JP2001100840A - Vehicle travel control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To continuously travel a vehicle, when at least one of plural detecting means installed on a traveling line cannot detect the traveling. SOLUTION: This system is provided with an arithmetic processing part of a central control unit 18 for performing processing, for collating a vehicle ID detected by a vehicle detecting coil 13AI with a vehicle ID stored in a programming table T and determine whether these vehicle ID are matched and processing for recognizing a vehicle detecting coil 12AO, corresponding to a closed block 1Z detects the vehicle ID of a vehicle 2 when the vehicle detecting coil 12AO corresponding to the closed block 1Z fails in vehicle ID detection of the vehicle 2, which enters the closed block 1Z, and the vehicle ID of the vehicle 2, which enters an adjacent closed block 2AZ, is detected by the vehicle detecting coil 13AI corresponding to the closed block 2AZ adjacent to the closed block 1Z along with a vehicle traveling direction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling control system for detecting a vehicle traveling on a traveling line divided into a plurality of closed sections in a spot-wise manner for each closed section and controlling the traveling.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Patent Application Laid-Open No. 2-189
As disclosed in Japanese Patent Application Publication No. 267, the vehicle is spot-detected through detection means provided for each of a plurality of closed sections continuously set on a traveling line (for example, a track (rail or the like)). There is known a system for controlling the running of a vehicle.

[0003] That is, in the conventional system, for each closed section, a set vehicle entering the closed section and a set vehicle exiting from the closed section are each detected in a spot-like manner. Thus, the traveling of the subsequent trains is controlled so that a plurality of trains do not coexist in a single closed section. As a result, it is possible to prevent a plurality of trains from entering a single closed section,
The safety of the vehicle is ensured.

[0004]

However, in the conventional vehicle traveling control system, at least one of the plurality of detecting means installed on the traveling line does not cause a failure or the like but simply fails to communicate. Is not detected (for example, when a signal from a vehicle is skipped), no specific countermeasure has been taken, and all vehicles traveling on the traveling line must be stopped. Was.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and when at least one of a plurality of detecting means installed on a traveling line cannot detect a vehicle, the vehicle is continuously operated. Make it possible to run,
It is an object of the present invention to improve the traveling efficiency of a vehicle traveling control system.

[0006]

According to a first aspect of the present invention, there is provided a vehicle traveling control system for automatically traveling a vehicle on a dedicated route divided into a plurality of closed sections, Detection means installed corresponding to each closed section of the dedicated line, spot-like detection means for identifying the identification information of vehicles entering and exiting the closed section,
Identification information storage means for storing identification information of a vehicle traveling on the dedicated route, and detection means corresponding to at least one closed section in the plurality of closed sections enter the at least one closed section. The detection means corresponding to the closed section adjacent to the at least one closed section along the vehicle traveling direction with respect to the at least one closed section detects the identification information of the vehicle entering the adjacent closed section. When the determination is made, the vehicle identification information detected by the detection unit is compared with the vehicle identification information stored in the identification information storage unit to determine whether or not they match each other. Means for recognizing that the detection means corresponding to the at least one closed section has detected the identification information of the vehicle when the results match.

According to a second aspect of the present invention, there is provided a vehicle traveling control system for automatically and integrally traveling a group of vehicles formed on a dedicated route divided into a plurality of closed sections. Detection means installed corresponding to each closed section of the dedicated route, detecting means for spotwise detecting identification information of each vehicle of a group of vehicles entering and exiting the closed section, and traveling on the dedicated route. Identification information storage means for storing identification information of each vehicle in the group of vehicles, and detection means corresponding to at least one closed section in the plurality of closed sections, for entering or entering the at least one closed section. When only the identification information of at least one vehicle in the group of vehicles entering from the closed section is detected, and the detection of the identification information of the other vehicle fails, the vehicle identification detected by the detection unit is detected. Determining means for comparing the information with the vehicle identification information stored in the identification information storage means to determine whether or not the information matches the vehicle identification information; Detecting means for recognizing that the identification information of all the vehicles in the vehicle group has been detected.

According to a third aspect of the present invention, there is provided a vehicle traveling control system for automatically traveling a vehicle group of a plurality of vehicles on a dedicated route divided into a plurality of closed sections, Detecting means installed corresponding to each closed section of the dedicated route, detecting means for spot-specific identification of each vehicle of a group of vehicles entering and exiting the closed section, and running on the dedicated route Identification information storage means for storing identification information of each vehicle in a group of vehicles, a timeout time storage means for storing a predetermined timeout time corresponding to each of the closed sections for each of the closed sections, and at least one of the plurality of closed sections. The identification information of the leading vehicle in the traveling direction of the group of vehicles entering the at least one closed section is detected by the detecting unit corresponding to the one closed section. Means for counting the time from the detection timing, and means for detecting a closed section adjacent to the at least one closed section along the traveling direction to detect vehicle identification information of the last vehicle in the vehicle group. First determining means for determining whether the count time has exceeded the time-out time corresponding to the at least one closed section stored in the time-out storage means by the time of the determination, and as a result of this determination, If the count time exceeds the timeout time in a state where the vehicle identification information of the last vehicle is not detected, on-rail check means for checking whether or not the vehicle group is on-rail in the adjacent closed section, When it is checked by the on-rail check means that the vehicle group is present in the adjacent block section, at least one of the vehicle groups Second determining means for comparing the vehicle identification information with the vehicle identification information stored in the identification information storage means to determine whether or not they match each other; and when the result of the determination by the second determining means matches, Means for recognizing that the detecting means in the adjacent closed section has detected the identification information of all the vehicles in the vehicle group.

