obus’ development and maintenance of asatloc – obu use existing obu of project pinzgaubahn...
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OBUs’ Development and Maintenance of a
Train Control System for Low Density
Traffic Lines
Gerhard Hanis, Burkhard Stadlmann
Ada-Europe 2014, Paris
University of Applied Sciences Upper Austria, School of Engineering and Environmental Sciences
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Train Control System for Low
Density Traffic Lines
Why?
Voice communication and predefined operational procedures
Often no hardware interlocking
Failure of one single person can cause an accident
Examples of accidents in Austria:
Failure of the traffic controller
Driver did not wait for the crossing train
page 2
Train A
Line
Train B !
Train B
Line
Train A !
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Train Control System for Low
Density Traffic Lines
page 3
History
Development started in 1999
Ada95 due to recommendations in
EN 50128
First deployment in 2005
SIL0 approval in 2006
In operation on 4 lines in Austria
Basic ideas of the TCS
GNSS
Data radio system
Train with On-Board Unit (OBU)
Position & speed
Traffic Control Center(TCC)
Movement authorities & orders
Traffic Controller
Computerized version of radio-based operational train control
Distributed real-time system
Digital data radio communication
No need for cost-intensive track-side
installations
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System architecture
Traffic Control Center (TCC)
page 4
Safety Kernel
Language: Ada95
Management of trains and Communication with the
trains (including authentication)
Management and issuing of movement authorities
and shunting authorities
Sends real-time view of the line to the visualization
Visualization
Language: Java
Display data received
from Safety Kernel
Provide “dumb” HMI
for the dispatcher
Visualization
Safety Kernel
Traffic Control Center
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System architecture
On-board Unit
On-Board Computer (OBC)
Language: Ada95
Location determination
Communication with TCC
Supervision of Movement
authority
Application of emergency
brake in dangerous situations
Driver Machine Interface (DMI)
Interaction with driver
COTS hardware as far as
possible
page 5
Odometer / Tacho
On-Board Computer
Emergency Brake
Data radio modem
GNSS-Receiver
DMI
GNSS
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Software design
Software development process
According to a simplified version of railway relevant parts of CENELEC but
without formal approval for a certain SIL-Level
Detailed system specification
Use Case driven software design
UML design using
Sequence diagrams
State and activity diagrams
Class diagrams
page 6
Detailed
Specification
Requirements
Analysis
High Level
Design
Code
Unit
Testing
Integration
Testing
Operantional
Testing
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System architecture
Original
OBU tasks
page 7
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Software architecture
Principles of Task structure
Task_Supervisor
Load system configuration
Start (productive) tasks in defined order
Monitoring activity of other tasks via heartbeats
Triggering of the hardware watchdog
Tasks offer rendezvous method “Start”
Communication between tasks via asynchronous messages
Pre-defined static task priorities and cycle times
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Software architecture
Communication
Generic protected buffers
Message consist of
ID as enumeration type
Data as Unbounded_String
(EN 50128 recommends avoiding dynamic structures for SIL3/4)
One message buffer per task
Only owner is allowed to perform read
Owner has to query buffer every cycle
and process received messages
Case structure where “others” is not allowed
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Software architecture
IO-Encapsulation
page 10
Safety Kernel
Hardware_IO-Wrapper.ads
Supervisory task, System tasks
Operating System: ETS
ETS
ETS_IO.ads,ETS_IO.adb
Hardware drivers
Hardware_IO-Wrapper.adb
Ada95 ETS Compiler
Target independent
ETS specific
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System evolution
Change of operating system
page 11
Operating System: VxWorks
VxWorks
VxWorks_IO.ads,VxWorks_IO.adb
Hardware_IO-Wrapper.adb
Hardware drivers
Safety Kernel
Hardware_IO-Wrapper.ads
Supervisory task, System tasks
Operating System: ETS
ETS
ETS_IO.ads,ETS_IO.adb
Hardware drivers
Hardware_IO-Wrapper.adb
Ada95 VxWorks Compiler
Ada95 ETS Compiler
