JP2003011819A - Track vehicle automatic control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce labor and cost of construction of a track in an automatic control system controlling a track vehicle from the ground, particularly a system not using a rail as an antenna for signal transmission from the ground to the vehicle. SOLUTION: In a ground device 12, a control speed of a vehicle 16 is determined per predetermined track section (block sections 1T-10T) dividing the track 14, and a signal indicating the determined control speed is sent toward the vehicle 16 from a transponder pick up on ground 18 (hereinafter referred to as simply a pick up on ground). An onboard device 20 receives the signal via a transponder pick up 22 (hereinafter referred to as simply a pick up), and it primarily controls a braking mechanism (not illustrated) so that the vehicle 16 is operated at the control speed indicated by the signal or less.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention generates a signal for controlling a vehicle on a ground basis by dividing a track into a plurality of predetermined sections and transmits the control signal to the vehicle to automatically control the traveling of the vehicle. Regarding the system, especially the rail,
The present invention relates to a system which is not used as an antenna for transmitting signals from the ground to the vehicle.

[0002]

2. Description of the Related Art Conventionally, in an automatic train control system (ATC system) for railroads, a regulated speed signal for each predetermined section of a track is supplied to an iron rail, and this signal is received by a power receiver on the train. Speed control (mainly stop control) is being performed. In this system, the rail acts as an antenna for transmitting the regulated speed signal.

Conventionally, in an ATC system for a railroad vehicle that does not use iron rails, a loop antenna extending over a predetermined section on the road surface is provided, and a regulated speed signal is transmitted from this antenna to a power receiver on the vehicle. There is.

[0004]

However, in the above ATC system for a railroad vehicle that does not use iron rails, the installation of the loop antenna is a very troublesome work, and it takes time to construct the railroad track. There was a problem that the cost increased.

When a rail or loop antenna is used as a signal transmitting antenna, the length of the antenna makes it easier for noise to enter from the surroundings.
Since the power consumption increases according to the length, it has been desired to reduce the power consumption.

[0006]

A track vehicle control system according to the present invention detects a vehicle on a track and a vehicle control speed for each predetermined section of the track based on the detection result of the vehicle. A regulation speed determination unit that determines the regulation speed, a transmission unit that transmits a signal indicating the regulation speed to the vehicle, and a speed control unit that is provided in the vehicle and that controls the speed of the vehicle based on the regulation speed indicated by the signal. In the railcar automatic control system, the transmitting unit includes a transponder ground element that transmits a signal to the transponder vehicle upper element. According to such a configuration, since the regulated speed signal is transmitted from the transponder ground element to the vehicle without using the rail or the loop antenna, it is possible to reduce the labor and cost of track construction. Moreover, the influence of noise can be reduced, and the energy consumption required for signal transmission can be reduced.

Further, in the present invention, it is preferable that the vehicle detection unit detects a vehicle by a signal transmitted from the transponder ground member to the transponder ground member. With such a configuration, the transponder ground element and the transponder vehicle upper element can be shared as a configuration for vehicle detection, and thus the labor and cost for track construction can be further reduced.

Further, in the present invention, it is preferable that the transmitting section transmits a signal indicating a regulation speed for a plurality of predetermined sections. With such a configuration, it is possible to make the vehicle recognize the change in the speed for each predetermined section and set the vehicle speed by reflecting the change, so that the speed of the vehicle can be controlled more precisely and the vehicle can be operated at a higher speed. Is realized.

Further, according to the present invention, a signal indicating a reference position for generating a deceleration pattern for decelerating the vehicle to the regulation speed of the predetermined section before reaching the start position of the predetermined section on the front side of the vehicle is transmitted to the vehicle. And a second deceleration pattern generation unit that is provided in the vehicle and that generates a deceleration pattern based on the reference position, and the speed control unit,
It is preferable to control the speed of the vehicle based on the deceleration pattern. According to such a configuration, more precise vehicle speed control is possible, and higher speed vehicle operation is realized.

Further, according to the present invention, it is preferable that the deceleration pattern generation unit generates a deceleration pattern for decelerating to the slowest cruising speed. With such a configuration, it is possible to prevent the vehicle from stopping before reaching the next transponder ground element.

