KR20050094712A - Train unmanned automatic operation system - Google Patents

Abstract

 The present invention relates to an unmanned automatic driving system of a train, by using a wireless communication technology to minimize the equipment installed on the ground while detecting the state of the car on the ground, the train operation failure by remotely controlling the train according to the detected result The present invention relates to an unmanned automatic driving system of a ground-based train that can eliminate or minimize the number of trains.

 The present invention detects the current position of a train in real time using a reliable wireless communication system and train operation control in a state in which a driver or a crew does not board a train through real-time monitoring of the state of the train in operation. It aims to provide an automatic unmanned train system that can be used. By applying wireless communication, it is possible to shorten the interval of train operation without using the signal equipment such as track circuits and loops installed on the tracks. Can be.

Description

Train unmanned automatic operation system

The present invention relates to an unmanned automatic driving system of a train, by using a wireless communication technology to minimize the equipment installed on the ground while detecting the state of the car on the ground, the train operation failure by remotely controlling the train according to the detected result The present invention relates to an unmanned automatic driving system of a ground-based train that can eliminate or minimize the number of trains.

Most signal systems in operation use track circuits to manage train operations.

Such signal systems are classified into ATS (Automatic Train Stop), ATC (Automatic Train Control), and ATP (Automatic Train Protection) according to the information transmitted from the ground to the vehicle.

The track circuit that transmits train control information includes DC track circuit, AC track circuit, code track circuit, high voltage impulse track circuit and AF track circuit. The circuit must be selected.

As shown in Fig. 1, the track circuit is an electric circuit constituted by using the track insulation 2 to the rail 1 on which the train travels at regular intervals.

When the train travels on the rail 1, the current supplied from the power source 9 circulates through the loop of the rail 1 → wheel 4 → axle 5 → wheel 4 → rail 1. The relay 8 is then extinguished and the R signal 6 is turned on to detect that the train has entered the track circuit.

If the train does not occupy the rail 1, the current loop becomes a power source 9 → a rail 1 → a relay 8 → a rail 1 → a power source 9.

At this time, the relay 8 is excited to light the G signal 7 to detect that the train is not in the track circuit.

Since such a track circuit is only capable of detecting a train, in order to perform functions related to train operation such as train stop and train speed control, an appropriate track circuit based on the track circuit has been developed and used.

As the demand for transportation of trains increases, the operating interval of trains should be shortened. To satisfy this, the length of the track circuit should be as short as possible.

However, if the length of the track circuit is shortened, the track circuit equipment installed on the track on which the train runs increases, which makes the ground signal equipment complicated, which lowers the reliability, increases the maintenance cost due to the increase of equipment, Various problems such as deterioration of train detection performance occur.

In addition, since there are physical limitations on the amount of information and transmission speed transmitted from the ground to the vehicle using the track circuit as a communication medium, it is difficult to shorten the operating interval of the train to the level required by the operator. It is impossible.

In order to improve the problem of such a track circuit, the method as shown in FIG.

In this way, a train loop is installed between the rail and the rail on which the train travels to perform train position detection and train speed control.

When the train runs, the ATP / TD antenna 12 installed on the vehicle counts the intersection point 14 of the ATP / TD loop 13 installed between the rail and the rail to calculate the train position in the onboard train control device 11. The ground train control device 17 transmits it through the antenna 12 and the loop 13, or when the train enters the loop 13, the ground train control device 17 detects it and checks the train position.

When the state and failure of the onboard device occurs while the train is running, the train control device 11 transmits the ground train control device 17 to the ground train control device 17 via the IR antenna 15 and the IR loop 16 installed on the car. The state of the can be monitored all the time.

As shown in FIG. 2, the loop method has dealt with the physical limitations of the communication medium of the track circuit method, and if the interval between the intersection points 14 of the loop 13 is shortened, the train position can be detected more precisely. The driving interval can be shortened sufficiently.

However, the installation of the ground as much as the length of the train route does not significantly reduce the installation on the ground compared to the track circuit method. Therefore, problems such as maintenance cost management for loops still exist.

An object of the present invention is to solve the conventional problems as described above, by using a reliable wireless communication system to detect the current position of the train in real time and the state of the running train to the train through real-time monitoring from the ground command It is to provide a train unmanned automatic system that can control the driving of the train without the driver or crew.

