BCT 구현을 위한 핵심기술 개발 Core Technology Development of Borderless Communication Based Train Control System

국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. KRRI 연구 2016-119 BCT 구현을 위한 핵심기술 개발 Core Technology Development of Borderless Communication based Train control system 2016.12 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. KRRI 연구 2016-119 BCT 구현을 위한 핵심기술 개발 Core Technology Development of Borderless Communication based Train control system 2016.12 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. 제 출 문 한국철도기술연구원 원장 귀하 본 보고서를 “BCT 구현을 위한 핵심기술개발” 과제의 보고서로 제출합니다. 2016년 12월 31일 연구기관명 연구책임자 연구원 한국철도기술연구원 선임연구원 오 세 찬 사업총괄 수석연구원 창 상 훈 전략수립 수석연구원 한 석 윤 성과확산 선임연구원 김 민 수 제어설계 선임연구원 신 경 호 진로설계 선임연구원 김 주 욱 안전성활동 선임연구원 김 경 희 통신설계 선임연구원 최 현 영 통신설계 <ul style="display: flex;"><li style="flex:1">위탁연구기관 </li><li style="flex:1">아주대학교 </li></ul><ul style="display: flex;"><li style="flex:1">국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. </li><li style="flex:1">국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. </li></ul>보고서 요약서 총연구 기 간 당해연도 연구기간 과제코드 <ul style="display: flex;"><li style="flex:1">연구사업명 </li><li style="flex:1">한국철도기술연구원 주요사업 </li></ul>대과제명 세부과제명 교통복지 실현을 위한 지능형 광역도시철도 시스템 개발 구현을 위한 핵심기술 개발 연구과제명 연구책임자 총 내부 외부 명명명 정부 기업 계 천원 천원 천원 해당단계 해당단계 연 구 비 <ul style="display: flex;"><li style="flex:1">오 세 찬 </li><li style="flex:1">참</li><li style="flex:1">여</li></ul>연구원수 연구기관명 및 한국철도기술연구원 소 속 부 서 명 광역도시교통연구본부 참여기업명 국제공동연구 <ul style="display: flex;"><li style="flex:1">위탁연구 </li><li style="flex:1">연구기관명 아주대학교 </li><li style="flex:1">연구책임자 강경란 </li></ul><ul style="display: flex;"><li style="flex:1">자 이내 </li><li style="flex:1">요약 연구결과를 중심으로 개조식 </li><li style="flex:1">보고서면수 </li></ul>열차자율주행제어시스템 개발전략 수립 국내외 현황분석 시스템 개발범위 및 방안도출 시스템 개발요구사양 도출 열차간 연결 무결성 확보시스템 설계 <ul style="display: flex;"><li style="flex:1">기존 </li><li style="flex:1">과</li><li style="flex:1">사례분석 </li></ul><ul style="display: flex;"><li style="flex:1">분석 </li><li style="flex:1">이동통신 </li></ul>시스템 개발요구사항 작성 열차간 연결 상황에 대한 시나리오 도출 열차간 연결 이례상황 정의 및 상황별 해결방안 수립 열차간 연결 무결성 확보를 위한 관련 알고리즘 유형분석 열차간 연결 무결성 확보 알고리즘 개발 열차간 연결 무결성 확보시스템 프레임워크 설계 열차자율주행제어 핵심알고리즘 설계 시스템 기능정의 및 분배 열차자율주행 안전간격제어 및 자동주행 알고리즘 설계 열차자율주행 진로제어알고리즘 및 기존 열차제어시스템과 연계시스템 설계 열차자율주행제어 시스템 설계 자동감시 알고리즘 설계 시스템 기능요구사양서 작성 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. 시스템 개발요구사양서 작성 열차자율주행제어 시스템 안전성활동 안전성 활동체계 수립 위험원 분석 및 설계단계 안전성 활동 열차자율주행제어 시스템 검증방안 연구 검증방안 및 항목 도출 한 글 열차간 연결기반 열차자율주행제어시스템 차상중심 직접경로 경계없는 색 인 어 각 개 이상 영 어 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. 요 약 문 제목 구현을 위한 핵심기술 개발 연구개발의 목적 및 필요성 전 세계적으로 인구의 도시집중화가 지속화됨에 따라 광역 도시교통분야에서 수송력 향상은 주된 미래 전략적 목표중 하나이다 따라서 정해진 선로에 가능한 많은 편성의 열차를 투입하 면서 운전시격을 단축시키는 새로운 열차제어시스템의 개발이 필요하다 기존의 무선통신기반 열차제어시스템은 차상시스템과 지상시스템 간 이루어지는 제어정보를 기반으로 간격제어를 수행해 왔다 하지만 후행열차와 선행열차 간격제어를 지상시스템에 의존 하는 지게 된다 선행열차와 후행열차 간 전한 간격을 제어하는 새로운 열차제어시스템 개발이 필요하다 형태의 제어경로를 가지기 때문에 운전시격의 단축에 있어서 한계를 가 형태의 직접적인 제어경로를 통해 열차의 안 <ul style="display: flex;"><li style="flex:1">기존의 지상중심 열차제어시스템은 지상 </li><li style="flex:1">등의 지상설비가 반드시 필요하며 지상에 </li></ul>서 관할 영역의 모든 열차를 관리하게 되므로 일정 투입열차 이상에서는 처리용량에 한계가 발생되며 설비의 증설이 불가피하게 된다 따라서 기존 지상중심 무선통신열차제어시스템의 지 <ul style="display: flex;"><li style="flex:1">상</li><li style="flex:1">등의 지상설비 없이 열차간 제어정보 교환을 통해 안전한 열차운행이 가능한 </li></ul>열차자율주행기술개발이 필요하다 향후 열차자율주행제어시스템이 적용될 경우 운전시격의 향상과 함께 지상의 제어설비 절감 에 따른 설비투자 및 유지보수비용 절감에 기여하며 차세대 무선통신기반 열차제어시스템 핵 심기술 확보를 통해 향후 철도신호시스템 기술시장을 선도할 수 있을 것으로 기대된다 연구개발의 내용 및 범위 열차자율주행제어시스템 개발전략 수립 국내외 현황분석 - i - 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. 시스템 개발범위 및 방안도출 시스템 개발요구사양 도출 열차간 연결 무결성 확보시스템 설계 <ul style="display: flex;"><li style="flex:1">기존 </li><li style="flex:1">과</li><li style="flex:1">사례분석 </li></ul><ul style="display: flex;"><li style="flex:1">분석 </li><li style="flex:1">이동통신 </li></ul>시스템 개발요구사항 작성 열차간 연결 상황에 대한 시나리오 도출 열차간 연결 이례상황 정의 및 상황별 해결방안 수립 열차간 연결 무결성 확보를 위한 관련 알고리즘 유형분석 열차간 연결 무결성 확보 알고리즘 개발 열차간 연결 무결성 확보시스템 프레임워크 설계 열차자율주행제어 핵심 알고리즘 설계 시스템 기능정의 및 분배 열차자율주행 안전간격제어 및 자동주행 알고리즘 설계 <ul style="display: flex;"><li style="flex:1">열차자율주행 진로제어알고리즘 및 </li><li style="flex:1">자동감시 알고리즘 설계 </li></ul>기존 열차제어시스템과 연계시스템 설계 열차자율주행제어시스템 설계 시스템 기능요구사양서 작성 시스템 개발요구사양서 작성 열차자율주행제어시스템 안전성활동 안전성 활동체계 수립 위험원 분석 및 설계단계 안전성 활동 열차자율주행제어시스템 검증방안 연구 검증방안 및 항목 도출 - ii - 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. 