[0009] In the first, second and third inventions, preferably, the detection means is installed at a boundary position between adjacent closed sections on the dedicated route.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle traveling control system according to the present invention will be described with reference to the accompanying drawings.

(First Embodiment) FIG. 1 is a diagram showing an infrastructure facility of a vehicle running control system 1 according to a first embodiment of the present invention.

The vehicle traveling control system 1 shown in FIG. 1 is a passenger transportation system for a specific area such as an airport, an amusement park, or between a station and a shopping center or a hotel.

That is, the vehicle travel control system 1 includes a closed dedicated route 3 for automatically running a specific vehicle 2 such as a bus, a truck, and a train, and a passenger getting on and off the vehicle 2 automatically running on the dedicated route 3. Multiple stations 4 as places
(2 stations in FIG. 1; 4a, 4b).

In the vehicle traveling control system 1 according to the present embodiment, for example, a plurality of vehicles 2 (vehicle group) of the same formation are detachably connected non-mechanically and electronically on the dedicated route 3 to form a platoon. As described above, it is possible to perform automatic traveling (automatic platoon direction, platoon traveling), and it is possible to provide a highly efficient system according to the increase / decrease of passengers (change in demand).

As shown in FIG. 1, the dedicated line 3 is a closed track (closed loop) single-line system, and the main line 3a constituting the closed loop and a branch from the main line 3a at the entrance point of the station unit 4. And the main line 3 at the exit point of the station 4
and a branch line 3b that merges with a. That is, the vehicle 2 that automatically travels on the dedicated line 3 can stop at the main line 3a or the branch line 3b of the station unit 4 and let passengers get on and off. Further, the provision of the branch line 3b in the station section 4 allows the vehicle 2 to be driven in the opposite direction on the closed loop-shaped dedicated line 3, for example. That is, each vehicle 2 traveling in the opposite direction has one
Into the vehicle and wait (stop, slow driving, etc.), and the other vehicle 2
Can pass each other at the station 4 by traveling through the main line 3a.

The dedicated route 3 in the vehicle travel control system 1 is used to prevent a collision between the vehicles 2.
As shown in FIG. 1, it is divided into closed sections 1AZ and 2AZ corresponding to the station sections 4a and 4b and closed sections 1Z and 2Z corresponding to between the station sections 4a and 4b, and branch lines of the station sections 4a and 4b. 3b is itself a closed section 1BZ and 2BZ, respectively.

A standby line 5 branches off from the main line 3a forming a closed loop, and a standby area (garage) 6 is installed on the standby line 5; The vehicle 2 is stopped and waiting. Then, the vehicle 2 that is waiting at the waiting place 6 is caused to travel to the main route 3a via the waiting route 5 so that the number of vehicles 2 that automatically travel on the travel route 3 can be increased. 3 to the standby route 5 from the dedicated route 3
, The vehicle 2 that automatically travels on the travel route 3 can be reduced.

The vehicle traveling control system 1 is shown in FIG.
As shown in FIG. 2, a vehicle control unit 10 for automatic vehicle driving mounted on each vehicle 2 and a magnetic nail 11 for automatic vehicle steering continuously embedded at regular intervals on the dedicated route 3 are provided. , The closed section 1AZ of each station 4a and 4b,
Vehicle identification information (vehicle identification information provided at the boundary between the closed sections 1AZ, 1BZ, 2AZ, and 2BZ, respectively, in order to detect the approach and advance of the vehicle 2 to and from the 1BZ, 2AZ, and 2BZ so as to be distinguishable from other vehicles. ID)
For example, vehicle detection coils 12 and 13 for detection and control information transmission coils for road-vehicle communication embedded at predetermined positions corresponding to the stations 4a and 4b on the dedicated route 3 (main route 3a and branch route 3b) ( Loop coil) 15 and 16
And transmitted from the vehicle 2 on the dedicated route 3 via the vehicle detection coils 12, 13 and the loop coils 15, 16 which are respectively installed near the vehicle detection coils 12, 13 and the loop coils 15, 16 respectively. The travel information {own vehicle identification number (own vehicle ID), speed information, etc.} is received, and travel control commands (departure command, stop command, A local controller 17 for spot transmission of a speed control command or the like.

In this specification, the vehicle identification information (vehicle ID) is information for identifying a predetermined vehicle traveling on the dedicated route 3 from other vehicles than the predetermined vehicle.

The vehicle travel control system 1 also controls the local controller 1 based on the travel information of each vehicle 2 on the dedicated route 3 received by the local controller 17.
A central control device 18 is provided for performing a traveling control process of each vehicle 2 on the dedicated route 3 via the control line 7.

Here, as shown in FIG.
, A vehicle detection coil for detecting vehicle entry (vehicle clockwise traveling) with respect to the closed section 1AZ is represented by reference numeral 12AI,
Reference numeral 12 denotes a vehicle detection coil that detects a vehicle advance (vehicle clockwise) from the closed section 1AZ to the closed section 1Z.
Expressed as AO.

Similarly, from the closed section 1Z to the closed section 1BZ
A vehicle detection coil for detecting vehicle entry (vehicle counterclockwise running) with respect to the vehicle is denoted by reference numeral 12BI, and the vehicle advances from the closed section 1BZ to the closed section 2Z (vehicle counterclockwise running).
Is indicated by reference numeral 12BO.