The present invention ground-based train unmanned automatic driving system,

Based on the data tracked in real time through each regional command, it is possible to check the train operation status of the entire route and to control the course of each train according to diamond, and the control data received from the central command. Local command that monitors and controls the ground equipment in the control area that is defined according to the preliminary control, and is connected to the local command by a predetermined network, and trains such as speed command and braking command through wireless communication with onboard equipment. A wireless communication facility that transmits control commands to the onboard device, receives train status information from the onboard device, and transmits the train status information to a local command; and a device that performs functions such as speed control, braking control, door traffic control and train status monitoring of the train; It is configured to include a vehicle-mounted device is a wireless communication device for performing wireless communication with the wireless communication facility It features.

Referring to the embodiment shown in the accompanying drawings, the present invention having such features are as follows.

Based on the data tracked in real time through each regional command (200), the Central Command Division (100) for grasping the train operation status of the entire route and controlling the course of each train according to the diamond;

Local command that monitors and controls trains and ground equipment (wireless communication equipment, signal, line changer, interlocking devices) in predefined control areas A1, A2, and A3 under control from the central command 100 200,

The local command 200 transmits a train control command such as a speed command and a braking command to the onboard device 400 through wireless communication with the onboard device 400, and transmits the train status information from the onboard device 400 to the local command 200. Wireless communication facility 300 to be delivered to),

Including a vehicle apparatus 400 including a driving device for the operation and operation of the train, such as speed control, braking control, entrance control and train status monitoring, and wireless communication means for wireless communication with the wireless communication facility 300 do.

The central command 100 displays on-site equipment information provided from the regional command 200 to allow the operator to control the course control, operation schedule plan, modification, operation status and communication status of each device by the schedule, and The central operating computer 101 which is responsible for transmitting the guide information and transmitting and receiving information with the related equipment, and information generated on the operation of the train, displaying the status of each equipment system, displaying each system abnormality and alarm message, etc. A central operation console 102, a driving plan management computer 103 which provides an interface for displaying and outputting a driving plan of a train, outputs of the same day's operating results, processing for train operation information, management, and the request of an operator; Maintenance computer 104 for maintenance and repair required for train operation, and other equipment such as CCTV, emergency alarm control device, power management device, vehicle management device, etc. related to the central command facility. Central interface device 105 consisting of I / O (Input / Output) for connecting the rain, and a wired connection to the train wireless data transmission station device 225 located in the central command room and installed in the regional command 200 The train that comprehensively manages the train wireless data transmission vehicle apparatus 404 installed in the regional command room, the track side and the train and transmits the train status information transmitted from the train to the central operating computer 101 configured in the central command 100. And a wireless data transmission central device 106.

The regional command 200 has a communication based train control (CBTC) station computer 221, an automatic train operation (ATO) station computer 222, and an interworking facility 223, and the like. And a non-linked station function manager 210 in which only the ATO station computer 211 is installed together with the station facility 212 and the repeater 232.

The interworking station function manager 220 is installed in the regional command 200 to control the operation of each train in the control area, the operation diagnosis of the train and the reception of the operation control data of the train and the wireless network for transmitting the operation status monitoring information. Analyze and analyze the CBTC station computer 221 which performs the management, and chain conditions such as track condition, track switch condition, signal signal and moving blockage function, form the optimal train control algorithm, and establish the path related to train control in the field equipment. Interlocking equipment 223 including an interlocking device 223a, an interlocking control panel 223b, an interlocking interface device 223c, and a signal interlocking device 223d for commanding the appearance of a signal, and a device for automatic driving of a train. Is connected to the repeater 224 installed in the train stop position determination, train stop position generation pattern, train departure, progress direction control and train exit connected to the station equipment ATO station computer 222 that performs initiation, opening and closing of the platform door, and a wireless connection to the train wireless data transmission central device 106 configured in the central command 100 and installed on the driving line side of the control area. The train radio which performs the radio communication with the communication antenna and receives the train status information sent by the radio from the train and transmits it to the train radio data transmission central unit 106 configured in the display and the central command 100 and transmits the remote control command to the train. The data transmission station device 225 is configured.

