JP2002046611A - Train running control system and computer readable memory medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a train running system constructed on a shuttle system such that a plurality of trains are allowed to run in reversals in two directions on single track lines furnished on the way with a branch part of the trains to make passing-by, whereby the trains running in the opposing directions are prevented from collision certainly. SOLUTION: A train running control system 1 is to put trains 2a1 and 2a2 running in reversals in the opposing directions on a line 3 including a first 10 and a second single track line 13 and a first 11 and a second branch line 12 diverging from the first single track line 10 to converge with the second single track line 13. The system 1 is equipped with on-vehicle units 20 mounted on the trains 2a1 and 2a2 and a collision preventing control device 31 installed on the ground. These 20 and 31 transmit and receive advance and stop signals or the like between the ground and trains via the specified antennae (advance side loop antennae) A1C and B2C, outgoing side loop antennae A2C and B1C, and wrong line intrusion preventive antennae AC and BC) installed in the specified positions of the branch lines 11 and 12.

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 and a computer-readable storage medium for causing a plurality of vehicles to return in a bidirectional manner on a single line having a branch line for passing vehicles in the middle. .

[0002]

2. Description of the Related Art A plurality of collision-prevention sections continuously set on a route (for example, a track (rails, etc.)) are permitted to travel only within a certain section of a vehicle or a group of vehicles. A system configured to detect the vehicle in a spot manner and to control the traveling of the vehicle through detection means installed for each of the trains or groups of vehicles that do not enter the above-mentioned section). So-called occlusion control systems are known.

That is, in this system, for each closed section, a vehicle (composed vehicle) entering the closed section and a set vehicle exiting from the closed section are each detected in a spot manner, and the detection signal is provided. Accordingly, the running of the subsequent train 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, thereby ensuring the safety of running the vehicle.

[0004]

The blocking control described above is intended to prevent a collision between a certain vehicle of interest and a vehicle following the vehicle of interest, but not to prevent collision between vehicles running in opposite directions. Was.

Therefore, for example, in a so-called shuttle-type vehicle traveling system, a plurality of vehicles (car trains) are folded back and forth in a bidirectional manner on a single line having a branch line for passing a vehicle in the middle. It has been desired to construct a specific vehicle traveling control system for preventing collision between vehicles.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has a shuttle type vehicle traveling in which a plurality of vehicles are turned back and forth in a bidirectional manner on a single line having a branch portion for passing the vehicles in the middle. It is an object of the present invention to propose a vehicle travel control system and a computer-readable storage medium capable of reliably preventing a collision between vehicles traveling in opposite directions.

[0007]

According to a first aspect of the present invention for achieving the above object, a first and a second single wire portion,
And at least two first and second vehicles are bidirectionally folded back and forth on a route including first and second branch line portions that branch off from the first single line portion and join the second single line portion. A vehicle travel control system to
Mounted on the first vehicle and the second vehicle, respectively;
The vehicle travels in response to an external travel / stop control signal.
An in-vehicle unit to be controlled to stop and provided on the vehicle entry side of the first and second branch lines, and entering the first and second branch lines via the first and second single lines; First and second approaching communication units capable of detecting the first and second vehicles coming in and communicating with the in-vehicle unit of the detected vehicle, and a vehicle exiting side of the first and second branch lines. The first and second approach-side communication units are provided with a first anti-collision section, and the first and second approach-detection communication units pass through the first and second approach-detection communication units. To the first and second advancing communication units capable of detecting the second vehicle and communicating with the on-vehicle unit of the detected vehicle, and to the first and second branch lines of the first and second vehicles; Is entered by the first and second entry-side communication units. When detected respectively, the first
And first transmission control means for transmitting a progress control signal via the second approach-side communication unit, and via the second approach-side communication unit in response to vehicle detection of the first approach-side communication unit. Transmission control means for transmitting a traveling control signal to allow the vehicle to advance into the first single line section via the second branch line section, and vehicle detection of the second entry side communication unit. A third transmission control for transmitting a traveling control signal to the first exit-side communication unit to permit the vehicle to enter the second single-line section via the first branch line section in response to Means, and the first and second vehicles are connected to the first vehicle.
And when detected by the second approach communication unit, a stop control signal is transmitted through the first and second approach communication units to prevent the vehicle from entering the first collision prevention section. And a fourth transmission control means for inhibiting the transmission.

In the first invention, a second and a third collision prevention section are respectively formed with respect to the second branch line section from a branch point between the second exit side communication unit and the first single line section. The first or second branch line which enters the second branch line portion via the first single line portion.
A first foreign line entry prevention communication unit for transmitting a stop control signal to an on-vehicle unit of the vehicle, and a first exit side communication unit and a second single line for the first branch line portion A fourth and a fifth anti-collision section respectively provided from a branch point with the first and second sections, and a first or a second section which enters the first branch line section via the second single line section. A second communication control unit for transmitting a stop control signal to an in-vehicle unit of the vehicle, wherein the second transmission control means responds to the vehicle detection of the first entry-side communication unit. Means for transmitting a progress control signal via the first foreign line entry prevention communication unit, wherein the third transmission control means responds to a vehicle detection of the second approach side communication unit, Via the second non-railway entry prevention communication unit Means for transmitting a line control signal, and when the first and second vehicles are detected by the first and second different line approach prevention communication units after transmitting the traveling control signal, And transmitting a stop control signal via the second advance communication unit to the second
And prohibits entry of the vehicle into the fourth collision prevention section, and transmits a progress control signal via the first and second entry side communication units to cause the vehicle to enter the first collision prevention section. Fifth transmission control means for permitting entry.