Further, the closed section 1AZ to the closed section 2AZ
The vehicle detection coil for detecting the vehicle approach (vehicle clockwise running) to the vehicle is denoted by 13AI, and the vehicle detection coil for detecting the vehicle advance (vehicle clockwise running) from the closed section 2AZ to the closed section 2Z is denoted by 13AO.

Similarly, from the closed section 2Z to the closed section 2BZ
A vehicle detection coil for detecting vehicle entry (vehicle counterclockwise traveling) with respect to the vehicle is denoted by reference numeral 13BI, and the vehicle advances from the closed section 2BZ to the closed section 1Z (vehicle counterclockwise traveling).
Is indicated by reference numeral 13BO.

As shown in FIG. 1, the loop coil 1 corresponding to the main line 3a (closed section 1AZ) of the station 4a.
5 is represented by reference numeral 15AC, and the branch line 3b (the closed section 1B
The loop coil 15 corresponding to Z) is represented by reference numeral 15BC. The loop coil 16 corresponding to the main line 3a (closed section 2AZ) of the station section 4b is represented by reference numeral 16AC, and the loop coil 1 corresponding to the branch line 3b (closed section 2BZ).
6 is represented by reference numeral 16BC.

On the other hand, as shown in FIG. 2, the vehicle control unit 10 is a vehicle-to-vehicle communication device capable of communicating with a vehicle ahead along the traveling direction with respect to the own vehicle 2 traveling in a platoon on the dedicated route 3. 20 and the loop coil 1 on the dedicated line 3
Road-vehicle communication device 21 capable of spot communication with 5 and 16
And a magnetic sensor 22 for detecting a magnetic field generated by the magnetic nail 11 on the dedicated route 3, and a vehicle-to-vehicle communication device 20, a road-to-vehicle communication device 21, and a magnetic sensor 22 communicably connected to each other via a bus 23. The vehicle control device 24 performs an absolute position recognition process and a traveling control process of the vehicle, and a management device 25 that retains and manages traveling information such as the own vehicle ID and the traveling direction of the own vehicle.

The vehicle control device 24 has an arithmetic processing circuit having a CPU and a memory, and according to a processing program stored in the memory, the vehicle-to-vehicle communication device 2 of the vehicle ahead.
On the basis of the traveling information of the preceding vehicle transmitted from the vehicle 0 and received via the inter-vehicle communication device 20 of the own vehicle, the distance between the own vehicle and the preceding vehicle is controlled to prevent the collision or the like from occurring at a predetermined speed. The function of running and the vehicle detection coil 1
Vehicle detection information (vehicle ID) detected through the road-to-vehicle communication device 21 and detected from the vehicle coils 2 and 13;
6 based on the traveling control signal transmitted from the vehicle 6 and received via the road-to-vehicle communication device 21, the traveling driving control of the own vehicle 自 speed control (acceleration / deceleration control, etc.), automatic steering control, stop control, branching from the main route 3a. A function of performing control of switching the traveling line to the route 3b, control of merging from the standby route 6 to the dedicated route 3, control of branching from the dedicated route 3 to the standby route 6, etc. And a function of obtaining a travel distance and a travel position (absolute position) of the vehicle based on the detected magnetic field.

Further, the vehicle control device 24 transmits the travel information including the route information of the own vehicle to the local controller via the loop coils 15 and 16 in response to the route request sent from the central control device 18 via the local controller 17. 1
The local controller 17 has a function of transmitting the traveling information to the central control device 18.

The vehicle control unit 10 controls the vehicle 2
For example, as an emergency communication means between the central control device 18 and the central control device 18, information is transmitted to the central control device 18 wirelessly (eg, by a mobile phone line) by manual operation, and transmitted from the central control device 18 wirelessly. A communication device 26 capable of receiving information is provided.

The central control unit 18 stores an arithmetic processing unit 18a having an interface for transmitting and receiving information wirelessly and a CPU, and a program for executing the processing of the arithmetic processing unit 18a. A memory 18b for storing temporary data of
A monitor 18c for displaying data such as an operation display screen indicating the operation state of all the vehicles 2 and an input unit 18d capable of transmitting various commands to the arithmetic processing unit 18a by an operator's operation are provided. .

The memory 18b stores the IDs of all the vehicles 2 traveling on the dedicated route 3 and the IDs of the vehicle groups as vehicle IDs and formation IDs.
The contents of the knitting table T are updated by the arithmetic processing unit 18a when the number of vehicles 2 on the dedicated route 3 is increased or decreased. I have.

The arithmetic processing unit 18a is provided in the memory 18
The travel control signal for the vehicle / vehicle group 2 (vehicle ID, vehicle group ID) on the dedicated route 3 stored in the formation table of b is transmitted to the local controller 17 and the loop coils 15 and 16
On the basis of the process of transmitting to the vehicle (vehicle group) 2 via the local controller 17 and the travel information including the route information of each vehicle 2 on the travel route 3 transmitted from the local controller 17 through the closed sections 1AZ, 1BZ, 1Z , 2AZ, 2BZ, and 2Z, while a specific vehicle (vehicle group) is running, while performing a process of preventing other vehicles (vehicle group) from entering the blockage section (blockage control process), A process of grasping the vehicle position and controlling the operation of all vehicles 2 and a process of displaying on the monitor 18c an operation display screen showing the operation state of all the vehicles 2 including the grasped vehicle position of all the vehicles 2 are performed. It has become.

