JPH11178121A - Merge control system for traveling body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attain safe and smooth traveling of a traveling body, by detecting traveling information of a movable body on a plurality of lanes, determining passing order of the traveling body at merge points based on the information, and controlling the traveling body so as to pass through the merge point in the passing order. SOLUTION: A ground system 1 consists of a virtual lane storage part 3, a ground side virtual traveling body merge order determination and entry part 4, a traveling body identification part 5, a competitive traveling body information notifying part 6, a traveling body position detection part 7, and a groundtraveling body intercommunication part 8, which have relation to each other. A traveling body system 2 consists of a groundtraveling body intercommunreation part 9, and ID storage part 10, a position detection part 11, a speed detection part 12, a traveling by side virtual lane storage part 13, a traveling body side virtual traveling body entry part 14, an actual previous traveling body position detection part 15, an interval control object determination part 16, an interval control part 17, and an acceleration and deceleration control part 18. Both the systems are formed so as to permit communication transmission to each other.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a merging control system for a mobile unit, and more particularly, to controlling the interval between a plurality of mobile units while performing communication between the mobile unit and a ground apparatus.
BACKGROUND OF THE INVENTION The present invention relates to the field of travel control for realizing safe and smooth travel, and more particularly to travel control of a moving body at a junction where a plurality of travel paths intersect on the same plane.

[0002]

2. Description of the Related Art Conventionally, there has been the following one as a conventional merging control system for a moving body such as a train in a railway transportation system or the like.

[0003] The conventional distance control of this type of moving body is as follows.
As a fixed blockage method, there is a method in which the presence or absence of a train in one blockage section is detected, and only one mobile body is permitted in one blockage section to control the distance between the mobile bodies.

FIG. 16 shows a conceptual diagram of an example of a merge control method of a plurality of moving bodies traveling on the same plane using this method. In certain railway systems, a predetermined area near an intersection or a junction is defined as one fixed closed section 22,
The moving body M that can enter the section is limited to one moving body, and the moving body traveling control is performed and safety is secured by preventing a plurality of moving bodies from entering a different traveling path on a branch. .

In this system, the course of the moving body M is controlled only by the ground device (switch), and the same moving distance control as on a straight road is performed on the side of the moving body permitted to travel. Generally, a moving body on a traveling path that is not permitted to travel is subject to stop control just before the junction.

In recent years, a moving closed type automatic train control method (Japanese Patent Laid-Open Publication No. 2-109770, name: wireless moving closed type automatic train control method) performed while performing communication between a mobile unit and a ground apparatus is disclosed. Have been. FIG. 17 shows a conceptual diagram thereof. 23 is a ground-side device having a wireless communication function.

However, also in this method, the collision prevention control in the junction where a plurality of traveling roads intersect on the same plane is performed by setting the predetermined area of the turnout near the intersection or the junction as one closed section. By adopting a control method that limits the number of moving bodies that can enter the section to one moving body, it is considered to be the same as the moving body traveling control.

[0008] However, the above-mentioned prior art has the following problems. That is, in such a conventional system, when the moving body M on one traveling path is allowed to proceed in the merging path, the moving body M on another traveling path is prohibited from entering the area. For this reason, depending on the traveling position of the moving body, a large speed limit is imposed (stop in the worst case), or the traveling efficiency is reduced.

In a railway system, since the merging flow path is generally located only near the station, there is no problem even if it is stopped particularly. However, in recent years, in the field of new urban transportation, shortening of train intervals and unmanned driving have been considered, and merging at places other than stations has been considered. Is becoming a problem.

[0010]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and will be described later in detail while performing communication between each mobile unit and a ground apparatus. As shown in a conceptual diagram of FIG. 1, a plurality of moving objects M on the same traveling road and on different traveling roads intersecting at a junction.
By controlling the interval of, safe and smooth running is realized,
In particular, an object of the present invention is to provide a simple moving body control means that is safe, has good running efficiency and is simple at a junction or an intersection where a plurality of traveling paths R ₁ and R ₂ intersect on the same plane.

[0011]

Therefore, in the present invention, the above object is achieved by providing a moving object merging control system according to any one of the following items (1) to (4). Is what you do.

(1) In a merging control system for a moving body on a traveling path having a junction where the number of traveling paths is at least one less than the plurality of traveling paths, the movement information of the moving bodies on the plurality of traveling paths is provided. Moving object information detecting means for detecting the moving object information, the merging point passing order determining means for determining the passing order of the moving object at the merging point based on the information of the moving object information detecting means, and the merging point passing order determining means A moving body control means for controlling the moving body so that the moving body passes through the junction in the determined passing order.