In the first invention, the first and the second
While the respective ends on the opposite side to the branch point of the single-line section constitute first and second stations on the route,
Detecting first and second vehicles provided at the first and second stations, and located at the first and second stations,
First and second departure / stop communication units capable of transmitting a departure / stop control signal to the detection vehicle by communicating with an on-vehicle unit of the detection vehicle, and a first departure / stop communication unit at the first and second stations. And when the second vehicle is stopped, transmitting a departure control signal at the same timing to the vehicle-mounted units of the first and second vehicles via the first and second departure / stop communication units. The first and second vehicles in the first
And travel control means for driving the vehicle via the second and single line sections, respectively, and transmitting a travel control signal via the first and second approach side communication units, and via the second and first single line sections. When the first and second vehicles enter the second and first stations, the first and second vehicles are mounted on the vehicle via the second and first departure / stop communication units. By transmitting a stop control signal to the unit at the same timing, the first and second stop signals are transmitted.
Stop control means for stopping the first vehicle, and when the first and second vehicles are stopped at the second and first stations,
The departure control signal is transmitted at the same timing to the on-vehicle units of the first and second vehicles via the second and first departure / stop communication units, and the first and second vehicles are transmitted to the second vehicle. And a return control means for transmitting a return control signal via the second and first approach-side communication units, respectively.

In the first invention, the first and the second
And a first and second overrun prevention communication unit that is provided at an end of the station part opposite to the vehicle departure side and that constantly transmits a stop control signal. When the vehicle overruns from the opposite end through the opposite end, the on-vehicle unit of the mis-running vehicle includes a forced stop means for forcibly stopping the own vehicle by the transmitted stop control signal. I have.

According to the second aspect of the present invention, the first and second single wire portions and the first and second single wire portions are provided.
A first branch that branches off from the single-line portion of the first line and merges with the second single-line portion
And a vehicle traveling control system for causing at least two first and second vehicles to turn back and forth in a bidirectional manner on a route including a second branch line portion, and mounted on the first vehicle and the second vehicle, respectively. And progress from outside /
An in-vehicle unit for controlling the traveling / stop of the vehicle in response to a stop control signal, and an on-vehicle unit provided on the vehicle entry side of the first and second branch lines, and via the first and second single lines. First and second entry-side communication units capable of detecting first and second vehicles entering the first and second branch lines and communicating with an on-vehicle unit of the detected vehicle; A first collision prevention section from the first and second approach side communication units with respect to the vehicle exit side of the second branch line section,
First and second vehicles that detect the first and second vehicles passing through the approach detection communication unit, and communicate with the in-vehicle unit of the detected vehicle to communicate with the detected vehicle. And a computer system capable of communicating with each of the first and second entry-side communication units and the first and second exit-side communication units, wherein the computer system includes the first and second vehicles. Are detected by the first and second entry-side communication units, respectively, and are transmitted to their own computer systems. A first transmission control function of transmitting a progress control signal to the on-vehicle units of the first and second vehicles via a side communication unit, and a vehicle of the first approach side communication unit A second control unit that transmits a travel control signal via the second advance communication unit in response to the detection signal to permit the vehicle to advance to the first single line via the second branch line; A transmission control function and a second control unit that transmits a progress control signal to the first entry-side communication unit in response to a vehicle detection signal of the second entry-side communication unit and passes through the first branch line unit. A third transmission control function for permitting the vehicle to advance into the single-track section of the second communication unit; and the first transmission control function, when the first and second vehicles are detected by the first and second advance communication units. And a fourth transmission control function of transmitting a stop control signal via the second approach-side communication unit to prohibit the vehicle from entering the first collision prevention section.

According to a third aspect of the present invention for achieving the above object, the first and second single wire portions and the first and second single wire portions are provided.
A first branch that branches off from the single-line portion of the first line and merges with the second single-line portion
And a system in which at least two first and second vehicles are turned back and forth in a bidirectional manner on a route including a second branch line section, the system including a computer, the first vehicle and the second vehicle. An on-vehicle unit mounted on the vehicle and controlling the advance / stop of the vehicle in response to an external advance / stop control signal;
Is provided on the vehicle entry side of the branch line section, and detects first and second vehicles entering the first and second branch line sections via the first and second single track sections. First and second approach communication units capable of communicating with the on-vehicle unit of the detected vehicle, and the first and second approach sides with respect to the vehicle exit sides of the first and second branch lines. A first collision prevention section is provided apart from the communication unit, and first and second vehicles passing through the first and second approach detection communication units are detected, and the detected vehicle is mounted on the vehicle. A computer readable storage medium in a system comprising first and second exit communication units communicable with a unit, wherein the computer stores the first and second vehicles of the first and second vehicles. The approach to the second branch line is The in-vehicle units of the first and second vehicles via the first and second approach communication units when detected by the first and second approach communication units and transmitted to the own computer, respectively. A first transmission control process for transmitting a progress control signal to the
In response to the vehicle detection signal of the entry-side communication unit, the vehicle transmits a traveling control signal via the second entry-side communication unit to the first single-line section via the second branch line section. A second transmission control process for permitting entry, and a first control unit for transmitting a progress control signal to the first entry-side communication unit in response to a vehicle detection signal of the second entry-side communication unit. A third transmission control process for permitting the vehicle to advance to the second single line portion via the branch line portion, and wherein the first and second vehicles are detected by the first and second advance side communication units. And a fourth transmission control process for transmitting a stop control signal via the first and second approach-side communication units to prohibit the vehicle from entering the first collision prevention section. The program to be executed is stored.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a vehicle traveling control system and a computer-readable storage medium 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 traveling control system 1 according to a first embodiment of the present invention.