The wireless communication equipment 300 is a ground equipment, a CBTC wireless communication device 301 connected to the CBTC station computer 221, and a train wireless data line side device 302 connected to the train wireless data transmission station device 225. Consists of,

The CBTC wireless communication device 301 and the train wireless data line side device 302 are composed of an antenna, a wireless device, and a power supply device.

The on-vehicle device 400 is connected to the interface device 401 that provides an interface between the electronic device, electrical equipment, such as the steering wheel device, the main controller, the braking device, the door device installed in the train,

By comparing the speed control command received from the CBTC station computer 221 configured in the regional command 200 and the actual speed received from the speed sensor TG, the speed test is performed to determine whether the train is running at a safe speed. AB station configured in the local command 200 and the CBTC vehicle computer 402 which determines whether the vehicle is braked when the vehicle travels (speed over, reverse) and displays the train speed signal required for manual driving regardless of the operation by the vehicle. In conjunction with the computer 222, the ATO vehicle computer 403, which performs precise stops in the history, departure control, door opening and closing control, passenger guidance, and the like, is wirelessly connected to the local command 200 and the trackside relay. The train wireless data transmission vehicle apparatus 404 transmits the data packet sent from the computer to the computer installed on the vehicle or transmits the train operation data to the ground, and it is constructed in two relays at the front and rear of the train. And it is configured to include a CBTC-board computer 402 and the signal / wireless interface device 405 that provides a communication interface between the antennas.

The ground-based unmanned automatic driving system of the present invention having such a configuration is composed of a central command 100, a local command 200, a ground facility and a car-mounting device 400, as shown in FIG. Since the regional command and the on-vehicle device 400 communicate with each other by configuring the wireless communication facility 300, no track circuit or loop such as a track circuit method and a loop method is installed.

The central command 100 grasps the train operation status of the entire route based on the train location information tracked and transmitted in real time by each regional command 200, and controls the course of each train in accordance with the dial. Indicate the train departure time.

In addition, the control situation of all trains are always grasped and notified to the operating personnel, and manual control of the operating personnel is possible.

In particular, it also manages the transfer of train control rights that occur when the train enters the regional command 200 from the regional command 200.

The regional command 200 monitors and controls trains and ground equipment (wireless communication facility 300, signal, line changer, and interlocking devices) in the predefined control areas A1, A2, and A3.

Monitoring and control function of the regional command 200 is made in accordance with the train operation plan and manual input control set in the central command (100).

Performs an important function of detecting the position of the train close to the real time using the wireless communication facility 300 is installed on the running line side of the train running.

And based on the train position detected in real time, the train speed command for all trains in the control area (A1, A2, A3)) is made and transmitted to each train.

The wireless communication facility 300 transmits a train control command (speed command, braking command, etc.) of the local command 200 to the onboard device 400, and sends the train status information sent from the onboard device 400 to the local command 200. It is a ground facility that performs the function of transmitting to.

The on-vehicle device 400 is composed of a device that performs functions such as speed control, braking control, entrance control and train condition monitoring of a train, and a wireless communication device that communicates with the wireless communication facility 300.

(Central Command)

It demonstrates with reference to FIG.

The central command 100 described above comprehensively manages the operating status of all trains operating on all lines, and remotely controls trains by manual input of operating personnel, if necessary, based on the real-time monitored train status information. It supports automatic operation function.

The central command function is made around the central operating computer 101.

The main functions performed by the central command 100 are train operation control function, automatic driving monitoring and control function, input / output control of related equipment, broadcasting / guiding control, facility / disaster prevention monitoring, information monitor, performance record, start / end of work and Two relay management.

Most of the devices in the central command 100 are connected to the LAN 107 to exchange necessary information between the devices.

The central command 100 and each local command 200 are connected to the switch node 108 and a wired cable to transmit and receive necessary information.

The central operating computer 101 receives and displays on-site display information such as train position information, track switch status, field signal information, career configuration information, and abnormality information of each device, thereby allowing the operator to insert, delete, move, and schedule operations ten times. It is possible to control the route control, operation schedule planning and modification, monitor the operation status and communication status of each device, transfer remotely to each station, transfer destination guidance information, and transmit / receive information with related facilities. .

The central operation console 102 displays train operation mode, train occupancy display, course control and display, train number display, stop time display and setting, emergency braking control and display, signal control and display, line switch control and display, and equipment failure. Display, system alarm message display, temporary speed limit display, user authentication, train operation plan display / modification, and various device communication status display.

