Autonomous sensing system for train

Abstract

The invention relates to a autonomous sensing system for train, comprising: an on-board subsystem used for recognizing an obstacle in a rail operation region; a trackside subsystem used for making up limitations in detection distance of sensors of the on-board subsystem and enhancing detection in key regions out of sight; a handheld mobile terminal subsystem carried and operated by a train attendant and used for checking, displaying and confirmation; a center server subsystem used for acquiring operating states and warning information of other subsystems and performing combinational logic processing based on global state data; and a dispatch terminal subsystem communicating with the center server subsystem and used for acquiring and displaying operating states of lineside subsystems and devices, displaying the position of a train and the installation position of the trackside subsystem, checking alarm information of the subsystems and managing the devices of the subsystems. Compared with the prior art, the autonomous sensing system for train allows trains to find obstacles actively and takes measures according to the condition of the obstacles.

1 . A autonomous sensing system for train, comprising:
 an on-board subsystem installed on a train in operation and used for acquiring rail operation region information and obstacle information in front by means of sensors to recognize an obstacle in a rail operation region;   a trackside subsystem installed beside a track and used for making up limitations in detection distance of the sensors of the on-board subsystem and enhancing detection in key regions out of sight to improve an obstacle detection capacity;   a center server subsystem communicating with the on-board subsystem and the trackside subsystem respectively to acquire operating states and warning information of the on-board subsystem and the trackside subsystem and used for performing combinational logic processing based on global state data;   a dispatch terminal subsystem communicating with the center server subsystem and used for acquiring and displaying operating states of lineside subsystems and devices, displaying a position of the train and an installation position of the trackside subsystem, checking alarm information of the subsystems and managing the devices of the subsystems.   
     
     
         2 . The autonomous sensing system for train according to  claim 1 , wherein the autonomous sensing system for train further comprises a handheld mobile terminal subsystem which is carried and operated by a train attendant, and after being bound to the on-board subsystem, the handheld mobile terminal subsystem communicates with the on-board subsystem to check the operating state of the on-board subsystem, displays related alarm information and confirms the obstacle. 
     
     
         3 . The autonomous sensing system for train according to  claim 2 , wherein the handheld mobile terminal subsystem is suitable for a driverless train, and the train attendant binds a handheld mobile terminal of an on-board host computer of the train to the handheld mobile terminal subsystem to check an operating state and alarm information of the autonomous sensing system for train and checks detailed alarm information and handling suggestions by means of the handheld mobile terminal if there is an obstacle alarm when the attendant is on duty. 
     
     
         4 . The autonomous sensing system for train according to  claim 1 , wherein the key regions comprise curve regions, ends of ramps, entrances and exits of tunnels, overpasses, platform regions and terminal regions. 
     
     
         5 . The autonomous sensing system for train according to  claim 1 , wherein the on-board subsystem communicates with the trackside subsystem through a network to obtain obstacle information within a detection range of the trackside subsystem, such that a detection range and distance of the on-board subsystem are extended. 
     
     
         6 . The autonomous sensing system for train according to  claim 1 , wherein multiple said trackside subsystems are arranged in a region with a series of curves, and the on-board subsystem synchronously communicates with the multiple trackside systems to maximize the detection distance. 
     
     
         7 . The autonomous sensing system for train according to  claim 1 , wherein the on-board subsystems of multiple trains obtain positions and speeds of the trains by means of a center server, and the trains determine a probability of collision according to their relative positions and keep a safe operation distance therebetween. 
     
     
         8 . The autonomous sensing system for train according to  claim 1 , wherein multiple connected said trackside subsystems communicate with each other to exchange rail operation region detection information to obtain a long detection distance by information fusion and send the long detection distance to the on-board subsystem. 
     
     
         9 . The autonomous sensing system for train according to  claim 1 , wherein the dispatch terminal subsystem checks, at an operation control center, obstacle alarm information of all trains, assign personnel to remove the obstacle, and then resumes train operation. 
     
     
         10 . The autonomous sensing system for train according to  claim 1 , wherein the dispatch terminal subsystem receives various abnormal obstacles reported by the trackside subsystem and sets filter alarms by time to avoid false alarms given by construction personnel in a traffic break time, and the abnormal obstacles are various obstacle invasions other than normal trains. 
     
     
         11 . The autonomous sensing system for train according to  claim 1 , wherein the center server subsystem receives and records various alarms and operation logs of other subsystems, which actively initiate network connection to the center server subsystem and report device and system self-inspection states after being powered on to boot up, the on-board subsystem needs to report its position in real time, and the center server subsystem is able to forward various messages, such that a protection linkage mechanism between multiple subsystems is formed. 
     
     
         12 . The autonomous sensing system for train according to  claim 1 , wherein the on-board subsystem outputs the obstacle information by means of a signal system interface L1, a train interface L2 or a man-machine interface L3 according to configuration;
 the obstacle information is output by means of L1, L2 and L3, or by two of L1, L2 and L3, or by one of L1, L2 and L3, and a specific configuration depends on interface configuration of the train and customer requirements.   
     
     
         13 . The autonomous sensing system for train according to  claim 12 , wherein the specific configuration is as follows:
 (1) in a case where a signal system operates normally, the on-board subsystem sends the obstacle information to the signal system by means of the signal system interface L1, and the on-board signal system determines, according to a position of the obstacle and a position of an end of current movement authority, whether braking is needed and a level of braking;   (2) in a case where the signal system interface L1 is cut off or disabled, the on-board subsystem generates an emergency braking instruction according to the obstacle information and outputs the emergency braking instruction by means of the train interface L2 to trigger emergency braking of the train to decelerate the train until the train stops;   (3) in a case where the signal system interface L1 and the train interface L2 are both disabled, the on-board subsystem outputs a warning prompt by means of the man-machine interface L3 to remind a driver and a dispatcher on duty to pay attention to the obstacle in front.   
     
     
         14 . The autonomous sensing system for train according to  claim 12 , wherein in a case where a train control system in a CBTC mode is unable to control the train due to a fault, a signal light works, at this moment, the train is driven by a driver, the driver drives the train to pass through the signal light or stops the train in front of the signal light according to a state indication of the signal; in this case, a signal indicating “no-passing” is also considered as an “obstacle”, the on-board subsystem recognizes a color of the signal light, and when recognizing that the color light of the signal is red, which indicates “no-passing”, the on-board subsystem outputs special obstacle information by means of L3 to remind the driver not to drive across the red light. 
     
     
         15 . The autonomous sensing system for train according to  claim 1 , wherein the autonomous sensing system for train adopts a two out of two safety mechanism to satisfy requirements of SIL4.