Further, according to the present invention, a third transmitting section for transmitting a signal indicating the position of the next transponder ground element to the vehicle,
A vehicle position acquisition unit, which is provided on the vehicle and acquires the position of the vehicle on the track based on the fixed point signal transmitted from the ground and the self-running distance, the speed control unit is provided by the vehicle position acquisition unit. When it is acquired that the vehicle has reached the position of the next transponder ground element, but the signal from that transponder ground element is not acquired,
It is preferable to stop the vehicle or control the vehicle to run at the slowest speed. According to such a configuration, it is possible to prevent the vehicle from passing through the next transponder ground element without acquiring the signal and being directly controlled by the signal received from the previous transponder ground element.

Further, according to the present invention, there is provided an abnormality detecting section for detecting occurrence of an abnormal state in which the vehicle cannot travel at a predetermined position on the track, and the regulation speed determining section is provided when the abnormality is detected. It is preferable to determine the regulation speed so that the vehicle does not reach the predetermined position. With such a configuration, it is possible to more easily and more reliably prevent the vehicle from reaching the predetermined position where the abnormal state has occurred.

Further, in the present invention, the vehicle detection unit obtains the identification data of the detected vehicle, and the regulation speed determination unit further determines the regulation speed based on the identification data and the detected time of the vehicle. Is preferred. With such a configuration, the change in the presence of the vehicle in the track section can be more accurately tracked, and thus a more appropriate regulation speed can be determined.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION A rail vehicle automatic control system 10 according to a first embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a track vehicle automatic control system 1.
0 is a diagram showing a schematic configuration, and FIG. 2 is a diagram showing a more detailed configuration of the track vehicle automatic control system 10 and an example of a deceleration pattern.

First, the schematic configuration and operation of the system 10 will be described with reference to FIG. This system 1
At 0, in the ground device 12, the vehicle 1 is divided into predetermined track sections (block sections; 1T to 10T) into which the track 14 is divided.
The regulation speed of 6 is determined, and the signal indicating the determined regulation speed is transponder ground element (hereinafter simply referred to as ground element) 1
8 to the vehicle 16. The on-board device 20 receives this signal via a transponder onboard (hereinafter simply referred to as onboard) 22 and mainly uses a braking mechanism (not shown) so that the vehicle 16 is driven at a speed below the regulation speed indicated by the signal. To control.

The regulation speed is determined according to the position of the vehicle 16 on the track 14. For example, in the example of FIG. 1, “0
2 "(absolute stop)," 01 "(permissible stop: basically stop, but run gently within a non-hazardous range) for the section where the vehicle 16 exists in the track section two ahead Also, “45” (regulated speed: 45 km / h) for the section where the vehicle 16 exists in the three-orbit track section, and “for the section where the vehicle 16 exists in the four or more track sections”. 75 "(regulated speed: 75 km / h).

A ground element (for example, a ground element with a power source) 18 corresponds to each track section and is located near a boundary on the front side in the traveling direction of the track section (preferably at a position slightly before the boundary of the track section). , Respectively. This ground child 18
The signal transmitted from the train carrier 22 can be received, and the information contained in the signal is transmitted to the ground device 12 via the data transmission line 24. The signal from the vehicle top 22 includes the identification data (vehicle ID) of the vehicle 16, and the ground child 18 also functions as vehicle detection means. The ground device 12 collects the identification data of the vehicle 16 from the ground element 18 provided corresponding to a plurality of track sections (1T to 10T in the example of FIG. 1) under the control of the track section. It is possible to acquire which vehicle 16 exists in which track section. Then, the ground device 12 determines the regulation speed based on the acquired position of the vehicle 16.

Next, a more detailed structure of each part of the system 10 will be described with reference to FIG. The signal from the on-board child 22 received by the ground element 18 is input to the section terminal 26 provided corresponding to the ground element 18. The section terminal 26 is
The timepiece (not shown) is provided, and the time when the signal from the car child 22 is received or the time when the signal is input to the section terminal 26 is acquired as the time when the vehicle 16 is detected by the ground child 18, and A signal indicating the vehicle detection result including the included data (for example, vehicle identification data), the detection time data, and the track section identification data (track section ID) is generated and transmitted to the ground device 12. The timekeeping units of all the section terminals 26 are adjusted to the same time.

