JP2019134613A - Train control device, train control method and program - Google Patents

Abstract

To provide a train control device that performs further efficient and safe speed control on an analog ATC.SOLUTION: A train control device acquires a constant limited speed corresponding to respective block sections on a track from a ground circuit device while positioning in the block sections. At the timing when the limited speed acquired from the ground circuit device varies, the train control device acquires positional information of a starting point of the block section stored in a database.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a train control device, a train control method, and a program.

  In recent railways, particularly high-speed railways and urban railways that perform overcrowded operation, an ATC (Automatic Train Control Device) is mounted on a train for the purpose of improving safety. ATC is also called ATP (Automatic Train Protection) outside Japan. As one of the ATC and ATP techniques as described above, there is an analog ATC ATC. The analog ATC automatically performs braking control on the basis of a signal from a track circuit provided in the vicinity of the track of the train so that the on-board device provided in the train is less than or equal to the speed limit corresponding to the frequency of the signal. Analog ATC does not require detection of the exact position of a train in an on-board device having an ATC function, and is often used in railway systems laid in the past and is still used today. In the analog ATC, a speed limit is designated for each block section. In the analog ATC technology, the train can be safely run by such control. A technique related to analog ATC is disclosed in Patent Document 1.

Japanese Patent Laid-Open No. 58-4462

  By the way, the above-described analog ATC technique is a technique for controlling the speed of the train to be less than the speed limit corresponding to the blockage section as described above, and therefore more efficient and safe based on the accurate position and the gradient state of the track. It is required to perform speed control with high characteristics.

  Accordingly, an object of the present invention is to provide a train control device, a train control method, and a program that can perform speed control more efficiently and safely in an analog ATC.

  According to the first aspect of the present invention, the train control device includes a speed limit acquisition unit that acquires a constant speed limit corresponding to each of the predetermined sections on the track from the ground circuit device while being positioned in the predetermined section. And a position information acquisition unit that acquires position information of the speed limit change point stored in the database at a timing when the speed limit acquired from the ground circuit device changes.

  The train control device described above may further include a correction unit that corrects the position information of the speed limit change point with the position of the host vehicle on which the host device is mounted.

  The above-described train control device may further include a speed control unit that performs speed control based on the position of the host vehicle corrected based on the position information of the speed limit change point.

  In the above-described train control device, the position information acquisition unit may acquire the position information of the speed limit change point stored in the database at the timing when the speed limit acquired from the ground circuit device changes downward. .

  In the train control device described above, when the position information acquisition unit detects that only the speed limit acquired from the ground circuit device is changed by the front wireless device among the wireless devices respectively provided before and after the vehicle, The position information of the speed limit change point stored in the database may be acquired at the timing when the speed limit changes.

  The train control device further includes a wheel circumference estimation unit that estimates the circumference of the wheel based on the number of rotations of the wheel of the vehicle due to the vehicle traveling in the predetermined section of the track, and the circumference of the wheel. A current position calculation unit that calculates a current position obtained by correcting the position information of the speed limit change point acquired from the ground circuit device based on the rotation speed of the wheel.

  According to the second aspect of the present invention, the train control method obtains a constant speed limit corresponding to each of the predetermined sections on the track from the ground circuit device while being located in the predetermined section, and the ground circuit device. The position information of the speed limit change point stored in the database may be acquired at the timing when the speed limit acquired from is changed.

  According to the third aspect of the present invention, the program acquires the computer of the train control device from the ground circuit device while the fixed speed limit corresponding to each predetermined section on the track is located in the predetermined section. It functions as speed limit acquisition means, position information acquisition means for acquiring position information of the speed limit change point stored in the database at the timing when the speed limit acquired from the ground circuit device changes. .

  According to the present invention, the train control device can perform speed control more efficiently and safely in the analog ATC.

