EP0187069A1 - Einrichtung und Verfahren zur Steuerung von gelenkten Fahrzeugen - Google Patents

Einrichtung und Verfahren zur Steuerung von gelenkten Fahrzeugen Download PDF

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Publication number
EP0187069A1
EP0187069A1 EP85402315A EP85402315A EP0187069A1 EP 0187069 A1 EP0187069 A1 EP 0187069A1 EP 85402315 A EP85402315 A EP 85402315A EP 85402315 A EP85402315 A EP 85402315A EP 0187069 A1 EP0187069 A1 EP 0187069A1
Authority
EP
European Patent Office
Prior art keywords
beacons
antenna
tags
detecting
polarization
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP85402315A
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English (en)
French (fr)
Other versions
EP0187069B1 (de
Inventor
Serge Drabowitch
Michel Baril
Guy Le Parquier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thales SA
Original Assignee
Thomson CSF SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=9310130&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0187069(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Thomson CSF SA filed Critical Thomson CSF SA
Priority to AT85402315T priority Critical patent/ATE50951T1/de
Publication of EP0187069A1 publication Critical patent/EP0187069A1/de
Application granted granted Critical
Publication of EP0187069B1 publication Critical patent/EP0187069B1/de
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L3/00—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
    • B61L3/02—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control
    • B61L3/08—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically
    • B61L3/12—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically using magnetic or electrostatic induction; using radio waves
    • B61L3/125—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically using magnetic or electrostatic induction; using radio waves using short-range radio transmission