The ground device 12 performs processing associated with signal transmission / reception (for example, filter processing, amplification processing, modulation / demodulation processing, etc.).
A transmission / reception unit 28 for performing the above, a control unit (for example, a CPU) 30 that controls each unit of the ground device 12 and performs each process related to the determination of the regulated speed, and a storage unit (for example, RAM, ROM or Hard disk) 32. Of these, the control unit 30
Includes a vehicle detection processing unit 34 that performs vehicle detection processing, and a regulation speed determination unit 36 that determines the regulation speed.

The transmission / reception unit 28 demodulates the signal indicating the vehicle detection result received from the section terminal 26 to obtain vehicle identification data, detection time data and track section identification data. The storage unit 32 stores vehicle position data indicating the presence or absence of the vehicle 16 for each track section. Vehicle detection processing unit 3
4 acquires vehicle identification data of the vehicle 16 existing in the track section immediately before the track section in which the vehicle 16 is detected (front in the traveling direction of the vehicle 16) from the vehicle position data. , Collates the vehicle identification data acquired from the vehicle detection result. When these vehicle identification data match, the vehicle detection processing unit 34 determines that the vehicle 16 has entered the track section corresponding to the vehicle detection result from the front track section, and updates the vehicle position data. . On the other hand, if these vehicle identification data do not match, or if the vehicle position data indicates that the vehicle 16 does not exist in the immediately preceding track section, the correct attribute of the vehicle 16 is determined by another means ( The vehicle identification data is input from an input unit (not shown). It should be noted that in the present embodiment, there are a plurality of vehicle upper members 22, more specifically, the vehicle 1
One is provided on each of the front side (front end portion) and the rear side (rear end portion) of 6. By doing so, the ground device 12 can more surely grasp the traveling direction of the vehicle 16.
For example, each of the vehicle detection results transmitted from the plurality of vehicle tops 22 may be configured such that the vehicle identification data included therein is different, or the vehicle detection results have the vehicle top 22 on the front side in the traveling direction. It can be configured to be transmitted with a flag indicating that it is transmitted from.

The regulated speed determination unit 36 determines the regulated speed according to the position of the vehicle 16 indicated by the vehicle position data (for example, according to the number of track sections up to the track section where the preceding train exists, as described above). To do. The vehicle detection process and the process for determining the regulation speed described above are performed in the order of time of the detection time data. If the regulated speed is determined based on a vehicle position different from the actual vehicle position, it may be difficult to control the operation of the vehicle 16 as set. In the present embodiment, by performing such processing based on the detected time, the vehicle position data can be further analyzed in the order in which the vehicle position actually changes, even when the transmission delay of the vehicle detection result occurs. Can be obtained accurately.

When the vehicle detection processing unit 34 acquires the vehicle detection result, a signal including data for the vehicle 16 is transmitted to the section terminal 26 in which the vehicle 16 is detected. The section terminal 26 transmits this signal from the ground child 18 (for example, 18a in FIG. 2) to the onboard child 22 in a predetermined format. The signal for this vehicle 16 includes the ground element 18
(18a) data indicating the regulation speed of the corresponding track section, data indicating the regulation speed of the track section ahead of the track section in the traveling direction, up to the next ground element 18 (that is, the ground element 18b on the front side of the traveling direction) Data indicating the distance (or data indicating the length of the track section where the vehicle 16 has entered), data indicating the current position, and data indicating the track information (for example, a slope, a section in which the speed is regulated in the track section and its Data indicating the regulation speed, etc.) is included.

Further, the system 10 according to the present embodiment.
Is provided with an abnormality detection unit that detects that an abnormal state in which the vehicle 16 cannot run at a predetermined position on the track 14 has occurred. An example of such an abnormal state is when a person or a road vehicle enters when the railroad crossing 50 is closed. In this embodiment, a level crossing approach sensor 52 is provided to detect this abnormality. When an intruder is detected by the level crossing intruder sensor 52, a level crossing terminal 54 connected to the data transmission line is connected.
Generates an intruder detection signal including the level crossing identification data (railroad crossing ID), and transmits the signal to the ground device 12. When the transmitter / receiver 28 receives the intruder detection signal, the regulation speed determination unit 36 determines the regulation speed so that the vehicle 16 does not reach the abnormality detection position (for example, the railroad crossing 50). More specifically, the regulation speed determination unit 36 sets the regulation speed to 0 (that is, "0" in the track section in which the crossing exists and the track section on the front side in the traveling direction based on the crossing identification data).
2 "or" 01 ").