연구개발결과 열차자율주행제어시스템 개발전략 수립 시스템 개발을 위해 먼저 국내외 현황분석을 수행하였다 철도 선진국의 최신 열차제어시스템 프 로젝트와 국내의 연구개발 현황에 대해 분석하였다 시스템 개발범위와 방안을 도출하였으며 시스 템 개요와 성능 안전 환경 요구사양을 포함하는 시스템 정의 사양서를 작성하였다 열차간 연결 무결성 확보시스템 설계 <ul style="display: flex;"><li style="flex:1">기존의 </li><li style="flex:1">과</li><li style="flex:1">그리고 이동통신 </li><li style="flex:1">등의 사례를 분석하였고 열차제어에 필요 </li></ul>한 시스템 개발요구사항을 도출하였다 이를 반영하여 다양한 열차간 연결 상황에 대한 시나리오를 도출하였으며 이례상황과 함께 상황별 해결방안을 수립하였다 열차간 연결 무결성 확보를 위해 <ul style="display: flex;"><li style="flex:1">과</li><li style="flex:1">분야의 </li><li style="flex:1">등의 알고리즘을 분석하였다 열차 </li></ul>간 연결 무결성 확보 알고리즘을 설계하였으며 알고리즘에 기반하여 시스템 구현을 위한 프레임워 크를 설계하였다 열차자율주행제어 핵심 알고리즘 설계 제어 시스템의 기능을 정의하였으며 이를 토대로 열차자율주행기반 분산형 안전간 격제어 및 자동주행 알고리즘을 설계하였다 열차의 위치 불확설성에 대한 보상 알고 리즘 간격제어 알고리즘 등을 설계하였다 열차자율주행기반 분산형 진로제어 알고리 <ul style="display: flex;"><li style="flex:1">즘 및 </li><li style="flex:1">자동감시 알고리즘을 설계하였다 기존의 궤도회기반 및 </li><li style="flex:1">와의 연 </li></ul>계를 위한 인터페이스를 설계하였다 열차자율주행제어시스템 설계 기능을 포함하는 시스템 기능사양서를 작성하였으며 이를 토대로 시 <ul style="display: flex;"><li style="flex:1">개발요구사양을 작성하였다 </li><li style="flex:1">스템 </li><li style="flex:1">및</li></ul>열차자율주행제어시스템 안전성 활동 <ul style="display: flex;"><li style="flex:1">안전성 활동체계를 수립하였으며 </li><li style="flex:1">를 포함하는 위험원 분석 및 </li></ul>설계단계의 안전성 활동을 수행하였다 - iii - 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. 열차자율주행제어시스템 검증방안 연구 시뮬레이터를 활용한 시스템 검증방안 및 시험항목을 도출하였다 연구개발결과의 활용계획 본 연구에서는 열차자율주행을 위한 제어핵심기술을 개발하는 것으로 본 기술이 개발될 경우 향 후 차세대 무선통신기반 열차제어시스템 개발에 있어서 원천기술로써 활용이 가능하다 또한 자동 차를 비롯한 타 교통분야의 주행안전기술 지능형 주행자동기술 등 관련 연구개발에 활용이 가능할 것으로 판단된다 - iv - 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. The objectives of this study is to develop the core technologies of Borderless communication based train control system. The detailed objectives are as follows: ◦ Establishment of autonomous train control system development strategy ◦ Development of inter-train communication integrity system ◦ Development of core algorithm for autonomous train control ◦ Design of autonomous train control system ◦ Safety activities for development of autonomous train control system ◦ Validation plan for autonomous train control system ◦ Analysis of domestic and foreign R&D ◦ System development plan and scope ◦ System development requirements specification ◦ Analysis of existing MANET and VANET solutions ◦ Analysis of Mobile M2M solution ◦ System development requirements specification ◦ Derivation scenario for the connection status between the trains ◦ Establishing connections between trains defined exceptional circumstances and context-specific solutions - v - 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. ◦ Related type of algorithm analysis for securing the connection between the train integrity ◦ Development of connections between trains ensure the integrity algorithm ◦ Securing connections between trains integrity system framework design ◦ Definition and allocation of the system functions ◦ Development of algorithms of distributed safe interval control and autonomous diving control ◦ Development of algorithms of distributed safe route control and automatic supervision ◦ Development of interface system with the existing train control system ◦ System requirements specification ◦ System development requirements specification ◦ Establishment of system safety activities ◦ Hazard analysis and design phase safety activities ◦ Definition entry and verification measures ◦ Analysis of domestic and foreign R&D was performed first for system development. R&D of the latest projects of the developed countries and domestic were analyzed. System development plan and scope and system development requirements <ul style="display: flex;"><li style="flex:1">specification which includes </li><li style="flex:1">a</li><li style="flex:1">system overview and performance, safety and </li></ul>environmental requirements were drawn. ◦ Analyzed existing practices, such as MANET, VANET and M2M in mobile communications and derived with system development requirements specification for - vi - 