JP2000293783A - Vehicle running system and method for automatically running vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make vehicles automatically run in accordance with a dynamic operating schedule on an exclusive road. SOLUTION: A vehicle running system is provided with a plurality of station sections 5 each having a mutually serving function and a vehicle passing-by function, sensors 11 and local controllers 12 which detect vehicles 3 entering an exclusive road from an ordinary road 2, memories 16 which store the allowable shortest running time between a target station section and the station sections 5, the allowable longest running time between the station sections 5, and the present running locations of each vehicle 3. The system is also provided with the arithmetic processing section 13a of a central controller 13 which automatically prepares an operating schedule including the arrival time of each vehicle 3 at each station section 5 by reading out the allowable shortest running time between the target station section and station sections 5, allowable longest running time between the station sections 5, and present running locations of each vehicle 3 from the memory 16 of each entering vehicle 3 in accordance with the detecting timing of the vehicle 3 and calculating the possible arriving time range of each vehicle 3 at each station section 5 and a vehicle controller 17 which variably controls the running speed of each vehicle 3 in accordance with the operating schedule automatically prepared by means of the section 13a.

Description

DETAILED DESCRIPTION OF THE INVENTION

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling system and a vehicle automatic traveling method for automatically traveling a vehicle on a dedicated road.

2. Description of the Related Art Vehicles for transporting passengers and the like by running a group of vehicles, such as electric trains and trains, which are mechanically connected, on dedicated traveling lines (tracks, rails) laid in advance. System (train running system)
By manually driving vehicles such as buses (highway buses) on general routes (general roads) in the city,
Vehicle traveling system for transporting passengers (vehicle traveling system)
There is. In these vehicle traveling systems, the vehicle travels in accordance with a diagram (diagram) created on the basis of the specified vehicle positioning speed, and a stable transportation service is provided. In particular, in a train traveling system in which the track is a single-track system, when a plurality of vehicles are run on each other in opposition to each other (on the ground / downhill) on the single-track system, one of the plurality of vehicles is replaced by a single-track. A plurality of vehicles pass each other by stopping (stopping) at a station provided in the middle of the track.

However, in a conventional train running system, a vehicle such as a train is always run according to a fixed schedule, and the train is run according to a demand (passenger) for the train running system. This made the vehicle running system inflexible. In particular, in a single-line train traveling system, in order for vehicles heading in opposite directions to travel in accordance with the above fixed schedule, one of the oncoming vehicles must be stopped at the station, thereby reducing transportation efficiency. Had been lowered. Further, in a vehicle traveling system that drives a vehicle such as a bus or a truck on a general road, the vehicle frequently delays in accordance with traffic conditions on the general road, and improvement has been desired. The present invention has been made in view of the above-described circumstances, and has a vehicle that travels on a general road automatically traveled on a dedicated road (dedicated traveling line) according to an operation diagram (dynamic diagram) that can be flexibly changed. It is an object of the present invention to provide a highly flexible vehicle traveling system and a vehicle automatic traveling method capable of performing the following. Further, the present invention has been made in view of the above-described circumstances, and according to the dynamic schedule, a vehicle traveling system capable of automatically traveling each vehicle on a single-track system dedicated road without stopping at a station. Another object of the present invention is to provide a vehicle automatic traveling method.