(2) The merging point passing order determining means registers the moving body moving on the plurality of running paths as a virtual moving body moving on at least one virtual running path, and the moving body information detecting means A virtual moving body monitoring unit that replaces real-time moving information of the moving body that moves on the plurality of running paths with real-time moving information of the virtual moving body on the virtual running path based on the information. 1)
20. A merging control system for a moving body according to claim 20.

[0014] (3) The virtual object control means, based on the movement information of the virtual mobile object on the virtual travel path generated by the virtual mobile object monitoring means, a virtual vehicle located immediately before on the virtual travel path. The merging control system for a moving body according to the above item (2), wherein the moving body is controlled so as to perform an interval control of an inter-vehicle distance with the moving body.

(4) At least a part of the merging point passing order determining means is provided in a ground-side facility near the traveling path,
(1) to (3), wherein at least a part of the moving body control means is provided as a moving body side facility in each moving body, and performs information communication between the ground side facility and the moving body side facility. 5. The merging control system for a moving body according to any one of the above.

[0016]

With the system configuration of the present invention as described above, a safe and smooth running can be obtained by controlling the interval between a plurality of moving objects, and a junction, an intersection, etc. where a plurality of running paths intersect on the same plane. Thus, it is possible to control the moving body safely and efficiently.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments according to the present invention will be described in detail based on a plurality of embodiments in a transportation system such as a railway.

[0018]

(First Embodiment) FIG. 1 is a conceptual diagram of the moving object distance control according to the present invention, and FIG. 2 is a diagram for explaining the principle for realizing the example of the distance control of FIG.

<Structure> A moving object merging control system according to an embodiment of the present invention includes a moving information detecting means for detecting moving information of each moving body on a plurality of traveling paths, and a moving information detecting means at each merging point based on the information. Convergence point passing order determining means for determining the passing order of the moving body, and moving body control means for controlling the moving body to pass through the merging point without hindrance by this order, respectively, on the ground and on the moving body side The purpose is to achieve the purpose by mutual information communication between the devices.

As shown in the conceptual diagram of FIG. 1, an example of this is a traveling path in which a plurality of traveling paths 1R ₁ and 2R ₂ are arranged substantially in parallel, and moves on each traveling path R ₁ and R _2. When the body (vehicle) M travels from the right to the left of the figure individually, each moving body M on the same travel path from the junction to a point (a) a predetermined distance behind (the right of the figure) As usual,
The traveling bodies M travel on the respective traveling distances, and the respective moving bodies M on both traveling paths adjust a predetermined distance between the points (a) and (b) so as to have a predetermined safety distance when passing through the junction. A predetermined distance from the point (b) to the point (c) through the section is set as a merging control section, and the respective safety intervals between the respective moving bodies M in the illustrated example on the two traveling paths R ₁ and R ₂ are controlled. To

As described above, at the confluence point, each of the moving bodies M on both traveling paths can pass at a predetermined safety interval, and after point (c), the traveling objects M travel on the same road as they are under the conventional mutual interval control. System.

[0022] Figure 2, as shown the principle explanatory diagram for realizing the interval control in FIG. 1, on the ground side, the traveling path 1R ₁
Or the illustrated example running path 2R ₂ control start region to a predetermined adjustment interval of the moving object M control regions arrival, is registered as a virtual moving object M _0, the ground side of the virtual moving object M ₀ that this registration travels Assume a virtual travel path _R0 .

A ground-side facility (not shown), which will be described later with reference to FIG. 7, includes a moving body M ₀ running on the running path R ₁ or R ₂ among the virtual moving bodies M ₀ on the ground-side virtual running path R _0.
In addition to FIG. 3, there is an allocating means for allocating a virtual moving object M ₀ registered from another different traveling path, and FIG.
As shown the virtual travel path R ₀ of the moving object M ₀ on roadway 1R _1, in the mobile M ₁ on the traveling path 1R _1, the actual prior mobile M ₂ traveling the same travel path, different It is constituted by equipment and a virtual travel path R ₀ in which both the mobile virtual M ₀ allocated to running the travel path is assumed to travel.

<Operation> The moving body M on the traveling road is shown in FIG.
When the vehicle arrives at the control area start end shown in FIG. 7, the above-mentioned mobile body ID, mobile body position, mobile body speed, and mobile body acceleration / deceleration are respectively set to the ground side by a ground-to-mobile body transmission unit (not shown) described later in FIG. Communication is performed, and registration is performed as a virtual moving object M ₀ on the ground-side virtual travel path R ₀ as illustrated in FIG.