It is a block diagram which shows the structure of the train control system by one Embodiment of this invention. It is a figure which shows the hardware constitutions of the train control apparatus by one Embodiment of this invention. It is a functional block diagram of a train control device by one embodiment of the present invention. It is a figure which shows the control outline | summary of the train control apparatus by one Embodiment of this invention. It is a figure which shows the processing flow of the train control apparatus by one Embodiment of this invention.

Hereinafter, a train control system and a train control device according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing the configuration of a train control system using analog ATC technology according to the embodiment. In the train control system 100, a train control device 1 and an ATC (Automatic Train Control) 30 provided in a vehicle 3 constituting the train 10 communicate with each other via an antenna 40 and a ground circuit device 21 provided in the vehicle 3. It is connected.

  The ground circuit device 21 includes a ground device 21 a and a track circuit 21 b that transmits a signal transmitted from the ground device 21 a toward the train 10. The track circuit 21b may be the startup L or a loop circuit provided alongside the startup L. When the train 10 passes over each track circuit 21b, the antenna 40 and the track circuit 21b immediately below the antenna are connected for communication. The train control device 1 receives the signal transmitted from the track circuit 21b via the antenna 40. Based on the signal, the train control device 1 detects the speed limit (set upper limit speed) of the train 10 in the closed section constituted by the corresponding track L where the track circuit 21b is arranged. An absolute speed limit may be provided as a speed faster than the speed limit.

FIG. 2 is a diagram illustrating a hardware configuration of the train control device according to the present embodiment.
The train control device 1 is a computer. As shown in FIG. 2, a storage unit such as a CPU 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a hard disk drive (HDD) 104, a user interface 105, a communication It may be configured by hardware such as the module 106 and the database device 107.

FIG. 3 is a functional block diagram of the train control apparatus according to the present embodiment.
The CPU 101 of the train control device 1 executes a train control program after the train control device 1 is activated. As a result, the train control device 1 has the functions of the control unit 11, the speed limit acquisition unit 12, the position information acquisition unit 13, the correction unit 14, the speed control unit 15, the wheel circumference estimation unit 16, and the current position calculation unit 17. Prepare.

The control unit 11 controls each functional unit of the train control device 1.
The speed limit acquisition unit 12 acquires a fixed speed limit corresponding to each of the closed sections (predetermined sections) of the track L of the train 10 traveling on the track L from the track circuit 21b provided alongside the track L corresponding to the closed section. To do.
The position information acquisition unit 13 acquires the position information of the speed limit change point stored in the database device 107 at the timing when the speed limit acquired from the track circuit 21b changes. The timing at which the speed limit obtained from the track circuit 21b changes is normally the timing at which communication with the next track circuit 21b after crossing the boundary of the closed section is first performed.
The correction unit 14 corrects the position information of the speed limit change point with the position of the own vehicle on which the own device is mounted.
The speed control unit 15 performs speed control based on the position of the host vehicle corrected based on the position information of the speed limit change point.
The wheel circumference estimation unit 16 estimates the circumference of the wheel based on the number of rotations of the wheel of the train 10 due to the traveling of the train 10 in the closed section.
The current position calculation unit 17 calculates a current position obtained by correcting the position information of the speed limit change point acquired from the track circuit 21b based on the circumference of the wheel and the rotation speed of the wheel.

FIG. 4 is a diagram showing a control outline of the train control device according to the present embodiment.
FIG. 4 shows a state in which the train 10 travels in the right direction in the drawing along a track L that is continuous with the closed sections L1, L2, L3, and L4. The train 10 (a1), the train 10 (b1), and the train 10 (c1) shown in each of FIGS. 4A, 4B, and 4C are the positions of the train 10 that the train control device 1 recognizes by calculation. is there. The train 10 (a2), the train 10 (b2), and the train 10 (c2) shown in FIGS. 4A, 4B, and 4C are the positions of the train 10 where the train control device 1 is actually running. is there. That is, FIG. 4A and FIG. 4B show an example in which the position of the train 10 recognized by the train control device 1 is calculated with respect to the traveling direction behind the actual position. . It is assumed that the position of the train 10 recognized by the train control device 1 by calculation is ahead of the actual position in the traveling direction.