According to a first aspect of the present invention, there is provided a vehicle traveling system for automatically driving a plurality of vehicles on a dedicated road, the system being installed on the dedicated road. A plurality of station portions having at least one of a function of mutual entry between a general road and the dedicated road, and a function of passing the vehicle on the dedicated road, and a vehicle entering the dedicated road from the general road. Vehicle entry detection means for detecting, mounted on each vehicle including the approaching vehicle, the target station of the own vehicle, the minimum allowable travel time between the stations, the maximum allowable travel time between the stations and the current travel position. From the storage means for storing each, and from the storage means of each vehicle including the approaching vehicle according to the detection timing of the approaching vehicle by the vehicle approach detection means, the destination station of each vehicle,
The permissible shortest travel time between the stations, the longest permissible travel time between the stations and the current travel position are read out, and the possible arrival time range at each station that arrives before each vehicle travels to the destination station is determined. Calculating means for calculating for each vehicle,
Among the plurality of vehicles at which the vehicles traveling on the opposite side arrive, a station at which the reachable time range overlaps is extracted as a passing-possible station, and the oncoming vehicles at the extracted passing-possible station are extracted. Extraction means for determining the arrival condition of
An operation schedule on a dedicated road including the arrival time of each vehicle at each station is automatically created based on the obtained arrival condition of the oncoming vehicle and the standard arrival time of each vehicle at each station. An automatic operation schedule generating means, and a variable speed control means mounted on each vehicle and variably controlling the speed of the own vehicle based on the operation schedule automatically generated by the automatic operation schedule creation means are provided. In the first invention, the dedicated road is a single-track system, and
The operation schedule automatic creation means estimates the arrival time of each vehicle at each of the stations, and satisfies the estimated arrival time of the oncoming vehicle in the condition that the oncoming vehicle can arrive, and minimizes the deviation from the standard arrival time. And the determined estimated arrival time is set as the arrival time of each vehicle at each station. In the first invention, the operation schedule creating means is configured to minimize each of the evaluation functions representing the sum of the root mean squares of deviations between the estimated arrival time and the standard arrival time of each vehicle at each station. The arrival time of the vehicle at each station is determined. Preferably, in the first invention, a delay unit is provided for delaying the approach of the approaching vehicle to the dedicated road by a predetermined time when the condition for enabling the oncoming vehicle to arrive is not determined by the extraction unit. In the first invention, the operation schedule creation means weights a mean square value of a deviation between an estimated arrival time and a standard arrival time of each of the vehicles at each station according to each of the vehicles, and assigns a weighted 2 The arrival time of each vehicle at each station is determined so that the evaluation function representing the sum of the squared average values is minimized. According to the second aspect of the present invention for achieving the above-described object, a dedicated road and a vehicle mutual entry function installed on the dedicated road and between a general road and the dedicated road, and a vehicle passing on the dedicated road A system comprising: a plurality of stations having at least one of functions; a method for automatically driving a plurality of vehicles on the dedicated road, wherein the vehicle enters the dedicated road from the general road. Detecting the target station of each vehicle, the minimum allowable travel time between the stations, the maximum allowable travel time between the stations, and the current travel position in a memory. In accordance with the detection timing of the entering vehicle by the step, the target station of each vehicle stored in the memory, the shortest allowable traveling time between the stations, the maximum allowable running between the stations, stored in the memory. Reading a time and a current traveling position and calculating an arrival time range to each station where each vehicle arrives before traveling to the destination station, for each vehicle, and opposing the plurality of vehicles. Extracting a station where the reachable time range overlaps among a plurality of stations where the traveling vehicle arrives as a passing-possible station, and obtaining an arrival condition of the oncoming vehicle at the extracted passing-possible station. Automatically generating an operation schedule on a dedicated road including the arrival time of each vehicle at each station based on the obtained arrival condition of the oncoming vehicle and the standard arrival time of each vehicle at each station. And a step of variably controlling the speed of the own vehicle based on the operation schedule automatically created by the operation schedule automatic creation step, which is mounted on each of the vehicles. There.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a vehicle traveling system and a vehicle automatic traveling method according to the present invention will be described with reference to the accompanying drawings. FIG. 1 is a diagram schematically illustrating an infrastructure facility of a vehicle traveling system according to an embodiment of the present invention. According to FIG. 1, a vehicle traveling system 1 includes a dedicated route (road) 4 for driving a specific vehicle 3 such as a bus or a truck among a plurality of vehicles traveling on a plurality of general roads 2. And a plurality of station sections (interchange sections) 5A which are three-dimensionally connected so that the vehicles 3 can enter each other between the general road 2 and the dedicated road 3. In the vehicle traveling system 1 of the present embodiment, the general road 2
Exclusive road 4 via station 5 by manual driving from above
A plurality of vehicles 3 (vehicle group) of the same formation, for example,
3 is automatically and non-mechanically and electronically detachably connected on a dedicated road 4 so as to form a platoon and is automatically driven (automatic platoon direction, platoon running), and each destination (station section 5A related to the destination) The vehicle 3 corresponding to each arrival is separated from the platoon, and each vehicle 3 can be transported to the destination by manual driving, and the number of passengers increases (changes in demand).
It is possible to provide a highly efficient vehicle traveling system according to the above. In the vehicle traveling system 1, the dedicated road 4 is a single-track system as shown in FIG. 1, and the vehicles 3 (vehicle group) pass each other between the stations 5A and 5A of the single-track dedicated road 4. Passing station portions (passing portions) 5B are provided at appropriate intervals, and the vehicles 3, 3 traveling in the opposite direction on the dedicated road 4 are station portions 5A or 5B. They are different from each other, enabling bidirectional operation on a single-line dedicated line. That is, general road 2 and dedicated road 4
Station 5A having a mutual entry function and a passing function
And the station section 5B having only the passing function is the general road 2
And is appropriately allocated according to the location of the dedicated road 4 and the like, and is installed on the dedicated road 4. In this specification, the station 5A having the mutual entry function and the passing function and the station 5B having only the passing function are collectively referred to as the station 5. Then, as shown in FIG. 2, the vehicle traveling system 1 includes a vehicle control unit 10 for automatic vehicle driving mounted on each vehicle 3 and a vehicle control unit 10 near each entrance of the general road 2 to the dedicated road 4 at each station 5. The sensor 11 detects that the vehicle 3 has entered the dedicated road 4, and is installed near the sensors 11 so as to be able to transmit and receive signals, and receives a vehicle entry detection signal detected via the corresponding sensor 11. A local controller 12 that transmits the identification number (vehicle ID) of the approaching vehicle,
A central control device 13 is configured to be able to wirelessly transmit and receive information (signals) to and from the local controller 12 and the vehicle control unit 10 and to perform a traveling control process of each vehicle (vehicle group) 3. As shown in FIG. 2, the vehicle control unit 10 has a function of wirelessly transmitting and receiving information to and from a preceding vehicle along the traveling direction with respect to the own vehicle that is traveling platoon, and A transmission / reception device 15 having a function of wirelessly transmitting and receiving information between the vehicle, a processing program of a vehicle control device to be described later, a position of a dedicated road entry station portion of the own vehicle (entry station ID), and a position of a final destination station portion (object (Station ID) and a memory 16 capable of temporarily storing data during processing by the vehicle control device. Further, the memory 16 of each vehicle control unit 10 stores the shortest travel time (allowable shortest travel time) T _min and the longest travel time that can be allowed between the stations during the time when the vehicle travels from the entrance station to the destination station. (Maximum allowable running time) T _max is stored. The allowable minimum traveling time T _min is determined in advance based on, for example, the maximum speed of the vehicle, and the allowable maximum traveling time T _max is determined in advance based on, for example, the practicality of the passenger transport service using the vehicle traveling system 1. It is determined.
The vehicle control unit 10 is communicably connected to the transmission / reception device 15 and the memory 16 and performs vehicle control for performing an absolute position recognition process of the own vehicle, and a running control process such as a closing control process, a platoon running process, and a speed control process. An apparatus 17 is provided. The vehicle control device 17 has an arithmetic processing circuit having a CPU and the like, and is transmitted from the transmission / reception device 15 of the preceding vehicle based on the processing program stored in the memory 16 via the transmission / reception device 15 of the own vehicle. A function of controlling the distance between the host vehicle and the preceding vehicle based on the received traveling information of the preceding vehicle and performing platoon traveling while avoiding a collision or the like, and a central control device 13 received via the transmitting / receiving device 15 Driving control of the vehicle based on the driving control signal from the vehicle, manual driving / automatic driving switching control, speed control (acceleration / deceleration control, etc.), automatic steering control, stop control, merging control with the dedicated road 4 and the dedicated road 4 General road 2 from
And a function of performing a branch control to the server.
As shown in FIG. 2, the central control device 13 stores an arithmetic processing unit 13a having an interface for wirelessly transmitting and receiving information, a CPU, and the like, and stores a program for executing the processing of the arithmetic processing unit 13a. Memory 13b for storing temporary data during processing
The arithmetic processing unit 13a causes the other vehicle (vehicle group) 3 to move the other vehicle (vehicle group) 3 in the closed section (between adjacent stations) while the predetermined vehicle (vehicle group) 3 is running. Processing (blocking control processing) that does not allow access to the local controller 1
When the vehicle entry detection signal including the vehicle ID is transmitted from the vehicle 2, the entry station ID and the destination station I stored in the memory 16 of the dedicated road entry vehicle 3 according to the transmitted vehicle entry detection signal.
D and a process of reading out the allowable minimum running time T _min and the allowable maximum running time T _max between each station via the transmitting / receiving device 15 and storing them in the memory 13b. Further, the arithmetic processing unit 13a stores the entry station ID, the destination station ID, and the allowable shortest travel time T _min between the respective station sections of all the traveling vehicles 3 on the dedicated road including the dedicated road entry vehicle stored in the memory 13b. Maximum allowable running time T
_max is read out, and based on the read-in station ID, destination station ID, and the permissible shortest traveling time T _min and the permissible longest traveling time T _max of each vehicle 3, without colliding all the vehicles 3 on the dedicated road 4, In addition, a diagram for automatically traveling without waiting (stopping) at the station section 5 between the approaching station section and the destination station section, that is, the station section entry (arrival) time and purpose of each vehicle 3 traveling on the dedicated road 4 A process of automatically creating an operation schedule including the station arrival time, a process of storing the created operation diagram in the memory 13b, and a process of storing the created operation schedule including the station arrival time and the destination station arrival time on the dedicated road 4. A process for individually transmitting each of the above vehicles 3 is performed. Next, the overall operation of the vehicle traveling system 1 of the present embodiment will be described focusing on the operation diagram automatic creation processing of the central control device 13 (the arithmetic processing unit 13a). Now, when the vehicle 3 that is traveling on the general road 2 toward the dedicated road 4 by manual driving passes through the dedicated road entrance and starts to enter the dedicated road 4, the entry of the vehicle 3 is detected by the sensor 11. , A vehicle detection signal is transmitted to the local controller 12. The vehicle detection signal transmitted to the local controller 12 is transmitted to the central control device 13 with the vehicle ID of the corresponding approaching vehicle 3 added by the processing of the local controller 12. At this time, the arithmetic processing unit 13a of the central control device 13
Performs the process shown in FIG. 3 according to the transmitted vehicle detection signal by, for example, an interrupt process. That is, the arithmetic processing unit 13a of the central control device 13 executes the interruption process according to the vehicle detection signal to execute the entry station ID, the destination station ID stored in the memory 16 of the entry vehicle 3 and the allowable shortest travel time T between each station. _{The min} and the permissible longest running time _Tmax are read out and stored in the memory 13b, and the current (at the time of transmitting the vehicle detection signal) position information of each vehicle (vehicle group, hereinafter simply referred to as a vehicle) 3 is corresponded. Vehicle control device 1
7 through the transmission / reception device 15 (step S1). At this time, the dedicated road 4 is stored in the memory 13b.
The entry station ID, the destination station ID, and the allowable shortest travel time T _min and the maximum allowable travel time T _max between the stations of the vehicle 3 traveling above are determined, for example, by the processing of step S1 when entering the dedicated road, for example, the vehicle ID. For each of the vehicles 3 already stored, the arithmetic processing unit 13a stores the entry station ID, the destination station ID, the minimum allowable traveling time T _min , the maximum allowable traveling time T _max, and the current position of all the vehicles 3 stored in the memory 13b. Using the information, the reachable time range at each station that arrives before each vehicle 3 travels from the entrance station to the destination station is calculated for each vehicle (step S).
2). FIG. 4 shows each vehicle 3 calculated in step S2.
, The horizontal axis indicates the position on the dedicated road 4 including the station 5, and the vertical axis indicates the time (time) corresponding to each position of the vehicle 3 on the dedicated road 4. It is a figure shown on the drawn graph. In FIG. 4, the number of vehicles 3 is 3 (the vehicle ID is 3C1 to 3C3), the current positions of the vehicles 3C1 to 3C3 are P1 to P3, and each vehicle 3C1 4C (stations 5 (1) to 5 (4)) arrive when the trains 3C3 travel from the current positions P1 to P3 to the destination station. For example, the arrivable time range of the vehicle 3C1 toward the station 5 (1) at the station 5 (1) is from the station in front to the station 5 (1).
Assuming that the minimum allowable travel time up to (1) is T1 _min (1) and the maximum allowable travel time is T1 _max (1), the range from the minimum arrival time t _S1 (1) to the maximum arrival time t _L1 (1) is as follows. Become. Similarly, the minimum allowable travel time T1 _min (2) and the maximum allowable travel time of the station sections 5 (1) to 5 (2) are T1.
_max (2), the allowable minimum running time T1 _min (3) and the maximum allowable running time of the station sections 5 (2) to 5 (3) are T1 _max.
(3) and the permissible shortest running time T1 _min (4) and the longest permissible running time of the station sections 5 (3) to 5 (4) are T1.
_{Assuming that max} (4), the _arrivable time range for each of the stations 5 (2), 5 (3) and 5 (4) is the shortest arrival time t _S1 (2) to the longest arrival time t _L1 (2), respectively. Arrival time t _S1 (3) to longest arrival time t _L1 (3) and shortest arrival time t _S1 (4) to longest arrival time t
_L1 (4). Here, each station 5 of the vehicle 3C1
The allowable time range for (1) to (4) is the current position P1 in FIG. 4 and the respective shortest arrival times t _S1 (1) to t _S1
Station sections 5 (1) to 5 (5) in an area surrounded by the shortest arrival time line S1 connecting (4) and the longest arrival time line L1 connecting each of the longest arrival times t _L1 (1) to t _L1 (4).
This is shown as a range corresponding to (4) (in FIG. 4, only the permissible time range R1 (1) at the station 5 (1) is shown as the permissible range at each station of the vehicle 3C1). Similarly, vehicle 3
The range of the arrivable time (permissible time range) for each of the stations 5 (1) to 5 (4) of C2 is represented by the current position P2 in FIG.
Each shortest arrival time _{t S2 (1) ~t S2 (} 4) connecting the shortest arrival time lines S2 and the maximum arrival time _t L2 (1)
To t _L2 (4) are shown as ranges corresponding to the stations 5 (1) to 5 (4) in a region surrounded by the longest arrival time line L2 connecting the stations 3 (3) to 5L (4).
Arrivable time width for 5 (4) (permissible time range)
With the current position P3 in FIG. 4 and each shortest arrival time t _{S3
(1) ~t} S3 (4) the shortest arrival time lines S3 and the maximum arrival time connecting _t L3 _{(1) ~t} L3 stations 5 in the region surrounded by the longest arrival time line L3 connecting (4) (1) 5 to 4 (4). In addition,
In FIG. 4, the allowable time range R2 (4) at the station 5 (4) is shown as the allowable time range at each station of the vehicle 3C2, and the station 5 is used as the allowable time range at each station at the vehicle 3C3. The allowable time range R3 (2) in (2) will be described. Thus, each vehicle 3 on the dedicated road 4
When the allowable time range for each of the stations 5 is obtained, the arithmetic processing unit 13a extracts an oncoming vehicle from the vehicles 3 traveling on the dedicated road 4, and allows the extracted oncoming vehicle at the respective stations 5 for the allowable time. Stations having overlapping ranges are picked up (step S3). For example, in FIG. 4, since the vehicle 3C3 and the vehicles 3C1 and 3C2 are oncoming vehicles, each of the allowable time ranges R3 (1) to R3 of the vehicle 3C3
(4) and each allowable time range R1 (1) to R1 of the vehicle 3C1
(4) and each allowable time range R2 (1) of the vehicle 3C2
Station section where R2 (4) overlaps each other {Station section 5 (3)}
To pick up. At this time, as shown in FIG. 4, each allowable time range R1 (3), R2 (3) at the station 5 (3).
The area OV where R3 and R3 (3) overlap each other is the vehicle 3C
1, 3C2 and 3C3 represent time ranges in which the trains can pass each other at the station 5 (3). In step S3, when there is no station section where the allowable time range of each station section 5 of a certain oncoming vehicle overlaps (determination in step S4 →
NO), the arithmetic processing unit 13a transmits the travel control signal to the vehicle control device 17 via the transmission / reception device 15 of the approach vehicle 3, and thereby the exclusive road of the approach vehicle 3 through the travel control process of the vehicle control device 17. 4 is delayed for a predetermined time (step S5), the process returns to step S1, and the processing of steps S1 to S4 is repeated according to the approach timing delayed by the predetermined time. Determination in step S4 → YE
S, that is, if a station where the allowable time range at each station 5 of the oncoming vehicle overlaps can be picked up, the schedule of the oncoming vehicle is set so that the oncoming vehicle arrives at the same arrival time at the station, and By setting the arrival time of each vehicle 3 at each station 5 within the above-described allowable time range at each station 5, each vehicle 3 can be automatically driven without stopping at each station 5. Here, the following equation is used to express that the oncoming vehicle arrives at the station at the same arrival time. That is, i number of station portions 5 (No. 1 to i) are installed on the dedicated road 4, and the i number of station portions 5 (No. 1 to i) are restricted by the above-described block control. , At most j (j ≦ i) vehicles (vehicle groups) 3 (No.
If j) can be driven automatically,