The on-vehicle device 20 performs processing associated with signal transmission / reception (for example, filter processing, amplification processing, modulation / demodulation processing, etc.).
And a control unit (for example, a CPU) 40 that controls each part of the on-board device 20 and performs each process related to the determination of the regulated speed, and a storage unit (for example, a RAM or a ROM) that stores various parameters related to the process. Or a hard disk or the like) 42. The vehicle 16 also includes a speed generator 44 for calculating the travel distance by detecting the number of rotations of the wheels. Further, the vehicle 16 includes a second vehicle upper member 48 that receives a signal indicating the reference position from a second ground member (for example, a non-powered ground member) 46 provided to indicate the reference position for generating the deceleration pattern. .

The transmission / reception unit 38 demodulates the received signal for the vehicle 16 and shows data indicating the regulated speed of the entered track section, data indicating the regulated speed of the track section ahead of the track section in the traveling direction, The data indicating the distance to the ground element 18, the current position (the position of the ground element 18), and the data indicating the orbit information are acquired. The control unit 40 controls a braking mechanism (not shown) based on these data to control the speed of the vehicle 16. Hereinafter, this speed control will be described with reference to FIG. FIG. 3 is a flowchart of speed control by the on-board device 20.

The control unit 40 has a restricted speed of the entered track section (hereinafter referred to as a restricted speed V1) and a restricted speed of a track section adjacent to the forward side of the track section in the traveling direction (hereinafter referred to as a restricted speed V2). (Comparing step S10 of regulation speeds of a plurality of track sections), and when the regulation speed V2 is lower than the regulation speed V1, the deceleration pattern P is generated (deceleration pattern generation step S12). In this step S10, the deceleration pattern P is generated based on the braking ability of the vehicle 16 and the information regarding the trajectory. For example, the deceleration pattern P having a high speed change rate (deceleration) is generated in the vehicle 16 having a high braking ability, and the deceleration pattern P having a low speed change rate is generated in the case of a track section having an upslope. It

The deceleration pattern P is also generated based on the signal indicating the reference position B received from the second vehicle upper member 48. The distance from the reference position B to the end of the track section (hereinafter, referred to as remaining distance L2) is configured so that the on-board device 20 can acquire the distance based on the signal indicating the reference position B. For example, the remaining distance L2 may be set as a unified distance for all track sections, or the remaining distance L2 set for each track section may be stored in the storage unit 42 in advance. The control unit 40 sets the deceleration pattern P relative to the reference position B. For example, the control unit 40 acquires in advance the speed change curve C for decelerating from the restricted speed V1 to the restricted speed V2, and compares the deceleration distance L1 and the remaining distance L2 in this speed change curve C to determine the reference position. The relative position of the speed change curve C with respect to B is determined. More specifically, for example, the shorter the deceleration distance L1 is than the remaining distance L2, the longer the distance between the reference position B and the deceleration start position S is set.

Further, this deceleration pattern P (speed change curve C) is located at a position before the starting position of the track section on the front side so as to reach the regulation speed V2 of the track section on the front side more reliably. It is desirable to set to. Therefore, the deceleration pattern P is set so that the deceleration end position E is on the front side of the end position of the track section.

Further, when the regulated speed V2 is the stop speed (that is, in the setting example of the regulated speed shown in FIG. 1, "0" is set).
1 "), the deceleration pattern is further set so that the speed at the end of deceleration becomes the minimum speed Ve (that is, the minimum speed at which the vehicle 16 can be controlled; 10 km / h in the example of FIG. 2). P is set. By doing this, the vehicle 16
Can be prevented from completely stopping before the next ground element 18 (18c) to reach the next ground element 18.

Then, the control unit 40 performs speed control (mainly braking control) so that the speed of the vehicle 16 becomes equal to or lower than the deceleration pattern (speed control step (1) S14). More specifically, the control unit 40 calculates the self-running distance from a fixed point position (for example, the reference position B) from the number of rotations of the speed generator 44 to determine the current position of the vehicle 16 relative to the fixed point position. Get it. Then, the control unit 40 activates the braking mechanism when the speed of the vehicle 16 acquired from the speed generator 44 exceeds the speed set by the deceleration pattern at that position. Further, when the speed of the vehicle 16 exceeds the speed of the deceleration pattern, the control unit 40 generates an alarm signal indicating the speed, and outputs the alarm signal to the crew member room (eg, driver's cab).
At 56, for example, it may be output by voice or display.