The driving plan management computer 103 performs a function for making weekly, Saturday, holiday, specific day driving plan, output of the same day's driving record, processing for train operation information, management, and output according to the needs of the operator.

The maintenance computer 104 performs the same function as the central operating console 102, but for the purpose of maintenance and repair required for train operation.

The central interface device 105 connects other facilities related to the facilities of the central command 100, and is composed of CCTV, emergency alarm control device, power management device, and I / O for the device with the vehicle management device.

The train wireless data transmission central device 106 is located at the central command 100 to comprehensively manage the train wireless data transmission carborne device 404 installed in the local command room, track side, and train.

The train wireless data transmission central device 106 is connected to the train wireless data transmission station device 225 in the regional command 200 room by wire.

The train state information transmitted from the train is concentrated to the train wireless data transmission central device 106 via the train wireless data transmission station device 225.

The train wireless data transmission central device 106 transmits the received train status information to the central operating computer 101 in the central command 100.

Therefore, the train operator in the central command 100 is able to check the current state of all trains operating on the current line from this information.

(Regional command)

It demonstrates with reference to FIG.

The regional command 200 controls and monitors trains, wireless communication devices, signaling equipment and related station facilities in the jurisdiction control areas A1, A2, and A3 under the management of the central command 100.

The regional command 200 includes an interworking station function unit 220 in which a CBTC station computer 221, an ATO station computer 211, and an interworking facility 223 are installed, and a CBTC station computer 221 and an interlocking facility ( 223 is excluded, and only the ATO station computer 211 is provided with a plurality of non-interlocking station function managers 210 installed therein.

The CBTC station computer 221 is installed in the regional command 200 to manage the wireless network, determine the location of each train in the control area, detect the CBTC vehicle computer fault train, secure the safety of nearby trains, control the train speed (generate the train speed command), It performs continuity of train control, train direction control, train start control, and train diagnosis function.

The most important of the items performed by the CBTC station computer 221 is to detect the train position.

The CBTC station computer 221 detects the train position by using the radio wave characteristics of the CBTC wireless communication device 301, which is a ground equipment.

Applicable position accumulation techniques include Time of Arrival (TOA) using propagation delay time between the base station on the ground and the mobile station of the train,

A time difference of arrival (TDOA) using a time difference between radio waves transmitted from a mobile station reaching each base station,

Angle of Arrival (AOA) using the angle at which radio waves transmitted from mobile stations reach fixed stations,

There is a method of using the strength of radio waves transmitted from the mobile station and a method of using the phase difference between the mobile station and the base station.

The interlocking equipment 223 analyzes the software in consideration of the chain conditions such as the track condition, the track switch condition, the signal signal and the moving occlusion function, forms the optimal train control algorithm, and sets the path for the train control in the field equipment and displays the signal. Command

In addition, by tracking the driving position of the train to release the course to prepare for the next course setting command.

The device constituting the interlock facility 223 includes an interlock device 223a, an interlock control panel 223b, an interlock I / F device 223c, and a signal interlock I / F device 223d.

ATO station computer 222 is connected to a repeater (electric power supply, no power supply) 224 that is installed in the history as a device for automatic operation of trains to determine the exact stop position of the train, and to transmit the point signal for generating the stationary stop pattern , Train start control, train direction change control.

In addition, it is connected to the station equipment 226, such as platform doors installed in the history, and performs the door access control and the platform door opening and closing control.

The train wireless data transmission station device 225 is connected in a wired manner to the train wireless data transmission central device 106, and is wirelessly connected to a wireless communication antenna installed at a driving line side in a control area.

The train wireless data transmission station device 225 receives the train status information sent by radio from the train and displays it to the local command operating personnel.

This information is also transmitted to the train wireless data transmission central device 106 in the central command 100.

The commander can check the operating status of the train based on information transmitted in near real time.

In addition, in accordance with the status information, the commander remotely controls the train by giving an appropriate command to the train. Remote control commands are sent to the train via ground-mounted radio antennas.

In this case, when the length of the route on which the train travels is short and the control areas A1, A2, and A3 are not distinguished, the function of the train wireless data transmission central device 207 without installing the train wireless data transmission station device 225 is separately provided. Perform.

In addition, the thermal dimensional control does not perform a function in the local command, but can be remotely controlled only in the central command.