## EQU1 ## t _chk = t _chl ... [1] That is, the meaning of the expression [1] is as follows. k
(1 ≦ k ≦ j)｝ station 5 駅 No. h (1 ≦ h ≦ i)｝
Estimated arrival time t _chk to the vehicle 3 (No. k)
The vehicle 3 # No. 1 (1 ≦ l ≦ j; k is different from?)｝ Estimated arrival time t at the station 5 (h)
_This means that _chl becomes equal. The processing in step S3 and the arrival time conditions at the station where passing vehicles can pass each other are enormous if a large number of vehicles 3 enter the dedicated road 4 and can pass each other at places other than the station 5. Seems to take some time. However, in the present embodiment, the vehicle 3 traveling on the dedicated road 4
Can be performed at a high speed (real time) because the number of vehicles 3 is at most the number of the station sections 5 because of the restriction of the blockage control, and only the station sections 5 pass each other. In this way, the station section to which the oncoming vehicle can pass among the plurality of station sections 5 (No. 1 to i) can be picked up, and the arrival time condition of the oncoming vehicle at the passing station section can be obtained. Then, the arithmetic processing unit 13a sets the vehicle 3 (N
o. The standard arrival time t _pij at which each of the above-mentioned vehicles 3 (N
o. 1 to j) within the allowable time range in each station 5 (No. 1 to i). For example, each vehicle 3 (No. 1)
Stations section 5 (each shortest arrival time _t S1 ₍₁ in _{No.1~i)) ... t Sj (1} ) ~t S1 of ~j) (i) ... _{t Sj}
(I), and each longest arrival time is t _L1 (1)... T
_{Lj (1) ~t L1 (i} ) ... t When lj (i), the standard arrival time tpxy (1 ≦ x at each station unit 5 (No.1~i) of each vehicle 3 (No.1~j) ≦ i, 1 ≦ y ≦ j)
Can be represented, for example, by the following equation.

## EQU2 ## Standard arrival time t _pxy = (1/2) ｛{t _Sy (x) + t _Ly (x)} (2) That is, the expression [2] N at station 5 (x) of x
o. The standard arrival time _tpxy of the vehicle 3 (y) of y is the shortest arrival time t of the vehicle 3 (y) at the station 5 (x).
_This indicates that the average value is represented by the average value of _Sy (x) and the longest arrival time t _Ly (x). And the arithmetic processing unit 13a
Is the deviation Δt _xy between the defined standard arrival time _tpxy of each vehicle 3 (y) at each station 5 (x) and the estimated arrival time t _{cxy of} each vehicle 3 (y) at each station 5 (x). Is calculated (step S6), and an arrival time t _cxy at which Δt _{xy satisfies the} above equation [1] and becomes minimum (that is, a deviation from the standard arrival time _tpxy is minimum) is _obtained . That is, the arithmetic processing unit 13a satisfies the passing arrival time condition based on the above equation [1] and minimizes the evaluation function J expressed by the following equation [3] (the square mean value of Δt _xy becomes minimum) ) The arrival time t _cxy is obtained (step S7).