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. train control. To reflect the requirements, various train connection scenario was established and contextual solutions with exceptional situations were defined. To develop the inter-train communication integrity system, various neighbor discovery and clustering algorithm in VANET and MANET areas was analyzed. Inter-train communication integrity algorithm and a framework for system implementation based on the algorithm were designed. ◦ System functions were defined and allocated to subsystems and autonomous distributed safety interval control and automatic driving algorithms were designed based on them. Compensation algorithm for train position uncertainty and train interval control algorithms were designed. Train autonomous based distributed route control algorithm and ATS automatic supervision algorithm were designed. Interface systems with the existing train control systems were also designed. ◦ Functional specifications which include ATP/EI/ATO functions was defined and system H/W and S/W development specification were defined based on it. ◦ Established safety activity plan and hazard analysis and design phase safety activities were performed which includes PHA, SHA and FMEA. ◦ Defined entry and verification measures using the simulator. This study is to develop a key technologies for the autonomous train control system. If this technology be developed it can be utilized as the core technology in the development of next generation radio-based train control system. It is also considered, this technologies are expected to be utilized various R&D such as intelligent Automobile technologies and driving safety technology in other transport sector, and so on. - vii - 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. <ul style="display: flex;"><li style="flex:1">목</li><li style="flex:1">차</li></ul>요약문 ······································································································································································ i 제1장 연구개발과제의 개요 ······························································································································· 1 제1절 연구개발 배경 및 필요성 ······················································································································· 1 1. 연구개발 배경 ·················································································································································· 1 2. 연구개발 필요성 ·············································································································································· 2 제2절 연구개발 목표 및 내용 ··························································································································· 4 1. 연구개발 목표 ·················································································································································· 4 가. 최종목표 ·························································································································································· 4 나. 세부목표 ·························································································································································· 4 2. 연구개발 내용 ·················································································································································· 6 가. 연차별 연구목표 및 내용 ···························································································································· 6 나. 당해연도(2016년) 세부목표 및 내용 ········································································································· 8 다. 연구 성과물(품) ··········································································································································· 12 제2장 국내외 기술개발 현황 ·························································································································· 15 제1절 선진국의 기술개발 동향 ······················································································································ 15 1. 