Definitions

  • the present invention mainly relates to a control device for guided vehicles, for example for trains as well as a method of their automatic piloting.
  • Driving a guided vehicle requires knowledge of a great deal of information. Some of this information is linked to the geographic location of the vehicle. Thus, for example, a portion of the track corresponds to an optimal speed of the train.
  • the device which is the subject of the present invention comprises signaling devices distributed along the path that the vehicle has to travel, as well as means for detecting said signaling devices.
  • the detection means can be coupled to automatic processing means controlling for example the speed of the train, the opening or closing of the doors, the switching on or off of the lights or the voice synthesis of a message.
  • the signaling means are passive beacons capable of returning a characteristic signal when they are illuminated by a beam of microwave energy.
  • the detection means of the signaling means are for example low power radars.
  • the invention mainly relates to a device for controlling guided vehicles comprising beacons reflecting electromagnetic waves, fixed on the path to be traveled and means for detecting said beacons fixed to said vehicle, characterized in that the axis of radiation from the transmitting antenna has a non-zero angle 0 with the plane normal to the vehicle speed vector.
  • FIGS. 1 to 8 the same references have been used to designate the same elements.
  • Track 1 is equipped with two sets, 2 and 3, of passive beacons 4.
  • the beacons constituting a set 2 or 3, are all placed at a same distance from the rails.
  • the trains are equipped with beacon detection means 4 with the corresponding spacings at the locations of these beacons.
  • FIG. 1 only two sets of beacons 2 and 3 are shown, it being understood that a larger number of set of beacons can be used, determined by the amount of information to be transmitted to the train.
  • the sets 2, 3 of tags 4 are doubled, placed symmetrically with respect to the axis of the path that the vehicle has to travel. It is thus possible, for example, to program a different speed for each direction of traffic.
  • the tags 4 of the assembly 2 are for example intended to regulate the speed of a train.
  • the straight line 100 a large distance between the beacons 4 ensures great speed of the train.
  • the tightening of the beacons controls the slowing down of the train.
  • the tags 4 of the assembly 3 control, for example, a train stop.
  • the taking into account of the tags belonging to the set 2, to the set 3 or to the sets 2 and 3 is controlled for example by an electrical signal circulating in the rail.
  • a first embodiment of the device according to the invention comprising two antennas 6 inclined at an angle 9 relative to the plane 42.
  • the plane 42 is a plane normal to the speed vector of the vehicle 43. In the case where the vehicle 43 moves horizontally the plane 42 is vertical.
  • the antennas 6 are fixed to the train 43.
  • the tag 4 is made integral with the ground 5, for example between the rails, not shown.
  • the electromagnetic waves are emitted by the transmitting antenna follow the axis 8 of said antenna and are reflected by the beacon 4 along the axis 9 of the receiving antenna.
  • the use of a transmitting antenna and a separate antenna for reception makes it possible to obtain a good decoupling of the transmitted signal from the received signal.
  • the beacon 4 is equipped with means making it possible to rotate the plane of polarization by 90 °.
  • a device is for example constituted by a lattice of metal wires embedded in plastic material placed in front of a reflective metal plate.
  • the echoes reflected by such a beacon will have a polarization orthogonal to the polarization emitted.
  • the radiation reflected by the ground will mainly have the same polarization as the radiation emitted.
  • FIG. 3 one can see an embodiment of the device according to the invention comprising a single transmit-receive antenna 6 placed vertically above a beacon 4 ensuring the rotation of the polarization of the emitted radiation.
  • the tag 4 has for example the same structure as the tag 4 of FIG. 2.
  • the tag 4 comprises two metal plates forming a dihedral. It is well known to those skilled in the art that a dihedral causes the polarization rotation of the electromagnetic radiation received. The dihedral edge is contained in the plan bisector with respect to the polarization planes.
  • FIG. 4 we can see a device according to the present invention comprising a single transmit-receive antenna 6 inclined at an angle 9 with respect to the plane 42.
  • the beacon 4 comprises a reflective plane placed perpendicular to the axis 8 of the antenna 6.
  • the Doppler frequency f is given by the formula: where v is the train speed and X the wavelength used. It suffices to demodulate the signal received by the signal of the same frequency as the transmitted signal and to filter by a high-pass filter.
  • FIG. 8 Such an exemplary embodiment is illustrated in FIG. 8.
  • the ratio (signal / parasitic echo) is improved by the use of an inclined beam associated with a retrodirective beacon 4.
  • the signals reflected by the ground in the absence of a beacon take a direction 48 different from the axis 8 of the antenna 6.
  • an exemplary embodiment of the device according to the invention can be seen comprising a transmitting antenna 6 and a receiving antenna 6 inclined at an angle ⁇ relative to the plane 42, associated with a retrodirective beacon 4.
  • FIG 6 we can see an example of an embodiment of the device according to the invention comprising a single transmit-receive antenna 6 inclined at an angle 0 relative to the plane 42, associated with a retrodirective beacon 4.
  • the tag 4 ensures the polarization rotation of the waves received.
  • the use of the polarization rotation associated with the use of the Doppler effect makes it possible to obtain a very good decoupling of transmission signals with respect to the reception signals.
  • the use of the single antenna makes it possible to reduce the cost and the bulk of the system.
  • the edge of the dihedral forming a beacon 4 is advantageously not parallel to the plane of the ground 5.
  • the use of such an edge makes it possible to overcome the polarization rotation generated by dihedrons present on the track, for example the ballasts supporting the rails.
  • beacons whose presence or orientation can be remotely controlled. Such beacons can for example order to slow down or stop at a train, in the event of an incident on the track.
  • the device comprises a single transmit-receive antenna 6, a transmitter 28, a receiver 29 and a hybrid coupling 22 between the antenna, the transmitter and the receiver.
  • the fourth output of the hybrid ring 22 is coupled to a suitable load 21, such a coupling has the drawback of requiring a good adaptation of the antenna to the transmitter 28 and to the receiver 29.
  • the coupling by hybrid ring or by magic T makes lose six decibels in power.
  • each transceiver assembly 7 includes an oscillator 8, an amplifier 9 connected to a circulator 10 connected to the antenna 6.
  • the antenna 6 On reception, the antenna 6 is connected to a circulator 12, to a demodulation device 50, to a Doppler filter 14, to a low frequency amplifier 15 and to a threshold amplifier 16.
  • a directional coupler 11 takes energy from the output of the amplifier 9 and supplies it to the demodulator 50.
  • the coupler directive 11 comprises a circulator 13.
  • the circulators 10, 12, 13 make it possible to isolate the rest of the circuit from standing waves. These are for example ferrite circulators.
  • the circulators 10, 12, 13 as well as the directional coupler 11 are each connected to an adaptation load 21.
  • the oscillator 8 is a transistor oscillator.
  • the Doppler filter 14 is a high-pass filter stopping the DC component of the signal from the demodulation.
  • the threshold amplifier 16 presents at its output a signal of fixed amplitude in the case where the signal applied to its input is greater than a fixed threshold. Otherwise, the threshold amplifier 16 does not present an electrical signal at its output. Thus the detection of a beacon causes the momentary presence of a positive signal at the output of the assembly 7.
  • the output of the amplifier 16 is connected to a door "NO" logic 51.
  • the outputs of the transceiver assemblies 7 are connected to a control circuit 17.
  • the control circuit 17 is connected to a clock 18 and to a line of command 19.
  • the command line 19 indicates to the control circuit 17 for example the transmission-reception sets 7 to be validated.
  • the control circuit 17 is for example a logic circuit.
  • the control circuit 17 is a programmable circuit, for example a microprocessor.
  • the control circuit 17 transmits orders to the various devices under its control by a control bus 20. Simultaneously the control circuit 17 provides information to the display board on the train and / or to the control center outside of the train.
  • Bus 20 is connected to interfaces and / or digital-analog converters necessary for actuating the control devices.
  • the use of the Doppler effect makes it possible to determine the speed of the vehicle 43 relative to the ground 5.
  • the demodulator 50 is connected to bandpass filters stepped in frequency (not shown in the figure) .
  • the filter at the outlet of which the signal is present indicates the speed of the vehicle 43.
  • the antenna 6 has two crossed polarization accesses. One is connected to circulator 10, the other to circulator 12.
  • continuous emission radars are used.
  • the invention applies mainly to the control of guided vehicles, such as for example trains or the metro.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP85402315A 1984-11-30 1985-11-26 Einrichtung und Verfahren zur Steuerung von gelenkten Fahrzeugen Expired - Lifetime EP0187069B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT85402315T ATE50951T1 (de) 1984-11-30 1985-11-26 Einrichtung und verfahren zur steuerung von gelenkten fahrzeugen.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8418328A FR2574037B1 (fr) 1984-11-30 1984-11-30 Dispositif et procede de commande de vehicules guides
FR8418328 1984-11-30