[Equation 3] ★ The vehicle control device 17 of 3 (1 to j) in each station 5 (1 to i) of each vehicle 3 (1 to j) thus determined.
Are transmitted to the transmission / reception device 15 (step S
8), end the process. At this time, the vehicle control device 17 of each of the vehicles 3 (1 to j) traveling on the dedicated road 4 transmits the operation schedule of the own vehicle transmitted through the transmission / reception device 15, that is, each of the station sections 5 (1 to i). Optimal arrival time t at
The speed of the _host vehicle is variably controlled based on _cxy . As a result, the vehicles 3 (1 to j) on the dedicated road 4 are sequentially arrived at the corresponding stations 5 (1 to i) at the corresponding estimated arrival times _tcxy without colliding between the stations, and their arrivals are made. It can be driven automatically without stopping at the station. That is,
According to the vehicle traveling system 1 of the present embodiment, the sensor 11
Automatically creates and creates an optimal operation schedule (optimal arrival time) at each station 5 (1 to i) of each vehicle 3 (1 to j) every time the vehicle entry detection signal transmitted from is transmitted. All the vehicles 3 (1) on the dedicated road 4 are
To j) can be automatically driven without collision and stopping. Therefore, it is possible to maximize the exclusive road use efficiency of the entire vehicle on the exclusive road 4,
Further, each vehicle can pass through the dedicated road at high speed. Further, in the vehicle traveling system 1 of the present embodiment,
For example, when the demand on the general road 2 is urgently increased, even if a plurality of temporary vehicles 3 enter the special road 4 from the general road 2 and travel to the destination, each time the vehicle enters the special road 4, An operation schedule with no stop / collision can be automatically created, and each vehicle 3 can be driven according to the created operation schedule. Therefore, it is possible to maintain a high traveling efficiency on the dedicated road 4 and to increase passenger demand. It is possible to provide a highly flexible vehicle traveling system 1 capable of coping with the above. Furthermore, in the vehicle traveling system 1 of the present embodiment, even if the vehicle 3 enters the dedicated road 4 from the general road 2 due to traffic conditions such as traffic congestion on the general road 2, the vehicle 3 is not a fixed schedule, Since all the vehicles 3 on the dedicated road 4 are running in accordance with the operation schedule re-created as needed in accordance with the approach, it is possible to minimize the influence of the delay of the vehicle 3. If all the vehicles 3 (1 to j) enter the dedicated road 4 at the same time without any vehicles on the dedicated road 4, all the entering vehicles 3 (not the ears but the vehicle 3 All vehicles 3 on the exclusive road 4 according to the operation schedule re-created as needed according to the approach of
, The influence of the delay of the vehicle 3 can be suppressed to a minimum. When all the vehicles 3 (1 to j) enter the dedicated road 4 at the same time without any vehicles on the dedicated road 4, all the entering vehicles 3 (1 to j) are entered in the process of step S1. The station ID, the destination station ID, the allowable shortest running time T _min , the allowable longest running time T _max, and the current position information are read from the respective vehicles 3 and stored in the memory 13b, and in step S2,
Each vehicle 3 moves from the entrance station to the destination station based on the entry station ID, the destination station ID, the minimum allowable travel time T _min , the maximum allowable travel time T _max and the current position information of all the vehicles 3 stored in the memory 13b. The range of possible times of arrival at each station that arrives before traveling is calculated for each vehicle, and an optimal operation schedule is created in the same manner as when a predetermined vehicle 3 enters. Is possible. Further, in the vehicle traveling system 1 of the present embodiment, the evaluation function J is set with the same importance of each vehicle 3, but the present invention is not limited to this. For example, a plurality of vehicles 3
When it is desired to make the optimal arrival time of a predetermined vehicle in (1 to j) closer to the standard arrival time as much as possible than the optimal arrival times of other vehicles, J in the above equation [3] is expressed by the following equation. , It is also possible to give different weights to each vehicle.

[Equation 4] ★ Note that ay (y = 0, 1,..., J) corresponds to each vehicle 3 (1 to 1).
j) represents a weight for each (ay ≧ 0). For example, the k-th (0
If it is desired to make the optimal arrival time of the vehicle 3 (k) of ≦ k ≦ j closer to the standard arrival time as much as possible than the optimal arrival times of other vehicles, the vehicle 3 (k traveling system can be applied. In the present embodiment, the minimum allowable traveling time T _min
And the maximum allowable running time T _max is stored in the memory 16 of each vehicle control unit 10, respectively.
The present invention is not limited to this, and the allowable minimum running time T _min and the allowable maximum running time T
_{The max} may be stored in the memory 13b of the central control device 13.

As described above, according to the vehicle traveling system and the automatic vehicle traveling method of the present invention, the optimal operation schedule (optimum operation schedule) at each station of each vehicle according to the vehicle detection timing on the dedicated road. (Arrival time) is automatically created, and based on the created optimal arrival time, all vehicles on the dedicated road can be automatically driven without collision or stoppage. The use efficiency can be maximized, and the speed at which each vehicle passes through a dedicated road can be increased. In particular, according to the vehicle traveling system and the vehicle automatic traveling method of the present invention, each vehicle can be automatically traveled on a single-track system dedicated road without stopping at a station, eliminating wasted time due to stopping, Transportation and traveling efficiency can be improved. In addition, according to the vehicle traveling system and the vehicle automatic traveling method of the present invention, all vehicles on a dedicated road can be made to travel according to an operation diagram that is re-created at any time according to the approach of the vehicle instead of a fixed diamond, so that the general road Even if a vehicle is delayed on a dedicated road due to traffic conditions such as traffic congestion, it is possible to minimize the effect of other vehicles on the vehicle due to the delay of the vehicle, and maintain high transportation and running efficiency. Can be.

[Brief description of the drawings]

FIG. 1 is a diagram schematically showing an infrastructure facility of a vehicle traveling system according to an embodiment of the present invention.

FIG. 2 is a diagram showing a hardware configuration of the vehicle traveling system shown in FIG.

FIG. 3 is a schematic flowchart showing an example of a process of an arithmetic processing unit of the central control apparatus shown in FIG. 2 according to the embodiment of the present invention.

FIG. 4 is a graph showing the time range at which each vehicle can arrive at each station calculated in step S2 of FIG. 3, the horizontal axis represents the position on a dedicated road including the station, and the vertical axis represents each position on the dedicated road of each vehicle. The figure shown on the graph comprised from the time (time) corresponding to a position.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vehicle traveling system 2 General road 3 Vehicle 4 Dedicated road 5, 5A, 5B Station part 10 Vehicle control unit 11 Sensor 12 Local controller 13 Central control unit 13a Arithmetic processing unit 13b Memory 15 Transmission / reception device 16 Memory 17 Vehicle control device

────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] July 13, 1999 (1999.7.1)
3)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction contents]

[Document Name] Statement

Title: Vehicle traveling system and vehicle automatic traveling method

[Claims]

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling system and a vehicle automatic traveling method for automatically traveling a vehicle on a dedicated road.

[0002]

2. Description of the Related Art Vehicles for transporting passengers and the like by running a group of vehicles, such as electric trains and trains, which are mechanically connected, on dedicated traveling lines (tracks, rails) laid in advance. System (train running system)
By manually driving vehicles such as buses (highway buses) on general routes (general roads) in the city,
Vehicle traveling system for transporting passengers (vehicle traveling system)
There is.

[0003] In these vehicle traveling systems, the vehicle travels in accordance with a diagram (diagram) created on the basis of a predetermined locating speed of the vehicle, and a stable transportation service is provided.

[0004] In particular, in a train traveling system in which the track is a single-track system, when a plurality of vehicles are caused to face each other (up / down) on the single-track system, one of the plurality of vehicles is used. In addition, a plurality of vehicles pass each other at a station provided at a station provided in the middle of a single track.

[0005]

However, in a conventional train running system, a vehicle such as a train is always run according to a fixed schedule, and the train is run according to a demand (passenger) for the train running system. This made the vehicle running system inflexible.

[0006] In particular, in a single-line train running system,
In order for vehicles traveling in opposite directions to travel in accordance with the above-mentioned fixed schedule, one of the oncoming vehicles must be stopped at the station, so that the transportation efficiency is reduced.

[0007] Further, in a vehicle running system for driving a vehicle such as a bus or a truck on a general road, the vehicle is frequently delayed according to the traffic conditions on the general road, and improvement is desired.

[0008] The present invention has been made in view of the above-described circumstances, and automatically moves a vehicle traveling on a general road according to an operation diagram (dynamic diagram) that can be flexibly changed on a dedicated road (dedicated traveling line). It is an object of the present invention to provide a highly flexible vehicle traveling system and a vehicle automatic traveling method capable of traveling.