Next, the registered virtual moving object M ₀ is shown in FIG.
As shown in to the mobile body M having passed through the control initiation region of another travel path, allocation is performed as a virtual moving object M ₀ in front.

The virtual moving object M ₀ is based on the position and speed information of the moving object M ₁ actually traveling on the traveling path R ₁ .
By treatment of the moving object M ₂ allocated, the travel path R ₂
It can be virtually moved above.

Further, as shown in FIG. 6, the moving body M ₁ controls the allocated virtual moving body by controlling a safe inter-vehicle distance with a distance detecting means (not shown) described later with reference to FIG. Do.

Further, the virtual moving object M ₀ is erased from the virtual traveling route R ₀ of the moving object M by passing the end point beyond the junction.

[0029] Finally, the mobile M ₁ is erased virtual travel path R ₀ when passing through the end point of the by initiating the interval control to the preceding mobile, safe, running efficient mobile It becomes possible to control the merging of M ₀ .

<Control Device> FIG. 7 is a block diagram showing the control structure on the ground side and the moving body side, respectively, and FIG. 7 is a flowchart showing each processing operation sequence on the ground side and the moving body side, respectively, in the case where control is performed in the above-described control starting end approach sequence. 8 and FIG.

In FIG. 7, a ground-side device 1 includes a virtual road storage unit 3, a terrestrial-side virtual mobile unit merging order determination / registration unit 4, a mobile unit identification unit 5, and a competition It comprises a mobile unit information notification unit 6, a mobile unit position detection unit 7, and a ground-to-mobile unit transmission unit 8.

On the other hand, the mobile unit 2 includes a ground-to-mobile transmission unit 9, an ID storage unit 10, a position detection unit 11, a speed detection unit 12, and a mobile unit-side virtual travel path storage unit, each having an arrow relationship with each other. 13, the moving body side virtual moving body registration unit 14, the actual preceding moving body position detecting unit 15, the interval control object determining unit 16 based on the comparison between the virtual moving body and the actual preceding moving body, the interval control unit 17, and the acceleration / deceleration control The two devices 1,
2 can communicate with each other.

[0033] In the ground side, the ground side of the processing operation sequence flow chart of FIG. 8, first in step S1, the ID of the mobile M ₁ came to the control region start end of the traveling path and enter by the recognition unit 5 , by the vehicle upper position detecting unit 11 the position L of the moving body M at step S2, or from the mobile position detection unit 7 of the ground side, or with inputs from both, the time t during the position detection of the moving body M ₁
Is input by the time detecting means.

Next, in step S4, the speed of the moving object M is input from the moving object speed detection unit 12, and in step S5,
The merge order of the ground-side virtual moving object M ₀ is determined on the virtual track R ₀ , the ID, the position, and the speed are registered. In step S6, the virtual moving object information is notified to the corresponding moving object M, and the process proceeds to step S1. Return.

On the other hand, on the moving body side, in the processing operation sequence flow chart of the moving body side in FIG. 9, the ID of the moving body is notified to the ground side in step S21, and in the step S22, the ground-to-mobile body transmitting section 8 is transmitted. , 9 to input the competing virtual mobile unit M ₀ information, and
In step 3, the competing virtual vehicle information is registered and updated in the mobile-side virtual travel path _R0 .

Next, in step S24, the actual preceding moving object is detected. In step S25, the distance between the actual preceding moving object and the virtual moving object is compared with each other. Recognize.

Next, in step S26, step S2
The 5 whether the interval control target recoverable range determined in the case of range, the interval control unit 117 in step S27, performs a competitor mobile virtual M ₀ and interval control, acceleration and deceleration at step S28 The control unit 18 performs acceleration / deceleration control.

If recovery is impossible in step S26, stop control is performed to prevent danger.

[0039] (Second Embodiment) <Configuration> In addition, the embodiment, "ground-side equipment", among the virtual mobile M ₀ on the ground virtual travel path R _0, travels the travel path respect to the moving body M in which, in addition to having the allocation unit for allocating a virtual moving object M ₀ registered from different other travel path, as another second embodiment, traveling on the ground side virtual travel path R ₀ When the virtual moving object M ₀ has “competitive moving object detecting means” for determining whether or not to compete (collide) at the junction (or intersection), as a result of the junction arrival time comparison judgment, respect to the moving body M, which traveling from different other travel path, the conversion junction (or intersection) contention (collision) to the virtual moving object M ₀ to them to enable the moving object M and interval control of the travel path At the junction Safety control can be performed.