A vehicle traveling control system 1 shown in FIG. 1 includes two vehicles between two specific places, for example, between specific places in an airport or an amusement park, or between a station and a shopping center or a hotel. Is applied to a system for transporting passengers between specific locations by turning the vehicle back.

That is, the vehicle traveling control system 1 includes two specific vehicles 2a1, 2a2 such as a bus, a truck, and a train.
Route 3 for automatically driving the vehicle, and this dedicated route 3
Station sections 4a and 4b are provided at both upper ends as passenger landings for vehicles 2a1 and 2a2.

In the vehicle traveling control system 1 of the present embodiment, the vehicles 2a1 and 2a2 are constructed by connecting two vehicle elements 2b of the same formation by a mechanical coupler 2c as shown in FIG. It is a two-car train. For example, the length of the vehicle element 2b along the vehicle traveling direction is xm,
The length of the mechanical coupler 2c is ym.

The vehicles 2a1 and 2a2 are not limited to the mechanical connection, but may be constructed by connecting the two vehicle elements 2b non-mechanically and electronically.

As shown in FIG. 1, the dedicated line 3 includes a first single line section 10 having a station section 4a at one end, and first and second branch line sections branched from the first single line section 10. 11 and 12 and first and second branch lines 11 and 12
And a second single line portion 13 having a station portion 4b at the end opposite to the junction, and the first and second branch line portions 11 and 12 Have symmetrical structures.

In this embodiment, the first vehicle 2a1
Starts from the station section 4a, travels on a predetermined course, that is, the second single track section 13 via the first branch line section 11 and arrives at the station section 4b. , Starting from the station 4b and the second single track 13
Through the second branch line portion 12 through the first single line portion 4a
, And thereafter, turns back and forth between the stations 4a and 4b.

Similarly, the second automatic traveling on the dedicated line 3
The vehicle 2a2 starts from the station section 4b, travels on the first single track section 10 via the second branch line section 12, and stops at the station section 4b.
a, and at the time of turning back, the vehicle starts from the station 4a, arrives at the second single line section 4b via the first branch line section 11 via the first single line section 10, and thereafter, sequentially The vehicle turns back between the stations 4b to 4a.

The vehicle running control system 1 is shown in FIG.
As shown in FIG. 3, an on-vehicle unit 20 for automatic vehicle driving mounted on each of the vehicles 2 a 1 and 2 a 2, and a magnetic nail for automatic vehicle steering (built-in continuously on the dedicated line 3 at regular intervals) (Not shown) and vehicles 2a1, 2 provided at station portions 4a and 4b and located at station portions 4a and 4b.
station loop antennas 1C and 2C as first and second departure / stop communication units capable of detecting a2 and communicating with the on-vehicle unit of the detector vehicle and transmitting a departure / stop control signal to the detected vehicle The first and second branch lines 11 and 12 are provided on the vehicle entry side,
And the first and second vehicles 2a1 and 2a2 entering the first and second branch lines 12 and 13 via the second single lines 10 and 13 are detected, and the vehicle-mounted unit of the detected vehicle is detected. 20 as the first and second approach communication units capable of communicating with the antenna 20
C and B2C.

Further, the vehicle traveling control system 1 includes a first
And a first collision prevention section z1 (m (meter)) from the first and second entry-side loop antennas A1C and B2C with respect to the vehicle exit side of the second branch lines 11 and 12. The first and second antennas A1C and B2C passing through the first and second entry-side loop antennas A1C and B2C.
And the second vehicle 2a1, 2a2, and an exit-side loop antenna A2C as first and second exit-side communication units capable of communicating with the in-vehicle unit 20 of the detected vehicle
And B1C.

Then, the vehicle traveling control system 1
Of the forward side loop antenna B1C
And a second anti-collision section z2 (m) and a third anti-collision section z3 (m) from the branch point P1 with the first single line section 10, respectively, via the first single line section 10. As a first different line entry prevention communication unit for transmitting a stop control signal to the on-vehicle unit 20 of the first or second vehicle 2a1, 2a2 entering the second branch line section 12 Loop antenna BC for line entry prevention
A fourth collision prevention section z4 (m) and a fifth collision prevention section z5 from the branch point P2 between the advancing-side loop antenna A2A and the second single-line section 13 with respect to the first branch line section 11, respectively. (M) A stop control signal is provided to the on-vehicle unit 20 of the first or second vehicle 2a1, 2a2 which is provided at an interval and enters the first branch line portion 11 via the second single line portion 13. And a loop antenna AC for preventing the entry of a different line as a second communication unit for preventing the entry of a different line, which is provided at the end of each of the stations 4a and 4b opposite to the vehicle departure side. It includes first and second overrun prevention loop antennas C1 and C2 as first and second overrun prevention communication units for transmitting signals.

Each of the collision prevention sections z1 (m) to z5
(M) is the platoon length of each of the vehicles 2a1 and 2a2 (= 2x
+ Y) so that the vehicles 2a1 and 2a2 do not collide with each other. For example, the first collision prevention section z1 (m) includes the entry-side loop antennas A1C and B1C.
Vehicle stopped at 2C and advance loop antennas A2C and B
It is set so that the vehicle stopped at 1C does not collide with the vehicle, and the fourth collision prevention section z4 (m) includes a vehicle stopped at the advancing-side loop antenna A2C and a loop antenna AC for preventing misalignment. It is set so that the vehicle does not collide with the stopped vehicle.