Further, the present invention has been made in view of the above-mentioned circumstances. According to the above-mentioned dynamic schedule, each vehicle can be automatically driven on a single-track dedicated road without stopping at a station. It is another object to provide a traveling system and a vehicle automatic traveling method.

[0010]

According to a first aspect of the present invention, there is provided a vehicle traveling system for automatically driving a plurality of vehicles on a dedicated road, the system being installed on the dedicated road. A plurality of station portions having at least one of a function of mutual entry between a general road and the dedicated road, and a function of passing the vehicle on the dedicated road, and a vehicle entering the dedicated road from the general road. Vehicle entry detection means for detecting, mounted on each vehicle including the approaching vehicle, the target station of the own vehicle, the minimum allowable travel time between the stations, the maximum allowable travel time between the stations and the current travel position. From the storage means for storing each, and from the storage means of each vehicle including the approaching vehicle according to the detection timing of the approaching vehicle by the vehicle approach detection means, the destination station of each vehicle,
The permissible shortest travel time between the stations, the longest permissible travel time between the stations and the current travel position are read out, and the possible arrival time range at each station that arrives before each vehicle travels to the destination station is determined. Calculating means for calculating for each vehicle,
Among the plurality of vehicles at which the vehicles traveling on the opposite side arrive, a station at which the reachable time range overlaps is extracted as a passing-possible station, and the oncoming vehicles at the extracted passing-possible station are extracted. Extraction means for determining the arrival condition of
An operation schedule on a dedicated road including the arrival time of each vehicle at each station is automatically created based on the obtained arrival condition of the oncoming vehicle and the standard arrival time of each vehicle at each station. An automatic operation schedule generating means, and a variable speed control means mounted on each vehicle and variably controlling the speed of the own vehicle based on the operation schedule automatically generated by the automatic operation schedule creation means are provided.

[0011] In the first invention, the dedicated road is a single-track system, and the operating schedule automatic creation means estimates the arrival time of each vehicle at each station, and calculates the estimated arrival time. It is determined that the condition that the oncoming vehicle can arrive is satisfied and the deviation from the standard arrival time is minimized, and the determined estimated arrival time is set as the arrival time of each vehicle at each station.

[0012] In the first invention, the operation schedule creation means is configured to minimize an evaluation function representing a sum of squared averages of deviations between an estimated arrival time and a standard arrival time of each vehicle at each station. The arrival time of each vehicle at each station is determined.

[0013] In the first invention, preferably, there is provided a delay means for delaying the approach of the approaching vehicle to the exclusive road for a predetermined time when the condition for enabling the oncoming vehicle to arrive is not obtained by the extraction means. I have.

In the first invention, the operation schedule creation means weights a mean square value of a deviation between an estimated arrival time and a standard arrival time of each vehicle at each station according to each vehicle, and The arrival time of each vehicle at each station is determined so that the evaluation function representing the sum of the calculated mean square values is minimized.

According to the second aspect of the present invention for achieving the above-mentioned object, a dedicated road and a vehicle mutual entry function between the general road and the dedicated road are provided on the dedicated road, and the exclusive road is provided on the dedicated road. In a system comprising a plurality of stations having at least one of the vehicle passing function, a vehicle automatic traveling method for automatically traveling a plurality of vehicles on the dedicated road, from the general road to the dedicated road Detecting a vehicle to enter, storing the target station of each vehicle, the minimum allowable travel time between the stations, the maximum allowable travel time between the stations and the current travel position in a memory, respectively, According to the detection timing of the entering vehicle in the vehicle entry detecting step, the target station of each vehicle stored in the memory, the shortest allowable travel time between the stations, the distance between the stations, Reading the maximum permissible travel time and the current travel position and calculating the reachable time range to each station where each of the vehicles arrives before traveling to the destination station for each vehicle; and Among the plurality of stations where the vehicles traveling on the opposite side arrive, the stations at which the reachable time ranges overlap are extracted as passable stations, and the conditions under which the oncoming vehicles can arrive at the extracted passable stations are extracted. Automatically determining an operation schedule on a dedicated road including an arrival time of each of the vehicles at each of the stations based on the obtaining step and the obtained arrival condition of the oncoming vehicle and a standard arrival time of each of the vehicles at each of the stations. Step of automatically controlling the speed of the own vehicle based on the operation schedule automatically installed in the operation schedule automatic generation step. And a flop.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a vehicle traveling system and a vehicle automatic traveling method according to the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a diagram schematically showing an infrastructure facility of a vehicle traveling system according to an embodiment of the present invention.

Referring to FIG. 1, a vehicle traveling system 1 includes a dedicated route (road) for driving a specific vehicle 3 such as a bus or a truck among a plurality of vehicles traveling on a plurality of general roads 2. ) 4 and a plurality of station sections (interchange sections) 5A which are three-dimensionally connected so that the vehicles 3 can enter each other between the general roads 2 and the dedicated roads 3.

In the vehicle traveling system 1 of the present embodiment, for example, a plurality of vehicles 3 (vehicle group) 3 of the same formation, which enter the dedicated road 4 via the station 5 by manual driving from the general road 2, are The vehicle is automatically driven (automatic platooning direction, platoon running) so as to form a platoon by non-mechanically and electronically detachably connected on the dedicated road 4, and upon arrival at each destination (station section 5A related to the destination). To provide a highly efficient vehicle traveling system capable of separating the corresponding vehicles 3 from the platoon and transporting each vehicle 3 to the destination by manual driving, and increasing or decreasing the number of passengers (change in demand). Can be.

In the vehicle traveling system 1, the dedicated road 4 is a single-track system as shown in FIG. 1, and the vehicle 3 is located between the stations 5A, 5A of the single-track system.
Passing station sections (passing sections) 5B for passing the (vehicle groups) are provided at appropriate intervals, and vehicles 3 and 3 running on the exclusive road 4 in the opposite direction. Is designed to pass by the station 5A or 5B, enabling bidirectional operation on a single-line dedicated line. That is, general road 2 and dedicated road 4
Station 5A having a mutual entry function and a passing function
And the station section 5B having only the passing function is the general road 2
And is appropriately allocated according to the location of the dedicated road 4 and the like, and is installed on the dedicated road 4. In this specification, the station 5A having the mutual entry function and the passing function and the station 5B having only the passing function are collectively referred to as the station 5.

As shown in FIG. 2, the vehicle traveling system 1 includes a vehicle control unit 10 mounted on each vehicle 3 for automatic vehicle driving, and an entrance from the general road 2 to the dedicated road 4 at each station 5. And a sensor 11 for detecting that the vehicle 3 has entered the dedicated road 4, and a vehicle entry detection signal installed near each of the sensors 11 so as to be able to transmit and receive signals and detected via the corresponding sensor 11. And a local controller 12 for receiving and transmitting information (signals) together with an identification number (vehicle ID) of the approaching vehicle, and wirelessly transmitting / receiving information (signals) to / from the local controller 12 and the vehicle control unit 10. And 3) a central control device 13 for performing the traveling control process of 3.

As shown in FIG. 2, the vehicle control unit 10 has a function of wirelessly transmitting and receiving information to and from a preceding vehicle along a traveling direction with respect to a vehicle traveling in a platoon, and a central control device. A transmission / reception device 15 having a function of wirelessly transmitting and receiving information to and from the vehicle 13, a processing program of a vehicle control device to be described later, a position (entrance station ID) of a dedicated road entrance station of the vehicle, and a final destination station. A memory 16 is provided in which a position (a destination station ID) is stored in advance and data for processing by the vehicle control device can be temporarily stored.

Further, the memory 16 of each vehicle control unit 10 stores the shortest permissible traveling time (permissible shortest traveling time) T between the stations during the time when the vehicle travels from the entrance station to the destination station. _min and the longest running time (allowable longest running time) T _max are stored respectively.

The allowable minimum traveling time T _min is determined in advance based on, for example, the maximum speed of the vehicle. The allowable maximum traveling time T _max is determined according to, for example, the practicality of the passenger transport service using the vehicle traveling system 1. Is determined in advance.

The vehicle control unit 10 is communicably connected to the transmission / reception device 15 and the memory 16 and performs a running control process such as an absolute position recognition process of the own vehicle, a closing control process, a platoon running process, and a speed control process. The vehicle control device 17 is provided.

