CN101448693B - Railroad train operation management system - Google Patents
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- CN101448693B CN101448693B CN2007800186210A CN200780018621A CN101448693B CN 101448693 B CN101448693 B CN 101448693B CN 2007800186210 A CN2007800186210 A CN 2007800186210A CN 200780018621 A CN200780018621 A CN 200780018621A CN 101448693 B CN101448693 B CN 101448693B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/10—Operations, e.g. scheduling or time tables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2205/00—Communication or navigation systems for railway traffic
- B61L2205/04—Satellite based navigation systems, e.g. GPS
Abstract
The present invention provides a railroad train operation management system and program for automatically giving various types of operation guidance such as the guidance on the stop station, the variation from the scheduled time, warning of the train speed limit to the motorman at an adequate timing at each check point arbitrary set on a predetermined line to support the motorman and realizing operation management with high precision by predicting the position of the train with high precision at low cost even in a region where the GPS signal is hard to receive. The system comprises line data storage means (2) for storing line specific position data and check point position data, operation schedule data storage means (3) for storing operation schedule data, GPS signal receiving means (6) for receiving the GPS signal, operation management means (9) for performing operation management of trains according to the GPS data and operation schedule data on the trains computed from the GPS signal, and operation guidance output means (7) for giving the motorman the information acquired by the operation management means.
Description
Technical field
The present invention relates to come the technology of management vehicle operation according to the gps signal that receives from global positioning system (GPS), relate in particular to the chaufeur that is suitable for the railway vehicle that on pre-determined route, travels such as electric car or train etc. and point out, perhaps move the railway vehicle operation management system and the railway vehicle operation management program of guiding driver assistance.
Background technology
At present, railway is to connect each main means of conveyance in rural, cities and towns, city, is formed centrally cities and towns etc. in the station being, and is closely related with people's life.In addition, because the transportation volume of railway is big and safety is also high, thereby degree of utilization is higher.On the other hand, when the railway accident takes place contingency,, produce a lot of injures and deaths persons along with the big accident that causes.Therefore, even each railway company pays close attention to, but can't absolutely avoid artificial mistake.Particularly in recent years along with the increasing of user, layout the excessive operation schedule of density because requiring to guard rigidly dispatches a car and due in, so that chaufeur is very nervous it is caused very big burden.
And, to operational vehicle stipulated common, walk rapidly, various kinds such as quick, extra urgent, express train, bus stop is with different by the station, if so chaufeur do not concentrate on all the time, will miss bus stop.And, because changing on the less straight circuit at scenery, vehicle travels, can be called and be difficult to the environment that continues to concentrate one's energy.
Consider that under aforesaid state, the railway chaufeur produces sizable anxiety and burden, importing the mechanism that such railway chaufeur is supported becomes the urgent task that prevents the railway accident in advance, and this also is desired as needs of society.
Consider above-mentioned needs, proposed to obtain the location information of vehicle, the technology that the operation of vehicle is managed according to this location information from GPS.For example, open the spy and disclose in the 2003-137099 communique by the Direction Center of management vehicle operation and the operation management system (patent documentation 1) that constitutes by the vehicle of this Direction Center management.And, when Direction Center to vehicle send include the announcement text message relevant with the operation indication and specify prompting at the position of the attention of this announcement text message point out the advertised information of location information the time, the signal conditioning package comparison of vehicle is from the location information that points out that comprises in the location information of GPS and the described advertised information, arrive describedly when pointing out the position when being judged as vehicle, remind attention at the announcement text message to chaufeur.
Patent documentation 1: the spy opens the 2003-137099 communique
Summary of the invention
But, in the operation management system of in patent documentation 1, putting down in writing, in the operation of Direction Center one side monitoring vehicle.Therefore, when wanting to remind the attention of chaufeur, the supvr of Direction Center must generate advertised information, sends after specifying the vehicle that should send this advertised information, therefore bother, and might be because gerentocratic mistake cause adverse effect to announcement.And, when emergency situation takes place, wait for instruction from Direction Center in vehicle, point out and incur loss through delay and lost the meaning that points out.
In addition, when obtaining location information,, then can't calculate correct location information if do not receive gps signal more than at least three based on GPS.Therefore, in zone that high building towers side by side, the station house etc. that has eaves locates, the reception number of gps signal reduces sometimes, can't correctly determine the current location of vehicle.Then, when the location information mistake of vehicle,, therefore there is the problem that to carry out correct operation guiding together with also missing the opportunity of pointing out to chaufeur.
On the other hand,, can access correct location information, thereby can carry out high-precision operation management if adopt the high accurate GPS device, but the price height of this GPS device, thereby the problem that exists the cost of operation management system itself to uprise.Therefore, inexpensive and high-precision operation management system is developed in expectation.
The present invention proposes in order to solve such problem, its purpose be to provide a kind of can be to each checkpoint in each checkpoint of on the route of regulation, setting arbitrarily, automatically chaufeur is carried out the guiding of bus stop in definite timing, the degree of the deviation of prompting and predetermined instant, the various operations of attentions such as speed limit guide supports chaufeur, even be difficult to receive the zone of gps signal in addition, also can predict the position of vehicle inexpensive and accurately, carry out the railway vehicle operation management system and the railway vehicle operation management program of high-precision operation management.
Being characterized as of railway vehicle operation management system of the present invention and railway vehicle operation management program: be railway vehicle operation management system and the railway vehicle operation management program that the operation to the vehicle that travels on the railway route manages, have: the route data memory cell, its storage determined that by the bend of determining the bend position on the railway route each latitude of the speed of a motor vehicle change predetermined area in speed change desired location of point and definite vehicle and the route that longitude data constitutes determine position data, and by these each routes determine to set arbitrarily on the route of position having connected, be used for the latitude of the checkpoint that the operation to vehicle manages and the checkpoint location data that longitude data constitutes; Operation tentation data memory cell, its storage and described checkpoint location data have been set the operation tentation data of passing through predetermined instant, predetermined speed, bus stop guidance information of this checkpoint accordingly rightly; The gps signal receiving element, it receives gps signal from global positioning system (GPS); Operation management is handled the unit, it calculates the gps data relevant with described vehicle according to described gps signal, and according to this gps data and described operation tentation data, obtain described vehicle and the deviation of the passing through predetermined instant checkpoint or with the deviation and the next bus stop information of predetermined speed, carry out operation management; And operation guiding output unit, its rightly to chaufeur pass on that handle by this operation management that unit obtains and deviation by predetermined instant or with the deviation of predetermined speed, next bus stop information.