That is, the arithmetic processing unit 18a of the central control unit 18 determines the vehicle ID of the vehicle 2 entering the closed section 1AZ of the station section 4a from the closed section 2Z, for example, by using the vehicle detection coil 1
When the vehicle information is detected via the 2AI and the local controller 17, a route information request is transmitted to the vehicle control device 24 in the vehicle control unit 10 of the vehicle 2 via the local controller 17 and the loop coil 15AC. Receiving the route information (for example, information indicating that the vehicle will proceed to the next station 4b) corresponding to the route information request transmitted via the communication line 17, and determining whether the route information is appropriate in accordance with the route information and the travel position information of another vehicle. No, that is, in this case, it is determined whether or not another vehicle exists in the closed section 1Z up to the next station 4b.

The processing unit 1 of the central control unit 18
8a reserves the route information and stores it in the memory 18b when it is determined that there is no other vehicle in the closed section 1Z,
Local controller 17 and loop coil 15AC
A departure command is transmitted to the vehicle control device 24 of the vehicle 2 via the vehicle control device 24. As a result, the vehicle 2 is continuously driven to the next station 4b under the control of the vehicle control device 24.

Hereinafter, the above-described travel management and control are performed for each vehicle ID detection process by the vehicle detection coil on the approach side with respect to the station section 4, so that the vehicle 2 automatically travels.

Further, the arithmetic processing unit 18a of the central control device 18 of the present embodiment includes a plurality of vehicle detection coils 12, 13
At least one of the vehicles 2 has failed to detect the vehicle 2 that has entered or exited the corresponding closed section (for example, skipped), that is, the vehicle 2
When the vehicle ID of the corresponding vehicle detection coil is not transmitted to the arithmetic processing section 18a, the correction of the detection error of the vehicle ID of the corresponding vehicle detection coil is performed, and the vehicle 2 on the dedicated route 3 continues traveling. Processing is performed.

Next, the overall operation of the vehicle traveling control system 1 according to the present embodiment will be described, particularly focusing on the correction processing.

Now, a plurality of vehicles (vehicle group) 2 are automatically traveling, for example, clockwise on the dedicated route 3 (main route 3a), and the vehicle 2 is provided with a central control device 18, a local controller 17, and a vehicle control device. By the traveling control processing based on the closing control of 24, the vehicle is traveling safely without colliding with a group of vehicles in front.

Then, for example, the closed section 1AZ of the station 4a
The vehicle detection coil 12AO installed on the exit side from the closed section 1AZ skips over the vehicle 2A that has advanced from the vehicle, and the vehicle detection coil 12AO installed on the entrance side of the closed section 2AZ of the station 4b into which the vehicle 2A next enters. It is assumed that the coil 13AI has been detected (see FIG. 3, FIG. 3 shows only the vehicle 2A for ease of explanation, and omits the illustration of the local controller and the central control device.
The same applies to FIGS. 5 to 7 and FIGS. 9 to 12.

At this time, the arithmetic processing unit 18a of the central control unit 18 performs the correction processing shown in FIG.

That is, when the detection signal of the vehicle 2A, that is, the vehicle ID is not transmitted from the vehicle detection coil 12AO, the arithmetic processing unit 18a does not immediately perform the emergency stop processing of all the vehicles 2 on the dedicated route 3. Vehicle detection coil 1
It is determined whether or not the vehicle ID of the vehicle 2A has been transmitted from the vehicle detection coil 13AI located next along the vehicle traveling direction of 2AO (step S1).

If the result of determination in step S1 is NO, that is, if the vehicle ID of vehicle 2A has not been transmitted,
The arithmetic processing unit 18a determines that some emergency such as a failure of the vehicle detection coil 12AO or a stop of the vehicle has occurred,
A stop control signal for urgently stopping all vehicles 2 and 2A on dedicated route 3 is transmitted to vehicle control device 24 of vehicle control unit 10 of all vehicles 2 and 2A via local controller 17 and loop coil 15 (step S2). . At this time, the vehicle control device 24 of each of the vehicles 2 and 2A stops the own vehicle in an emergency according to the transmitted stop control signal (step S3).

On the other hand, if the result of the determination in step S1 is YES,
That is, when the vehicle ID of the vehicle 2A is transmitted, the arithmetic processing unit 18a checks the vehicle ID stored in the formation table T of the memory 18b with the transmitted vehicle ID to determine whether or not they match. (Step S4). If the result of this determination is that they do not match (NO in Step S4), the arithmetic processing unit 18a proceeds to Step S4.
Then, a stop control signal transmission process of the second vehicle 2 is executed to perform stop control of all the vehicles 2, 2A.

If the result of the determination in step S4 is a match (the result of the determination in step S4 is YES), the arithmetic processing unit 18a sends the vehicle 2 from the vehicle detection coil 12AO to the vehicle 2
It is determined that the vehicle ID of A is not transmitted because the vehicle ID of the vehicle detection coil 12AO is simply skipped, and the vehicle detection coil 12AO performs a process of correcting the detection of the vehicle 2A (step). S5).

On the other hand, in the vehicle traveling control system 1, a plurality of vehicles 2 are connected non-mechanically and electronically in a detachable manner so as to form a platoon so as to form a platoon in order to improve operation efficiency.