Similarly, between the station loop antenna 1C and the branch point P1, and between the station loop antenna 2C and the branch point P2, z6 is also used to prevent vehicle collision.
(M) and z7 (m).

The vehicle traveling control system 1 includes the loop antennas 1C, 2C, A1C, B2 for road-vehicle communication.
A wired / wireless communication medium 30 such as an optical cable connected to each of C, A2C, B1C, BC, AC, C1, and C2
And each of the loop antennas 1C, 2C, A1C, B2C, A2C, B
A signal indicating the presence of a vehicle transmitted from the vehicles 2a1 and 2a2 on the dedicated route 3 via 1C, BC, AC, C1 and C2 {own vehicle identification number (own vehicle ID) and the like, hereinafter referred to as vehicle ID} Vehicles 2a1, 2a that receive and are on dedicated line 3
2, loop antennas 1C, 2C, A1C, B2
An anti-collision control device 31 for transmitting traveling control signals (progress / stop control signal, departure / stop control signal) via C, A2C, B1C, BC, AC, C1, and C2 is provided.

On the other hand, as shown in FIG. 3, the on-vehicle unit 20 includes the own vehicles 2a1, 2a running on the dedicated route 3.
A vehicle-to-vehicle communication device 40 capable of communicating with a vehicle ahead along the traveling direction with respect to the vehicle 2;
C, 2C, A1C, B2C, A2C, B1C, BC, A
A road-to-vehicle communication device 41 capable of spot communication with C, C1, and C2, a magnetic sensor 42 for detecting a magnetic field generated by a magnetic nail on the dedicated line 3, a vehicle-to-vehicle communication device 40, a road-to-vehicle communication device 41, and a magnetic sensor. A vehicle control device 44 communicably connected to the sensor 42 via an interface 43 such as a bus or a LAN to perform an absolute position recognition process and a traveling control process of the own vehicle; And a management device 45 for holding and managing information.

The vehicle control unit 44 has an arithmetic processing circuit having a CPU and a memory, and responds to a processing program stored in the memory and a magnetic field emitted from a magnetic nail and detected via a magnetic sensor 42. A function of controlling the travel of the own vehicle based on the travel distance and the travel position (absolute position) of the own vehicle obtained by
C, 2C, A1C, B2C, A2C, B1C, BC, A
A function of performing travel drive control (progress control, stop control, departure control, etc.) of the own vehicle based on a travel control signal transmitted via C, C1, and C2 and received via the road-to-vehicle communication device 41; Have.

As described above, the vehicle control device 44 of the vehicle 2a1 moves the host vehicle 2a1 from the first single line section 10 to the first branch line section 11 to the second single line section 13 to the second branch line. .., The first single-line section 10... And the vehicle control device 4 of the vehicle 2a2.
Reference numeral 4 designates the vehicle 2a2 as a second single line portion 13 → a second branch line portion 12 → a first single line portion 10 → a first branch line portion 11 → a second line.
Is operated in a turn-back manner as shown by the solid line portion 13 →.

The collision prevention control device 31 is constructed as a computer system, and as shown in FIG. 4, a transmission / reception unit 50 having an interface function for transmitting and receiving signals between a wired / wireless communication medium 30 and a control unit described later. A storage medium in which a processing program is preliminarily stored; a semiconductor memory (ROM, RAM, etc.);
By operating in accordance with a memory 51 serving as a DVD or the like and a processing program stored in the memory 51, the vehicle ID transmitted via the wired / wireless communication medium 30 and the transmission / reception unit 50 is received, and a loop antenna is provided. 1C, 2C, A1C, B2C, A2C, B1C, B
A control unit 52 such as a CPU having a function of transmitting a traveling control signal (progress / stop control signal, departure / stop control signal) to C, AC, C1, and C2 is provided.

Next, the overall operation of the vehicle travel control system 1 of the present embodiment will be described.

Now, the vehicles 2a1 and 2a2 are stopped at the station portions 4a and 4b. At the station portion 4a, a passenger heading for the station portion 4b rides on the vehicle 2a1, and at the station portion 4b, the station portion 4a Passenger heading on board the vehicle 2a2.

At this time, the control unit 52 operates according to the processing program stored in the memory 51, and controls all the loop antennas 1C, 2C, A1C, B2C, A2C, B1.
A signal output from C, BC, and AC when a vehicle ID is detected is set as a stop control signal (FIG. 5; step S1).

On the other hand, for example, at a predetermined departure time,
The control unit 52 of the collision prevention control device 31 transmits a departure control signal to the station loop antennas 1C and 2C at the same timing according to the processing program stored in the memory 51 (step S2), and simultaneously with the transmission of the departure control signal. Then, the signals output from the entry-side loop antennas A1C and B2C when the vehicle ID is detected are switched to the progress control signals (step S3; see FIG. 6; case 1).

That is, as shown in Case 1 of FIG.
The control signals output from the entry-side loop antennas A1C and B2C are switched from a stop control signal to a progress control signal (shown in bold and progress).

At this time, the vehicles 2a1 and 2a2 respectively depart according to the departure control signal, and
And the second single wire section 13 travels at the same speed.

Then, the vehicles 2a1 and 2a2 are branched at the branch points P1 and P2 into predetermined courses, that is, the first branch line section 11 and the second branch line section 12, respectively, to enter the entrance loop antenna. A1C and B
2C (see FIG. 6; case 1).