In addition, it is desirable in the present invention: described operation management is handled the unit and is had: the gps data calculating part, and it calculates the gps data that absolute fix data, time data and the speed per hour data relevant with described vehicle etc. constitute according to described gps signal; Gps signal receives the number judging part, and it judges the reception number of described gps signal; Correction is adopted portion with position data, and it is when having received the gps signal more than three receiving the number judgement section judges by this gps signal, will adopt with position data as revising according to the absolute fix data that this gps signal calculates; Revise and use the data obtaining section, it is that the reception number of gps signal is two when following received the number judgement section judges by described GPS, obtains not long ago correction usefulness position data, described time data and described speed per hour data; Predict the distance calculation portion of travelling, it calculates the prediction operating range of described vehicle according to the elapsed time and the described speed per hour data that begin from the correction starting position of determining with position data by described correction not long ago; And predicted position data computation portion, it calculates expression along the railway route of being determined that by described route position data is determined, the predicted position data of the predicted position of the described prediction operating range that begun to advance from described correction starting position.
And, it is desirable in the present invention: described operation management is handled the unit and is had relatively judging part of position data, its reception number at described gps signal be the state below two continuous during specified time, described predicted position data at this time point are compared judgement with the absolute fix data of obtaining according to two gps signals, when by this position data comparison judgement section judges being described predicted position data when equating substantially with described absolute fix data, described correction is adopted as being revised described predicted position data or described absolute fix data with position data employing portion with position data.
In addition, it is desirable in the present invention: described position data comparison judging part is located to have connected on the line of correction not long ago with position data and the definite point of next route in described absolute fix data sets described predicted position, with this predicted position is benchmark, in the time of in effective scope of measuring the zone of setting with the Effective width of regulation, be judged as described predicted position data and equate substantially with described absolute fix data.
And, it is desirable in the present invention: in described route data memory cell, store secondary checkpoint location data, it is determined on the railway route, the position of the secondary checkpoint of setting from the interval that checkpoint location begins to stipulate at interval to the direct of travel rear of vehicle, described operation management is handled the unit and is had checkpoint arrival judging part, it is when the vehicle location of determining according to described absolute fix data or predicted position data has entered CP and measured in the zone, be judged as this vehicle and arrived the checkpoint, it is as benchmark, with the zone of the efficient range setting of regulation with the position determined respectively according to the checkpoint location data in the described operation tentation data and secondary checkpoint location data that described CP measures zone.
In addition, it is desirable in the present invention: described operation management is handled the unit and is had: the abnormal running judging part, it compares described operation tentation data and described time data and described speed data, the deviation of passing through predetermined instant of the checkpoint of obtaining and stipulating and with the deviation of predetermined speed, judge whether not surpass the allowed value of regulation or judge whether the acceleration simulation data that obtain from three dimension acceleration sensor surpass the allowed value of regulation; And data preservation portion when unusual, when it detects abnormal running at this abnormal running judging part, the various data that the data that obtain from described vehicle boarded various device or the equipment outside described vehicle receive, will be before described anomalous behavior takes place various data storage in the specified time after take place the abnormal data memory cell.
And, it is desirable in the present invention: also have the operation conditions image unit, it takes the peripheral situation of described vehicle or the driving condition of described chaufeur, described when unusual data preservation portion will be kept in the abnormal data memory cell by image data and the described gps data that described operation conditions image unit photographs.
In addition, it is desirable in the present invention: the ATS data that described beacon ID that data preservation portion obtains the beacon from ATS (AutomaticTrain Stop) when unusual and car speed constitute are kept at the abnormal data memory cell.
And, it is desirable in the present invention: described operation management is handled the unit and is had systems inspection portion, it is according to latitude and the comparative result of longitude data and described gps data or the comparative result of described checkpoint location data and described gps data relevant with the departure place of described vehicle, perhaps the comparative result of the bearing data of gyrosensor and the bearing data between the checkpoint judges whether described railway vehicle operation management system normally moves.
According to the present invention, can be to each checkpoint in each checkpoint of on the route of regulation, setting arbitrarily, chaufeur is carried out guiding, prompting and the predetermined instant of bus stop in definite timing the various operations of attention such as degree, speed limit of deviation automatically guide and support chaufeur, can alleviate the burden and the anxiety of this chaufeur.In addition,, also can predict the position of vehicle accurately, carry out inexpensive and high-precision operation management even be difficult to receive the zone of gps signal.
Description of drawings
Fig. 1 is the block diagram of the embodiment of expression railway vehicle operation management system of the present invention;
Fig. 2 is the planar view of the railway route of expression present embodiment;
Fig. 3 is the main zone and the secondary planar view of measuring the zone measured of expression present embodiment;
Fig. 4 is the diagram of circuit of the processing carried out of the railway vehicle operation management system of present embodiment;
Fig. 5 is the diagram of circuit of the vehicle position data correcting process carried out of the railway vehicle operation management system of present embodiment;
Fig. 6 is a table of representing the operation tentation data used in the present embodiment;
Fig. 7 represents the experimental result based on present embodiment.
Nomenclature
1 railway vehicle operation management system
2 route data memory cell
3 operation tentation data memory cell
4 operation actual achievement data storage cells
5 abnormal data memory cell
6 gps signal receiving elements
7 operation guiding output units
8 operation conditions image units
9 operation managements are handled the unit
91 operation data obtaining sections
92 gps signal obtaining sections
93 gps data calculating parts
94 systems inspection portions
95 gps signals receive the number judging part
96 correction data obtaining sections
97 predict the distance calculation portion of travelling
98 predicted position data computation portions
99 can not the time of reception judging part
100 position datas are judging part relatively
202 corrections are adopted portion with position data
102 vehicle location employing portions
103 abnormal running judging parts
104 preservation of data when unusual portions
105 checkpoints arrive judging part
106 operation guiding efferents
107 operation actual achievement data preservation portions
108 next route data judging part
The Sa three dimension acceleration sensor
The Sj gyrosensor
The specific embodiment
Following embodiment with reference to description of drawings railway vehicle operation management system of the present invention and railway vehicle operation management program.Fig. 1 is the block diagram of the railway vehicle operation management system 1 of expression present embodiment.
