JP2002302040A - Automatic train control device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the cost for the braking equipment and to improve the operating efficiency by shortening a braking distance from a deceleration starting position of the train to a stop position of the train in stopping the train at the stop position, in an automatic train control device and an automatic train control method capable of controlling a brake with high accuracy. SOLUTION: A conventional ATC signal is coded by a code ATC signal transmitter 110c to transmit and receive a large amount of information, a variable speed pattern is controlled on the basis of a speed pattern corresponding to the train situation by transmitting and receiving a large amount of information. Further an ATC emergency brake (pattern control emergency brake output 120f) and an ATC normal brake (pattern control normal brake output 120e) are driven on the basis of the variable speed pattern control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic train control device and an automatic train control method capable of performing high-precision brake control.

[0002]

2. Description of the Related Art In recent years, an automatic train control (ATO) system capable of highly accurate brake control has been used in an automatic train control device for ensuring the safe operation of a train on a track having a plurality of track circuits connected thereto. Operation) equipment is an automatic train control (AT
C: Automatic Train Control) is required.

A conventional ATC device includes an emergency brake (hereinafter referred to as an ATC emergency brake) for a failure of a device or an emergency, and a regular brake (hereinafter referred to as an ATC regular brake) for normal train speed control. ). The ATC service brake receives a speed signal (hereinafter, referred to as an ATC signal) from a track circuit in which a train is currently located, and determines a maximum speed (hereinafter, referred to as an ATC speed limit) at which the train can travel in that section. If the current speed of the train is its AT
If the speed limit is exceeded, the train is automatically decelerated to an allowable speed, and the ATC emergency brake is for emergency stopping of the train when the ATC signal is cut off. .

As shown in FIG. 5, the ATC service brake operates based on a plurality of steps of stair control. That is, the ATC speed limit at which the vehicle can travel in that section is a constant speed for each track circuit, and therefore, for a track connected with a plurality of track circuits, a discontinuous value (that is, a step-like value) is used. Is set.

[0005] The ATO device performs the brake control so as to maintain the train speed within the above-mentioned ATC speed limit after the safety is secured by the ATC regular brake (see FIG. 5). Therefore, the speed of the train exceeds the set speed of ATO,
Further, when the speed exceeds the ATC speed limit, the ATC service brake operates to decelerate the train, and the train speed is maintained within the ATC speed limit.

Referring to FIG. 6, conventional ATC and AT
An automatic train control device based on O will be described. FIG.
FIG. 1 is a block diagram showing a device configuration of a conventional automatic train control device 300.

A conventional automatic train control device 300 is a system for ensuring the safe operation of a train on a track T3 formed by connecting a plurality of track circuits.
a and an ATO system 300b.

First, the ATC system 300a will be described. The ATC system 300a is an ATC ground device 3
10. It is constituted by the ATC on-board device 320.

The ATC ground device 310 is installed on the track T3 and includes a train detection device 310a, an ATC signal transmitter 310b, and the like.

The train detection device 310a detects the track on which the train is currently located based on the train detection signal transmitted from each track circuit forming the track T3.

The ATC signal transmitter 310b notifies a succeeding train of a speed (stoppable inter-vehicle distance) that ensures a distance not to collide with the preceding train, based on the on-track information of each train detected by the train detecting device 310a. I do. That is,
The ATC speed limit of the subsequent train is calculated based on the train position information detected by the train detection device 310a, and the calculated ATC speed limit information is transmitted as an ATC signal to the ATC on-board device 320 side of the subsequent train.

The ATC on-board device 320 is mounted on each train and includes a power receiver 320a, an automatic control device 320b, an ATC service brake output 320c, an ATC emergency brake output 320d, and the like.

The power receiving unit 320a is a power receiving coil provided in front of the leading axle of the train and opposed to the rail of the track T3. The power receiver 320a has a track T3
The same voltage as the ATC signal induced in the power receiving coil by the above ATC signal current is received, and the automatic control device 32
0b.

The automatic control device 320b is connected to the power receiver 32
The speed check is performed based on the ATC signal output from Oa and the current speed information of the train transmitted from the speed detector 340c described later. That is, the power receiver 320a
The TC speed limit is constantly compared with the current speed of the train. If the current speed exceeds the ATC speed limit, a control signal to decelerate the train is output to the ATC regular brake output 3.
Output from 20c, the train speed is reduced to below the ATC speed limit. In this case, the ATC speed limit is constant for each track circuit section, and therefore has a discontinuous (stepwise) value on the track T3 formed by connecting a plurality of track circuits.

The automatic control device 320b is connected to the power receiver 3
When the ATC signal received by 20a is interrupted, a control signal to stop the train is output to the ATC emergency brake output 320d to stop the train urgently.

Accordingly, when the absolute position (section) of the train is detected by the train detection device 320a, the maximum speed information (ATC signal) at which the train can travel in that section is transmitted by the ATC signal transmitter 310b to the ATC on-board device 320a. Sent to the side. Next, the automatic control device 3 of the ATC on-board device 320
At 20b, based on the transmitted ATC information, it is constantly monitored whether or not the current train speed is higher than the ATC speed limit. If the current train speed is higher than the ATC speed limit, a brake control signal is output. To the ATC service brake output 320c to drive the brake and
Decelerate to the C speed limit. When the ATC signal is interrupted, the ATC emergency brake output 320d is driven to stop the train urgently.

Next, the ATO system 300b will be described. The ATO system 300b includes the ATO ground device 33.
0, an ATO on-board device 340.

The ATO ground device 330 is installed with respect to the orbit T3, and has a message generator 330a and a ground child 330b.
Etc. are provided.

The telegram generator 330a is provided with various variable speed patterns such as a deceleration pattern in the vicinity of points, curves and gradients, and a fixed position stop pattern for accurately stopping a train at a stop position provided at each station. Is output.

The grounding element 330b is constituted by a plurality of grounding elements installed shortly before a section where a speed needs to be limited near a point, a curve, a slope, a station, or the like. This is transmitted to the ATO on-board device 340 via an on-board child 340a described later.

The ATO on-board device 340 includes an on-board child 340.
a, automatic driving device 340b, speed detector 340c, AT
An O brake output 340d is provided.

The upper child child 340a has a train that is a ground child 330b.
When the vehicle arrives at the installation position, the automatic driving device 34 receives the various variable speed patterns and the like output from the grounding element 330b.
0b.

