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Train interval control and train-centric distributed interlocking algorithm for autonomous train driving control system

열차자율주행제어시스템을 위한 간격제어와 차상중심 분산형 연동 알고리즘

  • Oh, Sehchan (Signalling & Communication Research Team, Korea Railroad Research Institute) ;
  • Kim, Kyunghee (Signalling & Communication Research Team, Korea Railroad Research Institute) ;
  • Choi, Hyeonyeong (Signalling & Communication Research Team, Korea Railroad Research Institute)
  • 오세찬 (한국철도기술연구원 지능형신호통신연구팀) ;
  • 김경희 (한국철도기술연구원 지능형신호통신연구팀) ;
  • 최현영 (한국철도기술연구원 지능형신호통신연구팀)
  • Received : 2016.09.30
  • Accepted : 2016.11.10
  • Published : 2016.11.30

Abstract

Train control systems have changed from wayside electricity-centric to onboard communications-centric. The latest train control system, the CBTC system, has high efficiency for interval control based on two-way radio communications between the onboard and wayside systems. However, since the wayside system is the center of control, the number of input trains to allow a wayside system is limited, and due to the cyclic-path control flows between onboard and wayside systems, headway improvement is limited. In this paper, we propose a train interval-control and train-centric distributed interlocking algorithm for an autonomous train-driving control system. Because an autonomous train-driving control system performs interval and branch control onboard, both tracks and switches are shared resources as well as semaphore elements. The proposed autonomous train-driving control performs train interval control via direct communication between trains or between trains and track-side apparatus, instead of relying on control commands from ground control systems. The proposed interlocking algorithm newly defines the semaphore scheme using a unique key for the shared resource, and a switch that is not accessed at the same time by the interlocking system within each train. The simulated results show the proposed autonomous train-driving control system improves interval control performance, and safe train control is possible with a simplified interlocking algorithm by comparing the proposed train-centric distributed interlocking algorithm and various types of interlock logic performed in existing interlocking systems.

열차제어시스템은 지상 전기 중심에서 차상 통신 중심으로 변화하고 있다. 최신의 열차제어시스템인 CBTC 시스템은 차상과 지상시스템 간 양방향 무선통신을 기반으로 높은 간격제어 효율을 가진다. 하지만 지상이 제어의 중심이 되고 있기 때문에 하나의 지상시스템이 허용할 수 있는 열차 투입 대수가 제한되고 차상과 지상제어시스템 간 cyclic-path 제어흐름으로 인해 운전시격 단축에 한계를 가진다. 본 논문은 열차자율주행제어시스템을 위한 간격제어와 차상중심 분산형 연동 알고리즘을 제안한다. 열차자율주행제어시스템은 차상에서 간격제어와 함께 분기제어를 수행하므로 선로와 분기기는 공유자원인 동시에 세마포어 요소이다. 제안된 열차자율주행기반 간격제어는 지상 제어시스템의 제어명령에 의존하지 않고 열차와 열차 또는 선로변 설비와의 직접적인 무선통신을 통해 열차 간격제어를 수행한다. 제안된 연동 알고리즘은 공유자원인 선로전환기가 동시에 두 대 이상의 열차가 점유하지 못하도록 선로전환기 고유 key를 이용한 세마포어 기법을 새롭게 정의한다. 시뮬레이션을 통해 제안된 열차자율주행제어시스템의 향상된 간격제어 성능을 확인하며, 차상중심 분산형 연동알고리즘과 기존의 연동장치에서 수행하던 여러 연동논리를 비교함으로써 단순화된 연동알고리즘으로 안전한 열차제어가 가능함을 확인한다.

Keywords

References

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