EP0187069B1 - 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
EP0187069B1
EP0187069B1 EP85402315A EP85402315A EP0187069B1 EP 0187069 B1 EP0187069 B1 EP 0187069B1 EP 85402315 A EP85402315 A EP 85402315A EP 85402315 A EP85402315 A EP 85402315A EP 0187069 B1 EP0187069 B1 EP 0187069B1
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EP
European Patent Office
Prior art keywords
beacons
transmission
control
reception
vehicle
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.)
Expired - Lifetime
Application number
EP85402315A
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English (en)
French (fr)
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EP0187069A1 (de
Inventor
Serge Drabowitch
Michel Baril
Guy Le Parquier
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Thales SA
Original Assignee
Thomson CSF SA
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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
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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 guide 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.
  • Patent FR-2 131 832 describes a train control device by reflection of electromagnetic energy on beacons placed on the track.
  • US Patent 3,426,349 describes the use of transponders placed on railroad tracks to control trains.
  • 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 main object of the invention is a device for controlling a guided vehicle comprising beacons reflecting electromagnetic waves, fixed on the path to be covered and means for detecting said beacons which are fixed on said vehicle and which comprise a device for transmission-reception of electromagnetic waves comprising a transmission antenna and a reception antenna characterized in that the radiation axis of the transmission antenna has a non-zero angle with the plane normal to the speed vector of the vehicle and that the beacons are retrodirectives, and a method implementing such a device.
  • 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 floors are equipped with means for detecting the beacons 4 at the spacings corresponding to 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.
  • large distance between the beacons 4 ensures great speed of the train.
  • the tightening of the beacons controls the slowing 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 ⁇ 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 bisector plane with respect to the polarization planes.
  • FIG. 4 one can see a device according to the present invention comprising a single transmit-receive antenna 6 inclined at an angle 8 relative 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 e is given by the formula: where v is the train speed and the wavelength used. To do this, 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 8 relative to the plane 42, associated with a retrodirective plate 4.
  • FIG. 6 one can see an embodiment of the device according to the invention comprising a single transmit-receive antenna 6 inclined at an angle 6 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.
  • dihedron 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.
  • 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 magic T hangs six decibels in power.
  • an exemplary embodiment of the radar device according to the invention can be seen comprising three transmitting-receiving assemblies 7 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 orientations of beacons and / or different working frequencies.
  • Each transceiver assembly 7 comprises 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 amplifier 9 and supplies it to 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 prov from demodulation.
  • the threshold amplifier 16 presents at its output a signal of fixed amplitude in the case where the signal applied to its output 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 control line 19.
  • the control line 19 indicates to the circuit control unit 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 board 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 mainly applies 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)

Claims (17)