The automatic driving device 340b includes a vehicle upper arm 340a.
The various variable speed patterns transmitted from the ATC signal detected by the ATC on-board device 320, the speed detector 3
A control signal based on a control method called fuzzy inference is output to the ATO brake output 340d based on the speed information of the train detected by 40c, various on-board information previously stored in a built-in memory (not shown), and baggage information. .

Here, the above-mentioned various on-vehicle information means information such as a train schedule, a distance between stations, a stop time, a traveling pattern between stations, a stop pattern for each station, etc., which are stored in the internal memory in advance. In addition, the baggage handling information is data automatically detected when the train door is closed by a baggage handling device (not shown) in order to keep the braking effect constant, and is occupancy rate information at the moment when the train door is closed. is there.

The speed detector 340c is a generator directly connected to the axle, and constantly generates a speed signal voltage corresponding to the current speed of the train. This speed signal voltage has a frequency proportional to the train speed, such as 1000 Hz at 50 km / h and 2000 Hz at 100 km / h.

Therefore, the conventional automatic train control device 300 having the above-described configuration performs automatic operation of the train by the ATO system 300b after securing the security of the train operation by the ATC system 300a. That is, a train is a point,
When approaching a section where it is necessary to limit the speed in the vicinity of a curve, a slope, a station, or the like, the automatic train control device 300 sets a plurality of ground terminals 330 installed on the ground side slightly before the section.
b, the various variable speed patterns and the like output by the telegram generator 330a are received via the on-board child 340a,
Further, together with the received information, a brake control signal is output to an ATO brake output 340d based on the ATC signal, speed information, various types of on-board information, baggage information, and the like.
Performs brake control of the train.

When the train speed exceeds the ATC speed limit, the automatic train control device 300 drives the ATC service brake output 320c to decelerate the train, and when the ATC signal is interrupted due to equipment failure or the like, the ATC The train is emergency stopped by driving the emergency brake output 320d.

[0028]

However, the conventional automatic train control device 300 has the following problems. The automatic train control device 300 has an ATC regular brake output 320 as a brake for controlling the train.
c, ATC emergency brake output 320d, and ATO brake output 340d.
Since the C service brake output 320c is a staircase control and the ATO brake output 340d is a variable speed pattern control, it is difficult to integrate these two types of brake control into a single brake control device. It was necessary to provide a control device. Therefore, cost reduction of the brake control device has been desired.

Further, since the operating speed of the train is limited by the ATC system 300a, the ATO system 300b
It was difficult to make changes due to the performance improvement. For example, even if an attempt is made to increase the speed limit by the ATO system 300b in order to shorten the braking distance traveled by the train when stopping at a fixed position, the upper limit of the speed is suppressed by the ATC speed limit. It is difficult to improve the driving efficiency when stopping at a fixed position.

An object of the present invention is to provide an automatic train control device and an automatic train control method capable of high-precision brake control, to reduce the cost of brake equipment and to reduce the speed of the train when stopping the train at a stop position. The object is to improve the driving efficiency by shortening the braking distance from the starting position to the stop position of the train.

[0031]

The present invention has the following features in order to solve such a problem. In the following description of the means, a configuration corresponding to the embodiment is shown by parentheses as an example. Reference numerals and the like are reference numerals and the like in the drawings described later.

The invention according to claim 1 includes a ground unit (for example, an ATC ground unit 110 shown in FIG. 1) and an on-board unit (for example, an ATC on-board unit 120 shown in FIG. 1). An automatic train control device (for example, the automatic train control device 1 shown in FIG. 1) that automatically controls the deceleration and the stop of the train on the connected rail (for example, the track T1 shown in FIG. 1).
00), the ground device is installed in the track circuit, and a position detecting means (for example, a train position detecting device 110a shown in FIG. 1) for detecting a running position of a train running on the track circuit; Storage means (for example, a built-in memory (not shown) for storing the closed length data 110d shown in FIG. 1) for storing information on the distance between the start and end of the travel permissible section on the rail (for example, closed length data 110d shown in FIG. 1); A calculating means (for example, a speed limit calculating device 110b shown in FIG. 1) for calculating a terminal permissible speed in the permissible traveling section based on the traveling position of the train detected by the position detecting means, When the train travels to the end in the allowed travel section based on the allowed end speed and the information on the distance between the start and end in the allowed travel section. Control speed, and determines the speed determining means the permissible speed for the train until the end to ensure the safety of the train operation in traveling (e.g., reference numeral A shown in FIG. 1
A TC signal transmitter 110c), and transmission means (for example, a code ATC signal transmitter 110c shown in FIG. 1) for transmitting the control speed information and the allowable speed information determined by the speed determination means to the track circuit. The on-board device is mounted on a train traveling on the track circuit, and speed detecting means for detecting the current speed of the train (for example,
A speed detector 120d shown in FIG. 1, receiving means (for example, a power receiver 120a shown in FIG. 1) for receiving the control speed information and the allowable speed information transmitted to the track circuit by the transmission means, The control speed information received by the receiving means, the train current speed detected by the speed detecting means is compared and collated, and the train current speed is adjusted to match the control speed, and the receiving means Control means for comparing and comparing the received permissible speed information with the current train speed and outputting a control signal for adjusting the current train speed so that the current speed does not exceed the permissible speed (for example, as shown in FIG. A control device 120b);
Based on the control signal output from the control means,
Deceleration instruction means (for example, FIG.
And a pattern control emergency brake output 120e and a pattern control emergency brake output 120f).

According to the first aspect of the present invention, there is provided an automatic train control device comprising a ground device and an on-vehicle device for automatically controlling deceleration and stop of a train on a rail to which a plurality of track circuits are connected. In the device, it is installed in the track circuit, the position detecting means detects the running position of the train running on the track circuit, and the storage means stores information on the distance between the start and end of the permissible running section on the rail. The calculating means calculates a terminal allowable speed in the travel allowable section based on the running position of the train detected by the position detecting means, and the speed determining means calculates the terminal allowable speed calculated by the calculating means. The control speed when the train travels to the end in the travel allowable section, based on the start-end distance information in the travel allowable section, and the train travels to the end. Determining an allowable speed for ensuring the security of the train operation, transmitting means for transmitting the control speed information and the allowable speed information determined by the speed determining means to the track circuit; In, is mounted on a train running on the track circuit, speed detecting means detects the current speed of the train, the receiving means, the control speed information transmitted to the track circuit by the transmission means and the control speed information Receiving the permissible speed information, the control unit compares and compares the control speed information received by the receiving unit with the current train speed detected by the speed detection unit, and determines the current train speed by the control speed. In addition, the train speed is adjusted to match the allowable speed information received by the receiving means, and the current train speed is compared and collated. Outputs a control signal for adjusting such deceleration instructing means, based on the control signal outputted from said control means, for reducing the speed of the train.