The control unit 40 also acquires the current position of the vehicle 16 relative to the fixed point position (for example, the position of the ground element 18) based on the self-running distance calculated from the number of rotations of the speed generator 44. , It is determined whether or not the vehicle 16 has reached the position of the next ground element 18 (step S16 of determining whether the vehicle 16 has reached the position of the next ground element). The position of the next ground element 18 can be acquired from the data indicating the position of the ground element 18 included in the signal for the vehicle 16 and the data indicating the distance to the next ground element 18. When it is determined that the position of the next ground element 18 has been reached, the control unit 40 confirms whether or not the signal from the ground element 18 has already been acquired (confirms whether or not a signal from the next ground element has been acquired). Step S18).

In step S18, when it is confirmed that the signal can be normally acquired, the control unit 40 sends a signal (reception confirmation signal) indicating the fact to the ground device 12 from the transmission / reception unit 28 to the ground node. The signal is returned to 18 (step S20 of returning a signal indicating normal reception to the ground device). In addition,
In the ground device 12, the storage unit 32 stores the passing time of the ground element 18 for each vehicle 16, the regulation speed of the track section corresponding to the ground element 18, and the length of the track section. Based on these parameters, the control unit 30 of the ground device 12 controls the vehicle 16 each time the vehicle 16 passes the ground element 18.
Calculates the expected passing time when the vehicle will pass the next ground element, and stores this in the storage unit 32. Then, if the control unit 30 of the ground device 12 cannot acquire the reception confirmation signal even if a predetermined time has elapsed from the expected passing time, the control unit 30 of the vehicle 16
It is assumed that an abnormality has occurred, and at least the track section on the rear side in the traveling direction of the track section in which the vehicle 16 exists, the regulation speed thereof is determined to be 0 (“01” or “02”). Accordingly, when the vehicle 16 cannot receive the signal from the ground element 18, both the on-board device 20 and the ground device 12 can control the vehicle 16 more safely. Then, the above step S10 is performed for the restricted speeds V1 and V2 included in the signal received from the next ground element 18.

In step S18, when the signal is not acquired, the vehicle 16 is stopped or speed control is performed so that the vehicle 16 travels at the slowest speed (the vehicle is stopped or at the slowest speed operation). Step S2
2). That is, in the present embodiment, the distance range that can be controlled for each ground element 18 is set in advance, so that when the next ground element cannot be recognized and the regulation speed signal cannot be received, the vehicle 16 is Stop.

When the regulated speed V1 and the regulated speed V2 are the same in step S10, the control section 40 drives the drive mechanism or the vehicle 16 so that the vehicle 16 travels at a speed equal to or lower than the regulated speed V1 (that is, V2). The braking mechanism is controlled (speed control step (2) S24).

Next, a track vehicle automatic control system 60 according to a second embodiment of the present invention will be described with reference to the drawings. FIG. 4 is a diagram showing a schematic configuration of the track vehicle automatic control system 60. In the following description, constituent elements that operate in the same manner as in the first embodiment will be assigned the same reference numerals and detailed description thereof will be omitted.

In this embodiment, the track vehicle automatic control system 60 is configured as a system for a tram.
In this system, the ground device 62 does not determine the regulation speed of the vehicle 66 (tram vehicle), but determines whether or not the vehicle 66 can enter the track section. This track section is set as a section between adjacent stops (stations), for example.

The ground child 18, the train child 22, and the section terminal 2
6 performs the same operation as in the first embodiment. However, in the first embodiment, the signal transmitted from the ground element 18 to the vehicle upper element 22 is a signal for instructing the vehicle 16 to control speed, but in the present embodiment, the signal is transmitted to the vehicle 66. This is a signal for instructing whether to enter the section. The ground element 18 is resin-molded and is embedded so that its upper surface is at the same height as the road surface.

In the ground device 62, the transmitting / receiving unit 28,
The storage unit 32 and the vehicle detection processing unit 34 perform the same operations as in the first embodiment. The control unit 80 includes a vehicle detection processing unit 34 and an entry availability determination unit 86 that determines whether or not the vehicle 66 can enter the track section.