(Ground equipment)

It demonstrates with reference to FIG.

Signal tracks, track changers, track environmental devices and wireless communication devices are installed on tracks along which trains run.

Here it will be described by limiting the radio communication device 300 for the unmanned automatic train operation to ground equipment.

The radio communication facility 300 has two types of radio communication facilities.

A CBTC wireless communication device 301 connected to the CBTC station computer 220 and a train wireless data line side device 302 connected to the train wireless data transmission station device 225.

The CBTC wireless communication device 301 is composed of an antenna, a wireless device, and a power supply device. Information transmitted and received by the CBTC wireless communication device 301 is important for securing the safety of the train, such as train deceleration control, emergency braking, such as the train position, the course opening state, the train driving speed, emergency braking, the train speed limit.

The train wireless data line side device 302 is composed of an antenna, a wireless device, and a power supply device such as the CBTC wireless communication device 301.

The information transmitted from the vehicle to the ground via the train wireless data line side device 302 includes the braking device, the propulsion device, the SIV device, the failure information for the doors and the main electric appliances, the cooling / heating device information, the voltage of the power supply device in the train, etc. You can check the train status at the command.

The information sent from the ground to the car is the remote control of electronic components in the train, such as return, emergency braking, and heating and cooling control.

(Vehicle device)

It demonstrates with reference to FIG.

The on-vehicle device 400 is connected to the interface device 401 that is responsible for the interface between the electronic device, electrical equipment and the vehicle device, such as the steering wheel device, the main controller, the braking device, the door device installed in the train to enable unmanned automatic operation. have.

The onboard device 400 is a CBTC onboard computer 402, an ATO onboard computer 403, a train wireless data transmission onboard device 404, a signal / wireless interface device 405, a signal inspection device 406, a speed divider ( 407, car box 408, and the like.

The CBTC vehicle computer 402 compares the speed control command received from the CBTC station computer 221 with the actual speed received from the speed sensor TG to check whether the train is running at a safe speed.

If it is determined that the speed is exceeded, the brake command is output and the train speed signal necessary for manual operation is displayed on the steering wheel.

It also outputs a braking command if it detects the reverse of an unwanted train.

The ATO vehicle computer 403 performs precise stops in the history, departure control, door opening and closing control, passenger guidance, etc. in association with the ATO station computer 222.

Such a device is a transponder-applied device that transmits and receives information by electromagnetic induction coupling between a ground mounted on a traveling track and a vehicle box 408 mounted on a vehicle.

The train wireless data transmission vehicle apparatus 404 is wirelessly connected to the regional command 200 and the track side relay apparatus and transmits a data packet sent from the ground to a computer installed on the vehicle, or transmits train driving data to the ground.

The signal / wireless interface device 405 performs a communication interface function between the CBTC onboard computer 402 and the antenna, and is composed of two relays at the front and rear of the train.

In this case, when the number of vehicles constituting the train is as small as two or four vehicles, the vehicle apparatus 400 of the present invention may be partially modified and configured as follows.

(a). Only one set of the CBTC vehicle computer 402 and the ATO vehicle computer 403 is installed in the head vehicle or the tail vehicle of the train, respectively.

(b). In addition, the CBTC vehicle computer 402 and the ATO vehicle computer 403 are bundled into one unit and installed in one enclosure.

(c). Instead of setting the signal checking device 406 as a separate device, a board having a signal checking function is inserted into the CBTC onboard computer 402 and the ATO onboard computer 403, or a signal checking function is programmed and inserted.

Such a system for unmanned ground-based automatic unmanned driving using wireless communication according to the present invention is carried out from the regional command 200 to the on-vehicle device 400 through the wireless communication facility 300 in the local command 200 according to predetermined control signal data from the central command 100. The control command data is transmitted, the location of the train is confirmed in real time from the on-vehicle device 400 from the wireless communication facility means, and the train status is checked in real time to control the train.

Therefore, the present invention is based on the train position and train status information secured by using wireless communication to generate the speed control command on the ground and remote control of the main electronics (cooling, heating, lighting) inside the train, inside the train In the event of major electronic equipment failures, a remedial action is taken.