According to a third aspect of the present invention, the deceleration and stop of a train on a rail to which a plurality of track circuits are connected are automatically controlled, and a ground device installed on the track circuit and a car installed on the train are provided. An automatic train control method for controlling an automatic train control device including an upper device, wherein, in the ground device, a step of detecting a traveling position of a train traveling on the track circuit; Storing the start-to-end distance information, calculating the end-permissible speed in the travel-permitted section based on the detected travel position of the train, and calculating the calculated end-permissible speed; The control speed when the train travels to the end in the travel permissible section and the train operation when the train travels to the end based on the start-end distance information in the section. Determining a permissible speed for ensuring the above security, and transmitting the determined control speed information and the permissible speed information to the track circuit. And detecting the control speed information and the permissible speed information transmitted to the track circuit, and comparing and comparing the received control speed information with the detected train current speed,
The train current speed is adjusted to match the control speed, and the received permissible speed information and the train current speed are compared and compared, so that the current train speed does not exceed the permissible speed. And outputting a control signal to reduce the speed of the train based on the output control signal.

According to the third aspect of the present invention, the deceleration and the stop of the train on the rail to which the plurality of track circuits are connected are automatically controlled, and the ground device installed on the track circuit and the train device installed on the train are provided. In the automatic train control method for controlling an automatic train control device having an on-board device, the ground device detects a traveling position of a train traveling on the track circuit, and detects a traveling allowed section on the rail. The start-end distance information is stored, and based on the detected traveling position of the train, the end-permissible speed in the travel-permitted section is calculated, and the calculated end-permissible speed and the start-end in the travel-permitted section are calculated. Based on the distance information, the control speed when the train travels to the end in the travel-permitted section, and the security for train operation when the train travels to the end, Determine the carrying speed, transmit the determined control speed information and the allowable speed information to the track circuit, the on-board device detects the current speed of the train, the control speed information transmitted to the track circuit and Receiving the permissible speed information, comparing and comparing the received control speed information with the detected train current speed, adjusting the train current speed to match the control speed, and receiving the received train speed. Allowable speed information and the train current speed are compared and compared, a control signal for adjusting the current train speed so as not to exceed the allowable speed is output, and based on the output control signal, Decrease speed.

Therefore, according to the first and third aspects of the present invention, the speed reducing means for automatically adjusting the current speed of the train to the control speed and the speed reducing means for automatically adjusting the current speed so as not to exceed the allowable speed are provided. Since the brake control device is provided on the same on-vehicle device, the size of the brake control device can be reduced, and the cost can be reduced. Furthermore, the permissible speed for ensuring the security of train operation when the train travels to the end in the permissible traveling section,
Since the terminal allowable speed and the start-end distance information are determined at any time, a sufficiently high allowable speed is determined, and the braking distance from the train deceleration start position to the train stop position can be reduced. It becomes possible and operation efficiency is improved.

The second aspect of the present invention relates to a ground device (for example, the ATC ground device 210 and the ATO ground device 230 shown in FIG. 3) and an on-board device (for example, the ATC vehicle device 220 and the ATO vehicle shown in FIG. 3). Device 240), and
In an automatic train control device (for example, automatic train control device 200 shown in FIG. 3) for automatically controlling deceleration and stop of a train on a rail (for example, track T2 shown in FIG. 3) to which a plurality of track circuits are connected, The device is installed in the track circuit and outputs an allowable speed information for ensuring the safe operation of the train.
And a control speed information output device that outputs control speed information for controlling deceleration and stopping of the train (for example, an ATO ground device 230 shown in FIG. 3).
A position detecting means (for example, a train position detecting device 210a shown in FIG. 3) for detecting a running position of a train running on the track circuit;
Storage means (for example, closing length data 210c shown in FIG. 3) for storing information on the distance between the start and end of the travel permissible section on the rail (for example, closing length data 210c shown in FIG. 3).
And a calculating means (for example, a speed limit calculating device shown in FIG. 3) for calculating a terminal allowable speed in the travel allowable section based on the running position of the train detected by the position detecting means. 210b),
Along with being disposed near the end of each of the track circuits,
Ground-side speed detecting means (for example, a speed detector 210d shown in FIG. 3) for detecting the current speed of the train on the ground side, the allowable terminal speed calculated by the calculating means, and the start and end points in the allowable travel section Based on the distance information,
Judgment means for judging the permissible speed for ensuring the security of train operation when the train travels to the end in the permissible travel section (for example, the ATC signal transmitter 210 shown in FIG. 3)
f), when the current train speed is detected by the ground speed detection means, a correction means for correcting the allowable speed based on the current train speed and the start-end distance information (for example, FIG. 3). ATC signal transmitter 210f shown in FIG.
And first transmission means (for example, a code ATC signal transmitter 210f shown in FIG. 3) for transmitting the allowable speed information to the track circuit. The control speed information output device includes:
Output means (e.g., a telegram shown in FIG. 3) that outputs control speed information for controlling deceleration in the vicinity of a rail curve, a station, or the like, and for accurately stopping a train at a stop position provided at each station. A generator 230a), which is installed just before a section of the rail near a curve or a station where a speed limit is required, and which transmits the control speed information output by the output means to the on-board device side. The second transmission means (for example, the grounding element 230 shown in FIG. 3)
b), wherein the on-board device is mounted on a train running on the track circuit, and limits a train speed based on the permissible speed information (for example, FIG. 3).
, And a speed control device (for example, an ATO on-board device 240 shown in FIG. 3) for controlling the train speed based on the control speed information. First receiving means (for example, a power receiver 220a shown in FIG. 3) for receiving the permissible speed information transmitted to the track circuit by one transmitting means, and the permissible speed received by the first receiving means First control means for outputting a control signal for limiting the train speed based on information (for example, an automatic control device 220b shown in FIG. 3)
And first deceleration instruction means (for example, a pattern control emergency brake output 2 shown in FIG. 3) for reducing the speed of the train based on a control signal output from the first control means.
20c), wherein the speed control device includes an on-board speed detecting means (for example, a diagram speed detector 240c) for detecting the current speed of the train on the car, and the speed transmitted by the second transmitting means. Second receiving means for receiving the control speed information (for example, the vehicle upper part 240a shown in FIG. 3), the control speed information received by the second receiving means, and the control speed information detected by the vehicle upper speed detecting means. Second control means (for example, an automatic driving device 240b shown in FIG. 3) for comparing and comparing the current train speed with the current train speed and outputting a control signal for adjusting the current train speed to match the control speed; Second deceleration instructing means (for example,
ATO brake output 240d) shown in FIG.