For example, as shown in FIG. 5, a leading vehicle 2B1 and a following vehicle 2B2 in the traveling direction of a vehicle group (for example, three vehicles and a vehicle group (formation) ID C1) 2B formed in a platoon are shown. The vehicle ID is set to vehicle detection coil 1
When the 2AO skips over and detects only the vehicle ID of the last vehicle 2B3, the arithmetic processing unit 18a performs a process similar to step S4 shown in FIG. 4 and stores the formation ID stored in the formation table T of the memory 18b. It is determined whether or not the vehicle ID constituting the formation ID and the vehicle ID detected by the vehicle detection coil 12AO match, and if they match, the arithmetic processing unit 18a determines whether the vehicle detection coil 12A
The vehicle IDs of the vehicles 2B1 and 2B2 of the vehicle group 2B are not transmitted from the vehicle detection coil 12AO
The vehicle detection coil 12AO determines that the vehicle ID of the vehicle 2B1 and 2B2 has been detected.

As a result, the vehicle control unit 10 of the vehicle control unit 10 in the vehicle (vehicle group) 2 is not used when a failure occurs in the vehicle travel control system 1 such as when a failure occurs in the vehicle detection coils 12 and 13. Communication error between the vehicle detection coil 12 and the vehicle detection coil 12 (the vehicle detection coil 1
Even when the vehicle IDs 2 and 13 are skipped), the stop control of all the vehicles (vehicle group) 2 is not performed, so that the traveling efficiency of the vehicle traveling control system 1 can be improved.

It is assumed that the arithmetic processing unit 18 of the central control unit 18
Assuming that a does not have the correction processing function, for example, as shown in FIG. 6, the vehicle 2C entering the closed section 1AZ of the station 4a from the closed section 2Z is installed on the approach side to the closed section 1AZ. Vehicle detection coil 12AI skips (communication of vehicle detection coil 12AI fails)
And the arithmetic processing unit 18a of the central control device 18
Is unable to recognize that the vehicle has entered the closed section 1AZ, and the arithmetic processing unit 1 of the central control device 18
The route information for the next station 4b is not transmitted from 8a. Therefore, the vehicle 2 stops on the loop coil 15AC, and the operator of the central control device 18 recognizes the stop of the vehicle 2 while watching the operation display screen of the monitor 18c, and the vehicle of the vehicle traveling control system 1 A command to change the operation mode to the “non-control mode” and forcefully stop each vehicle 2 in an emergency is transmitted to the vehicle control device 24 of each vehicle 2 via the local controller 17.

However, in the present embodiment, in order to avoid an emergency stop of all the vehicles 2 in the case where the vehicle detection coil 12AI is simply skipped without affecting the vehicle travel control system 1, the vehicle 2C is used. In the case of a group of vehicles composed of a plurality of vehicles, even if the vehicle detection coil 12AI skips over the leading vehicle of the group of vehicles 2C, if any one of the vehicles of the group of vehicles 2C is detected, the other vehicles are also detected. The arithmetic processing unit 1 of the central control unit 18 corrects the vehicle group 2C by correcting the one detected by the vehicle detection coil 12AI.
The route information for the next station 4b can be transmitted from 8a.

Similarly, the processing unit 1 of the central control unit 18
8a does not have the correction processing function, for example, as shown in FIG.
When the vehicle detection coil 12AO installed on the advance side with respect to the closed section 1AZ skips over the vehicle 2D that advances into the Z (the communication of the vehicle detection coil 12AO fails), the arithmetic processing unit 18a of the central control device 18 2D is still in the closed section 1AZ, and it cannot be recognized that the vehicle 2D is in the closed section 1Z.

Therefore, the next station 4b (closed section 2AZ)
Vehicle ID detection coil 13AI on the entry side
When the vehicle ID of D is detected, the vehicle 2D is closed in the closed section 1A.
Z appears in the closed section 2AZ without passing through the closed section 1Z, and the arithmetic processing unit 18a determines that the vehicle tracking is abnormal, and issues a command for forcibly stopping each vehicle 2 via the local controller 17 via the local controller 17. Then, the data is transmitted to the vehicle control device 24 of each vehicle 2.

However, in the present embodiment, in order to avoid emergency stop of all the vehicles 2 in the case of simply skipping the vehicle detection coil 12AO, which does not affect the vehicle travel control system 1, the vehicle detection coil 12A
When the vehicle detection coil 13AI detects the vehicle 2D in a state where O is not detected and the detected vehicle ID matches the vehicle ID stored in the formation table T, the vehicle detection coil 12AO detects the vehicle 2D. It can be corrected to the detected one.

Therefore, in any case, the vehicle I may not be affected by a cause that does not affect the system, such as a mere communication error.
Even if the D detection coils 12 and 13 fail to detect the vehicle ID of the vehicle, all vehicles (vehicle group) 2 on the dedicated route 3 are not stopped, so that the vehicle traveling efficiency of the vehicle traveling control system 1 is improved. Can be done.

(Second Embodiment) The infrastructure facilities and functional block configuration (hardware configuration) of a vehicle traveling control system 1 according to a second embodiment of the present invention are the same as those in FIGS. 1 and 2 described above. Therefore, the description is omitted.

In the present embodiment, the memory 18b of the central control unit 18 stores each closed section 1AZ, 1Z, 2AZ,
For each 2Z, for example, a time-out time set based on a time when the vehicle travels at the lowest speed in each section / closed section 1AZ → time-out time T (1AZ), hereinafter, a closed section 1Z → time-out time T (1Z), Blocked section 2
AZ → timeout time T (2AZ), closed section 2Z →
｝, Which is the timeout time T (2Z), is stored, and the arithmetic processing unit 18a performs the correction process shown in FIG.

