EP0187069A1 - Device and method for the control of guided vehicles - Google Patents

Device and method for the control of guided vehicles 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
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EP
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Prior art keywords
beacons
antenna
tags
detecting
polarization
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Granted
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EP85402315A
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German (de)
French (fr)
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EP0187069B1 (en
Inventor
Serge Drabowitch
Michel Baril
Guy Le Parquier
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Thales SA
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Thomson CSF SA
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Priority to AT85402315T priority Critical patent/ATE50951T1/en
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    • 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.

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  • 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)

Abstract

Le dispositif objet de la présente invention comporte des balises passives (4) ainsi que des radars (7) permettant leur détection. La présence ou l'absence de balise permet la commande automatique d'un train, par exemple en vue de l'automatisation de sa conduite. Le dispositif objet de la présente invention utilise des balises (4) rétrodirectives et/ou des balises induisant une rotation de polarisation du rayonnement reçu. L'utilisation des balises rétrodirectives induit un changement de fréquence par effet Doppler du rayonnement réfléchi. Le changement de fréquence Doppler et/ou la rotation de la polarisation du rayonnement améliore le rapport (signal/écho parasite) et/ou la séparation des voies d'emission et de réception.The device which is the subject of the present invention comprises passive beacons (4) as well as radars (7) allowing their detection. The presence or absence of a beacon allows automatic control of a train, for example with a view to automating its conduct. The device which is the subject of the present invention uses retrodirective beacons (4) and / or beacons inducing a polarization rotation of the received radiation. The use of retrodirective beacons induces a frequency change by Doppler effect of the reflected radiation. Changing the Doppler frequency and / or rotating the polarization of the radiation improves the ratio (parasitic signal / echo) and / or the separation of the transmission and reception channels.

L'invention s'applique principalement à la conduite automatique des trains ou du métro.

Figure imgaf001
The invention applies mainly to the automatic driving of trains or the metro.
Figure imgaf001

Description

La présente invention concerne principalement un dispositif de commande pour véhicules guidés, par exemple pour les trains ainsi qu'un procédé de leur pilotage automatique.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.

La conduite d'un véhicule guidé exige la connaissance d'un grand nombre d'informations. Certaines de ces informations sont liées à la situation géographique du véhicule. Ainsi par exemple, à une portion de voie ferrée correspond une vitesse optimale du train.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.

Le dispositif objet de la présente invention comporte des dispositifs de signalisation répartis le long du chemin que le véhicule doit parcourir, ainsi que des moyens de détection desdits dispositifs de signalisation. Le moyen de détection peut être couplé à des moyens de traitement automatique commandant par exemple la vitesse du train, l'ouverture ou la fermeture des portes, l'allumage ou l'extinction des lumières ou la synthèse vocale d'un message. Dans le cas de la présente invention les moyens de signalisation sont des balises passives capables de renvoyer un signal caractéristique quand elles sont illuminées par un faisceau d'énergie hyperfréquence. Les dispositifs de détection des moyens de signalisation sont par exemple des radars de faible puissance.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. In the case of the present invention, 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.

L'invention a principalement pour objet un dispositif de commande de véhicules guidés comprenant des balises réflectrices d'ondes électromagnétiques, fixées sur le chemin à parcourir et des moyens de détection desdites balises fixées sur ledit véhicule, caractérisé par le fait que l'axe de rayonnement de l'antenne d'émission présente un angle 0 non nul avec le plan normal au vecteur vitesse du véhicule.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.

L'invention sera mieux comprise au moyen de la description ci-après des figures annexées données comme des exemples non limitatifs parmi lesquels :

  • - la figure 1 est un schéma d'implantation des balises selon l'invention ;
  • - les figures 2 à 6 illustrent la disposition relative des antennes et des balises ;
  • - la figure 7 est un schéma d'un premier exemple de réalisation de moyen de détection de balise ;
  • - la figure 8 est un schéma d'un second exemple de réalisation du dispositif selon l'invention.
The invention will be better understood by means of the description below of the appended figures given as nonlimiting examples among which:
  • - Figure 1 is a layout diagram of the tags according to the invention;
  • - Figures 2 to 6 illustrate the relative arrangement of the antennas and tags;
  • - Figure 7 is a diagram of a first embodiment of tag detection means;
  • - Figure 8 is a diagram of a second embodiment of the device according to the invention.

Sur la figure 1 à 8 on a utilisé les mêmes références pour désigner les mêmes éléments.In FIGS. 1 to 8, the same references have been used to designate the same elements.