According to the second aspect of the present invention, there is provided an automatic train control device including a ground device and an on-vehicle device, wherein the automatic train control device automatically controls deceleration and stop of a train on a rail to which a plurality of track circuits are connected. The device is installed in the track circuit and outputs an allowable speed information output device for outputting allowable speed information for ensuring safe operation of the train, and outputs control speed information for controlling deceleration and stop of the train. A control speed information output device, wherein the allowable speed information output device includes:
The position detecting means detects the running position of the train traveling on the track circuit, the storing means stores information on the distance between the start and the end of the permissible running section on the rail, and the calculating means detects by the position detecting means. Based on the running position of the train, calculated the terminal allowable speed in the travel allowable section,
Ground-side speed detection means is disposed near the end of each of the track circuits, respectively, and detects the current speed of the train on the ground side, and the determination means determines the terminal allowable speed calculated by the calculation means. , Based on the distance information between the start and end in the travel permissible section, based on the permissible speed to ensure security in train operation when the train travels to the end in the permissible travel section, the correction means, When the current train speed is detected by the ground-side speed detection means, the permissible speed is corrected based on the current train speed and the start-end distance information, information,
In the control speed information output device, the output means controls deceleration at a curve of the rail or near a station, and stops control for accurately stopping a train at a stop position provided at each station. The second transmission means is installed in front of a section that needs to be speed-limited in the vicinity of a curve or a station on the rail, and the second transmission means is output by the output means. Transmitting the control speed information to the on-board device side, the on-board device is mounted on a train running on the track circuit, and a speed limiting device that limits the train speed based on the permissible speed information, A speed control device that controls a train speed based on the control speed information, wherein in the speed limit device, a first receiving unit is configured to transmit the permissible speed transmitted to the track circuit by the first transmission unit. Receiving information, the first control means, based on the permissible speed information received by the first receiving means, outputs a control signal for limiting the train speed, the first deceleration instruction means, On the basis of the control signal output from the first control means, the speed of the train is reduced, in the speed control device, the on-board speed detection means detects the current speed of the train on the car, the second Receiving means receives the control speed information transmitted by the second transmitting means, the second control means, the control speed information received by the second receiving means, the vehicle speed The train current speed detected by the detection unit is compared and collated, and a control signal for adjusting the current train speed to match the control speed is output. The second deceleration instruction unit includes the second control unit. Based on the control signal output from Te, to slow down the speed of the train.

The invention according to claim 4 automatically controls the deceleration and stop of a train on a rail to which a plurality of track circuits are connected, and also includes a ground device installed on the track circuit and a car installed on the train. In the automatic train control method for controlling the automatic train control device including the upper device, in the ground device, a step of detecting a traveling position of a train traveling on the track circuit, and a traveling allowable section in the rail A step of storing distance information between the start and the end; a step of calculating an allowable terminal speed in the allowable travel section based on the detected travel position of the train; and Detecting the current speed of the train on the ground side by the speed detecting means, based on the calculated terminal allowable speed and the start-end distance information in the travel allowable section. A step of determining an allowable speed for ensuring security in train operation when the train travels to the end in the travel allowable section; and, when the current train speed is detected, the current train speed; Correcting the permissible speed based on the distance information, transmitting the permissible speed information to the track circuit, performing deceleration control at a curve of the rail, near a station, or the like, and at each station. A step of outputting control speed information for stop control for accurately stopping a train at a given stop position, and a transmission means installed in front of a section where speed restriction is necessary, such as in the vicinity of a curve or a station on the rail. Transmitting the output control speed information to the on-vehicle device side, wherein the on-vehicle device receives the permissible speed information transmitted to the track circuit; and Outputting a control signal for limiting the train speed based on the permissible speed information obtained, and reducing the speed of the train based on the output control signal; and Detecting, and receiving the transmitted control speed information, comparing the received control speed information and the detected train current speed, and comparing the current train speed with the control speed. And outputting a control signal that adjusts the speed of the train to reduce the speed of the train based on the output control signal.

According to the fourth aspect of the present invention, the deceleration and the stop of the train on the rail to which the plurality of track circuits are connected are automatically controlled, and the ground device installed on the track circuit and the train device installed on the train are provided. In the automatic train control method for controlling an automatic train control device having an on-board device, the ground device detects a traveling position of a train traveling on the track circuit, and detects a traveling allowed section on the rail. Starting and ending distance information is stored, and based on the detected traveling position of the train, an end-permissible speed in the traveling-permitted section is calculated, and speed detecting means respectively disposed near the end of each of the track circuits. By detecting the current speed of the train on the ground side, based on the calculated end allowable speed and the start-end distance information in the run allowable section, the end of the train in the run allowable section Determine the permissible speed to ensure security during train operation when the train runs to, and when the current train speed is detected, based on the current train speed and the start-end distance information, Correcting the permissible speed, transmitting the permissible speed information to the track circuit, controlling deceleration near the rail curve or near the station, and stopping the train accurately at the stop position provided at each station. The control speed information for controlling is output, and the output control speed information is output on the vehicle by a transmission unit installed in front of a section where a speed limit is required near a curve or a station on the rail. Transmitted to the device side, the on-board device receives the permissible speed information transmitted to the track circuit, based on the received permissible speed information, outputs a control signal for limiting the train speed, Output Based on the control signal, reduce the speed of the train, detect the current speed of the train on the car, receive the transmitted control speed information, the received control speed information, the detected train A control signal for adjusting the current train speed to match the control speed is output by comparing the current speed with the current speed, and the speed of the train is reduced based on the output control signal.

Therefore, according to the second and fourth aspects of the present invention, the permissible speed for ensuring the security of train operation when the train travels to the end of the permissible section is determined by the permissible speed at the end, and the permissible speed at all times. It is determined at any time based on the end-to-end distance information, and the allowable speed is sequentially corrected for each track circuit in accordance with the control speed, so the allowable speed is determined in accordance with the control speed, and from the deceleration start position of the train The braking distance to the stop position of the train can be further shortened, and higher operating efficiency is realized.

[0042]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an automatic train control device to which the present invention is applied will be described in detail with reference to FIG.