At this time, when the vehicle ID emitted from the vehicle 2a1 is detected by the entry-side loop antenna A1C and transmitted to the control unit 52 via a wired / wireless communication medium or the like, the control unit 52 sets the station loop. After switching the control signal output from the antenna 1C to the stop control signal, the detection vehicle 2
Signals output from the exit-side loop antenna B1C and the abnormal-line entrance prevention loop antenna BC on the second branch line section separate from the first branch line section on which a1 travels are each switched to a traveling control signal ( Step S4; see case 2 in FIG. 6).

Similarly, the vehicle I emitted from the vehicle 2a2
When D is detected by the entry-side loop antenna B2C and transmitted to the control unit 52 via a wired / wireless communication medium or the like, the control unit 52 stops the control signal output from the station-side loop antenna 2C by a stop control signal. After switching to, the detected vehicle 2
The control signals output from the exit-side loop antenna A2C and the different-line entry prevention loop antenna AC on the first branch line section separate from the second branch line section on which a2 travels are switched to advance control signals. (Step S5; see Case 2 in FIG. 6).

That is, as shown in Case 2 of FIG.
The control signals output from the advancing-side loop antenna B1C and the loop antenna BC for preventing a different line from entering and the advancing-side loop antenna A2C and the loop antenna AC for preventing a different line from entering are switched to a progress control signal (shown in bold letters and progress). ).

As a result, the vehicle 2a1 outputs the traveling control signal from the entry-side loop antenna A1C.
The vehicle travels via the entrance-side loop antenna A1C and enters the exit-side loop antenna A2C. Since the traveling control signal is output here, the vehicle passes through the exit-side loop antenna A2C.

Similarly, the vehicle 2a2 travels via the entry-side loop antenna B2C because the traveling control signal has been output from the entry-side loop antenna B2C, enters the exit-side loop antenna B1C, and advances again. Since the control signal is output, the signal passes through the advancing-side loop antenna B1C.

At this time, the vehicle IDs of the vehicles 2a1 and 2a2 are received by the advancing-side loop antennas A2C and B1C when the vehicles 2a1 and 2a2 pass, and transmitted to the control unit 52 via a wired / wireless communication medium or the like. Is done.

The control unit 52 includes an advancing-side loop antenna A2
According to the vehicle ID transmitted from C and B1C,
The control signals output from the entry-side loop antennas A1C and B2C are each switched to a stop control signal (step S6; see case 3 in FIG. 6).

That is, as shown in Case 3 of FIG.
The control signals transmitted from the entry-side loop antennas A1C and B2C are switched to stop control signals (shown in bold and stop).

As a result, while the vehicles 2a1 and 2a2 are in the collision prevention zone z1, entry of the vehicle into this zone is prohibited.

Next, the vehicles 2a1 and 2a2 enter the loop antennas AC and BC for preventing the entry of different lines, respectively.
Here, since the traveling control signal is output, the signal passes through the loop antennas AC and BC.

At this time, the vehicle IDs of the vehicles 2a1 and 2a2 are received by the loop antennas AC and BC for preventing entry of different lines when the vehicles 2a1 and 2a2 pass, and the control unit is connected via a wired / wireless communication medium or the like. 52
Sent to.

The control unit 52 confirms that the vehicles 2a1 and 2a2 have advanced from the collision prevention zone z1 based on the vehicle IDs of the vehicles 2a1 and 2a2 transmitted from the loop antennas AC and BC for preventing entry into a different line. The control signals output from the loop antennas A1C and B2C are each switched to a travel control signal to allow the vehicle to travel into the collision prevention zone z1, and the advance loop antenna A2
The control signals output from C and B1C are each switched to a stop control signal to prohibit the vehicle from entering the collision prevention zone z4 (step S7; see case 4 in FIG. 6).

Next, the vehicles 2a1 and 2a2 travel in the collision prevention sections z6 and z7, and return to the station 4b.
When the vehicle reaches 4a, the vehicle IDs of the vehicles 2a1 and 2a2 are received by the station loop antennas 2C and 1C, respectively, and transmitted to the control unit 52 via a wired / wireless communication medium or the like.

The control unit 52 transmits a stop control signal via the station loop antennas 2C and 1C in accordance with the transmitted vehicle ID to control the vehicles 2a1 and 2a2, respectively.
The station unit 4b is operated by the stop control operation of the vehicle-mounted unit 20.
At 4a and 4a, the vehicle is stopped (stopped), and the control signals output from the loop antennas AC and BC for preventing traffic from different lines are respectively switched to stop control signals to prohibit the vehicle from traveling into the collision prevention sections z7 and z6. (Step S8; see Case 5 in FIG. 6).

That is, in the present embodiment, a single vehicle is always driven in each of the collision prevention sections z1 to z7 to ensure the safety of the vehicle.

Hereinafter, the station loop antennas 2C and 1C
When the vehicles 2a1 and 2a2 stop and the vehicle ID is transmitted to the collision prevention control device 31 via the station loop antennas 2C and 1C, the control unit 52 of the collision prevention control device 31 For example, at a predetermined turn-around departure time, the control signals output from the station-side loop antennas 2C and 1C are switched to the departure control signal at the same timing, and further, the approach-side loop antennas B2C and A1C
The vehicle 2a1 is switched to the vehicle 2a2, and the vehicle 2a2 is switched to the vehicle 2a1.
5 is performed.

As a result, the vehicle 2a1 is turned back at the station 4b, travels to the station 4a via the second single line section 13, the second branch line section 12 and the first single line section 10, and the vehicle 2a1
2 is folded back at the station section 4a, and the first single track section 10, the first
Via the branch line portion 11 and the second single line portion 13
Drive to b.