미국의 CBTC 프로젝트 ································································································································ 15 2. 유럽의 ERTMS/ETCS 프로젝트 ·················································································································· 19 3. 중국의 CTCS(Chinese Train Control System) ························································································ 22 4. 유럽의 차세대 열차제어 프로젝트 ··········································································································· 25 가. Alstom Urbalis Fluence ····························································································································· 25 제2절 연구개발 현황 ········································································································································ 27 1. 국내 연구개발 현황 ····································································································································· 27 제3장 연구개발 수행 내용 및 결과 ·············································································································· 31 - viii - 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. 제1절 시스템 개발전략 수립 ·························································································································· 31 1. 시스템 개발범위 및 방안도출 ··················································································································· 31 2. 시스템 개발요구사양 도출 ························································································································· 32 제2절 열차간 연결 무결성 확보시스템 개발 ······························································································ 60 1. MANET 및 VANET 환경에서 이동단말 사례조사 및 분석 ································································· 60 가. Mobile Ad-hoc Network (MANET)의 neighbor discovery 기법 ····················································· 60 나. Vehicular Ad-hoc Network (VANET) WBSS 기반 neighbor discovery 기법 ································ 61 2. 이동통신 M2M Solution 분석 ··················································································································· 62 3. 시스템 개발요구사항 작성 ························································································································· 63 4. 열차간 연결 상황에 대한 시나리오 도출 ······························································································· 64 5. 열차간 연결 이례상황 정의 및 상황별 해결방안 수립 ······································································· 68 가. 열차의 분기 및 합류상황 ·························································································································· 68 나. 열차의 고장상황 ·········································································································································· 69 6. 열차간 연결 무결성 확보를 위한 관련 알고리즘 유형 분석 ····························································· 72 가. Neighbor discovery in MANET ··············································································································· 72 나. VANET의 neighbor discovery and clustering ······················································································ 74 7. 열차간 연결 무결성 확보를 위한 알고리즘 개발 ················································································· 80 8. 열차간 연결 무결성 확보시스템 프레임워크 설계 ··············································································· 88 가. 메인 시나리오 ·············································································································································· 88 나. 주요기능 ························································································································································ 89 제3절 열차자율주행 제어핵심기술 개발 ···································································································· 101 1. 시스템 기능정의 및 분배 ························································································································· 101 2. 열차자율주행 안전간격제어 및 자동주행 알고리즘 설계 ································································· 103 가. 