[First Embodiment] An automatic train control device 100 to which the present invention is applied in the first embodiment will be described. FIG. 1 is a block diagram showing a device configuration of an automatic train control device 100 to which the present invention is applied.

First, the configuration of the automatic train control device 100 will be described. The automatic train control device 100 is a device for ensuring the safe operation of a train on a track T1 formed by connecting a plurality of track circuits, and as shown in FIG.
0, an ATC on-board device 120 and the like.

The ATC ground device 110 is installed on the track T1, and includes a train position detecting device 110a, a speed limit calculating device 110b, a code ATC signal transmitter 110c,
It is composed of an internal memory (not shown) for storing the closing length data 110d.

The train position detecting device 110a detects the current position of the train (track circuit) based on the train detection signal transmitted from each track circuit forming the track T1.

The speed limit calculating device 110b calculates a speed limit when the train passes on the boundary between the track circuit detected by the train position detecting device 110a and the track circuit ahead of the train circuit, and calculates the calculated speed limit information. To the code ATC signal transmitter 110c.

The code ATC signal transmitter 110c transmits a plurality of ATC signals coded according to a plurality of speed control patterns (hereinafter, referred to as a code ATC signal). This A
By encoding the TC signal, a large amount of information can be carried by the ATC signal, and the speed control based on the ATC signal can be performed finely.

That is, the code ATC signal transmitter 110c
Stops at the end of the closed section or the start of the non-opening path based on the speed limit information output from the speed limit calculating device 110b and the closed length data 110d of the closed section where this train is located. A speed control pattern for changing the speed limit according to a possible braking distance is determined, and a code A encoded according to the determined speed control pattern is determined.
The TC signal is transmitted to the ATC on-board device 120 via the track T1.

Here, the speed control pattern includes an ATO speed control pattern for sequentially controlling the speed of the train,
ATC emergency brake speed control pattern for driving the ATC emergency brake for security (pattern control emergency brake output 120f described later) by pattern control.

The code ATC signal is the same as the ATO signal.
ATO control code corresponding to the speed control pattern for
ATC emergency brake control code corresponding to the ATC emergency brake speed control pattern.

Next, the ATC on-board device 120 will be described. The ATC on-board device 120 includes a power receiver 120a, an automatic control device 120b, a check pattern generator 120c, a speed detector 120d, and a pattern control service brake output 120.
e, pattern control emergency brake output 120f, etc.

The power receiver 120a is a power receiving coil provided in front of the leading axle of the train and opposite to the rail of the track T1. The power receiver 120a is connected to the trajectory T1.
The same voltage as the code ATC signal induced in the power receiving coil by the above code ATC signal current is received and output to the automatic control device 120b.

The check pattern generator 120c outputs an ATO speed check pattern corresponding to the above speed control pattern and an ATC emergency brake speed check pattern for security to the automatic control device 120b as needed.

In this case, the speed check pattern for the ATC emergency brake is different from the conventional ATC speed limit for the ATC service brake, and the track T formed by connecting a plurality of track circuits is different.
1 changes substantially smoothly (see FIG. 2).

The speed detector 120d is a generator directly connected to the axle, and constantly generates a speed signal voltage corresponding to the current speed of the train. This speed signal voltage is, for example, 1000 Hz for 50 km / h and 200 for 100 km / h.
It has a frequency proportional to the train speed, such as 0 Hz.

The automatic controller 120b is connected to the power receiver 12
0a is decoded and output to the check pattern generator 120c, and the speed A check signal transmitted from the check pattern generator 120c and the current train speed information transmitted from the speed detector 120d are used. A speed check is performed, and based on the result, a brake control signal for decelerating the train is output to a subsequent pattern control regular brake output 120e or a pattern control emergency brake output 1
Output to 20f.

That is, the automatic control device 120b constantly compares the current train speed transmitted from the speed detector 120d with the ATO check pattern and the ATC emergency brake check pattern transmitted from the check pattern generator 120c. A brake control signal is output to the pattern control service brake output 120e so that the current speed follows the ATO check pattern,
If the C emergency braking check pattern is exceeded, a brake control signal for decelerating the train to return to the allowable speed is output to the pattern control emergency brake output 120f.

The automatic control device 120b is connected to the power receiver 1
If the code ATC signal received by 20a is interrupted, a control signal to stop the train is output to the pattern control emergency brake output 120f to stop the train urgently.

Next, the operation of the automatic train control device 100 will be described. When the absolute position (section) of the train is detected by the train position detecting device 110a, the speed limit calculating device 110
b calculates the speed limit at which the train passes through the end of the detected track circuit. Next, the code ATC signal transmitter 110c determines the braking distance that can be stopped by the end of the closed section or the start of the non-opening path based on the calculation result and the closed length data 210d of the closed section related to the train. To determine a speed control pattern for changing the speed.

Next, the code ATC signal transmitter 110c
Is a speed control pattern for ATO for sequentially controlling the speed of the train based on the determined speed control pattern (that is, a speed control pattern for the pattern control service brake output 120e), and a speed control pattern for ATC emergency brake for security. The speed control pattern (that is, the speed control pattern for the pattern control emergency brake output 120f) is determined, and a code ATC signal encoded according to the determined speed control pattern is transmitted to the train. The speed control pattern of the automatic train control device 100 is shown in FIG.

When the code ATC signal transmitted from the ATC ground device 110 is received by the ATC on-board device 120, the automatic control device 120b decodes the signal, and
The check pattern generator 120c outputs a speed check pattern corresponding to the decoded signal, that is, an ATO check pattern and an ATC emergency brake check pattern.

Next, the automatic control device 120b, based on the speed check pattern output by the check pattern generator 120c, outputs the pattern control regular brake output 1 based on the speed check pattern.
A brake control signal for the pattern control emergency brake output 20e and the pattern control emergency brake output 120f are output by outputting a brake control signal for the pattern control emergency brake output 120e and the pattern control emergency brake output 120f.

As described above, the automatic train control device 100 to which the present invention is applied is composed of the code ATC signal transmitter 110
c, a conventional ATC signal is encoded to transmit and receive a large amount of information, and by transmitting and receiving the large amount of information, a variable speed pattern control based on a speed pattern according to a train operation condition is performed. Furthermore, based on the variable speed pattern control, the ATC emergency brake (pattern control emergency brake output 120f) and the ATC service brake (pattern control service brake output 120e)
Are driven.

Therefore, the ATO brake by the conventional variable speed pattern control has a
0e, the equipment of the brake control device can be reduced in size and cost can be reduced.