Sur la figure 1, on peut voir représentée schématiquement une voie de chemin de fer 1. La voie 1 est équipée de deux ensembles, 2 et 3, de balises passives 4. Les balises constituant un ensemble 2 ou 3, sont toutes placées à une même distance des rails. De même les trains sont équipés de moyens de détection des balises 4 aux écartements correspondants aux emplacements de ces balises. Dans le cas de la figure 1, on a représenté uniquement deux ensembles de balises 2 et 3 étant bien entendu qu'un nombre plus important d'ensemble de balises peut être utilisé, déterminé par la quantité d'informations à transmettre au train.In Figure 1, we can see schematically shown a railway track 1. 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. Likewise, the trains are equipped with beacon detection means 4 with the corresponding spacings at the locations of these beacons. In the case of 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.

Dans une variante de rélisation du dispositif selon l'invention, les ensembles 2, 3 de balises 4 sont doublés, placés symétriquement par rapport à l'axe du chemin que le véhicule doit parcourir. On peut ainsi programmer par exemple une vitesse différente pour chaque sens de circulation.In a variant embodiment of the device according to the invention, 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.

Dans un exemple illustré sur la figure 1, les balises 4 de l'ensemble 2 sont par exemple destinées à réguler la vitesse d'un train. Dans la ligne droite 100 une grande distance entre les balises 4 assure une grande célérité du train. Par contre dans le virage 101 le reserrement des balises commande le ralentissement du train.In an example illustrated in Figure 1, the tags 4 of the assembly 2 are for example intended to regulate the speed of a train. In the straight line 100 a large distance between the beacons 4 ensures great speed of the train. On the other hand, in turn 101, the tightening of the beacons controls the slowing down of the train.

Les balises 4 de l'ensemble 3 commandent par exemple un arrêt de train.The tags 4 of the assembly 3 control, for example, a train stop.

La prise en compte des balises appartenant à l'ensemble 2, à l'ensemble 3 ou aux ensembles 2 et 3 est commandée par exemple par un signal électrique circulant dans le rail.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.

Sur la figure 2, on peut voir un premier exemple de réalisation du dispositif selon l'invention comportant deux antennes 6 inclinées d'un angle 9 par rapport au plan 42. Par définition le plan 42 est un plan normal au vecteur vitesse du véhicule 43. Dans le cas où le véhicule 43 se déplace horizontalement le plan 42 est vertical. Les antennes 6 sont fixées sur le train 43. La balise 4 est rendue solidaire du sol 5, par exemple entre les rails, non représentés. Les ondes électromagnétiques sont émises par l'antenne d'émission suivent l'axe 8 de ladite antenne et sont réfléchies par la balise 4 suivant l'axe 9 de l'antenne de réception. L'utilisation d'une antenne d'émission et d'une antenne séparée pour la réception permet d'obtenir un bon découplage du signal émis et du signal reçu.In Figure 2, we can see a first embodiment of the device according to the invention comprising two antennas 6 inclined at an angle 9 relative to the plane 42. By definition, 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.

En l'absence de balise une partie de l'énergie provenant de l'antenne d'émission est réfléchie par le sol vers l'antenne de réception. La quantité d'énergie réfléchie par le sol est bien plus faible que celle réfléchie par la balise. Toutefois, pour augmenter le rapport (signal/écho parasite) on travaille à la réception dans une polarisation orthogonale à la polarisation de l'émission. Ainsi la balise 4 est équipée de moyens permettant de faire tourner de 90° le plan de polarisation. Un tel dispositif est par exemple constitué par un treillis de fils métalliques noyés dans de la matière plastique placé devant une plaque métallique réfléchissante. Ainsi les échos réfléchis par une telle balise auront une polarisation orthogonale à la polarisation émise. Par contre le rayonnement réfléchi par le sol aura principalement la même polarisation que le rayonnement émis.In the absence of a beacon, part of the energy coming from the transmitting antenna is reflected by the ground towards the receiving antenna. The amount of energy reflected by the ground is much lower than that reflected by the beacon. However, to increase the ratio (parasitic signal / echo) one works on reception in a polarization orthogonal to the polarization of the emission. Thus the beacon 4 is equipped with means making it possible to rotate the plane of polarization by 90 °. Such a device is for example constituted by a lattice of metal wires embedded in plastic material placed in front of a reflective metal plate. Thus the echoes reflected by such a beacon will have a polarization orthogonal to the polarization emitted. On the other hand, the radiation reflected by the ground will mainly have the same polarization as the radiation emitted.