That is, as shown in FIG. 9, the arithmetic processing unit 18a, for example, controls the leading vehicle 2 of the two-car group 2E.
For example, when E1 is detected by the advance side vehicle detection coil 12AO of the closed section 1AZ of the station 4a, that is, when the leading vehicle 2E1 passes through the vehicle detection coil 12AO, the next closed section 1Z along the course direction is detected. The timer count process (time count process) is started (step S10).

Then, the arithmetic processing unit 18a determines whether all the vehicles 2E1 and 2E2 of the vehicle group 2E pass through the closed section 1Z and the closed section 1Z becomes non-existent, that is, the vehicle group 2E
Of the last vehicle 2E2 along the traveling direction of the closed section 1Z and the approaching vehicle detection coil 13AI of the next closed section 2AZ
The counting process is continued until is detected (step S1).
1).

At this time, the arithmetic processing section 18a determines whether or not the counted timer value (timer time) has exceeded the timeout time of the closed section 1Z stored in the memory 18b (step S12). As a result of this determination, in the state where the count timer value does not exceed the timeout time, the last vehicle 2E of the approaching vehicle detection coil 13AI is detected.
If the vehicle ID of No. 2 is detected (NO in step S12), the arithmetic processing unit 18a determines that the vehicle ID detection coil 13AI is normal and resets the count timer value (step S13, FIG. 10). reference).

On the other hand, as a result of the determination in step S12, if the count timer value exceeds the timeout time in a state where the vehicle ID of the last vehicle 2E2 is not detected (YES in the determination in step S12), the arithmetic processing unit 18a
Determines that an abnormality such as communication failure or vehicle failure has occurred, and performs on-rail check processing.

That is, the arithmetic processing unit 18a sends the local controller 17 a loop coil (for example, a loop coil 15 in a section which is reserved / located by the vehicle group 4b) in a range affected by the occurrence of the abnormality. In this case, a request to check whether or not each of the vehicles 2E1, 2E2 of the vehicle group 2E is on the station 4b is transmitted via the loop coil 16AC of the station 4b (step S14).

The local controller 17 responds to the transmitted check request by asking whether or not there is a vehicle on the station 4b (rail check signal).
Is transmitted via the loop coil 16AC. The on-rail interrogation process is continuously performed until a check interruption command is transmitted from the central control device 18 (step S15).

At this time, for example, if a communication error has occurred in the vehicle detection coil 13AI on the approach side with respect to the station 4b, the vehicle group 2E (vehicles 2E1, 2E2) has entered and is on the station 4b. The vehicle control device 24 of the vehicle control unit 10 responds to the on-rail check signal transmitted via the loop coil 16AC to output the vehicle ID of the vehicle.
Is transmitted to the local controller 17 via the loop coil 16AC, and the local controller 17 transmits the transmitted vehicle ID to the central control device 18 (step S16).

The arithmetic processing unit 18a of the central control unit 18
Each vehicle 2E1 of the vehicle group 2E corresponding to the on-rail check request,
When the vehicle ID of 2E2 is transmitted, the vehicle ID stored in the formation table T of the memory 18b is compared with the transmitted vehicle ID to determine whether or not they match (step S17). If the results do not match (the result of the determination in step S16 is NO), the arithmetic processing unit 18a executes the stop control signal transmission processing shown in step S2 in FIG. 4 to perform stop control of all the vehicles 2, 2E. (Step S18).

On the other hand, if the result of the determination in step S17 is a match (the result of the determination in step S17 is YES), arithmetic processing unit 18a determines that the vehicle ID of vehicle group 2E has not been transmitted from vehicle detection coil 13AI. Determines that the vehicle ID of the vehicle detection coil 13AI is simply skipped, corrects that the vehicle detection coil 13AI has detected the vehicle group 2E, resets the timer count value, and issues a check interruption command to the local controller. 17 (step S19). As a result, the on-rail interrogation signal processing of the local controller 17 is interrupted.

As a result, as in the case of the first embodiment, it is not the case that a failure of the vehicle running control system 1 occurs, such as the case where the vehicle detection coils 12 and 13 fail, but the simple vehicle (vehicle group) 2. Even if a communication error occurs between the vehicle control device 24 of the vehicle control unit 10 and the vehicle detection coils 12 and 13 (skipping of the vehicle IDs of the vehicle detection coils 12 and 13), the vehicle that affects the communication error ( Car group)
It is possible to check whether the vehicle is on the next station or not, and if there is a mere communication error, it is possible to confirm the presence of the vehicle and avoid the stop control processing of all vehicles (vehicle group) 2. Thus, the traveling efficiency of the vehicle traveling control system 1 can be improved.

On the other hand, in the present embodiment, when a plurality of vehicles are organized and running as a vehicle group, the central control device 1
When the vehicle ID of the leading vehicle is normally received, the arithmetic processing unit 18a requests a route information request from the leading vehicle (vehicle group). For example, as shown in FIG.
In a state where the timer count process is continued after passing through the vehicle detection coil 12AO, the vehicle ID of the leading vehicle 2F1 of the two-car group 2F is set to the entry-side vehicle detection coil 13A.
When the vehicle ID is detected through the AI and the local controller 17 and the vehicle ID is received by the arithmetic processing unit 18a,
A route information request is transmitted to the vehicle control device 24 in the vehicle control unit 10 of the leading vehicle 2F1 via the local controller 17 and the loop coil 15AC.

Then, the arithmetic processing section 18a transmits the route information (for example, the next station 4) corresponding to the route information request transmitted from the vehicle control device 24 via the local controller 17.
a) to determine whether or not the closed section 2Z to the next station 4a is vacant (whether or not there is another vehicle) according to the route information and the travel position information of the other vehicle. If it is determined that the route information is free, the route information is reserved and stored in the memory 18b, and a departure command is issued to the vehicle control device 24 of the leading vehicle 2F1 via the local controller 17 and the loop coil 16AC. Send.