The railway vehicle operation management system 1 of present embodiment is installed in such as electric car or train etc. on the driver's seat of the vehicle that travels on the railway route, manage the operation of this vehicle, as shown in Figure 1, mainly comprise: the route data memory cell 2 of storing the various data relevant with route, store the operation tentation data memory cell 3 of being scheduled to relevant various data with the operation of vehicle, store the operation actual achievement data storage cell 4 of the various data relevant with the operation actual achievement of vehicle, the abnormal data memory cell 5 of the data when abnormal running has taken place store car, receive the gps signal receiving element 6 of gps signal from global positioning system (GPS), the chaufeur of vehicle is exported the operation guiding output unit 7 of various operation guiding, the operation management of the various processing that the operation conditions image unit 8 of shooting operation conditions and execution are relevant with the operation management of vehicle is handled unit 9.
Below, illustrate in greater detail constitute present embodiment respectively constitute the unit.Route data memory cell 2, operation tentation data memory cell 3, operation actual achievement data storage cell 4 and abnormal data memory cell 5 are made of rightly memory cell such as hard disk or storage cards.In the present embodiment, as shown in Figure 1, route data memory cell 2 stores route and determines route data such as position data, checkpoint location data and secondary checkpoint location data.In addition, operation tentation data memory cell 3 stores operation tentation datas such as train travel time schedule, and operation actual achievement data storage cell 4 stores operation actual achievement data, the data when abnormal data memory cell 5 stored video data etc. are unusual.
Below, each above-mentioned data are described.Route determines that location information is the data that are used for determining by simple information the railway route, by the bend of determining the bend position on the railway route determine point latitude and longitude data, determine vehicle speed change desired location the speed of a motor vehicle change predetermined area latitude and longitude data and determine that the Effective width data of effectively measuring the zone constitute.
Bend determines that point is used for determining effectively measuring the zone, as shown in Figure 2, determines the bending of railway route, the place that the travel direction of vehicle changes.This bend determines that point for example is confirmed as the latitude and the longitude data of apex of bend.In addition, the railway route basically with straight line lay regional more, determine a little if set aforesaid bend, then can come definite approx railway route by connecting them.Therefore, simplified the calculating of the predicted position of vehicle described later.In addition, definite place that the limited speed of the vehicle on the railway route is switched, the speed of a motor vehicle change predetermined area is decided according to operation is predetermined in advance.
In addition, effectively measure zone and be the zone that utilizes vehicle to set, as hereinafter described, be used to judge whether the absolute fix data of the vehicle of obtaining from GPS are effective along the character of the railway route running of stipulating.As shown in Figure 2, mainly determine between the point, set with the Effective width of regulation and effectively measure the zone at adjacent bend along route.Represent that the Effective width data of this Effective width can suitably set change, be set at about 1～2m in the present embodiment.
The checkpoint location data are made of the latitude and the longitude data that are used in the checkpoint that definite timing manages the operation of vehicle.Determine on the route of position at routes such as having connected the definite point of above-mentioned bend and the speed of a motor vehicle change predetermined area, at random set the checkpoint, mainly be set in the place that needs channeling conduct, this guiding is used to help chaufeur.Whether the checkpoint of present embodiment is by in order to notify bus stop or to inform the bus stop guiding place of name of station by standing in the place that soon arrives bus stop, be used to check vehicles and confirm that according to the running time Watch Error of time operation place etc. constitutes.In addition, in the present embodiment, bend can be determined that the point and the speed of a motor vehicle change predetermined area also are set at the checkpoint.
As hereinafter described, secondary checkpoint is used for following the tracks of (follow) and misses in each checkpoint and obtain gps signal.In the present embodiment, begin direct of travel rear to vehicle from each checkpoint location on the railway route, secondary checkpoint is set at the interval of regulation at interval.And latitude relevant with each secondary checkpoint and longitude data are stored as secondary checkpoint data.In addition, as secondary checkpoint data, can not be latitude and longitude data, but according to the latitude of checkpoint and longitude data in the rear of railway route one side, the interval of afore mentioned rules is determined at interval.
The operation tentation data has reflected the operation schedule by constituting with the predetermined relevant various data of the operation of vehicle.In the present embodiment, with each checkpoint accordingly, suitably set check to call the roll, by data such as predetermined instant, predetermined speed, bus stop guidance informations.In addition, the operation tentation data can also constitute at the data of each vehicle by each route of this vehicle operating with vehicle as benchmark, can also be benchmark with the chaufeur perhaps, and the data of each route of being born by each chaufeur constitute.
Operation actual achievement data are made of the various data relevant with the operation actual achievement of vehicle.In the present embodiment, by in the passing through constantly of the vehicle of each checkpoint, gps data (absolute fix data, time data, speed per hour data, direct of travel data and altitude information etc.) and predicted position data that each second obtained from GPS, revise with formations such as position datas.
In the present embodiment, the predicted position data are made of the latitude and the longitude data of vehicle in predicted position.In addition, revising with position data is the data that are used to calculate predicted position, and as hereinafter described, the predicted position data that absolute fix data, the reliability that will calculate when the gps signal that receives more than 3 is high are stored with data as revising.
The various data of data when under the operation conditions of vehicle anomalous behavior having taken place constitute when unusual.In the present embodiment, the image data that data are taken by operation conditions image unit 8 when unusual, gps data and the ATS data that obtain from GPS constitute, and these ATS data comprise the beacon ID that obtains from the beacon of ATS (Automatic TrainStop) and car speed etc.And, only with the data storage in the specified time in these data, before anomalous behavior takes place after take place abnormal data memory cell 5.In addition, data are not limited to above-mentioned data when unusual, so long as help the anomalous behavior analysis or help verifying the data of reason, can write down the various data that data that the various device that carries obtains or the equipment outside vehicles such as administrative center receive from vehicle.
