   
     
     
         16 . The train protection system according to  claim 15 , wherein the safety positioning zone of the train satisfies:
 when the train does not reach the ZC boundary, the safety positioning zone thereof is completely located within a current ZC area;   when the train is crossing the ZC boundary, the safety positioning zone thereof is located within two adjacent ZC areas on two sides of the ZC boundary respectively; and   after the train has completely crossed the ZC boundary, the safety positioning zone thereof has no intersection with the current ZC area.   
     
     
         17 . The train protection system according to  claim 15 , wherein when the movement authorization of the master-control train reaches the ZC boundary, a current ZC of the master-control train triggers a train handover process, and the current ZC transmits the position messages of the coupled trains, train sequences, and a “handover” state, the movement authorization and the variable information of the coupled trains to an incoming ZC; and
 wherein when the train reaches the ZC boundary, the current ZC serves as an upstream ZC, and the incoming ZC serves as a downstream ZC. 
 
     
     
         18 . The train protection system according to  claim 17 , wherein after the downstream ZC receives a handover message of the upstream ZC, the coupled trains continue to run, the downstream ZC searches for the movement authorization at the ZC boundary, the downstream ZC replies with a reply message to the upstream ZC according to valid or invalid movement authorization based on the searching, and according to the reply message, the upstream ZC determines that the upstream ZC or the downstream ZC transmits a train control message to the master-control train as the running basis of the coupled trains. 
     
     
         19 . The train protection system according to  claim 18 , wherein when the master-control train does not cross the ZC boundary and the downstream ZC searches out a valid movement authorization, the downstream ZC calculates variable information for the master-control train and replies with a handover state of “takeover”, the movement authorization and the variable information to the upstream ZC, and the upstream ZC concatenates a complete train control message according to the reply message of the downstream ZC and transmits the complete train control message to the master-control train as the running basis of the coupled trains. 
     
     
         20 . A non-transitory machine-readable medium having instructions stored therein, which when executed by at least one processor, cause the at least one processor to perform operations, the operations comprising:
 determining, by each ZC of a plurality of ZCs, a safety positioning zone of each train of coupled trains according to a position message transmitted by a train of the coupled trains, wherein the coupled trains include a master-control train for obtaining movement authorization of zone controllers (ZCs) and multiple non-master-control trains by coupling, the master-control train taking the obtained movement authorization as a running basis of the coupled trains;   when the safety positioning zone of each train of the coupled trains has an intersection with a ZC area of the ZCs, calculating, by each ZC located within the intersection, time delay protection of each train according to the safety positioning zone of the train, and determining a train time delay protection sequence;   when a movement authorization of the master-control train reaches a ZC boundary, transmitting, by two adjacent ZCs on two sides of the ZC boundary, handover messages to each other according to the train time delay protection sequences thereof, wherein a handover message includes a train sequence, the position message, the movement authorization and variable information; creating, by the two adjacent ZCs, a train set according to the position messages of the coupled trains located within the ZCs and the messages transmitted from each other;   calculating, by at least one ZC of the two adjacent ZCs, a valid movement authorization and variable information for the master-control train of the train set;   concatenating, by the two adjacent ZCs, the movement authorization and the variable information transmitted from each other when the movement authorization and the variable information cross the ZC boundary;   transmitting, by one of the two adjacent ZCs, the concatenated movement authorization and variable information to the master-control train as the running basis; and   operating the coupled trains according to the concatenated movement authorization.