<Operation> An operation example in the above case will be described: On the ground side, the time at which the moving object M passes the junction is predicted from the virtual moving object information, and the predicted time of the other virtual moving object is predicted. Compare with the time of passage at the junction.

This operation will be described with reference to FIG. In the figure, M ₁ and M ₂ are moving bodies on the traveling paths 1R ₁ and 2R ₂ , respectively, and the distances to the respective merging points, and the speed and acceleration at that time are respectively L ₁ , v ₁ , α ₁ ; L ₂ , V ₂ ,
Assuming α ₂ , the expected times of arrival t ₁ ,
t ₂ is represented by the following equation.

Expected arrival time of the moving body 1M _{1 at} the junction t ₁ = −v ₁ / α ₁ + √ ｛(v ₁ / α ₁ ) ² + 2L ₁ /
α ₁予 想 Expected arrival time of the moving body 2M _{2 at} the junction t ₂ = −v ₂ / α ₂ + √ ｛(v ₂ / α ₂ ) ² + 2L ₂ /
α ₂ ｝ In addition, as a result of the comparison of the predicted arrival time of the merging point, if there is a moving object competing with the moving object on another traveling path, as shown in FIG. The virtual mobile object information of the competing mobile object is converted so that the interval control can be performed on the mobile object.

At this time, the distance L ₁ ′ between the merge point and the virtual moving object M ₀₁ is as follows.

[0044] _{L 1 '= α 2 · t} 2 1/2 + v 2 t 1 then converted virtual mobile M _01, as shown in FIG. 12, the corresponding mobile M ₂ on the other lines R ₂ Is assigned as a virtual moving body in front of.

Further, the moving body M ₂ maintains the safe inter-vehicle distance (L ₂ −L ₁ ′) with respect to the allocated virtual moving body M ₀₂ by the interval detecting means, thereby achieving Similar control is possible.

<Control Device> A block diagram of the configuration of the ground side and the moving body control unit in the case where control is performed in the order of anticipated entry into the junction in the second embodiment (FIG. 7 of the first embodiment)
FIG. 13 shows an equivalent view.

In FIG. 13, as compared with FIG. 7, the ground equipment 1a is provided between the terrestrial-side virtual moving object registration unit 4 and the competing moving object information communication unit 6, and a congruent moving object discriminating unit 19, The mobile device 2 is completely the same except that the order determination unit 20 and the virtual mobile unit information conversion unit 21 are added in the relationship indicated by the arrows in the figure, and duplicate description of the same parts will be omitted.

FIG. 1 is a flowchart showing the sequence of each processing operation on the ground side and on the moving body side in the case of the second embodiment.
4, shown in FIG.

The processing operation on the ground side is as follows. First, in step S41 in FIG. 14, the ID of the moving object M coming to the start of the control area is input by the identification unit 5 (FIG. 13). The position of M is input by the moving body position detection unit 11 (step S42).

Next, the time at which the position of the moving object is detected is input by the time detecting means (step S43), and the speed of the moving object M is input by the moving object speed detecting unit 12 (step S44).

[0051] Then, on the virtual line R ₀ at step S45, the ground-side mobile virtual M _0, ID, time, speed and registers the same as above registration unit 14, in step S46,
Depending on whether or not the competing moving object detection is performed by the competing moving object determining unit 19, if it is performed, the process jumps to step S50, and the virtual moving object information converting unit 21 performs information conversion on the competing moving object information. In step S51, the information of the competing moving object converted to the corresponding moving object is notified, and the process returns to step S41.

On the other hand, if no competing moving object is detected in step S46, then in step S47,
Performs the confluence passage time expected on the ground side mobile virtual M _0, in step S48, the perform conflict detection at the joining point of the ground-side mobile virtual M _0, after determining the merging order in step S49, the step The process proceeds to S50 and S51, and returns to step S41.

On the other hand, the processing operation on the moving body (vehicle) side in FIG.
At the same time, the competing virtual mobile unit information is input by the ground-to-mobile transmitting unit 8 (step S52), and the competing virtual mobile unit information is registered and updated in the mobile-side virtual travel route _R0 .

Next, in step S54, the actual preceding moving object is detected, and in step S55, the distance between the actual preceding moving object and the virtual moving object is compared. Recognize.