As described above, the vehicles 2a1, 2a2 are turned back and forth in both directions, so that the stations 4a, 4b
In between, passengers can be transported.

When the vehicles 2a1 and 2a2 are turning back, the vehicle 2a1 or 2a2 is connected to the station 4a.
Alternatively, even if the vehicle accidentally travels toward the overrun prevention loop antenna C1 or C2 without stopping at 4b (step S9 → YES), the control unit 52 always transmits the overrun prevention loop antenna C1 or C2 via the overrun prevention loop antenna C1 or C2. The vehicle 2a1 or 2a2 that overruns due to the output stop control signal
Is forcibly stopped on the loop antenna C1 or C2 by the stop control operation of the on-vehicle unit 20 (step S10), so that it is very safe.

Next, in the present embodiment, for example, even when the vehicle travels toward the loop antenna for preventing entry into a different line or when the vehicle enters the first branch line portion and the second branch line portion at different timings. This shows that collisions between vehicles traveling in opposite directions are reliably prevented.

For example, in case 1 of FIG. 7, when the vehicle 2a2 accidentally enters the first branch line section 11, the vehicle 2a2 is stopped via the loop antenna AC for preventing entry of a different line. The vehicle 2a2 is forcibly stopped on the loop antenna AC by the stop control operation of the on-vehicle unit 20 by the control signal.

At this time, since the vehicle 2a2 is not detected by the entry-side loop antenna B2C, the control signals output from the exit-side loop antenna A2C on the first branch line portion and the different-line entry prevention loop antenna AC are: The stop control signal remains (see step S4). Therefore, the vehicle 2a1 that has entered the first anti-collision zone z1 after passing through the entry-side loop antenna A1C is controlled by the stop control operation of the on-vehicle unit 20 on the entry side. Loop antenna A
Stop on 2C.

Therefore, even if the vehicle 2a2 enters a different course (first branch line) instead of the prescribed course (second branch line), collision between the vehicles 2a1 and 2a2 is prevented. can do.

For example, in case 2 of FIG. 7, when the vehicle 2a1 is delayed among the vehicles 2a1 and 2a2 that have departed from the station sections 4a and 4b at the same timing,
That is, in a state where the vehicle 2a1 is traveling on the first single track portion 10, the vehicle 2a2 is
If the vehicle 2a1 has passed through 2C, since the vehicle 2a1 has not been detected by the entry-side loop antenna A1C, the control signals output from the exit-side loop antenna B1C and the different-line entry prevention loop antenna BC on the second branch line portion are: It remains the stop control signal (see step S3),
The vehicle 2a2 that has passed through the entry-side loop antenna B2C and entered the first collision prevention zone z1 is controlled to stop the in-vehicle unit 20 by the entry-side loop antenna B1.
Stop on C (see FIG. 7; case 3).

Next, when the delayed vehicle 2a1 passes through the entry-side loop antenna A1C, the vehicle 2a1 is detected via the entry-side loop antenna A1C, and the exit-side loop antenna B1C on the second branch line portion is detected. And the control signal output from the loop antenna BC for preventing entry of a different line is switched to a progress control signal (step S
3), the vehicle 2a2 enters the first single wire section 10 through the advancing-side loop antenna B1C and the abnormal-line entrance preventing loop antenna BC by the advance control operation of the on-vehicle unit 20, and stops the on-vehicle unit 20. The vehicle stops on the station loop antenna 1C of the station 4a by the control operation (step S7; see case 3 in FIG. 7).

On the other hand, the exit-side loop antenna A2C on the first branch line 11 and the loop antenna A
From C, the traveling control signals are output by the passage of the entry-side loop antenna B2C of the vehicle 2a2 (see step S4). After passing through the loop antenna AC and the entry-side loop antenna B2C, the vehicle enters the second single line section 13 and stops on the station loop antenna 2C of the station section 4b by the stop control operation of the vehicle-mounted unit 20 (step S7; and FIG. Case 4 of 7
-5).

As described above, according to the present embodiment,
Until vehicle entry into the first branch line section 11 from the first single-line section 10 is detected, a traveling control signal is transmitted from the exit-side loop antenna to the first single-line section 10 and the different-line entry prevention antenna. Vehicle 2a that has left the station 4a
Even if a delay or the like occurs in 1 or 2a2, it does not collide with the oncoming vehicle on the first single track section 10, and the safety and practicality of the shuttle-type vehicle traveling system can be greatly improved.

Similarly, until the vehicle entry from the second single track portion 13 to the second branch line portion 12 is detected, the second
Since the traveling control signal is not transmitted from the exit-side loop antenna to the single-line portion 13 and the different-line-entry prevention antenna, even if a delay or the like occurs in the vehicles 2a1, 2a2 departing from the station portion 4b, the first single-line portion No on-vehicle collision occurs on the vehicle 10, and the safety and practicality of the shuttle-type vehicle traveling system can be greatly improved.

In this embodiment, the stations 4a and 4
Although the vehicle traveling control system in which the first and second vehicles are turned back and forth in the two directions b has been described, the present invention is not limited to this.
On a single-line dedicated route composed of a large number of single-track portions and a large number of branch lines (passing portions, station portions) for passing vehicles that branch into two from the single-line portions and join together, It is also possible to apply the present invention to a travel control system when the vehicle is turned back and forth in both directions.