  FIG. 4A shows a state in which the antenna 40 of the train 10 is connected to the track circuit 21b in the closed section L2. When the train 10 travels, as shown in FIG. 4B, the communication connection destination of the antenna 40 of the train 10 changes from the track circuit 21b in the closed section L2 to the track circuit 21b in the closed section L3. As shown in FIG. 4, when the train 10 is traveling in the closed section L2 via the antenna 40, the train 10 receives a signal indicating the speed limit V2 from the track circuit 21b of the closed section L2, and travels in the closed section L3. When receiving, a signal indicating the speed limit V3 is received from the track circuit 21b in the closed section L3. And as shown in FIG.4 (c), the train control apparatus 1 is the train recognized by calculation so that the recognized position may become an actual position in the timing changed from the speed limit V2 to the speed limit V3. The position of 10 is corrected to the position of the speed limit change point stored in advance.

FIG. 5 is a diagram illustrating a processing flow of the train control device according to the present embodiment.
The speed limit acquisition unit 12 of the train control device 1 acquires a signal transmitted from the track circuit 21b corresponding to the traveling blockage section through the antenna 40 while the train 10 is traveling. Based on the signal transmitted from the track circuit 21b, the speed limit acquisition unit 12 detects the speed limit in the closed section corresponding to the track circuit 21b (step S101). Specifically, the speed limit acquisition unit 12 detects the frequency of the signal received by the antenna 40, and detects the speed limit determined according to the frequency. While traveling in the same closed section, the speed limit acquisition unit 12 detects the upper limit speed limit of the closed section based on a signal from the track circuit 21b provided corresponding to the closed section. And the speed limit acquisition part 12 moves to the next blockage section where the blockage section where the train 10 travels, and in the next blockage section based on the signal from the track circuit 21b attached to the blockage section 21 that has moved first. Detect new speed limit.

  The speed limit acquisition unit 12 outputs the speed limit detected based on the signal from each track circuit 21b to the position information acquisition unit 13. The position information acquisition unit 13 compares the speed limit input last time from the speed limit acquisition unit 12 with the speed limit input this time each time the speed limit is input, and determines whether the speed limit changes (step S102). . When the speed limit changes, the position information acquisition unit 13 detects that the blockage section has moved to the next blockage section.

  When the blocked section of the track L on which the train 10 travels moves to the next blocked section, the position information acquisition unit 13 includes the position information of the start point of each blocked section stored in the database device 107 at the timing when the change is detected. Then, the position information (distance when the start point of the trajectory L is set to 0 km) of the start point (limit speed change point) of the newly closed block section is read (step S103). Note that the position information acquisition unit 13 only when the change in the speed limit changes downward, the position information of the start point of the closed section stored in the database device 107 at the timing when the speed limit acquired from the track circuit 21b changes downward. You may like to get. When another stopped train that is traveling forward restarts traveling, the speed limit may increase at an intermediate point of the closed section that is different from the position of the start point of the closed section. In such a case, it is necessary to prevent erroneous determination that the movement has moved to the next blockage section due to the change in the speed limit. Therefore, in this embodiment, the position information acquisition unit 13 is assumed to acquire the position information of the start point of the closed section accumulated in the database device 107 only when the change in the speed limit changes downward. (In other words, the position information acquisition unit 13 proceeds with the description as not acquiring the position information of the start point of the closed section when the speed limit increases).