Gps signal receiving element 6 is made of gps antenna etc., receives the gps signal that sends from the gps satellite of global positioning system.Operation guiding output unit is made of the loud speaker of output voice guide, the outdevices such as telltale of demonstration operation guiding, exports various operation informations such as timer-operated information, emergence message to the vehicle driver.In addition, operation conditions image unit 8 is made of animation picture pick-up devices such as DVs, obtains operation conditions as image data.In the present embodiment, two DVs have been carried, so that take the place ahead and the driver's seat of vehicle.
Operation management is handled unit 9 by CPU formations such as (Central Processing Unit), respectively constitutes the unit according to the railway vehicle operation management programming control of present embodiment, and obtains the needed various data of operation management, carries out operation in good time and handles.The main processing of operation management processing unit 9 is as follows: the gps signal that receives according to gps signal receiving element 6 calculates the gps data relevant with vehicle, grasp at the actual operating state that moves predetermined vehicle according to this gps data and operation tentation data, be used to support the operation management of chaufeur, therefore can remind the unusual generation in the operation in early days.
Then, the structure that the operation management that carries out foregoing processing is handled unit 9 describes.Operation management is handled unit 9 mainly by operation data obtaining section 91, gps signal obtaining section 92, gps data calculating part 93, systems inspection portion 94, gps signal receives number judging part 95, revise with data obtaining section 96, predict the distance calculation portion 97 of travelling, predicted position data computation portion 98, can not time of reception judging part 99, position data is judging part 100 relatively, correction is with position data employing portion 101, vehicle location employing portion 102, abnormal running judging part 103, data preservation portion 104 when unusual, the checkpoint arrives judging part 105, operation guiding efferent 106, operation actual achievement data preservation portion 107 and next route data judging part 108.
Operation obtains the needed various data elements of operation of vehicle with data obtaining section 91.Specifically, obtain route from route data memory cell 2 and determine position data, checkpoint location data and secondary checkpoint location data, and obtain the operation tentation data from operation tentation data memory cell 3.
Gps signal obtaining section 92 obtains the gps signal that gps signal receiving element 6 receives.In the present embodiment, obtain gps signal, offer gps data calculating part 93 then with 1 second interval.In addition, gps signal is made of the signal of the multiple information such as orbit information of the position with time information, expression gps satellite.
The gps signal that gps data calculating part 93 is obtained according to gps signal obtaining section 92 calculates the gps data that the absolute fix data relevant with vehicle, time data, speed per hour data, direct of travel data and altitude information etc. constitute.
Specifically, at first according to the time of reception in time information in the gps signal and the gps signal receiving element 6, calculating is in order to receive the time of advent that gps signal spends, according to the propagation speed of this time of advent and gps signal, calculate the distance between gps satellite and the gps signal receiving element 6.Because the distance of this distance and the position of receiving position that is connected gps signal receiving element 6 and gps satellite equates, so by the equation with two unknowns establishment of three variablees (latitude, longitude, highly) formation.Therefore, when the gps signal that receives more than 3, can calculate correct absolute fix data (latitude, longitude) and altitude information.In addition,, then height setting can be become steady state value,, also can calculate correct to a certain extent absolute fix data (latitude, longitude) even the reception number of gps signal is two if the height of hypothesis vehicle does not change substantially.On the other hand, the reception number of time data, speed per hour data and direct of travel data and gps signal is irrelevant, can obtain correct data all the time.
The running-active status of 94 pairs of railway vehicle operation management systems 1 of systems inspection portion is checked, comes detection failure.Specifically,, obtain the absolute fix data that latitude relevant with the departure place of vehicle and longitude data and gps data calculating part 93 calculate, judge whether both are consistent if when setting out.Then, if both unanimities then are judged as native system and normally move.On the other hand, in inconsistent situation or do not receive under the situation of gps signal, the route data mistake that reads from the 7 output expressions of operation guiding output unit or the misinformation of gps signal receiving element 6 faults.In addition, the latitude of departure place and longitude data can manually be imported by chaufeur when outbound, also can come automatically to determine latitude and longitude data by the title that is chosen in the predefined place of starting in route data and the operation tentation data.
In addition, in the present embodiment, even systems inspection portion 94 has in the process of moving, the also function of the running-active status of OBD (On-Board Diagnostics) native system.Specifically, obtain checkpoint location data and gps data, judge whether vehicle follows the trail of (trace) each checkpoint in order.Then, only when correctly following the trail of, be judged as the native system regular event.On the other hand, confirm to have when unusual output error message.
In addition, in the vehicle of present embodiment, be provided with the gyrosensor Sj in the orientation of measuring vehicle.Therefore, the systems inspection portion 94 of present embodiment judges according to the bearing data of the vehicle of being obtained by this gyrosensor Sj and the bearing data between the checkpoint whether both are consistent.Then, if both always, are judged as the native system regular event.On the other hand, if inconsistent, then output error message.In addition, according to the checkpoint location data, the bearing data between the calculating inspection point.
Gps signal receives the reception number that number judging part 95 is judged gps signal.As mentioned above, the precision of gps data along with the difference of the reception number of gps signal difference.Therefore, in the present embodiment,, carry out the correcting process of position data described later rightly according to the reception number of gps signal.
Revise and obtain needed data in the correcting process of vehicle position data with data obtaining section 96.In the present embodiment, obtain not long ago correction with position data, time data and speed per hour data from operation actual achievement data storage cell 4.Herein, correction not long ago with position data be meant the absolute fix data that calculate when the gps signal that receives more than 3 or the reception number of gps signal continue specified time be 2 absolute fix data when following when equating substantially with predicted position data described later these absolute fix data or this predicted position data in up-to-date data.That is, be the position of determining up-to-date vehicle location in the high vehicle location of reliability, in the present embodiment, with this position as correction position.