Next, in step S56, it is determined whether or not it is within the recoverable range with the competing moving object. If it is within the recoverable range, the interval control unit 17 (FIG. 13) is determined in step S57.
Thus, the interval control is performed with the competing virtual moving object M _0, and the acceleration / deceleration control unit 18 performs the acceleration / deceleration control in step S58.

On the other hand, if it is determined in step S56 that the vehicle is out of the recoverable range with the competing moving object, the stop control is performed in step S59.

(Other Embodiments) In each of the above embodiments,
Although one embodiment of the train transportation system of the railway has been described, the principle of the present invention is not limited to this, and it is needless to say that the present invention can be commonly applied to, for example, a specific highway system.

However, in the case of a moving body such as an automobile, the basic configuration environment and the like are basically different from those of the railway vehicle in the above-described embodiment. Of course it should be selected.

[0059]

As described above, according to the present invention,
In a railway transportation system, etc., the distance between a plurality of moving objects is controlled while communicating between the moving objects and ground devices, thereby realizing safe and smooth running. It is possible to realize safe and efficient traveling body control at the junction and intersection where the vehicle crosses.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram of moving object interval control according to the present invention.

FIG. 2 is a diagram illustrating the principle of an embodiment.

FIG. 3 is a virtual traveling path of a moving object on the traveling path.

FIG. 4 Registration as a virtual moving object on a virtual traveling road

FIG. 5 Assignment as a virtual moving object

FIG. 6 Maintains the distance between safe moving objects

FIG. 7 is a block diagram of a control configuration in the case where control is performed in the order of entry into the control start end according to the embodiment.

FIG. 8 is a flowchart of a processing operation sequence on the ground side.

FIG. 9 is a flowchart of a processing operation sequence on the moving body side.

FIG. 10: Merging / intersection competition judgment of another embodiment

FIG. 11: Conversion of virtual moving object information of a competing moving object

FIG. 12 Assignment of a converted virtual moving object

FIG. 13 is a control block diagram in the case where control is performed in the order of prediction of entry into a junction according to the second embodiment.

FIG. 14 is a flowchart of a processing operation sequence on the ground side.

FIG. 15 is a flowchart of a processing operation sequence on the moving body side.

FIG. 16 is a conceptual diagram of an example of a conventional moving object control method.

FIG. 17 is a conceptual diagram of a conventional proposal example.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Ground side apparatus 2 Mobile side apparatus 3 Virtual runway storage part 4 Ground side virtual mobile body merging order determination / registration section 5 Mobile body identification section 6 Competing mobile body information notification section 7 Mobile body position detection section 8, 9 Ground / movement Interbody transmission unit 10 ID storage unit 11 Position detection unit 12 Speed detection unit 13 Moving body-side virtual traveling path storage unit 14 Moving body-side virtual moving body registration unit 15 Prior moving body position detection unit 16 Interval control target determination unit 17 Interval control unit 18 Acceleration / deceleration control unit 19 Competing mobile unit determination unit 20 Merging order determination unit 21 Virtual mobile unit information notification unit 22 One closed section 23 Ground side device 24 Switch M Mobile unit M ₀ Virtual mobile unit R ₁ Road 1 R ₂ Road 2 R ₀ Ground side virtual travel path

Claims (4)

[Claims] 1. A merging control system for a moving body on a traveling path having a junction connecting a plurality of traveling paths to a merging path having a number of traveling paths at least one less than the number of traveling paths. The moving body information detecting means for detecting, the merging point passing order determining means for determining the passing order of the moving body at the junction based on the information of the moving body information detecting means, and the merging point passing order determining means Moving body control means for controlling the moving body so that the moving body passes through the junction in the passing order. 2. The joining point passing order determining means registers a moving body moving on the plurality of running paths as a virtual moving body moving on at least one virtual running path, and stores information on the moving body information detecting means. 2. A virtual moving body monitoring unit that replaces real-time moving information of a moving body that moves on the plurality of running paths with real-time moving information of the virtual moving body on the virtual running path based on the virtual vehicle. 20. A merging control system for a moving body according to claim 20. 3. The virtual vehicle located immediately before on the virtual travel path based on the movement information of the virtual vehicle on the virtual travel path generated by the virtual mobile monitor means. 3. The mobile unit according to claim 2, wherein the mobile unit is controlled so as to control a distance between the vehicle and the vehicle.
20. A merging control system for a moving body according to claim 20. 4. At least a part of the merging point passing order determining means is provided in a ground-side facility near the traveling path, and at least a part of the moving body control means is provided in each moving body as a moving body-side facility. The system according to any one of claims 1 to 3, wherein information communication is performed between the ground-side facility and the mobile-side facility.