Furthermore, safety based on the rules of construction of ordinary railways
It is secured by the pattern control emergency brake output 120f driven based on the ATC emergency brake speed control pattern. As a result, the speed limit for ATC emergency braking is increased, and when stopping the train at the stop position, the braking distance from the train deceleration start position to the train stop position can be shortened, thereby improving driving efficiency. Is achieved.

[Second Embodiment] Next, an automatic train control device 200 according to a second embodiment will be described with reference to FIG. FIG. 3 is a block diagram showing a device configuration of the automatic train control device 200 to which the present invention is applied.

In the first embodiment, the ATO brake and the ATC service brake driven based on the variable speed pattern control are integrated, but this integration is not performed and the ATO brake drive control is performed. Conventional AT that performs
The O system may be independently provided.

First, the configuration of the automatic train control device 200 will be described. The automatic train control device 200 is a device for ensuring the safe operation of the train on the track T2 formed by connecting a plurality of track circuits, and as shown in FIG.
0a, the ATO system 200b.

The ATC system 200a includes an ATC ground unit 210 and an ATC on-board unit 220.
The ATC ground device 210 includes a train position detecting device 210a,
Speed limit calculation device 210b, built-in memory (not shown) for storing occlusion length data 210c, speed detector 210d, check pattern generator 210e, code ATC signal transmitter 21
0f and the like.

The train position detecting device 210a detects the position (track circuit) where the train is currently located on the basis of the train detection signal transmitted from each track circuit constituting the track T2.

The speed limit calculating device 210b calculates the speed limit when the train passes on the boundary between the track circuit detected by the train position detecting device 210a and the track circuit ahead of the circuit, and calculates the calculated speed limit information. ATC described later
Output to the signal transmitter 210f.

The speed detector 210d is provided near the end of each track circuit constituting the track T2.
Each time a train passes on d, a speed signal corresponding to that speed is output.

The check pattern generator 210e has a code AT
A speed check pattern corresponding to the speed control pattern determined by the C signal transmitter 210f is output. This speed check pattern is a speed check pattern for ATC emergency braking for security.

Code ATC signal transmitter 210f transmits a plurality of codes AT coded according to a plurality of speed control patterns.
Transmit the C signal. By encoding the ATC signal, a large amount of information can be carried as the ATC signal, and the speed control based on the ATC signal can be finely performed.

That is, the code ATC signal transmitter 210f
Is based on the speed limit information output from the speed limit calculation device 210b and the block length data 210c of the block section in which the train is located, the train stops at the end of the block section or the start of the unopened path. A speed control pattern for changing the speed according to the braking distance at which the vehicle can be stopped is determined.

Next, the code ATC signal transmitter 210f
A speed check pattern corresponding to the determined speed control pattern is read from the check pattern generator 210e, and a speed check is performed based on the read speed check pattern and a train passing speed near the end of the track circuit output from the speed detector 210d. Then, the speed control pattern is corrected based on the check result, and a speed control pattern for an ATC emergency brake (a pattern control emergency brake output 220c to be described later) in a track circuit provided at a subsequent stage is output.

Next, the code ATC signal transmitter 210f
Encodes the speed control pattern into a code ATC signal, and transmits the code ATC signal to the ATC on-board device 220 via the track T2. This code ATC signal is A
This is a control code for driving the pattern control emergency brake output 220c provided as a TC emergency brake by variable speed pattern control.

Next, the ATC on-board device 220 will be described. The ATC on-board device 220 includes a power receiver 220a, an automatic control device 220b, a pattern control 220c, and the like.

The power receiver 220a is a power receiving coil provided in front of the leading axle of the train and opposite to the rail of the track T2. The power receiver 220a is connected to the track T2.
The same voltage as the code ATC signal induced in the power receiving coil by the above code ATC signal current is received and output to the automatic control device 220b.

The automatic control device 220 b
A code ATC signal input from 0a is decoded, and a brake control signal for decelerating the train is output to a subsequent pattern control emergency brake output 220c based on the decoded ATC signal.

Further, the automatic control device 220 b
When the code ATC signal received by 20a is interrupted, a control signal to stop the train is output to the pattern control emergency brake output 220c to stop the train urgently.

Next, the ATO system 200b will be described. The ATO system 200 b
0, an ATO on-board device 240.

The ATO ground device 230 is installed with respect to the orbit T2, and has a message generator 230a and a ground child 230b.
Etc. are provided.

The telegram generator 230a is provided with various variable speed patterns such as a deceleration pattern in the vicinity of points, curves, and gradients, and a fixed position stop pattern for accurately stopping a train at a stop position provided at each station. Is output.

The grounding element 230b is composed of a plurality of grounding elements installed a little before the section where the speed needs to be limited near points, curves, gradients, stations, and the like. The data is transmitted to the ATO on-board device 240 via an on-board child 240a to be described later.

The ATO on-board device 240 includes
a, automatic driving device 240b, speed detector 240c, AT
An O brake output 240d and the like are provided.

The upper child 240a is the same as the ground child 230b.
When the vehicle arrives at the installation position of the automatic driving device 24
0b.

The automatic driving device 240b includes a vehicle upper arm 240a.
The various variable speed patterns transmitted from the above, the code ATC signal detected by the ATC on-board device 220, the speed information of the train detected by the speed detector 240c, various on-board information previously stored in a built-in memory not shown, A control signal based on a control method called fuzzy inference is output to the ATO brake output 240d based on the load information and the like.

Here, the above-mentioned various on-vehicle information means information such as a train schedule, a distance between stations, a stop time, a traveling pattern between stations, a stop pattern for each station, etc., which are stored in the internal memory in advance. In addition, the baggage handling information is data automatically detected when the train door is closed by a baggage handling device (not shown) in order to keep the braking effect constant, and is occupancy rate information at the moment when the train door is closed. is there.

The speed detector 240c is a generator directly connected to the axle, and constantly generates a speed signal voltage corresponding to the current speed of the train. This speed signal voltage has a frequency proportional to the train speed, such as 1000 Hz at 50 km / h and 2000 Hz at 100 km / h.

Next, the operation of the automatic train control device 200 will be described. When the absolute position (section) of the train is detected by the train position detecting device 210a, the speed limit calculating device 210
b calculates the speed limit at which the train passes through the end of the detected track circuit. Next, the code ATC signal transmitter 210f responds to the braking distance that can be stopped by the end of the closed section or the start of the non-opening path based on the calculation result and the closed length data 210d of the closed section related to the train. To determine a speed control pattern for changing the speed.