Prediction travel distance calculation portion 97 can't obtain the high vehicle location of reliability during, if calculate the prediction operating range that vehicle travels.Specifically, according to revising correction not long ago position data and the time data of obtaining with data obtaining section 96, calculate from revising the elapsed time that the starting position begins, according to the prediction operating range of this elapsed time and speed per hour data computation vehicle.
The predicted position of vehicle is calculated by predicted position data computation portion 98.Specifically, determine that by revising the route of obtaining with data obtaining section 96 position data determines the railway route, obtain along this route as the predicted position data and advanced and predict the latitude longitude of the predicted position of operating range from revising the starting position.
For example, when the prediction operating range is L, calculate to connect revise starting position and nearest bend and determine the 1st linear position of point, when the length of the 1st straight line is L when above, obtain on the 1st straight line from revising the advanced position of L, starting position as predicted position.On the other hand, in the length of described the 1st straight line during, calculate and connect the 2nd straight line that next bend determines that point and nearest bend are determined less than L.Then, obtain on the 2nd straight line, from the definite latitude longitude of putting the position of advanced [L-(length of the 1st straight line)] of nearest bend as the predicted position data.
Can not time of reception judging part 99 be to judge because through reasons such as blind areas, the reception number of gps signal is whether the state below 2 has continued specified time.In the present embodiment, set this time length for 5 seconds, but be not limited to this, can suitably set by the user, in addition, suppose that reception number at gps signal is the situation that state below 2 has passed through the checkpoint before through 5 seconds, can discern this moment near the checkpoint is positioned at, do not wait for that 5 seconds ground executes the correcting process of vehicle position data described later.
The predicted position data that absolute fix data that 100 pairs of gps data calculating parts 93 of position data comparison judging part calculate and predicted position data computation portion 98 calculate compare judgement.In the present embodiment, when the absolute fix data are positioned at the predicted position the effective scope of measuring the zone that to be benchmark set by the Effective width of stipulating, are judged to be the predicted position data and equate substantially with the absolute fix data.On the other hand, when the absolute fix data are outside the scope of effectively measuring the zone, these absolute fix data are considered as the off-square data.
Correction is used to revise the correction position data of the position data of vehicle with position data employing portion 101.Specifically, be three and the absolute fix data that gps data calculating part 93 calculates use position data as revising when above receiving reception number that number judging part 95 is judged as gps signal by gps signal, and be stored in and move in the actual achievement data storage cell 4.In addition, even when the reception number reduces to 2, also send correct location information sometimes.Therefore, by the reception number that can not time of reception judging part 99 be judged as gps signal be state below 2 continuous specified time, and be judged as the predicted position data when equating substantially with the absolute fix data by position data comparison judging part 100, these predicted position data or this absolute fix data are used data as revising, and be stored in the operation actual achievement data storage cell 4.
Vehicle location employing portion 102 obtains high absolute fix data of reliability or predicted position data as the position data of vehicle.Specifically, the absolute fix data that adopt with position data employing portion 101 or the predicted position data position data as vehicle will be revised.Therefore, in the present embodiment, the reception number of being not only gps signal is the situation more than 3, even receiving number is 2 when following, at this state continuance specified time, and under absolute fix data and the situation that the predicted position data equate substantially, some with in these absolute fix data or the predicted position data as vehicle position data.Even this is to have utilized when the reception number is 2, the error of absolute fix data is not necessarily big.
Abnormal running judging part 103 judges whether the operation conditions of vehicle is normal.Specifically, obtain operation tentation data and gps data, and compare both.Then, calculate deviation or the actual deviation of passing through speed and predetermined speed of passing through constantly and pass through predetermined instant in the reality of the checkpoint of stipulating, judge whether not above the allowed value of stipulating.
In addition, in the vehicle of present embodiment, be provided with the three dimension acceleration sensor Sa of the acceleration/accel of measuring three-dimensional.Abnormal running judging part 103 is obtained all the time from the acceleration simulation data of three dimension acceleration sensor Sa output, judges whether these data do not surpass the allowed value of the regulation of expression conventional operation scope.And, in the present embodiment, even under the situation that ATS (Automatic Train Stop) system moves, also detect the situation that anomalous behavior takes place in service at vehicle.
The checkpoint arrives judging part 105 and judges whether vehicle has arrived the checkpoint.In the present embodiment, the checkpoint arrives the error that judging part 105 is considered vehicle position data, has set with cooresponding checkpoint, each checkpoint and has measured zone (hereinafter referred to as " CP measures the zone ").Then, in the time of in vehicle location is included in this CP mensuration zone, is judged as vehicle and has arrived this checkpoint.
Specifically, as shown in Figure 3, CP measures the zone and is made of following: with the position determined according to the checkpoint location data is benchmark (center), the cardinal principle of setting by the efficient range of regulation foursquare main measure the zone and with this master measure regional adjacent setting, be benchmark (center) with the position determined by secondary checkpoint data, the cardinal principle of setting by the efficient range of regulation foursquare secondary measure regional.Therefore, definite CP measured the zone after arrival judging part 105 in checkpoint was obtained checkpoint location data and secondary checkpoint location data from route data memory cell 2, and obtained by vehicle location and adopt the vehicle position datas of 102 employings and CP mensuration zone to compare.
In addition, the size that CP measures the zone it is desirable to set according to the speed of vehicle, in the present embodiment, suppose that vehicle travels with 60km/h (about 18m/s), measure the zone and the secondary zone of measuring is set square that a limit is 36m and two summits on route main.Therefore, in each measures zone, receive gps signal, therefore,, obtain obtaining at least 4 times the chance of gps signal for a checkpoint with about ± 1 second error limit.
Operation actual achievement data preservation portion 107 will move the actual achievement data and be kept in the operation actual achievement data storage cell 4.Specifically, be judged as vehicle when having arrived the terminal point in the fixed course arriving judging part 105 by the checkpoint, will be stored in the operation actual achievement data storage cell 4 at the gps data that passes through constantly, obtains of the vehicle of each checkpoint etc. by per second.