1. Steuervorrichtung für ein spurgebundenes Fahrzeug (43) mit auf der Fahrstrecke befestigten, elektromagnetische Wellen reflektierenden Baken (4) und Mitteln (7) zur Auffindung dieser Baken, die auf diesem Fahrzeug (43) befestigt sind und eine Sende-Empfangsvorrichtung für elektromagnetische Wellen mit einer Sendeantenne und einer Empfangsantenne (6) umfassen, dadurch gekennzeichnet, daß die Strahlungsachse (8) der Sendeantenne (6) einen Winkel θ aufweist, der nicht null in Bezug auf die normale Ebene (42) zum Vektor der Geschwindigkeit des Fahrzeugs (43) ist und daß die Baken (4) rückreflektierend sind.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Send-Empfangsvorrichtung für elektromagnetische Wellen (7) eine einzige Antenne (6) für die Sendung und den Empfang umfaßt.
3. Vorrichtung nach einem der vorausgehenden Ansprüche, dadurch gekennzeichnet, daß die Baken (4) eine Polarisationsdrehung der einfallenden Ausstrahlung erzeugen.
4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, daß die Baken (4) parallele Drahtnetze enthalten.
5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, daß die Baken (4) V-Form-Winkel enthalten.
6. Vorrichtung nach einem der vorausgehenden Ansprüche, dadurch gekennzeichnet, daß das Mittel (7) zur Auffindung der Baken (4) ein ständig ausstrahlendes Radar umfaßt.
7. Vorrichtung nach einem der Ansprüche 2 bis 6, dadurch gekennzeichnet, daß zur Sicherung der Entkopplung zwischen der Sendung und dem Empfang diese Sende-Empfangsvorrichtung einen Hydridring umfaßt.
8. Vorrichtung nach einem der vorausgehenden Ansprüche, daduch gekennzeichnet, daß die Sende-Empfangsvorrichtung einen Demodulator (50) umfaßt, dessen erster Eingang die von den Baken (6) erhaltenen Signale empfängt und dessen zweiter Eingang die von einem Koppler (11) abgenommenen Sendesignale empfängt.
9. Vorrichtung nach einem der vorausgehenden Ansprüche, dadurch gekennzeichnet, daß die Mittel (7) zur Auffindung der Baken (4) an einen Steuerkreis (17) für die Fahrtsteuerung des spurgebundenen Fahrzeugs (43) angeschlossen sind.
10. Vorrichtung nach Anspruch 9, dadurch gekennzeichnet, daß der Steuerkreis (17) ein Mikroprozessor ist.
11. Vorrichtung nach Anspruch 9 oder 10, dadurch gekennzeichnet, daß eine Uhr an den Steuerkreis (17) angeschlossen ist.
12. Vorrichtung nach einem der vorausgehenden Ansprüche, dadurch gekennzeichnet, daß die Mittel (7) für die Auffindung der Bake (4) einen Schwellenverstärker (16) umfassen.
13. Vorrichtung nach Anspruch 12, dadurch gekennzeichnet, daß ein Invertergatter im Ausgang des Schwellwertverstärkers (16) angeschlossen ist.
14. Zug, dadurch gekennzeichnet, daß er eine Steuervorrichtung nach einem der vorausgehenden Ansprüche umfaßt.
15. Verfahren zur Steuerung eines spurgebundenen Fahrzeugs (43), das eine Steuervorrichtung nach einem der Ansprüche 1 bis 13, in Anwendung bringt, wobei diese Vorrichtung auf der Fahrstrecke befestigte, elektromagnetische Wellen reflektierende Baken (4) umfaßt und Mittel (7) zur Auffindung dieser Baken, die auf diesem Fahrzeug (43) befestigt sind und eine Sende- und Empfangsvorrichtung für elektromagnetische Wellen mit einer Antenne (6) umfassen, dadurch gekennzeichnet, daß diese Antenne diese elektromagnetischen Wellen entlang einer Strahlungsachse (8) aussendet, die einen Winkel 8 aufweist, der nicht null in Bezug auf die normale Ebene (42) zum Vektor der Geschwindigkeit des Fahrzeugs (43) ist und dadurch, daß die Frequenzverschiebung verwendet wird, die auf den Doppler-Effekt zwischen den von der Sende- und Empfangsvorrichtung gesendeten und empfangenen Wellen zurückzuführen ist, um die Entkopplung Sendung-Empfang zu verbessern.
16. Verfahren zur Steuerung von spurgebundenen Fahrzeugen (43) nach Anspruch 15, dadurch gekennzeichnet, daß die Baken (4) eine Polarisationsdrehung der einfallenden Wellen erzeugen, die etwa gleich 90° ist.
17. Verfahren nach Anspruch 15 oder 16, dadurch gekennzeichnet, daß die Baken auf dieser Strecke in einem veränderlichen Abstand werden und daß die empfangenen Signale der Baken an Steuermittel für die Regulierung der Fahrzeuggeschwindigkeit übertragen werden.
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)

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

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EP85402315A Expired - Lifetime EP0187069B1 (de) 1984-11-30 1985-11-26 Einrichtung und Verfahren zur Steuerung von gelenkten Fahrzeugen

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

Families Citing this family (6)

* 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.
GB201218217D0 (en) * 2012-10-10 2012-11-21 Blackburn Raymond W Fluid dispenser with isolation membrane
CN109070903B (zh) * 2016-05-12 2020-02-14 株式会社京三制作所 地面装置

Family Cites Families (9)

* 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
FR2131832B1 (de) * 1971-03-29 1974-05-31 Automatisme Cie Gle
US3787679A (en) * 1972-01-26 1974-01-22 British Railways Board Train communication system
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

Also Published As

Publication number Publication date
FR2574037B1 (fr) 1993-09-10
CA1245749A (fr) 1988-11-29
DE3576478D1 (de) 1990-04-19
ATE50951T1 (de) 1990-03-15
US4713663A (en) 1987-12-15
EP0187069A1 (de) 1986-07-09
FR2574037A1 (fr) 1986-06-06

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