Here, the determined speed control pattern is an ATO speed control pattern for sequentially controlling the train speed (that is, the pattern control regular brake output 12).
0e) and a speed control pattern for ATC emergency braking for security (that is, a speed control pattern for the pattern control emergency brake output 120f).

Next, the code ATC signal transmitter 210f
A speed check pattern corresponding to the determined ATC emergency brake speed control pattern is output to the check pattern generator 21.
0e, a speed check is performed based on the read speed check pattern and the passing speed of the train near the end of the track circuit output from the speed detector 210d. Based on the check result, the speed control for the ATC emergency brake is performed. Correct the pattern.

Next, the code ATC signal transmitter 210f
After encoding the corrected speed control pattern, the trajectory T
2 to the ATC on-board device 220 side.

FIG. 4 shows a speed control pattern based on the speed check. FIG. 4 shows track circuits 1T to 4T.
2 shows the speed control pattern. Speed detector 210d disposed near the end of each track circuit 1T to 4T
The reference numeral A in the drawing indicates the detection timing of the speed detection by.
As shown in FIG. 4, a speed detector 210 indicated by a symbol A in the figure is used.
The ATC emergency brake speed control pattern is corrected for each speed detection timing according to d.

Next, the code ATC signal transmitter 210f
Is a code AT encoded according to the speed control pattern.
The C signal is transmitted to the ATC on-board device 220 via the track T2.

Next, when the code ATC signal is received by the ATC on-board device 220, the code ATC signal is decoded, and based on the decoded ATC signal, a brake control signal for decelerating the train is generated. It outputs to the pattern control emergency brake output 220c of the latter stage. In addition, when the code ATC signal received by the power receiver 220a is interrupted, the automatic control device 220b outputs a control signal to stop the train to the pattern control emergency brake output 220c to make the train emergency stop.

Further, the security of the train operation by the ATC system 200a is ensured, and the ATO system 200a
The automatic operation of the train is performed by 0b. That is, when the train approaches a section that needs to be speed-limited at points, curves, gradients, near stations, and the like, the ATO system 200
b receives the above-mentioned various variable speed patterns and the like output from the telegram generator 230a via the on-board child 240a from the plurality of ground children 230b installed on the ground slightly short of the section, A brake control signal is output to the ATO brake output 240d based on the ATC signal, the speed information, the various types of on-vehicle information, the baggage information, and the like together with the received information to perform the brake control of the train.

As described above, the automatic train control device 200 according to the second embodiment
0a, the ATO system 200b,
The system 200b employs a conventional ATO system. In the ATC system 200a, the ATC
The service brake is omitted and the ATC ground equipment 210
Thus, the speed limit for the ATC emergency brake in each track circuit can be controlled by the variable speed pattern control.

Further, the train passing speed is detected each time by a speed detector 210d disposed at the end of each track circuit, and the ATC emergency brake speed control is performed for each track circuit based on the detected train passing speed. The pattern (ie, the speed control pattern for the pattern control emergency brake output 220c) is corrected.

Therefore, safety based on the ordinary railway structure rules is ensured by the pattern control emergency brake output 220c driven based on the ATC emergency brake speed control pattern, and the speed control pattern is sequentially corrected for each track circuit. You. Therefore, the speed limit for the ATC emergency brake is raised in accordance with the speed control pattern for ATO, and when stopping the train at the stop position, the braking distance from the train deceleration start position to the train stop position is further shortened. And higher operation efficiency can be realized.

[0103]

According to the first and third aspects of the present invention, the speed reducing means for automatically adjusting the current speed of the train to the control speed and the speed reducing means for automatically adjusting the current speed so as not to exceed the allowable speed are provided. Since the brake control device is provided on the same on-vehicle device, the size of the brake control device can be reduced, and the cost can be reduced. Furthermore, the allowable speed for ensuring the security of train operation when the train travels to the end in the allowed travel section is determined at any time based on the allowable end speed and the distance information between the start and end, so that sufficient A high allowable speed is determined, and the braking distance from the train deceleration start position to the train stop position can be shortened, thereby improving driving efficiency.

According to the second and fourth aspects of the present invention, the permissible speed for ensuring the safety of train operation when the train travels to the end of the permissible section is determined by the permissible speed at the end and the start to end. It is determined at any time based on the distance information and the allowable speed is sequentially corrected for each track circuit in accordance with the control speed, so the allowable speed is determined in accordance with the control speed, and the train deceleration is started from the train deceleration start position. The braking distance to the stop position can be further reduced, and higher operating efficiency is realized. Furthermore, since the brake control of the train can be performed without using the ATC service brake, the equipment and devices can be reduced in size and the cost performance can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a device configuration of an automatic train control device 100 to which the present invention is applied.

FIG. 2 is a diagram showing a speed control pattern in the automatic train control device 100 to which the present invention is applied.

FIG. 3 is a block diagram showing a device configuration of an automatic train control device 200 to which the present invention is applied.

FIG. 4 is a diagram showing a speed control pattern in the automatic train control device 200 to which the present invention is applied.

FIG. 5 is a diagram showing a speed control pattern in a conventional automatic train control device 300.

FIG. 6 is a block diagram showing a device configuration of a conventional automatic train control device 300.

[Explanation of symbols]

 Reference Signs List 100 automatic train control device 110 ATC ground device 110a train position detecting device 110b speed limit calculating device 110c code ATC signal transmitter 110d block length data 120 ATC on-board device 120a power receiver 120b automatic control device 120c check pattern generator 120d speed detector 120e Pattern control service brake output 120f Pattern control emergency brake output 200 Automatic train control device 200a ATC system 210 ATC ground device 210a Train position detection device 210b Speed limit calculation device 210c Closure length data 210c 210d Speed detector 210d 210e Reference pattern generator 210f Code ATC signal transmitter 220 ATC on-board device 220a Power receiver 220b Automatic control device 220c Pattern control emergency brake output 200b AT System 230 ATO ground device 230a message generator 230b balise 240 ATO on vehicle device 240a-board coil 240b automatic driving apparatus 240c speed detector 240d ATO brake output T1, T2 track

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5H115 PA08 PC02 PG01 QE10 SF06 SF07 SF27 SJ09 SL01 SL06 SL07 TB01 TO23 TU07 5H161 AA01 BB03 CC03 CC04 CC07 CC13 DD12 EE01 EE07 FF07 JJ27 MM13 NN08

Claims (4)