When next route data judging part 108 is through with the operation of a railway route at vehicle, judge in the operation tentation data whether have the railway route that then move.If the result who judges is when having the railway route that then move, then continue to make the railway vehicle operation management system 1 of present embodiment to carry out operation management, on the other hand, if there is not the railway route that then move, then make railway vehicle operation management system 1 end process.
Below, the effect of the railway vehicle operation management system of carrying out by the railway vehicle operation management program of present embodiment with reference to Fig. 4 and Fig. 5 explanation 1.
At first, when the railway vehicle operation management system 1 by present embodiment begins the operation management of vehicle, the operation that route is taken in corresponding chaufeur input, operation obtains route data relevant with the railway route of this vehicle operating and operation tentation data (step S1) with data obtaining section 91.Then, as gps signal obtaining section 92 (step S2) when gps signal receiving element 6 is obtained gps signal, calculate various gps datas (step S3) by gps data calculating part 93.According to this gps data and route data and operation tentation data, systems inspection portion 94 checks the running-active status (step S4) of railway vehicle operation management system 1.
If the result who checks is in system acting not unusual (step S4:OK), wait for that then the operation of vehicle begins (step S5); On the other hand, if find unfavorable condition (step S4:NG), then to operation guiding output unit 7 output error message (step S6).Thus, chaufeur can prevent to use wrong route data or operation tentation data, perhaps can prevent from not bring into play operational vehicle under the state of function at gps signal receiving element 6.
Then, when beginning the operation of vehicle (step S5:YES), during moving on the railway route by route data and operation tentation data regulation, obtain vehicle location (step S7) at any time by vehicle position data correcting process shown in Figure 5.
At this, the vehicle position data correcting process of using Fig. 5 explanation in step S7, to carry out.During vehicle operating, gps signal obtaining section 92 obtains gps signal (step S21) with about 1 second interval from gps signal receiving element 6, and gps data calculating part 93 calculates gps data (step S22) according to this gps signal.In addition, in the present embodiment, operation conditions image unit 8 begins to take in the operation beginning, and image data is stored in the video memory.
Then, gps signal receives number judging part 95 is judged the gps signal that receives in step S21 reception number (step S23), receiving number is 3 when above (step S23:YES), being judged as the absolute fix data that calculate in step S22 is high-precision data, enters among the step S29 described later.
On the other hand, at the reception number of gps signal is 2 when following (step S23:NO), at first, revise with data obtaining section 96 and obtain not long ago correction, predict the prediction operating range (step S25) of distance calculation portion 97 that travel according to these data computation vehicles with position data, time data and speed per hour data (step S24).Then, predicted position data computation portion 98 determines position data according to this prediction operating range and route, calculates the predicted position data (step S26) of vehicle.
Then, the reception number of the gps signal of judging in step S23 is 1 o'clock (step S27:NO), because therefore absolute fix data mal returns among the step S21, waits for receiving gps signal once more.On the other hand, be 2 o'clock (step S27:YES) at the reception number of gps signal, absolute fix may not mal.Therefore, when by can not time of reception judging part 99 have judged the reception number of gps signal be below 2 state continuance during specified time (step S28:YES), by position data relatively judging part 100 judge the homogeneity (step S29) of absolute fix data and predicted position data.
At this moment, in the present embodiment, the feature of utilizing railway vehicle to travel on the pre-determined route that is predetermined along the route between the definite point of adjacent bend, has been set effective mensuration zone of Rack.Then, according to effectively measuring in the zone whether detect the absolute fix data, judge the homogeneity of absolute fix data and predicted position data at this.Thus, the required calculation process of the judgement of both homogeneity is simplified, and alleviates the relatively load of judging part 100 of position data when keeping correctness.
Then, be to be judged as the absolute fix data when equating substantially (step S29:YES) in the judged result of position data comparison judging part 100 with the predicted position data, it is correct substantially to be estimated as these absolute fix data or this predicted position data.Therefore, some data wherein are adopted as to revise with position data employing portion 101 by correction uses position data, and is stored in the operation actual achievement data storage cell 4 (step S30).Adopt the predicted position data that calculate in the present embodiment in principle.Similarly, when the reception number of gps signal is 3 when above (step S23:YES), because therefore the accuracy height of the absolute fix data that calculate in step S22 uses position data with this absolute fix The data for revising, and be stored in the operation actual achievement data storage cell 4 (step S30).
Then, has precision in the scope of allowing as mentioned above by revising the absolute fix data that adopt with position data employing portion 101 or predicted position data, so, adopt (step S31) as vehicle position data by vehicle location employing portion 102.As previously discussed, the reception number that is not limited to gps signal is 3 when above, at the state continuance below 2 during specified time, because absolute fix data or predicted position data that reliability is high adopt as vehicle position data, so in the precision of the position data that keeps vehicle, improved the probability of obtaining of position data.
On the other hand, be state below 2 when continuing specified time (step S28:NO) at the reception number of gps signal, return among the step S21, wait for receiving gps signal once more.In addition, when having negated the homogeneity of absolute fix data and predicted position data (step S29:NO),, wait for receiving gps signal once more because the reliability of absolute fix data is low, thereby gets back among the step S21.
When having obtained vehicle position data by above-mentioned vehicle position data correcting process, the flow process of getting back to Fig. 4 once more.In step S8, abnormal running judging part 103 is judged the operation conditions of vehicle according to operation tentation data and gps data.Then, at the operation tentation data, only when vehicle normally moves (step S8:YES), handle entering into step S9 in the scope of the allowed value of regulation.On the other hand, when in the operation conditions of vehicle, identifying anomalous behavior (step S8:NO), image data and gps data before and after data preservation portion 104 takes place this anomalous behavior constantly when unusual are kept at back (step S10) in the abnormal data memory cell 5, make to handle to enter into step S9.Thus, preserve the data that front and back take place anomalous behavior automatically, be used to study the reason of this anomalous behavior, prevent to take place once more.