Sur la figure 3, on peut voir un exemple de réalisation du dispositif selon l'invention comportant une antenne 6 unique d'émission-réception placée verticalement au-dessus d'une balise 4 assurant la rotation de la polarisation du rayonnement émis. La balise 4 a par exemple la même structure que la balise 4 de la figure 2. Avantageusement, la balise 4 comporte deux plaques métalliques formant dièdre. Il est bien connu de l'homme de l'art qu'un dièdre provoque la rotation de polarisation du rayonnement électromagnétique reçu. L'arête du dièdre est contenue dans le plan bisecteur par rapport aux plans de polarisation.In 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. Advantageously, 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.

Sur la figure 4, on peut voir un dispositif selon la présente invention comportant une antenne 6 unique d'émission-réception inclinée d'un angle 9 par rapport au plan 42. La balise 4 comporte un plan réflecteur placé perpendiculairement à l'axe 8 de l'antenne 6. L'utilisation d'un faisceau incliné d'énergie électromagnétique permet de mettre à profil l'effet Doppler pour améliorer le découplage entre l'énergie émise et l'énergie reçue par l'antenne 6. La fréquence Doppler f, est donnée par la formule :

Figure imgb0001
ou v est la vitesse du train et X la longueur d'onde utilisée. Il suffit pour cela de démoduler le signal reçu par le signal de même fréquence que le signal émis et de filtrer par un filtre passe-haut. Un tel exemple de réalisation est illustré sur la figure 8.In 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 use of an inclined beam of electromagnetic energy makes it possible to profile the Doppler effect to improve the decoupling between the energy emitted and the energy received by the antenna 6. The Doppler frequency f, is given by the formula:
Figure imgb0001
 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. Such an exemplary embodiment is illustrated in FIG. 8.

Dans le cas de l'exemple de réalisation illustré sur la figure 4, le rapport (signal/écho parasite) est amélioré par l'utilisation d'un faisceau incliné associé à une balise 4 rétrodirective. Les signaux réfléchis par le sol en l'absence de balise prennent une direction 48 différente de l'axe 8 de l'antenne 6.In the case of the exemplary embodiment illustrated in FIG. 4, 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.

Sur la figure 5, on peut voir un exemple de réalisation du dispositif selon l'invention comportant une antenne d'émission 6 et une antenne 6 de réception inclinées d'un angle θ par rapport au plan 42, associées à une balise 4 rétrodirective. Ainsi, il est avantageux d'utiliser l'effet Doppler pour améliorer encore le découplage, entre l'émission et la réception, assuré par deux antennes distinctes. De plus, l'utilisation d'un dièdre en tant que balise 4 ainsi assurant la rotation de polarisation, permet d'améliorer le découplage de l'émission et de la réception ainsi que le rapport (signal/écho parasite).In FIG. 5, 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 θ relative to the plane 42, associated with a retrodirective beacon 4. Thus, it is advantageous to use the Doppler effect to further improve the decoupling, between transmission and reception, provided by two separate antennas. In addition, the use of a dihedron as a beacon 4 thus ensuring the polarization rotation, makes it possible to improve the decoupling of the transmission and the reception as well as the ratio (parasitic signal / echo).

Sur la figure 6, on peut voir un exemple de réalisation du dispositif selon l'invention comportant une antenne 6 unique d'émission-réception inclinée d'un angle 0 par rapport au plan 42, associée à une balise 4 rétrodirective. Avantageusement, la balise 4 assure la rotation de polarisation des ondes reçues. L'utilisation de la rotation de polarisation associée à l'utilisation de l'effet Doppler permet d'obtenir un très bon découplage de signaux d'émission par rapport aux signaux de réception. L'utilisation de l'antenne unique permet de réduire le coût et l'encombrement du système.In Figure 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. Advantageously, 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.

L'arête du dièdre formant une balise 4 est avantageusement non parallèle au plan du sol 5. L'utilisation d'une telle arête permet de s'affranchir de la rotation de polarisation générée par des dièdres présents sur la voie, par exemple les balastes soutenant les rails.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.

L'utilisation de dièdre en tant que balise réfléchissante augmente les tolérances d'alignement de la balise et de l'antenne. En effet l'axe de l'énergie réfléchie sur un dièdre dont les parois sont perpendiculaires est parallèle à l'axe de l'énergie incidente. Ainsi il est possible d'utiliser en plus des balises fixes des balises dont la présence, ou l'orientation puisse être télécommandée. De telles balises peuvent par exemple ordonner de ralentir ou de s'arrêter à un train, en cas d'incident sur la voie.The use of a dihedral as a reflective beacon increases the alignment tolerances of the beacon and the antenna. Indeed, the axis of the energy reflected on a dihedral whose walls are perpendicular is parallel to the axis of the incident energy. Thus it is possible to use, in addition to fixed beacons, 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.