The vehicle control device 17 has an arithmetic processing circuit having a CPU and the like. Based on the processing program stored in the memory 16, the vehicle control device 17 is transmitted from the transmission / reception device 15 of the vehicle ahead and transmits / receives the transmission / reception device 15 of the own vehicle. A function of controlling the distance between the host vehicle and the preceding vehicle based on the traveling information of the preceding vehicle received via the vehicle and performing a platoon running while avoiding a collision, etc .; Based on the travel control signal from the control device 13, the travel drive control of the own vehicle 車 両 manual drive / automatic drive switching control, speed control (acceleration / deceleration control, etc.), automatic steering control, stop control, merging control for the dedicated road 4, and And a function of performing a branch control from the dedicated road 4 to the general road 2 and the like.

The central control device 13 is, as shown in FIG.
An arithmetic processing unit 13a having a wireless information transmission / reception interface, a CPU, and the like, and a processing execution program for the arithmetic processing unit 13a, and for storing temporary data during execution of the processing by the arithmetic processing unit 13a. The arithmetic processing unit 13a has a predetermined vehicle (vehicle group) in a closed section (between adjacent stations).
When the local controller 12 transmits a vehicle entry detection signal including a vehicle ID and a process for preventing other vehicles (vehicle group) 3 from entering the closed section while the vehicle 3 is traveling, the transmission is performed. Entry station I stored in the memory 16 of the dedicated road entry vehicle 3 according to the detected vehicle entry detection signal.
D, destination station ID and allowable shortest travel time T between stations
reading the _min and the allowable maximum running time T _max via the transmission / reception device 15 and storing them in the memory 13b.

Further, the arithmetic processing unit 13a includes a memory 13
The entry station ID, the destination station ID, and the shortest allowable travel time T _min and the maximum allowable travel time T _max between the stations are read out for all traveling vehicles 3 on the dedicated road including the dedicated road approach vehicle stored in b. , Read-in station ID, destination station ID and allowable shortest travel time T _{m of} each vehicle 3
_{Based on the in.} permissible longest travel time _Tmax , all vehicles 3 on the dedicated road 4 are automatically driven without collision and without waiting (stopping) at the station 5 between the entrance station and the destination station. For automatically creating an operation schedule including the station entry (arrival) time and the destination station arrival time of each vehicle 3 traveling on the dedicated road 4, and storing the created operation diagram in the memory 13b. And a process of individually transmitting the operation schedule including the created station arrival time and destination station arrival time to each vehicle 3 on the dedicated road 4.

Next, the overall operation of the vehicle traveling system 1 according to the present embodiment will be described with a particular emphasis on the automatic operation diagram creation processing of the central control unit 13 (the arithmetic processing unit 13a).

Now, when the vehicle 3 traveling on the general road 2 toward the special road 4 by manual driving starts passing through the special road entrance and enters the special road 4, the sensor 11 detects the entry of the vehicle 3 And a vehicle detection signal is transmitted to the local controller 12. The vehicle detection signal transmitted to the local controller 12 is transmitted to the central control device 13 with the vehicle ID of the corresponding approaching vehicle 3 added by the processing of the local controller 12.

At this time, the arithmetic processing unit 13a of the central control unit 13 performs the processing shown in FIG. 3 by, for example, an interrupt processing according to the transmitted vehicle detection signal.

That is, the arithmetic processing unit 13a of the central control unit 13 performs an interrupt process in accordance with the vehicle detection signal,
The access station ID, the destination station ID, and the allowable minimum travel time T _min and the maximum allowable travel time T _max between the stations are stored in the memory 16 of the approach vehicle 3 and stored in the memory 13b. The current position information (when a vehicle detection signal is transmitted) of a group 3 (hereinafter simply referred to as a vehicle) 3 is transmitted from the corresponding vehicle control device 17 to the transmission / reception device 15.
(Step S1).

At this time, the dedicated road 4 is stored in the memory 13b.
The entry station ID, the destination station ID, and the allowable shortest travel time T _min and the maximum allowable travel time T _max between the stations of the vehicle 3 traveling above are determined, for example, by the processing of step S1 when entering the dedicated road, for example, the vehicle ID. For each of the vehicles 3 already stored, the arithmetic processing unit 13a stores the entry station ID, the destination station ID, the minimum allowable traveling time T _min , the maximum allowable traveling time T _max, and the current position of all the vehicles 3 stored in the memory 13b. Using the information, the reachable time range at each station that arrives before each vehicle 3 travels from the entrance station to the destination station is calculated for each vehicle (step S).
2).

FIG. 4 shows the range of time at which each vehicle 3 can arrive at each station 5 calculated in step S 2, the horizontal axis represents the position on the dedicated road 4 including the station 5, and the vertical axis represents each vehicle 3. It is a figure shown on the graph comprised from the time (time) corresponding to each position on the exclusive road 4.

In FIG. 4, the number of vehicles 3 is 3 (the vehicle ID is 3C1
To 3C3), the current positions of the vehicles 3C1 to 3C3 are P1 to P3, and the vehicles 3C1 to 3C3 are the current positions P1 to P3.
The number of stations that arrive when traveling from P3 to the destination station is four (stations 5 (1) to 5 (4)).

For example, the vehicle 3C1 heading for the station 5 (1)
The arrivable time range for the station section 5 (1) is the shortest allowable travel time from the station section in front to the station section 5 (1) as T1.
_min (1) and the maximum allowable travel time T1 _max (1), the shortest arrival time t _S1 (1) to the longest arrival time t
_L1 (1).

Similarly, the shortest permissible traveling time T1 _min (2) and the longest permissible traveling time of the station sections 5 (1) to 5 (2) are T1.
_max (2), the allowable minimum running time T1 _min (3) and the maximum allowable running time of the station sections 5 (2) to 5 (3) are T1 _max.
(3) and the permissible shortest running time T1 _min (4) and the longest permissible running time of the station sections 5 (3) to 5 (4) are T1.
_{Assuming that max} (4), the _arrivable time range for each of the stations 5 (2), 5 (3) and 5 (4) is the shortest arrival time t _S1 (2) to the longest arrival time t _L1 (2), respectively. Arrival time t _S1 (3) to longest arrival time t _L1 (3) and shortest arrival time t _S1 (4) to longest arrival time t
_L1 (4).

Here, each station 5 (1) to 5 (5) of the vehicle 3C1
(4) The allowable time range for the current position in FIG. 4 P1, the shortest arrival time _t S1 _{(1) ~t} S1 (4) the shortest arrival time lines S1 and the longest arrival time _{t L1} connecting the
(1) to t _L1 (4) are shown as ranges corresponding to the stations 5 (1) to 5 (4) in the area surrounded by the longest arrival time line L1 (in FIG. 4, in each station of the vehicle 3C1). (Only the permissible time range R1 (1) at the station 5 (1) is shown as the permissible range of (1).

Similarly, each station 5 (1) to 5 (5) of the vehicle 3C2
The range of the arrivable time (permissible time range) for (4)
The current position P2 in FIG. 4 and each shortest arrival time t
_{S2 (1) ~t S2} shortest arrival time line connecting (4) S
Shown as a range corresponding to each station unit 5 (1) 5 (4) in the region surrounded by 2 and the maximum arrival time _t L2 _{(1) ~t} L2 longest arrival time line L2 connecting (4), further, the vehicle reachable time width to each station unit 5 of 3C3 (1) to 5 (4) to (allowable time range), the current position in FIG. 4 P3, the shortest arrival time _t S3 (1) ~t
_S3 shortest arrival time lines S3 and the maximum arrival time connecting (4) _t L3 _{(1) ~t} L3 (4) stations 5 in the region surrounded by the longest arrival time line L3 connecting the (1) -
It is shown as a range corresponding to 5 (4). In FIG. 4, the allowable time range R2 (4) at the station 5 (4) is shown as the allowable time range at each station of the vehicle 3C2,
As an allowable time range at each station of the vehicle 3C3, the station 5
The allowable time range R3 (2) in (2) will be described.

When the allowable time ranges of the vehicles 3 on the dedicated road 4 with respect to the respective stations 5 are obtained in this way, the arithmetic processing unit 13a opposes the vehicles 3 traveling on the dedicated road 4. A vehicle is extracted, and a station where the allowable time range of each extracted oncoming vehicle in each station 5 overlaps is picked up (step S3).