In addition, in the present embodiment, abnormal running judging part 103 irrespectively monitors the acceleration simulation data that obtain from three dimension acceleration sensor Sa all the time with operation tentation data, gps data, so can judge paroxysmal accident or vehicle abnormality that the relatively judgement by operating data and gps data may postpone immediately.Specifically, when the chaufeur emergency brake, when vehicle is pressed onto the foreign matter of placing on the line (stone of placement, round log, bicycle etc.) or owing under the situations such as the fitful wind vehicle tilts artificially, be created in the acceleration/accel of can't see in the conventional operation, therefore detect abnormal running.Thus, even taking place under the situation that chaufeur also is difficult to the abnormal accident reason discovered in advance, also preserve the data of this abnormal accident before and after taking place.
Then, in step S9, arrive judging part 105 by the checkpoint and judge whether vehicle has arrived certain checkpoint.In the present embodiment, detecting the vehicle position data that in step S7, obtains when having arrived CP and measuring in the zone, be judged as the checkpoint (step S9:YES) that vehicle has arrived setting in this CP measures the zone.So, use the CP of the efficient range with regulation to measure the zone and judges, therefore the omission that arrives of the vehicle in each checkpoint is surveyed and is reduced, and prevents to move mispriming.On the other hand, only when not arriving any one checkpoint (step S9:NO) returns among the step S7, and repetitive cycling is handled till arriving the checkpoint.
When being judged as vehicle when having arrived some checkpoints (step S9:YES), systems inspection portion 94 checks the running-active status (step S11) of native system according to the tracking situation of each checkpoint, the azimuth information of gyrosensor Sj.If the result of this inspection then enters step S12 for do not confirm unusual (step S11:OK) in the action of system.On the other hand, if confirm that unusual (step S11:NG) arranged, output error message (step S13) in operation guiding output unit.Thus, native system can make chaufeur, operation management person one side identify this fault and take suitable countermeasure then when contingency break down in the process of moving immediately.
If not unusual in native system, then operation guiding efferent 06 is from the operation guiding (step S12) of operation guiding output unit 7 output regulations.In the present embodiment, except the deviation of passing through predetermined instant passed through constantly for this checkpoint to the chaufeur voice guide reality of vehicle, outside the actual deviation of moving velocity for limited speed, also the purport that changes of next bus stop name of station of voice guide or limited speed etc. perhaps shows in telltale.
Then, as long as vehicle does not arrive the terminal point of operating railway route, repeat processing (step S14:NO) from step S7 to S12, when having arrived terminal point (step S14:YES), the various data storage that operation actual achievement data preservation portion 7 will obtain in operation management is handled are in operation actual achievement data storage cell 4 (step S15).Then, till about the whole railway route end of runs in the operation tentation data, next route data judging part 108 repeats the processing (step S15:YES) from step S1 to S15, about the whole railway route end of run of operation in the tentation data time (step S16:NO), the operation management of this railway vehicle operation management system finishes.
The specific embodiment of present embodiment then, is described.
Embodiment
In the present embodiment, the railway vehicle operation management system 1 by above-mentioned present embodiment has carried out electric car is carried out the test of operation management.In this test, use route data shown in Figure 6 and operation tentation data result from A station real-world operation to the B station, obtained result shown in Figure 7.
At first, at 0: 0: 0, vehicle was during from the A station, from the title and the time of departure at loud speaker voice guide A station.Then, when vehicle arrival rate change place, carry out the broadcasting that limited speed is restricted to 50km/h.In next speed change place, removed the broadcasting of the speed limit of 50km/h, and carried out actual passing through constantly than passing through the slow 13 seconds broadcasting of predetermined instant.
Then, when vehicle has arrived the checkpoint of error of affirmation and schedule, carry out actual in constantly than passing through the Zao 10 seconds broadcasting of predetermined instant.Then, therefore in 0: 5: 20, in the moving velocity of vehicle, detect unusually, so the image data between 2 minutes is kept in the abnormal data memory cell 5 before and after will taking place constantly.
Then,, carried out limited speed and be restricted to after the broadcasting of 40km/h, arrived the checkpoint that is used to guide bus stop, the title at broadcasting B station in the change of range rate once more place.Then, when vehicle arrived the B station in 0: 8: 25, carry out due in than arriving the Zao 5 seconds broadcasting of predetermined instant.
According to above-described present embodiment,
1. various operation guiding can automatically be carried out to chaufeur in each checkpoint of setting arbitrarily on the railway route, have alleviated the chaufeur constriction in spirit that is required according to the schedule operation, help the operation of safety.
2. even be difficult to receive the blind area of gps signal, also can obtain high-precision vehicle position data, carry out operation management inexpensive and that accuracy is high.
3. obtain gps signal because set the service area of regulation in each checkpoint, therefore can reduce missing of vehicle position data and obtain.
4. the generation of identification abnormal running, and automatically preserve this unusual image data, gps data that front and back take place, therefore can open and understand the reason of this abnormal running by analyzing these data, help prevent effects such as accident takes place once more.
In addition, railway vehicle operation management system 1 of the present invention and railway vehicle operation management program are not limited to foregoing embodiment, can suitably change.
Therefore for example, can determine to be difficult to receive the blind area of gps signal by analyzing operation actual achievement data, thus when in such blind area, having the checkpoint, compare with the absolute fix data can be preferentially with the predicted position data as vehicle position data.In addition, can also utilize the feature of on pre-determined route, moving of railway, learn the passage period in the blind area and pass through the position, predict in advance afterwards and set.
In addition, in the above-described embodiment, operation obtains various data with data obtaining section 91 from storage card, and operation actual achievement data preservation portion 107 has preserved operation actual achievement data in storage card, but is not limited to these.For example, also can be provided for the Transmit-Receive Unit of transceive data in addition, receive operation from the operation control center of regulation and use data, and will move the actual achievement data and send to operation control center.
And, in the above-described embodiment,, collect the direct of travel data of vehicle, but be not limited to these according to the gps data of obtaining in each second, also can obtain the bearing data of vehicle from gyrosensor Sj all the time.Thus,, also can utilize, travelling of vehicle be revised be specified to high-precision data from the bearing data of gyrosensor Sj output even can't receive the zone of gps signal.