In this case, if the above-described vehicle traveling control is performed in each branch line portion and the single-line portions on both sides thereof, it is possible to simultaneously prevent vehicle collision with a following vehicle and vehicle collision with an oncoming vehicle. Can be realized.

[0069]

As described above, according to the vehicle travel control system and the computer-readable storage medium of the present invention, a plurality of vehicles are provided on a single-line route having a branch line portion for passing vehicles in the middle. In a shuttle type vehicle traveling system in which the vehicle travels back and forth in both directions, collisions between vehicles traveling in opposite directions can be reliably prevented,
The safety and reliability of the shuttle type vehicle traveling system and its practicality can be greatly 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 row configuration of the vehicle shown in FIG.

FIG. 3 is a block diagram illustrating a schematic configuration of an on-vehicle unit mounted on a vehicle.

FIG. 4 is a block diagram showing a schematic configuration of the collision prevention control device shown in FIG. 1;

FIG. 5 is a schematic flowchart illustrating an example of a process of a control unit of the collision prevention control device illustrated in FIG. 4;

FIG. 6 is a time chart for explaining a traveling / stop control state of the vehicle according to the embodiment.

FIG. 7 is a time chart for explaining a traveling / stop control state of the vehicle according to the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vehicle traveling control system 2a1, 2a2 Vehicle 3 Dedicated route 4a, 4b Station 10 First single line section 11 First branch line section 12 Second branch line section 13 Second single line section 20 Vehicle control unit 30 Wired / Wireless communication medium 31 Collision prevention control device 40 Vehicle-to-vehicle communication device 41 Road-to-vehicle communication device 42 Magnetic sensor 44 Vehicle control device 45 Management device 50 Transmitter / receiver 51 Memory 52 Controller 1C, 2C Station loop antenna AC, BC A1C, B2C Entry side loop antenna A2C, B1C Entry side loop antenna

Continued on the front page (72) Inventor Masatoshi Torimitsu 2-24-24 Harumi-cho, Fuchu-shi, Tokyo Toshiba Transport Engineering Co., Ltd. In-house F-term (reference) 5H161 AA01 BB02 CC05 DD12 5H180 AA27 BB04 CC19 LL01 LL04 LL09 5H301 AA01 CC06 DD07 DD13 DD17 EE06 FF01 FF11 KK03 KK08 KK09 KK18 KK19 KK20 LL01 LL04 LL08 LL12

Claims (6)