For example, in FIG. 4, since the vehicle 3C3 and the vehicles 3C1 and 3C2 are oncoming vehicles, each of the allowable time ranges R3 (1) to R3 (4) of the vehicle 3C3 and each of the allowable time ranges of the vehicle 3C1. The station {station part 5 (3)} where R1 (1) to R1 (4) and each allowable time range R2 (1) to R2 (4) of the vehicle 3C2 overlap each other is picked up.

At this time, as shown in FIG.
The area OV where the allowable time ranges R1 (3), R2 (3), and R3 (3) overlap in (3) is the vehicle 3C1,
3C2 and 3C3 represent a time range in which the stations 5 (3) can pass each other.

In step S3, if there is no station section where the allowable time range in each station section 5 of a certain oncoming vehicle overlaps (judgment in step S4 → NO), the arithmetic processing section 1
3a transmits a travel control signal to the vehicle control device 17 via the transmission / reception device 15 of the approach vehicle 3 to determine the approach of the approach vehicle 3 to the dedicated road 4 via the travel control process of the vehicle control device 17. After a delay (step S5), the process returns to step S1, and the processes of steps S1 to S4 are repeated according to the approach timing delayed by a predetermined time.

The determination in step S4 → YES, that is,
If a station where the allowable time range at each station 5 of the oncoming vehicle overlaps can be picked up, the schedule of the oncoming vehicle is set so that the oncoming vehicle arrives at the station at the same arrival time. If the arrival time at each station 5 is set within the permissible time range at each station 5 described above, each vehicle 3 can be automatically driven without stopping at each station 5.

Here, a mathematical expression representing that the oncoming vehicle arrives at the station at the same arrival time is expressed as follows.

That is, i stations 5 on the dedicated road 4
(No. 1 to i) are installed, and the i stations 5
(No. 1 to i) include the above-described restriction of the blockage control,
At most j (j ≦ i) vehicles (vehicle groups) 3 (No. 1 to j)
Assuming that is capable of automatic driving,

## EQU1 ## t _chk = t _chl [1]

That is, the expression [1] means that the vehicle 3
｛No. k (1 ≦ k ≦ j)} station 5 {No. h (1 ≦
h ≦ i) The estimated arrival time tchk at ｋ and the vehicle 3
(No. k) the vehicle 3 車 両 No. l (1 ≦ l ≦
j; k is different from 1) means that the estimated arrival time tchl of the arrival time at the station 5 (h) becomes equal.

The processing in step S3 and the arrival time conditions at the station where the oncoming vehicle can pass are determined by the exclusive road 4
If a large number of vehicles 3 enter above and it is possible to pass by a place other than the station 5, it would take an enormous amount of time.

However, in the present embodiment, the vehicle 3 traveling on the dedicated road 4 is not
Since the number of vehicles 3 is at most the number of the station sections 5 and only the station sections 5 pass each other, it can be performed at high speed (real time).

In this way, a plurality of station sections 5 (No. 1)
When the on-vehicle station at which the oncoming vehicle can pass can be picked up and the arrival time condition of the on-coming vehicle at the at-passable station is obtained, the arithmetic processing unit 13a
Each vehicle 3 (No. 1 to j) is in each station 5 (No. 1 to i).
Is defined within the allowable time range at each station 5 (No. 1 to i) of each of the vehicles 3 (No. 1 to j) described above.

For example, the shortest arrival time of each vehicle 3 (No. 1 to j) at each station 5 (No. 1 to i) is t
_S1 (1)... T _Sj (1) to t _S1 (i).
_Sj (i), and each longest arrival time is t _L1 (1)... T
_{Lj (1) ~t L1 (i} ) ... t When lj (i), the standard arrival time tpxy (1 ≦ x at each station unit 5 (No.1~i) of each vehicle 3 (No.1~j) ≦ i, 1 ≦ y ≦ j)
Can be represented, for example, by the following equation.

[0052]

(Equation 2)

That is, the expression [2] is expressed as x station 5
No. in (x). Standard arrival time t of vehicle 3 (y) of y
_pxy is represented by an average value of the shortest arrival time t _Sy (x) and the longest arrival time t _Ly (x) at the station 5 (x) of the vehicle 3 (y).

The arithmetic processing unit 13a calculates the standard arrival time t at each station 5 (x) of each defined vehicle 3 (y).
_Then , a deviation Δt _xy is calculated between _pxy and the estimated arrival time t _{c xy of} each vehicle 3 (y) at each station 5 (x) (step S).
6) Then, an arrival time t _cxy at which Δt _{xy satisfies the} above equation [1] and becomes minimum (that is, a deviation from the standard arrival time _tpxy is minimum) is _obtained .

That is, the arithmetic processing unit 13a satisfies the passing arrival time condition based on the above equation [1] and minimizes the evaluation function J expressed by the following equation [3] (the square mean value of Δt _xy is An arrival time t _cxy (which becomes minimum) is obtained (step S7).

[0056]

(Equation 3)

Each vehicle 3 (1 to 1)
j) Arrival time t at each station 5 (1-i)
_cxy, each vehicle 3 (y) is not able to stop at every station unit 5 (x), and as the deviation from the standard arrival time _{t pxy,} i.e. deviation Delta] t _xy from the standard arrival time _{t pxy} minimized It represents the determined optimal arrival time (optimal service schedule).

Then, the arithmetic processing unit 13 a
Optimal arrival time t _cxy (x = 0, 1,..., I; y = 0, 1,..., J) at each station 5 (1 to i) of (1 to j)
Is transmitted to the transmission / reception device 15 to the vehicle control device 17 of each vehicle 3 (1 to j) (step S8), and the process is terminated.

At this time, the vehicle control device 17 of each of the vehicles 3 (1 to j) traveling on the dedicated road 4 transmits the operation schedule of the own vehicle transmitted via the transmission / reception device 15, that is, each station 5 (1). The speed of the own vehicle is variably controlled based on the optimum arrival time t _cxy in (i) to (i). As a result, each of the vehicles 3 (1 to j) on the dedicated road 4 is moved to the corresponding station 5 (1 to i) at the corresponding estimated arrival time _tcxy without colliding between the stations.
, And can be driven automatically without stopping at the arrival station.

That is, according to the vehicle traveling system 1 of the present embodiment, each time the vehicle entry detection signal transmitted from the sensor 11 is transmitted, each station 5 of each vehicle 3 (1-j) is transmitted.
The optimal operation schedule (optimal arrival time) in (1) to (i) is automatically created, and all vehicles 3 (1 to j) on the dedicated road 4 are collided and stopped based on the created optimal arrival time. Automatic driving can be performed without causing the vehicle to run.

Therefore, the efficiency of use of the exclusive road by the entire vehicles on the exclusive road 4 can be maximized, and each vehicle can pass through the exclusive road at high speed.

Further, in the vehicle traveling system 1 of the present embodiment, for example, when the demand on the general road 2 is increased urgently, a plurality of temporary vehicles 3 enter the special road 4 from the general road 2 to reach the destination. Even if the vehicle travels up to the dedicated road 4, it is possible to automatically create an operation diagram without stopping or colliding on the dedicated road 4 each time the vehicle enters, and to drive each vehicle 3 according to the created operation diagram. It is possible to maintain a high running efficiency, and to provide a highly flexible vehicle running system 1 that can respond to passenger demand.

Further, the vehicle traveling system 1 of the present embodiment
Even if the entry of the vehicle 3 from the general road 2 to the dedicated road 4 is delayed due to traffic conditions such as traffic congestion on the general road 2, the operation diagram is not a fixed schedule but is re-created at any time according to the entry of the vehicle 3. Accordingly, all the vehicles 3 on the dedicated road 4 are driven in accordance with the above, so that the influence of the delay of the vehicle 3 can be suppressed to the minimum.

When all the vehicles 3 (1 to j) enter the dedicated road 4 at the same time without any vehicles on the dedicated road 4, all the entering vehicles 3 (1 to j) are processed in step S1. ), The entry station ID, the destination station ID, the allowable minimum travel time T _min , the allowable maximum travel time T _max, and the current position information are read from each vehicle 3 and stored in the memory 13b, and are stored in the memory 13b in step S2. Based on the entry station ID, the destination station ID, the minimum allowable traveling time T _min , the maximum allowable traveling time T _max, and the current position information of all the vehicles 3, until each vehicle 3 travels from the entrance station to the destination station. The arrival time range to each station arriving at is calculated for each vehicle, respectively.
As in the case where the predetermined vehicle 3 has entered, it is possible to create an optimal operation schedule.