As described above, the present invention can be shortened the train operation interval without using the signal equipment such as the track circuit and the loop installed on the track because the ground-based unmanned automatic driving system of the present invention applies reliable wireless communication. As a result, the capacity increase effect and the reliability can be improved.

In addition, it is possible to check the current train location and train status on the ground in real time, and remote control is possible so that the driver and crew can drive the train without boarding.

As described above, various effects such as improved reliability, reduced maintenance, increased transportation efficiency, and reduced operating costs due to unmanned automatic communication can be obtained by using wireless communication.

1 is a view showing the basic principle of the track circuit in the conventional train operation system.

2 is a view showing a loop type track circuit in a conventional train operation system.

3 is a block diagram of the present invention ground-based train unmanned automatic driving system.

4 is a view showing the configuration of a central command in the present invention.

5 is a view showing the configuration of the local command in the present invention.

6 is a view showing the configuration of ground equipment in the present invention.

7 is a view showing the configuration of the on-vehicle device in the present invention.

Claims (14)

On the basis of the data tracked in real time through each regional command (200), the central command (100) to check the train operation status of the entire route, and to control the course of each train according to the diamond, It is configured for each control area (A1, A2, A3) and performs the monitoring and control of the ground equipment in the control area (A1, A2, A3) defined in advance according to the control data received from the central command 100 Regional Command (200), The local command 200 is connected to a predetermined network, and transmits a train control command such as a speed command and a braking command to the onboard device 400 through wireless communication with the onboard device 400, and trains from the onboard device 400. Wireless communication facility 300 to receive the status information and transfer to the regional command (2000), Including an on-vehicle device 400 that is configured to perform the functions such as speed control, braking control, access control and train status monitoring of the train and a wireless communication device for performing wireless communication with the wireless communication facility 300 Ground-based train unmanned automatic driving system, characterized in that the configuration. According to claim 1, wherein the central command 100 displays the on-site equipment information provided from the regional command 200 to allow the operator to control the course according to the schedule, operation schedule planning, modification, operation status and communication status of each device The central operating computer 101 responsible for monitoring and transmitting guide information of each station and transmitting and receiving information with related facilities, information generated on the operation of trains, status display of each equipment system, abnormalities and alarms of each system. Central operation console 102 that performs a message display, and operation plan management that provides an interface for displaying and outputting the operation plan of the train, the output of the same day's operation, the processing and management of the train operation information, and the needs of the operator. Computer 103, maintenance computer 104 for maintenance and repair required for train operation, CCTV, emergency alarm control device, power management device, vehicle management device associated with central command facility A central interface device 105 configured as an I / O (Input / Output) for connecting other facilities such as a train, a wireless data transmission station device 225 located in a central command room and installed in a regional command 200; Comprehensive management of the wireless data transmission on-board device 404 installed in the regional command room, track side and trains by wire, and the train status information transmitted from the trains to the central operating computer 101 configured in the central command 100 Unmanned automatic driving system of the ground-based train, characterized in that it comprises a train wireless data transmission central device 106 to transmit. The interlocking station function manager of claim 1, wherein the regional command 200 includes a communication based train control (CBTC) station computer 221, an automatic train operation (ATO) station computer 222, and an interworking facility 223. Ground-based train unmanned automatic drive system, characterized in that it comprises a non-interlocking station function unit 210, which is installed only the ATO station computer 211 with the unit 220, the station facilities 212 and the repeater 232 . According to claim 3, wherein the interlocking station function manager 220 is installed in the area command 200, the operation control of each train in the control area and the operation diagnosis of the train and the reception of the operation control data of the train and the operation status monitoring information CBTC station computer 221 which performs wireless network management for transmitting data, and analyzes in consideration of chain conditions such as track condition, line switch condition, signal signal and mobile occlusion function, and forms an optimal train control algorithm and trains on-site equipment. Interlocking equipment 223 including an interlocking device 223a, an interlocking control panel 223b, an interlocking interface device 223c, and a signal interlocking device 223d that command a path setting and signal manifestation related to control, and an automatic train. It is connected to the repeater 224 installed in the history as a device for driving, and determines the exact stop position of the train, generates the stop position pattern of the train, train departure, progress direction control and connection with the reverse