위치불확실성 보상알고리즘 ··················································································································· 103 나. 간격제어 알고리즘 ··································································································································· 110 3. 열차자율주행 진로제어알고리즘 및 ATS 자동감시시스템 설계 ······················································ 115 가. 시스템 구성 ··············································································································································· 115 나. PM과 분기영역의 정의 ··························································································································· 117 다. 분산형 연동알고리즘 ······························································································································· 118 라. 분산형 연동알고리즘 분석 ····················································································································· 121 4. BCT ATP 좌표계 설계 ······························································································································· 123 가. TAG 기준 좌표계의 방위정의 ················································································································ 123 - ix - 국가연구개발 보고서원문 성과물 전담기관인 한국과학기술정보연구원에서 가공·서비스 하는 연구보고서는 동의 없이 상업적 및 기타 영리목적으로 사용할 수 없습니다. 나. TAG 기준 좌표계의 설계 ························································································································ 124 5. 기존 열차제어시스템과의 연계시스템 설계 ························································································· 128 가. 신호기 현시 제어 시스템과의 연계 방안 ··························································································· 129 나. 신호기 속도 제어 시스템과의 연계 방안 ··························································································· 130 다. 고정폐색 속도제어 시스템과의 연계 방안 ························································································· 131 라. KRTCS와의 연계 방안 ······························································································································ 132 제4절 열차자율주행시스템 설계 ·················································································································· 133 1. 시스템 기능요구사양서 작성 ··················································································································· 133 2. 시스템 개발요구사양 작성 ······················································································································· 212 가. H/W 개발요구사양 ································································································································· 212 나. S/W 개발요구사양 ···································································································································· 225 제5절 열차자율주행제어시스템 안전성 활동 ···························································································· 274 1. 안전성 활동체계 수립 ······························································································································· 274 2. 위험원 분석 및 설계단계 안전성 활동 ································································································· 278 가. 예비위험분석(PHA) ··································································································································· 278 나. 시스템위험분석(SHA) ······························································································································· 293 다. 고장모드 영향분석(FMEA) ······················································································································· 312 제6절 열차자율주행제어시스템 검증방안 연구 ························································································ 328 1. 검증방안 ····················································································································································· 328 2. 시험 항목도출 ············································································································································· 331

BCT 구현을 위한 핵심기술 개발 Core Technology Development of Borderless Communication Based Train Control System

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