In the vehicle traveling system 1 of the present embodiment, the evaluation function J is set with the same importance of each vehicle 3, but the present invention is not limited to this.

For example, when it is desired that the optimum arrival time of a predetermined vehicle among the plurality of vehicles 3 (1 to j) be as close as possible to the standard arrival time as compared with the optimum arrival times of the other vehicles, the above [3] ] Can be weighted differently for each vehicle by modifying J in the following equation.

[0067]

(Equation 4) Note that ay (y = 0, 1,..., J) corresponds to each vehicle 3 (1 to 1).
j) represents a weight for each (ay ≧ 0).

For example, the k-th (0 ≦ k ≦ j) vehicle 3
When it is desired to make the optimal arrival time of (k) as close as possible to the standard arrival time as compared with the optimal arrival times of the other vehicles, the value of the weight ak of the vehicle 3 (k) is changed to the other vehicles 3 (1 to k− 1,
By setting the weights a1 to ak-1 and ak + 1 to aj of k + 1 to j) larger, the vehicle 3 (k) can run more stably so as to conform to the corresponding standard arrival time than other vehicles. Can be.

That is, according to this modification, since the optimum arrival time can be changed for each vehicle, a highly flexible operation schedule corresponding to the destination, type, and the like of each vehicle can be created.

In the present embodiment, the dedicated road is a single line having a station section for entry and passing, but the present invention is not limited to this, and the present invention is not limited to this. The vehicle traveling system of the present invention is also applicable to a single track portion in a single track / double track mixture.

In the present embodiment, the shortest allowable traveling time
T_minAnd allowable maximum running time T _maxIs each vehicle control
When stored in the memory 16 of the unit 10
However, the present invention is not limited to this.
Minimum allowable running time T for each vehicle_minAnd the longest run allowed
Row time T_maxIs recorded in the memory 13b of the central control unit 13.
May be remembered.

[0072]

As described above, according to the vehicle traveling system and the automatic vehicle traveling method of the present invention, the optimal operation schedule (optimum operation schedule) at each station of each vehicle according to the vehicle detection timing on the dedicated road. (Arrival time) is automatically created, and based on the created optimal arrival time, all vehicles on the dedicated road can be automatically driven without collision or stoppage. The use efficiency can be maximized, and the speed at which each vehicle passes through a dedicated road can be increased.

In particular, according to the vehicle traveling system and the vehicle automatic traveling method of the present invention, each vehicle can be automatically traveled on a single-track dedicated road without stopping at a station. And the transportation and running efficiency can be improved.

Further, according to the vehicle traveling system and the vehicle automatic traveling method of the present invention, all vehicles on the exclusive road can be made to travel not according to the fixed schedule but according to the operation schedule re-created as needed according to the approach of the vehicle. Even if traffic on a general road is delayed due to traffic conditions such as traffic congestion, it is possible to minimize the impact of other vehicles on the vehicle due to the delay of the approaching vehicle, thereby improving transportation and driving efficiency. Can be maintained.

[Brief description of the drawings]

FIG. 1 is a diagram schematically showing an infrastructure facility of a vehicle traveling system according to an embodiment of the present invention.

FIG. 2 is a diagram showing a hardware configuration of the vehicle traveling system shown in FIG.

FIG. 3 is a schematic flowchart showing an example of a process of an arithmetic processing unit of the central control apparatus shown in FIG. 2 according to the embodiment of the present invention.

FIG. 4 is a graph showing the time range at which each vehicle can arrive at each station calculated in step S2 of FIG. 3, the horizontal axis represents the position on a dedicated road including the station, and the vertical axis represents each position on the dedicated road of each vehicle. The figure shown on the graph comprised from the time (time) corresponding to a position.

[Description of Signs] 1 Vehicle traveling system 2 General road 3 Vehicle 4 Dedicated road 5, 5A, 5B Station 10 Vehicle control unit 11 Sensor 12 Local controller 13 Central control unit 13a Arithmetic processing unit 13b Memory 15 Transmission / reception device 16 Memory 17 Vehicle Control device

Claims (7)

[Claims] 1. A vehicle traveling system for automatically driving a plurality of vehicles on a dedicated road, the vehicle traveling system being installed on the dedicated road, a mutual entry function between a general road and the dedicated road, and the dedicated road of the vehicle. A plurality of station units having at least one of the passing functions described above, vehicle entry detecting means for detecting a vehicle entering the dedicated road from the general road, and mounted on each vehicle including the entering vehicle, A storage unit for storing a target station portion of the vehicle, an allowable shortest travel time between the station portions, an allowable longest travel time between the station portions, and a current travel position, respectively, according to a detection timing of an entering vehicle by the vehicle entry detection device. From the storage means of each vehicle including the approaching vehicle, the destination station of each vehicle, the minimum allowable travel time between the stations, the maximum allowable travel time between the stations, and the current travel position A calculating means for reading and calculating an arrival time range at each station where each of the vehicles arrives before traveling to the destination station, for each vehicle, and an oncoming vehicle among the plurality of vehicles arrives Extraction means for extracting a station part at which the arrivable time range overlaps among a plurality of station parts to be passed as a passable station part, and obtaining an arriving condition of the oncoming vehicle at the extracted passing possible station part; Automatic operation timetable for automatically creating an operation timetable on a dedicated road including the arrival time of each vehicle at each station based on the arrival condition of oncoming vehicles and the standard arrival time of each vehicle at each station. Creating means and variable speed control means mounted on each of the vehicles and variably controlling the speed of the own vehicle based on the operation schedule automatically created by the operation schedule automatic creating means. Characteristic vehicle traveling system. 2. The vehicle traveling system according to claim 1, wherein the dedicated road is a single-track system. 3. The operation schedule automatic creation means estimates an arrival time of each vehicle at each station, and calculates the estimated arrival time as satisfying the oncoming vehicle arrival condition and the standard arrival time. 3. The vehicle traveling system according to claim 2, wherein a deviation from the vehicle is determined to be minimum, and the determined estimated arrival time is set as an arrival time of each of the vehicles at each of the stations. 4. An operation schedule creation means, comprising: a difference between an estimated arrival time and a standard arrival time of each of the vehicles at each station.
4. The vehicle traveling system according to claim 3, wherein the arrival time of each vehicle at each station is determined so that an evaluation function representing the sum of the squared average values is minimized. 5. A delay means for delaying the approach of the approaching vehicle to the exclusive road for a predetermined time when the extraction means does not determine a condition on which the oncoming vehicle can arrive. 5. The vehicle traveling system according to 4. 6. An operation schedule creation means, comprising: a difference between an estimated arrival time and a standard arrival time of each of the vehicles at each station.
The weighted average value is weighted according to each vehicle, and the arrival time of each vehicle at each station is determined so that the evaluation function representing the sum of the weighted squared average values is minimized. The vehicle traveling system according to claim 3. 7. A plurality of stations installed on a dedicated road and having at least one of a function of inter-vehicle entry between a general road and the dedicated road, and a function of passing a vehicle on the dedicated road. A method for automatically driving a plurality of vehicles on the dedicated road, comprising: detecting a vehicle entering the dedicated road from the general road; and an object of each of the vehicles. Station section, the step of storing the allowable shortest travel time between the station sections, the maximum allowable travel time between the station sections and the current travel position in a memory, respectively.
According to the detection timing of the entering vehicle in the vehicle entry detecting step, the target station of each vehicle stored in the memory, the minimum allowable travel time between the stations, the maximum allowable travel time between the stations, and the current travel stored in the memory. Reading the position and calculating the reachable time range at each station that arrives before each vehicle travels to the destination station for each vehicle, and the oncoming vehicle of the plurality of vehicles is Extracting, as a passing-possible station, a station where the arrivable time range overlaps among a plurality of arriving stations, and obtaining an arriving condition of the oncoming vehicle at the extracted passing-possible station; Based on the arrival conditions of oncoming vehicles and the standard arrival times of the vehicles at the stations, an operation schedule on a dedicated road including the arrival times of the vehicles at the stations is automatically generated. Creating a vehicle, and variably controlling the speed of the own vehicle based on the operation schedule automatically created by the operation schedule automatic creation step mounted on each of the vehicles, comprising: .