US 12,304,539 B2
Automatic driving methods, vehicle on-board controllers, traffic control integrated automation systems, and zone controllers
Chao Liu, Beijing (CN); and Qiang Zhang, Beijing (CN)
Assigned to Traffic Control Technology Co., Ltd, Beijing (CN)
Appl. No. 17/766,228
Filed by Traffic Control Technology Co., Ltd, Beijing (CN)
PCT Filed Dec. 25, 2019, PCT No. PCT/CN2019/128360
§ 371(c)(1), (2) Date Apr. 2, 2022,
PCT Pub. No. WO2021/082256, PCT Pub. Date May 6, 2021.
Claims priority of application No. 201911038667.X (CN), filed on Oct. 29, 2019.
Prior Publication US 2024/0051587 A1, Feb. 15, 2024
Int. Cl. B61L 27/04 (2006.01); B61L 27/20 (2022.01); B61L 27/40 (2022.01)
CPC B61L 27/04 (2013.01) [B61L 27/20 (2022.01); B61L 27/40 (2022.01); B61L 2027/204 (2022.01)] 14 Claims
OG exemplary drawing
 
1. An automatic driving method applied to a Grade of Automation 4 (GoA4) level driving scenario, the method comprising:
sending, when a position of a target train is lost in a Full Automatic Mode (FAM) mode and the target train is in an emergency-brake-stop state, a train message to a Traffic Control Integrated Automation System (TIAS) and fault information indicating loss of train position to a Zone Controller (ZC), the train message including request information for a Remote Restricted Train Operating Mode (RRM) mode;
receiving a RRM mode instruction sent by the TIAS and a movement instruction sent by the ZC; and
controlling the target train to travel in the RRM mode according to the RRM mode instruction and the movement instruction,
receiving a movement prohibition instruction which is sent by the ZC if segment occupancy information includes information indicating that a front section within an automatic protection range is occupied, wherein
when the position of the target train is lost and the target train is in the emergency-brake-stop state, the automatic protection range is a first automatic protection range, and the first automatic protection range is an overlapped part between an estimated range of the first automatic protection range and a range indicated by Movement Authority (MA) of the target train prior to loss of the position of the target train, the estimated range being determined based on an estimated train stop position; and
when the target train is in the RRM mode, the automatic protection range is between a largest position of the first automatic protection range and a position of a front platform,
controlling, according to the movement prohibition instruction, the target train to perform an emergency brake to stop.