Sur la figure 7, on peut voir un premier exemple de réalisation du dispositif radar selon l'invention. Le dispositif comporte une antenne d'émission-réception unique 6, un émetteur 28, un récepteur 29 et un couplage hybride 22 entre l'antenne, l'émetteur et le récepteur. La quatrième sortie de l'anneau hybride 22 est couplée à une charge adaptée 21, un tel couplage présente l'inconvénient d'exiger une bonne adaptation de l'antenne à l'émetteur 28 et au récepteur 29. D'autre part le couplage par anneau hybride ou par T magique fait perdre six décibels en puissance.In Figure 7, we can see a first embodiment of the radar device according to the invention. 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. On the other hand, the coupling by hybrid ring or by magic T makes lose six decibels in power.

Sur la figure 8, on peut voir un exemple de réalisation du dispositif radar selon l'invention comportant trois ensembles 7 d'émission-réception correspondant à trois groupes de balises présents au sol. Il est bien entendu que le nombre d'ensembles émetteur-récepteur 7 n'est pas limité à trois. Il est déterminé par la quantité d'informations que l'on désire transmettre au train. Au cas où le nombre de groupes d'ensembles radar 7 nécessaire risquerait de provoquer des couplages électromagnétiques entre divers ensembles 7 il est avantageux d'utiliser des orientations de balises différentes et/ou des fréquences de travail différentes. Chaque ensemble d'émission-réception 7 comporte un oscillateur 8, un amplificateur 9 connectés à un circulateur 10 connecté à l'antenne 6. A la réception, l'antenne 6 est connectée à un circulateur 12, à un dispositif de démodulation 50, à un filtre Doppler 14, à un amplificateur basse fréquence 15 et à un amplificateur à seuil 16. D'autre part un coupleur directif 11 prélève de l'énergie à la sortie de l'amplificateur 9 et la fournit au démodulateur 50. Le coupleur directif 11 comporte un circulateur 13. Les circulateurs 10, 12, 13 permettent d'isoler le reste du circuit des ondes stationnaires. Ce sont par exemple des circulateurs à ferrite. Les circulateurs 10, 12, 13 ainsi que le coupleur directif 11 sont reliés chacun à une charge d'adaptation 21. Avantageusement l'oscillateur 8 est un oscillateur à transistor. Le filtre Doppler 14 est un filtre passe-haut arrêtant la composante continue du signal provenant de la démodulation. L'amplificateur à seuil 16 présente à sa sortie un signal d'amplitude fixe dans le cas où le signal appliqué à son entrée est supérieur à un seuil fixé. Dans le cas contraire l'amplificateur à seuil 16 ne présente pas de signal électrique à sa sortie. Ainsi la détection d'une balise entraîne la présence momentanée d'un signal positif à la sortie de l'ensemble 7.In FIG. 8, one can see an exemplary embodiment of the radar device according to the invention comprising three sets 7 of transmission-reception corresponding to three groups of beacons present on the ground. It is understood that the number of transmitter-receiver assemblies 7 is not limited to three. It is determined by the amount of information that you want to transmit to the train. In the event that the number of groups of radar assemblies 7 required risks causing electromagnetic couplings between various assemblies 7, it is advantageous to use different beacon orientations and / or different working frequencies. Each transceiver assembly 7 includes an oscillator 8, an amplifier 9 connected to a circulator 10 connected to 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. On the other hand 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. Advantageously 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.

Dans le cas où l'on voudrait travailler en logique négative, c'est-à-dire avoir un signal électrique continu sauf pendant les détections des balises 4 des figures 1 à 6, on connecte la sortie de l'amplificateur 16 à une porte logique "NON" 51.In the case where one would like to work in negative logic, that is to say to have a continuous electrical signal except during the detections of the beacons 4 of FIGS. 1 to 6, the output of the amplifier 16 is connected to a door "NO" logic 51.