At this time, as shown in FIG.
Even if the entry side vehicle detection coil 13AI fails to receive the vehicle ID of the following vehicle 2F2 in the first vehicle 2F2 until the timer count value exceeds the closed section 1Z,
1 is in a state where a departure command has been transmitted via the loop coil 16AC.

Therefore, depending on the setting of the timeout time, when the process proceeds to the on-line checking process after step S14, there is a possibility that the leading vehicle 2F1 has already advanced to a position where it cannot be stopped by the control of the loop coil 16AC. In this case, the leading vehicle 2F1 is stopped by the on-rail check signal transmitted by the processing of step S15 of the arithmetic processing unit 18a, but cannot be continued because it stops after passing through the loop coil 16AC. There is a possibility that.

However, if the length of the station in the actual operation, the maximum speed of the vehicle, and the accuracy of the vehicle (the accuracy of the actual arrival time with respect to the given arrival time at the next station) are set strictly, The problem can be avoided.

Further, as a process for solving the above-mentioned problem, a process of not making a route reservation for the next closed section until the on-line check of the vehicle IDs of all the vehicles in the vehicle group formed of a plurality of vehicles is completed. , Approaching vehicle I
For only the vehicle based on the vehicle ID detected by the D detection coil, it is also possible to perform a process of transmitting a pass permission ID, that is, an ID for allowing the vehicle to travel independently according to the route reservation, instead of the presence check signal. is there.

That is, if the former process is performed,
, The leading vehicle 2F1 is connected to the vehicle ID detection coil 13A.
Just by the detection of I, the route reservation for the next closed section 2Z of the leading vehicle 2F1 is not made, and when the on-vehicle check of the succeeding vehicle 2F2 is completed, the leading vehicle 2F1
The route reservation for the next closed section 2Z for the following vehicle 2F2 is made.

If the latter process is performed, the pass permission ID is passed to the leading vehicle 2F1 detected by the vehicle ID detection coil 13AI in FIG.
The leading vehicle 2F1 is separated from the vehicle group 2F, formed into a new single vehicle 2F1, and travels in the next closed section 2Z.

In any of the above two processes, the vehicle (vehicle group) can be continuously driven, and the running efficiency can be improved.

In the first and second embodiments, the dedicated line is a closed loop single line having a plurality of stations for passenger getting on and off and passing each other, but the present invention is not limited to this. Instead, a passing part for passing may be installed between adjacent station parts. In this case, the closed sections will be installed between the adjacent station sections and the passing sections, between the adjacent station sections, and between the adjacent passing sections, respectively. A coil, a loop coil, and a controller are installed.

In the first and second embodiments, the vehicle travel control system is a passenger transport system for a specific area such as an airport or an amusement park, or between a station and a shopping center or a hotel. The present invention is not limited to this.

For example, as a vehicle travel control system according to the present invention, a bus, a plurality of vehicles traveling on a plurality of general routes (general roads) in an urban area (city area, etc.) such as a city, a town, a village, etc. A dedicated road for driving specific vehicles such as cars and trucks, and a station section as a plurality of sections that are three-dimensionally connected so that specific vehicles can enter each other between general roads and dedicated roads. Vehicle traveling control system.

In this vehicle travel control system, the dedicated road has a plurality of station sections as a plurality of sections that are three-dimensionally connected so that vehicles can enter each other between the general road and the dedicated road. The department is the city, town,
It is installed in each of a plurality of cities such as villages, and a dedicated road is laid to connect the plurality of cities.

In the above-mentioned vehicle travel control system, the dedicated road is of a single-track type, and a plurality of sections for passing vehicles running on the dedicated road are provided between stations of the single-track dedicated road. Passing parts are installed at appropriate intervals, and vehicles traveling in the opposite direction on a dedicated road are passing at the station or passing part, and on a single line dedicated line , Enables two-way operation.

In the above-described vehicle traveling control system having both the intra-city traffic on the ordinary road and the inter-city traffic on the dedicated road, the system for controlling the traffic between the adjacent station and the passing section,
Blocking control is performed for the running of each vehicle based on a block section set between adjacent station sections and between adjacent passing sections, and a vehicle detection coil, a loop coil, and a controller are provided for each of the station sections and the passing section. Are installed respectively.

Therefore, the correction processing described in the first and second embodiments can be performed, and the traveling efficiency of the vehicle traveling control system can be improved.

[0082]

As described above, according to the vehicle traveling control system of the present invention, even if the detecting means fails to detect the vehicle identification information due to a cause that has no influence on the system, such as a mere communication error, the exclusive use of the vehicle traveling control system is prevented. Since all the vehicles (vehicle group) on the route can be continuously driven without stopping, the vehicle traveling efficiency of the vehicle traveling control system can be improved.

[Brief description of the drawings]

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

FIG. 2 is a diagram showing a functional block configuration of the vehicle traveling control system shown in FIG.

FIG. 3 is a diagram corresponding to FIG. 1 for explaining the operation of the first embodiment.

FIG. 4 is a schematic flowchart showing an example of processing of the arithmetic processing unit of the central control device and the vehicle control device of the vehicle control unit shown in FIGS. 1 and 2;

FIG. 5 is a diagram corresponding to FIG. 1 for explaining the operation of the first embodiment.