[Claims] 1. An automatic train control device comprising a ground device and an on-board device for automatically controlling deceleration and stop of a train on a rail connected to a plurality of track circuits, wherein the ground device is installed in the track circuit. Position detecting means for detecting a running position of a train traveling on the track circuit; storing means for storing information on a distance between a start and an end of a travel-permitted section on the rail; and detecting by the position detecting means. Based on the traveling position of the train, calculating means for calculating the terminal allowable speed in the travel allowable section, based on the terminal allowable speed calculated by the calculating means, and the start-end distance information in the travel allowable section The control speed when the train travels to the end of the permissible travel section, and the permissible speed for securing train operation security when the train travels to the end. Speed determining means for determining, and transmission means for transmitting the control speed information and the allowable speed information determined by the speed determining means to the track circuit, wherein the on-board device travels on the track circuit. Speed detection means for detecting the current speed of the train; reception means for receiving the control speed information and the permissible speed information transmitted to the track circuit by the transmission means; and the reception means The control speed information received by the and the current train speed detected by the speed detection unit is compared and adjusted, and the train current speed is adjusted to match the control speed, and received by the reception unit. A comparison signal between the permissible speed information and the current train speed is compared and a control signal for adjusting the current train speed so as not to exceed the permissible speed is output. And control means for, based on the control signal outputted from said control means,
An automatic train control device, comprising: deceleration instruction means for reducing the speed of the train. 2. An automatic train control device comprising a ground device and an on-vehicle device for automatically controlling deceleration and stop of a train on a rail connected to a plurality of track circuits, wherein the ground device is installed on the track circuit. And a control speed information output device that outputs control speed information for controlling deceleration and stopping of the train, and an allowable speed information output device that outputs allowable speed information for ensuring safe operation of the train. The permissible speed information output device includes: a position detection unit that detects a traveling position of a train traveling on the track circuit; a storage unit that stores start-to-end distance information of a traveling permissible section on the rail; Calculating means for calculating a terminal permissible speed in the travel permissible section based on the traveling position of the train detected by the means, and each being disposed near a terminal end of each of the track circuits. Along with
Ground-side speed detection means for detecting the current speed of the train on the ground side; terminal-permissible speed calculated by the calculation means; and the start-end distance information in the travel-permitted section, based on the travel-permitted section. A determining means for determining an allowable speed for ensuring security in train operation when the train travels to the end in, and when the current train speed is detected by the ground side speed detecting means, the current train speed, The control speed information output device includes: a correction unit that corrects the allowable speed based on the start-end distance information; and a first transmission unit that transmits the allowable speed information to the track circuit. Output means for outputting control speed information for performing stop control for accurately stopping a train at a stop position provided at each station, while performing deceleration control near a curve of the rail or near a station, Transmitting means for transmitting the control speed information output by the output means to the on-board device side, which is installed in front of a section in which a speed limit is required near a curve or a station in a train, and the like. A speed limiting device mounted on a train running on the track circuit and limiting a train speed based on the permissible speed information, and a train based on the control speed information. A speed control device for controlling a speed, wherein the speed limiting device receives the permissible speed information transmitted to the track circuit by the first transmission device, and the first reception device First control means for outputting a control signal for limiting the train speed based on the permissible speed information received by the means, and the train based on a control signal output from the first control means. A first reduction instruction means for decelerating the speed,
The speed control device comprises: an on-board speed detecting means for detecting the current speed of the train on the car; a second receiving means for receiving the control speed information transmitted by the second transmitting means; The control speed information received by the second receiving means is compared with the current train speed detected by the on-vehicle speed detecting means, and the current train speed is adjusted to match the control speed. A second control unit that outputs a control signal, and a second deceleration instruction unit that reduces the speed of the train based on the control signal output from the second control unit. Automatic train control device. 3. A system according to claim 1, further comprising a ground device installed on said track circuit and an on-vehicle device installed on said train, wherein said system automatically controls deceleration and stop of a train on a rail to which a plurality of track circuits are connected. In the automatic train control method for controlling the automatic train control device, In the ground device, a step of detecting a traveling position of a train traveling on the track circuit, and information on a distance between the start and end of a traveling allowable section in the rail. Storing, based on the detected travel position of the train, calculating a terminal allowable speed in the travel allowable section, the calculated terminal allowable speed, and the start-end distance in the travel allowable section Based on the information, the control speed when the train travels to the end in the travel-permitted section, and the security for train operation when the train travels to the end, A step of detecting the current speed of the train; anda step of transmitting the determined control speed information and the allowable speed information to the track circuit. Receiving the control speed information and the permissible speed information transmitted to the control unit, and comparing and comparing the received control speed information with the detected train current speed to adjust the train current speed to the control speed. And adjusting the received permissible speed information, and comparing and comparing the current train speed,
Outputting a control signal for adjusting the current train speed so as not to exceed the permissible speed; and reducing the speed of the train based on the output control signal. Automatic train control method. 4. A train device automatically controls deceleration and stop of a train on a rail to which a plurality of track circuits are connected, and includes a ground device installed on the track circuit and an on-board device installed on the train. In the automatic train control method for controlling the automatic train control device, In the ground device, a step of detecting a traveling position of a train traveling on the track circuit, and information on a distance between the start and end of a traveling allowable section in the rail. Storing, based on the detected traveling position of the train, a step of calculating a terminal permissible speed in the travel permissible section, and speed detecting means disposed near the terminal end of each track circuit, A step of detecting the current speed of the train on the ground side, based on the calculated terminal allowable speed and the start-end distance information in the travel allowable section, A step of determining an allowable speed for ensuring security in train operation when the train travels to the end of the train, when the current train speed is detected, the current train speed, the distance information between the start and end, Correcting the permissible speed, transmitting the permissible speed information to the track circuit, and controlling deceleration near the curve of the rail or near a station, and a stop position provided at each station. A step of outputting control speed information for stop control for accurately stopping the train at; anda transmission means installed in front of a section where speed restriction is necessary near a curve or a station on the rail, etc. Transmitting the obtained control speed information to the on-board device side, wherein the on-vehicle device receives the permissible speed information transmitted to the track circuit; and Outputting a control signal for limiting the train speed based on the information, a step of reducing the speed of the train based on the output control signal, and a step of detecting the current speed of the train on the vehicle Receiving the transmitted control speed information; and comparing and comparing the received control speed information with the detected train current speed so that the train current speed matches the control speed. An automatic train control method, comprising: outputting a control signal to be adjusted; and reducing the speed of the train based on the output control signal.