Les sorties des ensembles 7 d'émission-réception sont connectées à un circuit de commande 17. D'autre part le circuit de commande 17 est connecté à une horloge 18 et à une ligne de commande 19. La ligne de commande 19 indique au circuit de commande 17 par exemple les ensembles 7 d'émission-réception à valider. Le circuit de commande 17 est par exemple un circuit logique. Avantageusement le circuit de commande 17 est un circuit programmable, par exemple un microprocesseur. Le circuit de commande 17 transmet aux divers dispositifs sous son contrôle des ordres par un bus de commande 20. Simultanément le circuit de commande 17 fournit des informations au tableau d'affichage à bord du train et/ou au central de commande à l'extérieur du train. Le bus 20 est relié à des interfaces et/ou des convertisseurs numériques- analogiques nécessaires à l'actionnement des dispositifs de commande.The outputs of the transceiver assemblies 7 are connected to a control circuit 17. On the other hand 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. Advantageously, 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.

D'autre part, l'utilisation de l'effet Doppler permet de déterminer la vitesse du véhicule 43 par rapport au sol 5. Par exemple le démodulateur 50 est relié à des filtres passe-bande étagés en fréquence (non représentés sur la figure). Le filtre à la sortie duquel est présent le signal indique la vitesse du véhicule 43.On the other hand, the use of the Doppler effect makes it possible to determine the speed of the vehicle 43 relative to the ground 5. For example 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.

Dans un exemple de réalisation du dispositif selon l'invention on utilise une fréquence 10 GHz ;

  • des balises 4 ayant une largeur de 8 cm ;
  • des antennes d'émission, d'émission-réception, et/ou de réception comportant des lentilles diélectriques.
In an exemplary embodiment of the device according to the invention, a frequency of 10 GHz is used;
  • tags 4 having a width of 8 cm;
  • transmit, transmit-receive, and / or receive antennas having dielectric lenses.

L'antenne 6 comporte deux accès en polarisation croisés. L'un est connecté au circulateur 10, l'autre au circulateur 12.The antenna 6 has two crossed polarization accesses. One is connected to circulator 10, the other to circulator 12.

Avantageusement on utilise des radars à émission continue.Advantageously, continuous emission radars are used.

L'invention s'applique principalement à la commande de véhicules guidés, comme par exemple les trains ou le métro.The invention applies mainly to the control of guided vehicles, such as for example trains or the metro.

Claims (18)