Publications (2)

Publication Number Publication Date
EP0187069A1 true EP0187069A1 (de) 1986-07-09
EP0187069B1 EP0187069B1 (de) 1990-03-14

Family

ID=9310130

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85402315A Expired - Lifetime EP0187069B1 (de) 1984-11-30 1985-11-26 Einrichtung und Verfahren zur Steuerung von gelenkten Fahrzeugen

Country Status (6)

Country Link
US (1) US4713663A (de)
EP (1) EP0187069B1 (de)
AT (1) ATE50951T1 (de)
CA (1) CA1245749A (de)
DE (1) DE3576478D1 (de)
FR (1) FR2574037B1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2506997A (en) * 2012-10-10 2014-04-16 Raymond Wilson Blackburn A liner which can be retrofitted to a standard container

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2645309B1 (fr) * 1989-04-04 1991-06-07 Usil Flandres Artois Dispositif de detection du passage d'au moins un mobile en au moins un point determine de son deplacement
US5684490A (en) * 1995-03-01 1997-11-04 The Ohio State University Highway vehicle guidance system
FR2812457B1 (fr) 2000-07-28 2004-05-28 Thomson Csf Reflecteur hyperfrequence actif a bi-polarisation, notamment pour antenne a balalyage electronique
ITTO20030978A1 (it) * 2003-12-05 2005-06-06 Ansaldo Segnalamento Ferroviario S P A Boa (balise) per segnalazione ferroviaria e metodo di realizzazione della boa stessa.
CN109070903B (zh) * 2016-05-12 2020-02-14 株式会社京三制作所 地面装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE508105C (de) * 1928-11-10 1930-09-25 Fritz Hofmann Dipl Ing Vorrichtung zur Ausscheidung der Wirksamkeit fremden Lichtes bei optischen Signaluebertragungen
DE759668C (de) * 1940-04-20 1954-04-22 Aeg Vorrichtung zur elektrischen Zeichengebung von oder nach Fahrzeugen mittels Ultraschallwellen
US3426349A (en) * 1967-04-04 1969-02-04 Gen Electric Vehicle locating system
FR2131832A1 (de) * 1971-03-29 1972-11-17 Automatisme Cie Gle
US3787679A (en) * 1972-01-26 1974-01-22 British Railways Board Train communication system

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4012736A (en) * 1974-12-11 1977-03-15 Merlin A. Pierson Radar speedometer
JPS5174334A (en) * 1974-12-24 1976-06-28 Nissan Motor Sharyoyo shogaibutsukenchisochi
US4339753A (en) * 1979-12-19 1982-07-13 Rca Corporation Vehicle identification system
US4319245A (en) * 1980-05-29 1982-03-09 Rca Corporation Doppler signal processing apparatus

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE508105C (de) * 1928-11-10 1930-09-25 Fritz Hofmann Dipl Ing Vorrichtung zur Ausscheidung der Wirksamkeit fremden Lichtes bei optischen Signaluebertragungen
DE759668C (de) * 1940-04-20 1954-04-22 Aeg Vorrichtung zur elektrischen Zeichengebung von oder nach Fahrzeugen mittels Ultraschallwellen
US3426349A (en) * 1967-04-04 1969-02-04 Gen Electric Vehicle locating system
FR2131832A1 (de) * 1971-03-29 1972-11-17 Automatisme Cie Gle
US3787679A (en) * 1972-01-26 1974-01-22 British Railways Board Train communication system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2506997A (en) * 2012-10-10 2014-04-16 Raymond Wilson Blackburn A liner which can be retrofitted to a standard container
GB2506997B (en) * 2012-10-10 2018-12-12 Wilson Blackburn Raymond Fluid dispenser with Isolation Membrane

Also Published As

Publication number Publication date
EP0187069B1 (de) 1990-03-14
CA1245749A (fr) 1988-11-29
FR2574037A1 (fr) 1986-06-06
FR2574037B1 (fr) 1993-09-10
ATE50951T1 (de) 1990-03-15
DE3576478D1 (de) 1990-04-19
US4713663A (en) 1987-12-15

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