facilities ATO station computer 222 that performs train access doors, platform door opening and closing control, etc., and is connected to the train wireless data transmission central device 106 configured in the central command 100 and wired to the running line side in the control area Performs wireless communication with the wireless communication antenna and receives the train status information sent wirelessly from the train, and transmits to the train wireless data transmission central device 106 configured in the display and the central command 100 and transmits a remote control command to the train. Ground-based train unmanned automatic driving system, characterized in that comprises a train wireless data transmission station device (225). The method according to claim 3 or 4, wherein in the CBTC station computer 221, the position of the train is detected by using the radio wave characteristics of the wireless communication facility 300. An unmanned automatic driving system for ground-based trains characterized in that the position of a train is detected by applying a time of arrival (TOA) method using a propagation delay time between a base station on a ground and a mobile station of a train. The method according to claim 3 or 4, wherein in the CBTC station computer 221, the position of the train is detected by using the radio wave characteristics of the wireless communication facility 300. An unmanned automatic driving system for ground-based trains, which detects the position of a train by applying a time difference of arrival (TDOA) method using a time difference between radio waves transmitted from a mobile station of a train to each base station on the ground. The method according to claim 3 or 4, wherein in the CBTC station computer 221, the position of the train is detected by using the radio wave characteristics of the wireless communication facility 300. An unmanned automatic driving system for ground-based trains characterized in that the position of a train is detected by applying the angle of arrival (AOA) method using an angle at which an electric wave transmitted from a mobile station of a train reaches a fixed station. The method according to claim 3 or 4, wherein in the CBTC station computer 221, the position of the train is detected by using the radio wave characteristics of the wireless communication facility 300. An unmanned automatic driving system for land-based trains, characterized by detecting the position of a train by applying a method of using the strength of radio waves transmitted from a mobile station of a train. The method according to claim 3 or 4, wherein in the CBTC station computer 221, the position of the train is detected by using the radio wave characteristics of the wireless communication facility 300. Unmanned automatic driving system for ground-based trains, characterized in that for detecting the position of the train by applying a method using a phase difference between the mobile station of the train and the base station on the ground. 5. The radio communication equipment (300) according to any one of claims 1 to 4, wherein the radio communication equipment (300) is a ground equipment, a CBTC radio communication apparatus (301) connected with a CBTC station computer (221), and a train radio data transmission station apparatus (225). Consists of a train wireless data line side device 302 connected to), The CBTC wireless communication device (301) and the train wireless data line side device (302) is a ground-based train unmanned automatic driving system, characterized in that composed of an antenna, a wireless device and a power supply. The information transmitted and received from the CBTC station computer 221 in the regional command 200 through the CBTC wireless communication device 301 is train location, path opening state, train driving speed, emergency braking, train speed limit Unmanned automatic driving system of the ground-based train, characterized in that including the operation information of the train, such as deceleration control, emergency braking. The transmission information of the on-vehicle device 400, which is transmitted to the train wireless data transmission station device 225 in the regional command 200 through the train wireless data line changing device 302, is a braking device or a propulsion device. Unmanned automatic driving system for ground-based trains, characterized in that the information on the train status, including fault information, SIV equipment, doors and major electrical appliances, cooling, heating equipment information, power supply voltage in the train. The on-vehicle device 400 is an interface device 401 for providing an interface between a steering wheel device, a main controller, a braking device, a door device, and the like, the electronic device, and the on-vehicle device 300 installed in a train. Connected, By comparing the speed control command received from the CBTC station computer 221 configured in the regional command 200 and the actual speed received from the speed sensor TG, the speed test is performed to determine whether the train is running at a safe speed. AB station configured in the local command 200 and the CBTC vehicle computer 402 which determines whether the vehicle is braked when the vehicle travels (speed over, reverse) and displays the train speed signal required for manual driving regardless of the operation by the vehicle. In conjunction with the computer 222, the ATO vehicle computer 403, which performs precise stops in the history, departure control, door opening and closing control, passenger guidance, and the like, is wirelessly connected to the local command 200 and the trackside relay. A communication wireless data transmission vehicle apparatus 404 for transmitting a data packet sent from a computer to a computer installed on the vehicle or transmitting train operation data to the ground, and a communication interface between the CBTC vehicle computer 402 and an antenna Ground-based train unmanned automatic driving system, characterized in that it comprises a signal / wireless interface device for providing a face (405). 15. The system of claim 13, wherein the signal / wireless interface means comprises two relays at the front and rear ends of the train.