1. Dispositif de commande de véhicules guidés (43) comprenant des balises (4) réflectrices d'ondes électromagnétiques, fixées sur le chemin à parcourir et des moyens (7) de détection desdites balises fixées sur ledit véhicule (43) comportant au moins une antenne (6), caractérisé par le fait que l'axe de rayonnement (8) de l'antenne (6) d'émission présente un angle 0 non nul avec le plan (42) normal au vecteur vitesse du véhicule (43).1. Guided vehicle control device (43) comprising beacons (4) reflecting electromagnetic waves, fixed on the path to be traveled and means (7) for detecting said beacons fixed on said vehicle (43) comprising at least one antenna (6), characterized in that the radiation axis (8) of the transmitting antenna (6) has a non-zero angle 0 with the plane (42) normal to the speed vector of the vehicle (43). 2. Dispositif selon la revendication 1, caractérisé par le fait que les balises (4) sont rétrodirectives.2. Device according to claim 1, characterized in that the tags (4) are retrodirective. 3. Dispositif selon la revendication 1 ou 2, caractérisé par le fait que le dispositif d'émission-réception d'ondes électromagnétiques (7) comporte une antenne (6) unique pour l'émission et pour la réception.3. Device according to claim 1 or 2, characterized in that the device for transmitting and receiving electromagnetic waves (7) comprises a single antenna (6) for transmission and for reception. 4. Dispositif selon l'une quelconque des revendications précédentes, caractérisé par le fait que les balises (4) engendrent une rotation de la polarisation de rayonnement incident.4. Device according to any one of the preceding claims, characterized in that the tags (4) generate a rotation of the polarization of incident radiation. 5. Dispositif selon la revendication 4, caractérisé par le fait que les balises (4) comportent des treillis de fils métalliques parallèles.5. Device according to claim 4, characterized in that the tags (4) comprise lattices of parallel metal wires. 6. Dispositif selon la revendication 4, caractérisé par le fait que les balises (4) comportent des dièdres.6. Device according to claim 4, characterized in that the tags (4) comprise dihedrons. 7. Dispositif selon l'une quelconque des revendications précédentes, caractérisé par le fait que le dispositif (7) de détection des balises (4) comporte un radar à émission continue.7. Device according to any one of the preceding claims, characterized in that the device (7) for detecting beacons (4) comprises a continuous emission radar. 8. Dispositif selon l'une quelconque des revendications 3 à 7, caractérisé par le fait que le découplage entre l'émission et la réception est assuré par un anneau hybride.8. Device according to any one of claims 3 to 7, characterized in that the decoupling between the emission and the reception is ensured by a hybrid ring. 9. Dispositif selon l'une quelconque des revendications précédentes, caractérisé par le fait qu'il comporte un démodulateur (50), dont une première entrée reçoit les signaux captés par l'antenne (6) et une seconde entrée reçoit les signaux d'émission prélevés par un coupleur (11).9. Device according to any one of the preceding claims, characterized in that it comprises a demodulator (50), a first input of which receives the signals picked up by the antenna (6) and a second input of which receives the signals of emission sampled by a coupler (11). 10. Dispositif selon l'une quelconque des revendications précédentes, caractérisé par le fait que le dispositif (7) de détection de balises (4) est connecté à un circuit de commande (17) susceptible de commander la marche du véhicule guidé (43).10. Device according to any one of the preceding claims, characterized in that the device (7) for detecting beacons (4) is connected to a control circuit (17) capable of controlling the running of the guided vehicle (43) . 11. Dispositif selon la revendication 10, caractérisé par le fait que le circuit de commande (17) est un microprocesseur.11. Device according to claim 10, characterized in that the control circuit (17) is a microprocessor. 12. Dispositif selon la revendication 10 ou 11, caractérisé par le fait qu'une horloge est connectée au circuit de commande (17).12. Device according to claim 10 or 11, characterized in that a clock is connected to the control circuit (17). 13. Dispositif selon l'une quelconque des revendications précédentes, caractérisé par le fait que le dispositif (7) de détection de balise (4) comporte un amplificateur à seuil (16).13. Device according to any one of the preceding claims, characterized in that the device (7) for beacon detection (4) comprises a threshold amplifier (16). 14. Dispositif selon la revendication 13, caractérisé par le fait qu'une porte NON est connectée en sortie de l'amplificateur à seuil (16).14. Device according to claim 13, characterized in that a NON gate is connected at the output of the threshold amplifier (16). 15. Train, caractérisé par le fait qu'il comporte un dispositif de commande selon l'une quelconque des revendications précédentes.15. Train, characterized in that it comprises a control device according to any one of the preceding claims. 16. Procédé de pilotage automatique de véhicules guidés (43) utilisant des balises (4) susceptibles de renvoyer l'énergie électromagnétique incidente et des moyens (7) de détection desdites balises (4), caractérisé par le fait que l'on utilise l'effet Doppler pour améliorer le découplage émission-réception.16. Method for automatic piloting of guided vehicles (43) using beacons (4) capable of returning the incident electromagnetic energy and means (7) for detecting said beacons (4), characterized in that one uses l Doppler effect for improve the decoupling of transmission-reception. 17. Procédé de pilotage automatique de véhicules guidés (43) utilisant des balises (4) susceptibles de renvoyer l'énergie électromagnétique incidente et des moyens (7) de détection desdites balises (4), caractérisé par le fait que les balises (4) sont susceptibles d'engendrer une rotation de polarisation sensiblement égale à 90° des ondes incidentes.17. Method for automatic piloting of guided vehicles (43) using beacons (4) capable of returning the incident electromagnetic energy and means (7) for detecting said beacons (4), characterized in that the beacons (4) are likely to generate a polarization rotation substantially equal to 90 ° of the incident waves. 18. Procédé selon la revendication 16 ou 17, caractérisé par le fait que ledit procédé est un procédé d'asservissement de la vitesse.18. The method of claim 16 or 17, characterized in that said method is a speed control method.
EP85402315A 1984-11-30 1985-11-26 Device and method for the control of guided vehicles Expired - Lifetime EP0187069B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT85402315T ATE50951T1 (en) 1984-11-30 1985-11-26 DEVICE AND PROCEDURES FOR CONTROL OF STEERING VEHICLES.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8418328 1984-11-30
FR8418328A FR2574037B1 (en) 1984-11-30 1984-11-30 DEVICE AND METHOD FOR CONTROLLING GUIDED VEHICLES

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EP0187069A1 true EP0187069A1 (en) 1986-07-09
EP0187069B1 EP0187069B1 (en) 1990-03-14

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EP (1) EP0187069B1 (en)
AT (1) ATE50951T1 (en)
CA (1) CA1245749A (en)
DE (1) DE3576478D1 (en)
FR (1) FR2574037B1 (en)

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

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