Target independent
VxWorks specific
ETS specific
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System evolution – PZB
Project Pinzgaubahn
Project started in 2010
Cooperation with Siemens
Customer requested SIL2
Additional features
Track selectivity -> integrate balises (RFID reader and tags)
Track selectivity for all operational procedures and GUI
Implementation of Euroradio CBC-MAC
Integration of multipurpose station controllers in selected stations on the line
Enhanced functionality for special operational sequences
Development process according to CENELEC with formal SIL2 approval
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System evolution – PZB
Pinzgaubahn – Balises
Integrate balises into digital line atlas
Implement Task_Balise_Reader
Handles hardware interface and
communication protocol
“Sub task” of
Task_Location_Determination
Report detected balises via balise-
buffer
Integrate balises into
Location Determination algorithm
Communication with TCC
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System evolution – Satloc
SATLOC
EU FP7 funded research project
Start 1/2012
End 4/2014
Test site in Romania
Promote usage of GNSS in the railway domain
40% of Europe's railway network are low density traffic lines
Implement a TCS demonstrator at a real line
Mainly use GPS + EGNOS and in future Galileo
Low investment and operational costs
Communication via public networks
European Train Control System (ETCS) compatibility considered
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System evolution – Satloc
SATLOC – System design
page 15
Train with OBU TCC
VPN over public networksVPN over public networks
ETCS messages..
From TCC to OBU:
Movement AuthorityShunting AuthorityEmergency StopGeneral MessageAccept Train
From OBU to TCC:
Train Position ReportStart of MissionEnd of MissionRequest Movement AuthorityRequest Shunting AuthorityAcknowledgement
GALILEO GPS + EGNOS
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System evolution – Satloc
SATLOC – TCC
Usage of available ETCS Radio Block Centre (RBC)
Siemens UK (formerly Invensys Rail)
Parts of RBC developed in Ada
Communication adopted to specific needs of SATLOC
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System evolution – Satloc
SATLOC – OBU
Use existing OBU of project Pinzgaubahn
Integrate new hardware
Balise reader
GNSS receiver
Data Radio Modem
page 17
GNSS
receiver
On-Board Computer
Balise reader
(antennas mounted
under the train)
Modem
OBU rack mounted in train cabinet
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ETCS - Application
Application Layer
Safety Layer
X.224
T.70
HDLC
GSM-R
Application
Application Layer
Safety Layer
Transport Layer
Network Layer
Data Link Layer
Physical Layer
ETCS
OBC safety kernel
Application Layer
ETCS Translator
Safety Layer
TCP
Wrapper Layer
GPRS / UMTS / HSPA / LTE
IP
SATLOC
System evolution – Satloc
SATLOC – OBU
Added 3 Tasks
Application Layer
Safety Layer
Transport Layer
ETCS Translator converts
messages into OBC native
format and vice versa
Implemented a “light”
version of the stack
page 18
Existing
Euroradio
definition
SATLOC Euroradio IP-extension
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System evolution – Satloc
SATLOC – OBU
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Romanian
German
English
changeable
changeable
English
only
Additional
data from
the TCC
English and
changeable
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System evolution – Satloc
SATLOC – Field tests
Implemented a “light” version of ETCS over TCP/IP
Mobile carriers provided a fabulous coverage
along the test line
Hardware exchange was of limited work
Possibility to test off track at local offices
VPN over mobile carriers
Lab tests between Austria and United Kingdom
On-line change of displayed language proved to be of high value
Field tests took place in Romania
Test crew multi-national
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Experiences & Conclusion
System development started in 1999
SIL0 approval in 2006
SIL2 approval in 2012
Low cost Train Control System is in operation
Base software architecture remained untouched
IO-encapsulation proved to be of high value
Changes in: Operating system, hardware and compiler
New features are constantly added
Track selectivity, further movement supervision
“light” version of ETCS communication
Multiple languages on the DMI
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Thank you for your Attention!
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