Claims (9)
1. railway vehicle operation management system, the operation of the vehicle that its management is travelled on the railway route is characterized in that,
Have:
The route data memory cell, its storage determined that by the bend of determining the bend position on the railway route latitude of the speed of a motor vehicle change predetermined area in speed change desired location of the latitude of point and longitude data and definite vehicle and the route that longitude data constitutes determine position data, and by connected that these each routes are determined to set arbitrarily on the route of position, be used for the latitude of the checkpoint that the operation to vehicle manages and the checkpoint location data that longitude data constitutes;
Operation tentation data memory cell, its storage and described checkpoint location data have been set the operation tentation data of passing through predetermined instant, predetermined speed, bus stop guidance information of this checkpoint accordingly rightly;
The gps signal receiving element, it receives gps signal from global positioning system (GPS);
Operation management is handled the unit, it calculates the gps data relevant with described vehicle according to described gps signal, and according to this gps data and described operation tentation data, obtain described vehicle the checkpoint and deviation by predetermined instant, with the deviation of predetermined speed and next bus stop information at least one, carry out operation management; And
Operation guiding output unit, its rightly to chaufeur pass on that handle by this operation management that unit obtains and deviation by predetermined instant, with the deviation of predetermined speed and next bus stop information at least one.
2. railway vehicle operation management system according to claim 1 is characterized in that,
Described operation management is handled the unit and is had:
The gps data calculating part, it calculates the gps data that the absolute fix data relevant with described vehicle, time data and speed per hour data constitute according to described gps signal;
Gps signal receives the number judging part, and it judges the reception number of described gps signal;
Correction is adopted portion with position data, and it is when having received the gps signal more than three receiving the number judgement section judges by this gps signal, will adopt with position data as revising according to the absolute fix data that this gps signal calculates;
Revise and use the data obtaining section, it is that the reception number of gps signal is two when following received the number judgement section judges by described GPS, obtains not long ago correction usefulness position data, described time data and described speed per hour data;
Predict the distance calculation portion of travelling, it calculates the prediction operating range of described vehicle according to the elapsed time and the described speed per hour data that begin from the correction starting position of determining with position data by described correction not long ago; And
Predicted position data computation portion, it calculates expression along the railway route of being determined that by described route position data is determined, the predicted position data of the predicted position of the described prediction operating range that begun to advance from described correction starting position.
3. railway vehicle operation management system according to claim 2 is characterized in that,
Described operation management is handled the unit and is had relatively judging part of position data, its reception number at described gps signal be the state below two continuous during specified time, described predicted position data at this time point are compared judgement with the absolute fix data of obtaining according to two gps signals
When by this position data comparison judgement section judges being described predicted position data when being positioned at the scope that equates with described absolute fix data, described correction is adopted as being revised described predicted position data or described absolute fix data with position data employing portion with position data.
4. railway vehicle operation management system according to claim 3 is characterized in that,
Determine to set on the line of position described predicted position with position data and next route having connected correction not long ago, it is benchmark that described absolute fix data are positioned at this predicted position, in the time of in effective scope of measuring the zone of setting with the Effective width of regulation, described position data comparison judgement section judges is that described predicted position data are positioned at the scope that equates with described absolute fix data.
5. according to any described railway vehicle operation management system in the claim 2～4, it is characterized in that,
Store secondary checkpoint location data in described route data memory cell, it is determined on the railway route, the position of the secondary checkpoint of setting from the interval that checkpoint location begins to stipulate at interval to the direct of travel rear of vehicle,
Described operation management is handled the unit and is had checkpoint arrival judging part, when it has entered in the CP mensuration zone at the vehicle location of determining according to described absolute fix data or according to the vehicle location that described predicted position data are determined, be judged as this vehicle and arrived the checkpoint, it is as benchmark, with the zone of the efficient range setting of regulation with the position determined respectively according to the checkpoint location data in the described operation tentation data and secondary checkpoint location data that described CP measures zone.
6. railway vehicle operation management system according to claim 2 is characterized in that,
Described operation management is handled the unit and is had:
The abnormal running judging part, it compares described operation tentation data and described time data and described speed per hour data, the deviation of passing through predetermined instant of the checkpoint of obtaining and stipulating and with the deviation of predetermined speed, judge whether not surpass the allowed value of regulation or judge whether the acceleration simulation data that obtain from three dimension acceleration sensor surpass the allowed value of regulation; And
Data preservation portion when unusual, when it detects abnormal running at this abnormal running judging part, the various data that the data that obtain from described vehicle boarded various device or the equipment outside described vehicle receive, will be before described anomalous behavior takes place various data storage in the specified time after take place the abnormal data memory cell.
7. railway vehicle operation management system according to claim 6 is characterized in that,
Also have the operation conditions image unit, it takes the peripheral situation of described vehicle or the driving condition of described chaufeur,
Described when unusual data preservation portion will be kept in the abnormal data memory cell by image data and the described gps data that described operation conditions image unit photographs.
8. railway vehicle operation management system according to claim 6 is characterized in that,
The ATS data that described beacon ID that data preservation portion obtains the beacon from ATS (Automatic Train Stop) when unusual and car speed constitute are kept at the abnormal data memory cell.
9. railway vehicle operation management system according to claim 1 is characterized in that,
Described operation management is handled the unit and is had systems inspection portion, it is according to latitude and the comparative result of longitude data and described gps data or the comparative result of described checkpoint location data and described gps data relevant with the departure place of described vehicle, perhaps the comparative result of the bearing data of gyrosensor and the bearing data between the checkpoint judges whether described railway vehicle operation management system normally moves.
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| PCT/JP2007/057249 WO2007135808A1 (en) | 2006-05-22 | 2007-03-30 | Railroad train operation management system and railroad train operation management program |
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2009
- 2009-08-20 HK HK09107667.8A patent/HK1131774A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| CN101448693A (en) | 2009-06-03 |
| WO2007135808A1 (en) | 2007-11-29 |
| HK1131774A1 (en) | 2010-02-05 |
| JP2008001347A (en) | 2008-01-10 |
| JP4840871B2 (en) | 2011-12-21 |
| KR20090010078A (en) | 2009-01-28 |
| KR101055331B1 (en) | 2011-08-08 |
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