  In the database device 107, position information of the start point of each closed section is recorded in advance. The database device 107 records the position information of the start points of the respective closed sections in the order in which the respective closed sections constituting the trajectory L are linked. You may acquire the positional information on the starting point of each occluded section. Alternatively, the speed limit acquisition unit 12 may acquire the position information of the start point of the closed section closest to the current position calculated by the current position calculation unit 17 of the train control device 1. The position information acquisition unit 13 outputs the position information of the start point of the closed section to the correction unit 14. The correction unit 14 corrects the current position calculated by the current position calculation unit 17 to the position information of the start point of the closed section input from the position information acquisition unit 13 (step S104). The correction unit 14 outputs the corrected position information to the speed control unit 15 and the current position calculation unit 17. The speed control unit 15 performs speed control based on the position information input from the correction unit 14 (step S105).

  If the distance between the current position calculated by the current position calculation unit 17 and the position information of the start point of the closed section closest to the current position is greater than or equal to a predetermined distance, the position information acquisition unit 13 performs processing in step S103. The reading of the position information of the start point of the closed section from the database device 107 may be stopped. Thereby, even when it is erroneously detected that the closed section has moved to the next closed section, speed control can be performed based on the current position calculated based on the position information of the start point of the past closed section.

  After correcting the current position as described above at the start point of the closed section, the current position calculation unit 17 calculates the corrected current position on the track L of the train 10 ahead of the corrected start position of the closed section. Calculate by adding to the position of the start point of the closed section. Specifically, the current position (km) obtained by multiplying the circumference of the wheel by the rotation speed is added to the position information (distance from the start point of the trajectory L) of the start point of the closed section. The current position calculation unit 17 outputs the calculated position information to the speed control unit 15. The speed control unit 15 performs speed control based on the position information calculated by the current position calculation unit 17 based on the corrected position information.

A specific example of the processing of the speed control unit 15 is, for example, using the current position and the information of the nearby gradient state based on the current position, with the speed limit of the current closed section as an upper limit, and information on the gradient state (downhill , Uphill, slope), the speed may be calculated using a predetermined speed pattern calculation formula. As a result, the operation speed of the train 10 can be calculated using position information with higher accuracy in the analog ATC.
Another specific example of the processing of the speed control unit 15 is that when the speed limit pattern according to the blockage section changes as expected, the speed control unit 15 sets the target speed profile for traveling below the speed limit. It can be calculated in advance based on accurate position information. As a result, the train control device 1 can avoid sudden braking caused by exceeding the speed limit of the train 10 and can improve riding comfort.

  The wheel circumference estimation unit 16 estimates the circumference of the wheel that changes due to wear. For example, the length of the closed section is determined in advance. In this case, the wheel circumference estimation unit 16 measures the rotation speed of the wheel, and based on the rotation speed R of the wheel traveling in the closed section and the distance X of the closed section, the wheel circumference is calculated by X ÷ R. Is calculated. The wheel circumference estimation unit 16 calculates the circumference of the wheel at an arbitrary timing while the train 10 is traveling, and outputs it to the current position calculation unit 17. The current position calculation unit 17 calculates the current position (km) using the newly calculated wheel circumference and the measured rotation speed of the wheel.

  In the above-described processing, based on the signal received from the track circuit 21b by the antenna 40 provided in the leading vehicle of the train 10, the position information of the start point of the closed section when the speed limit indicated by the signal changes downward. Is read from the database device 107.

  However, the position information acquisition unit 13 has a speed limit of only the signal acquired from the track circuit 21b by the leading antenna of the two antennas 40 (wireless devices) provided at the front of the train 10 and the rear of the train 10 and the like. When it is detected that the block has changed, it may be determined that the blockage section has moved. In this case, the position information acquisition unit 13 acquires the position information of the start point of the closed section accumulated in the database device 107 at the timing when the speed limit changes.