[Claims] At least two lines are provided on a line including a first and a second single line portion, and a first and a second branch line portion branched from the first single line portion and joined to the second single line portion. A vehicle travel control system that causes two first and second vehicles to travel back and forth in two directions, the vehicle travel control system being mounted on the first vehicle and the second vehicle, respectively.
The vehicle travels in response to an external travel / stop control signal.
An in-vehicle unit to be controlled to stop and provided on the vehicle entry side of the first and second branch lines, and entering the first and second branch lines via the first and second single lines; First and second approaching communication units capable of detecting the first and second vehicles coming in and communicating with the in-vehicle unit of the detected vehicle, and a vehicle exiting side of the first and second branch lines. The first and second approach-side communication units are provided with a first anti-collision section, and the first and second approach-detection communication units pass through the first and second approach-detection communication units. To the first and second advancing communication units capable of detecting the second vehicle and communicating with the on-vehicle unit of the detected vehicle, and to the first and second branch lines of the first and second vehicles; Is entered by the first and second entry-side communication units. When detected respectively, the first
And first transmission control means for transmitting a progress control signal via the second approach-side communication unit, and via the second approach-side communication unit in response to vehicle detection of the first approach-side communication unit. Transmission control means for transmitting a traveling control signal to allow the vehicle to advance into the first single line section via the second branch line section, and vehicle detection of the second entry side communication unit. A third transmission control for transmitting a traveling control signal to the first exit-side communication unit to permit the vehicle to enter the second single-line section via the first branch line section in response to Means, and the first and second vehicles are connected to the first vehicle.
And when detected by the second approach communication unit, a stop control signal is transmitted through the first and second approach communication units to prevent the vehicle from entering the first collision prevention section. A vehicle travel control system comprising: a fourth transmission control unit that prohibits the transmission. 2. The vehicle travel control system according to claim 1, wherein the second branch line is connected to a second branch line from a branch point between the second branch line unit and the first single line unit. 2
And a third collision prevention section, which is provided with a stop control for a vehicle-mounted unit of a first or second vehicle that enters the second branch line section via the first single track section. A first different line entry prevention communication unit that transmits a signal, and a fourth branch line portion from the branch point of the first exit side communication unit and the second single line portion with respect to the first branch line portion. A stop control signal is provided to a vehicle-mounted unit of a first or second vehicle which is provided with a fifth collision prevention section and enters the first branch line section via the second single track section. And a second foreign line entry prevention communication unit for transmitting the first communication line, wherein the second transmission control means responds to a vehicle detection of the first entry side communication unit, and Means for transmitting a progress control signal via the communication unit, The third transmission control means includes means for transmitting a progress control signal via the second abnormal line approach prevention communication unit in response to vehicle detection of the second approach side communication unit, When the first and second vehicles are detected by the first and second out-of-line entry prevention communication units after transmission of the traveling control signal, the vehicle stops via the first and second exit side communication units. A control signal is transmitted to prohibit the vehicle from entering the second and fourth collision prevention sections, and a travel control signal is transmitted through the first and second approach side communication units to transmit the first and second collision prevention sections. And a fifth transmission control means for permitting the vehicle to enter the collision prevention section of the vehicle. 3. The vehicle travel control system according to claim 2, wherein each of the first and second single-track sections on opposite sides from a branch point is a first and a second section on the route. While detecting the first and second vehicles provided at the first and second station portions and located at the first and second station portions,
First and second departure / stop communication units capable of transmitting a departure / stop control signal to the detection vehicle by communicating with an on-vehicle unit of the detection vehicle, and a first departure / stop communication unit at the first and second stations. And when the second vehicle is stopped, transmitting a departure control signal at the same timing to the vehicle-mounted units of the first and second vehicles via the first and second departure / stop communication units. The first and second vehicles in the first
And travel control means for driving the vehicle via the second and single line sections, respectively, and transmitting a travel control signal via the first and second approach side communication units, and via the second and first single line sections. When the first and second vehicles enter the second and first stations, the first and second vehicles are mounted on the vehicle via the second and first departure / stop communication units. By transmitting a stop control signal to the unit at the same timing, the first and second stop signals are transmitted.
Stop control means for stopping the first vehicle, and when the first and second vehicles are stopped at the second and first stations,
The departure control signal is transmitted at the same timing to the on-vehicle units of the first and second vehicles via the second and first departure / stop communication units, and the first and second vehicles are transmitted to the second vehicle. And a turn-back control means for causing the vehicle to turn back via the first single-line portion and transmitting a progress control signal via the second and first approach-side communication units, respectively. system. 4. The vehicle travel control system according to claim 3, wherein the first and second stations are provided at ends opposite to a vehicle departure side and transmit a constant stop control signal. A first and a second overrun prevention communication unit;
And when the vehicle overruns from the second station via the opposite end, the on-vehicle unit of the mis-running vehicle is forced to stop its own vehicle by the transmitted stop control signal. A vehicle travel control system comprising a stopping means. 5. At least two lines on a route including first and second single-line portions and first and second branch-line portions branching off from the first single-line portion and joining the second single-line portion. A vehicle travel control system that causes two first and second vehicles to travel back and forth in two directions, the vehicle travel control system being mounted on the first vehicle and the second vehicle, respectively.
The vehicle travels in response to an external travel / stop control signal.
An in-vehicle unit to be controlled to stop and provided on the vehicle entry side of the first and second branch lines, and entering the first and second branch lines via the first and second single lines; First and second approaching communication units capable of detecting the first and second vehicles coming in and communicating with the in-vehicle unit of the detected vehicle, and a vehicle exiting side of the first and second branch lines. The first and second approach-side communication units are provided with a first anti-collision section, and the first and second approach-detection communication units pass through the first and second approach-detection communication units. A first and a second approach communication unit capable of detecting a second vehicle, communicating with an on-vehicle unit of the detected vehicle and communicating with the detected vehicle, and the first and second approach communication units And the first and second advancing communication units. It provided with an Tsu bets each capable of communicating computer systems, the computer system, enters said first to said first and second branch line portion of the first and second vehicle
And when each is detected by the second approach-side communication unit and transmitted to its own computer system, it is transmitted to the in-vehicle unit of the first and second vehicles via the first and second approach-side communication units. A first transmission control function for transmitting a progress control signal, and transmitting a progress control signal via the second exit communication unit in response to a vehicle detection signal of the first entrance communication unit. A second transmission control function for permitting the vehicle to advance to the first single line portion via the second branch line portion, and the first advancement in response to a vehicle detection signal of the second approach side communication unit. A third transmission control function for transmitting a traveling control signal to the side communication unit to permit the vehicle to advance into the second single line section via the first branch line section; and the first and second transmission control functions. Of the first and second vehicles A fourth control unit for transmitting a stop control signal via the first and second entry-side communication units to prohibit the vehicle from entering the first collision prevention section when detected by the exit-side communication unit; And a transmission control function of the vehicle. 6. At least two lines on a route including first and second single-wire portions and first and second branch-wire portions that branch off from the first single-wire portion and merge into the second single-wire portion. A system for causing two first and second vehicles to turn back and forth in two directions. The system is mounted on a computer and the first and second vehicles, respectively. An on-vehicle unit for controlling the advance / stop of the vehicle in accordance with the first and second branch lines, the first and second branch lines being provided on the vehicle entry side, and the first and second lines being provided via the first and second single lines. A first and a second vehicle that can detect the first and second vehicles entering the second branch line, and can communicate with an in-vehicle unit of the detected vehicle; For the vehicle exit side of the branch line The first and the second entry side communication unit is provided at a first anti-collision period, first come through the first and second entrance detection communication unit and the second
A computer-readable storage medium in a system including first and second approach-side communication units capable of communicating with an on-vehicle unit of the detected vehicle. When the first and second vehicles enter the first and second branch lines, respectively, are detected by the first and second approach side communication units and transmitted to the own computer, A first transmission control process of transmitting a progress control signal to the on-vehicle units of the first and second vehicles via a second approach communication unit, and a vehicle detection signal of the first approach communication unit. Transmitting a progress control signal via the second advancing side communication unit and transmitting the first control signal via the second branch line section
A second transmission control process for permitting the vehicle to enter the single-track section of the vehicle, and a traveling control signal to the first exit-side communication unit in response to the vehicle detection signal of the second entrance-side communication unit. A third transmission control process for transmitting and permitting the vehicle to advance into the second single line portion via the first branch line portion;
When the first and second vehicles are detected by the first and second approach communication units, a stop control signal is transmitted through the first and second approach communication units to transmit the stop control signal. A computer-readable storage medium storing a program for executing a fourth transmission control process for inhibiting entry of a vehicle into one collision prevention zone.