FIG. 6 is a diagram corresponding to FIG. 1 for describing the effect of the first embodiment.

FIG. 7 is a view corresponding to FIG. 1 for describing the effect of the first embodiment.

FIG. 8 is a schematic flowchart illustrating an example of processing of a calculation processing unit of a central control device and a vehicle control device of a vehicle control unit according to a second embodiment.

FIG. 9 is a diagram corresponding to FIG. 1 for explaining the operation of the second embodiment.

FIG. 10 is a view corresponding to FIG. 1 for explaining the operation of the second embodiment.

FIG. 11 is a view corresponding to FIG. 1 for explaining the operation of the second embodiment.

FIG. 12 is a diagram corresponding to FIG. 1 for explaining the operation of the second embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Vehicle traveling control system 2, 2A-2D, 2E1, 2E2, 2F1, 2F2 Vehicle 3 Dedicated route 3a Main route 3b Branch route 4, 4a, 4b Station 10 Vehicle control unit 11 Magnetic nail 12, 12AI, 12AO, 12BI, 12BO Vehicle detection coil 13, 13AI, 13AO, 13BI, 13BO Vehicle detection coil 15, 15AC, 15BC, 16, 16AC, 16BC
Loop coil 17 Local controller 18 Central control unit 18a Arithmetic processing unit 18b Memory 18c Monitor 20 Vehicle-to-vehicle communication device 21 Road-to-vehicle communication device 22 Magnetic sensor 23 Bus 24 Vehicle control device 25 Management device 26 Communication device 1Z, 2Z, 1AZ, 2AZ, 1BZ, 2BZ closed section T knitting table

Continued on the front page F term (reference) 5H161 AA01 BB02 CC02 CC05 CC11 CC13 DD12 EE04 EE07 5H301 AA01 BB20 CC06 DD07 DD15 EE06 EE12 EE18 FF02 FF11 FF23 KK03 KK04 KK08 KK09 KK18 KK20 LL03 LL06 LL08

Claims (4)

[Claims] 1. A vehicle travel control system for automatically running a vehicle on a dedicated route divided into a plurality of closed sections, wherein the system is installed corresponding to each closed section of the dedicated route, and Detection means for spotly detecting identification information of vehicles entering and exiting, identification information storage means for storing identification information of vehicles traveling on the dedicated route, and at least one block in the plurality of block sections The detecting means corresponding to the section fails to detect the identification information of the vehicle entering the at least one closed section and corresponds to the closed section adjacent to the at least one closed section along the vehicle traveling direction. When the detection means detects the identification information of the vehicle entering the adjacent block section, the vehicle identification information detected by the detection means and the identification information Determining means for comparing the vehicle identification information stored in the storage means to determine whether or not they match, and detecting means corresponding to the at least one closed section when the result of the determination by the determining means indicates a match. Means for recognizing that the identification information of the vehicle has been detected. 2. A vehicle traveling control system for automatically and integrally traveling a vehicle group of a plurality of vehicles on a dedicated route divided into a plurality of closed sections, wherein the system is installed corresponding to each closed section of the dedicated route. Detecting means for spotwise detecting identification information of each vehicle of a group of vehicles entering and exiting the closed section, and identification information of each vehicle of the group of vehicles traveling on the dedicated route. The identification information storage unit and the detection unit corresponding to at least one closed section in the plurality of closed sections include at least one vehicle in a group of vehicles entering or leaving the at least one closed section. When only the identification information is detected and the detection of the identification information of another vehicle fails, the vehicle identification information detected by the detection unit and the vehicle stored in the identification information storage unit Determining means for determining whether or not matching by matching with another information, if it matches the result of determination of the determination means, the at least one
A vehicle traveling control system comprising: a detecting unit corresponding to one of the closed sections; and a unit for recognizing that the identification information of all the vehicles in the vehicle group has been detected. 3. A vehicle travel control system for automatically traveling a group of cars formed on a dedicated route divided into a plurality of closed sections, wherein the system is installed corresponding to each closed section of the dedicated route, Detecting means for spotwise detecting identification information of each vehicle of a group of vehicles entering and exiting the closed section, and identification information for storing identification information of each vehicle of the group of vehicles traveling on the dedicated route Storage means, a timeout time storage means for storing a predetermined timeout time corresponding to each of the closed sections for each closed section, and a detecting means corresponding to at least one closed section in the plurality of closed sections; When the identification information of the leading vehicle in the traveling direction in the group of vehicles entering the closed section is detected, the time from the detection timing is counted. A step and the time-out memory until the vehicle identification information of the last vehicle in the vehicle group is detected by the detection means of a closed section adjacent to the at least one closed section along the traveling direction. First determining means for determining whether a time-out period corresponding to the at least one closed section stored in the means has been exceeded, and as a result of this determination, the vehicle identification information of the last vehicle in the vehicle group is not detected When the count time exceeds the time-out time in the state, on-line checking means for checking whether or not the vehicle group is present in the adjacent closed section; and When it is checked that the vehicle group is on-rail, the identification information of at least one vehicle in the vehicle group and the identification information stored in the identification information storage unit are stored. Second determining means for comparing the vehicle identification information with the vehicle identification information to determine whether or not they match each other; and when the result of the determination by the second determining means indicates a match, the detecting means in the adjacent blockage section sets the vehicle group Means for recognizing that the identification information of all the vehicles has been detected. 4. The vehicle travel control system according to claim 1, wherein said detection means is installed at a boundary position between adjacent closed sections on said dedicated route. .