  When passing through the boundaries of the respective closed sections with different speed limits, the timings for detecting changes in speed limits based on signals acquired by the front antenna and the rear antenna of the train 10 are different. On the other hand, when the speed limit changes due to the start or stop of other trains traveling in front of the train 10, changes in the speed limit due to signals received by the front and rear antennas of the train 10 can be detected almost simultaneously. . Focusing on this difference, the position information acquisition unit 13 may determine that the blockage section has moved when it is detected that the speed limit of only the signal acquired from the track circuit 21b has been changed by the leading antenna. Thereby, the correction | amendment of the incorrect position information by the change of the speed limit in the condition where the obstruction | occlusion area has not moved can be reduced. When this process is performed, for example, even when the speed limit increases, it is possible to detect a change in the closed section and to correct position information due to an increase in the speed limit in the closed section.

According to the train control device 1 described above, by installing only the train control device 1 on the train 10 at low cost, the position detection accuracy can be increased and used for speed control. As a result, it is possible to correct the speed according to the gradient state of the trajectory according to the position during the automatic driving by the analog AT, and the speed tracking accuracy of the driving speed to the speed limit is improved.
Further, according to the above-described processing, when the speed limit pattern corresponding to the blockage section changes as expected, the speed control unit 15 determines a target speed profile that travels below the speed limit based on accurate position information. Can be calculated in advance. As a result, the train control device 1 can avoid sudden braking due to exceeding the speed limit of the train 10, improve riding comfort, and increase safety.
And by such an effect, the dispersion | variation in the travel time between stations can be made small. Moreover, since the deviation between the speed limit and the automatically calculated driving target speed can be reduced, the traveling time between stations can be reduced.

  Each of the above devices has a computer system inside. Each process described above is stored in a computer-readable recording medium in the form of a program, and the above process is performed by the computer reading and executing the program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 1 ... Train control apparatus 3 ... Vehicle 10 ... Train 11 ... Control part 12 ... Speed limit acquisition part 13 ... Position information acquisition part 14 ... Correction part 15 ... Speed Control unit 16 ... wheel circumference estimation unit 17 ... current position calculation unit 21 ... ground circuit device 21a ... starting device 21b ... track circuit 30 ... ATC
40 ... Antenna

Claims (8)

A speed limit acquisition unit for acquiring a constant speed limit corresponding to each predetermined section on the orbit from the ground circuit device while being located in the predetermined section;
A position information acquisition unit that acquires position information of the speed limit change point stored in the database at a timing when the speed limit acquired from the ground circuit device is changed;
A train control device comprising: A correction unit that corrects the position information of the speed limit change point with the position of the host vehicle on which the host apparatus is mounted;
The train control device according to claim 1, comprising: A speed control unit that performs speed control based on the position of the host vehicle corrected based on the position information of the speed limit change point;
The train control device according to claim 2 provided with. 4. The position information acquisition unit acquires position information of the speed change point stored in the database at a timing when the speed limit acquired from the ground circuit device changes downward. 5. The train control device according to claim 1. When the position information acquisition unit detects that only the speed limit acquired from the terrestrial circuit device has been changed by the front radio device among the radio devices respectively provided before and after the vehicle, the speed limit has changed. The train control device according to any one of claims 1 to 4, wherein position information of the speed limit change point accumulated in the database is acquired at a timing. A wheel circumference estimation unit that estimates the circumference of the wheel based on the number of rotations of the wheel of the vehicle by traveling of the vehicle in the predetermined section of the track;
A current position calculation unit that calculates a current position obtained by correcting position information of the speed limit change point acquired from the ground circuit device based on the circumference of the wheel and the rotation speed of the wheel;
The train control device according to any one of claims 1 to 5, further comprising: A fixed speed limit corresponding to each predetermined section on the trajectory is acquired from the ground circuit device while being located in the predetermined section,
A train control method for acquiring position information of the speed change point stored in the database at a timing when the speed limit obtained from the ground circuit device is changed. Train control computer,
Speed limit acquisition means for acquiring a constant speed limit corresponding to each predetermined section on the orbit from the ground circuit device while being located in the predetermined section;
Position information acquisition means for acquiring position information of the speed limit change point stored in the database at the timing when the speed limit acquired from the ground circuit device is changed;
Program to function as.

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