The entry availability determination unit 86 determines whether the vehicle 66 can enter the track section based on the position of the vehicle 66 on the track 14. The storage unit 32 stores a preset allowable number of vehicles 66 (for example, four vehicles) for each track section, and the entry permission / prohibition determining unit 86 causes the vehicle 66 that is about to enter the predetermined track section. On the other hand, if there are already the permitted number of vehicles 66 in the track section, the entry is prohibited, and if there is a vacancy with respect to the permitted number of entrances, the entry is permitted. Then, the signal for the vehicle 66 is generated and transmitted in the control unit 80 including the data indicating the determination result of whether or not the vehicle can enter. As in the first embodiment, the attributes (for example, vehicle identification data) of the vehicle 66 existing in each track section are acquired by the vehicle detection processing unit 34 and stored in the storage unit 32 as vehicle position data.

Further, the system 60 according to the present embodiment.
Is configured to be able to control road signals. Therefore, in the present embodiment, the intersection ground element 102 is provided at the stop position of the vehicle 66 at the intersection 100. In the storage unit of the vehicle 66, traveling direction data indicating a traveling direction (for example, straight ahead, left turn, right turn, etc.) at the intersection 100 (or branch point) is stored.
Transmits a signal indicating the traveling direction data toward the ground element 102. When this signal is received by the intersection ground element 102, the intersection terminal 104 transmits a signal indicating the traveling direction data to the road signal control device 106, and the road signal control device 106, based on the received traveling direction data, Road signal 1 to allow the vehicle 66 to travel in that direction.
08 output control. More specifically, the intersection 100
If the traveling direction of the vehicle 66 is left turn, the road signals 108a for road vehicles are all red signals, and
A signal (ie, an arrow signal) 10 (ie, a track vehicle)
The left turn display of 8b is output. An intersection ground element 102 is also provided on the forward side of the intersection 100 in the traveling direction,
When the intersection ground element 102 receives a signal from the vehicle 66 that has passed through the intersection 100 (for example, a signal indicating the vehicle 66 identification data), the intersection terminal 104 transmits a signal indicating signal cancellation to the road signal control device 106, and The signal control device 106 restores the output of the road signal 108 for permitting the traveling of the vehicle 66, and switches to the control for normal road traffic. The intersection terminal 104 is connected to the data transmission line 24, and the information on the progress of the vehicle 66 at the intersection 100 can be appropriately used for determining whether or not to enter the ground device 62.

In the on-board device 70, the transmitting / receiving section 38,
The storage unit 42 performs the same operation as that of the first embodiment. Control unit (for example, CPU) 9 that controls each part of the on-board device 70
0 outputs the entry permission / inhibition determination result indicated in the signal for the vehicle 66 from the ground element 18 into the crew member room 56.

[0042]

As described above, according to the present invention,
Since the transponder ground element transmits the regulated speed signal or the approach approval / disapproval determination signal to the vehicle without using the rail or the loop antenna, it is possible to reduce the labor and cost of track construction. Moreover, the influence of noise can be reduced, and the energy consumption required for signal transmission can be reduced.

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of a rail vehicle automatic control system according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a track vehicle automatic control system according to an embodiment of the present invention and an example of a deceleration pattern generated in this system.

FIG. 3 is a flowchart of vehicle speed control of the track vehicle automatic control system according to the embodiment of the present invention.

FIG. 4 is a diagram showing a configuration of a rail vehicle automatic control system according to another embodiment of the present invention.

[Explanation of symbols]

10,60 Orbit vehicle automatic control system, 12,62
Ground equipment, 14 tracks, 16, 66 vehicles, 18 ground equipment, 20, 70 vehicle equipment, 22 vehicle equipment, 34 vehicle detection processing section, 36 regulated speed determination section, 46 second ground element, 50 railroad crossings, 52 railroad crossings Intruder sensor, 56 Crew room, 86 Entry / Exit determination section, 100 Intersection, 102
Intersection ground element, B reference position, C speed change curve,
E deceleration end position, L1 deceleration distance, L2 remaining distance,
P deceleration pattern, S deceleration start position, Ve slowest speed.

Claims (12)

[Claims] 1. A vehicle detection unit that detects a vehicle on a track, a regulation speed determination unit that determines a regulation speed of the vehicle for each predetermined section of the track based on a detection result of the vehicle, and a signal indicating the regulation speed. Is a vehicle, and a speed control unit that is provided in the vehicle and that controls the speed of the vehicle based on the regulated speed indicated by the signal. , A transponder automatic control system including a transponder ground element for transmitting a signal to a transponder vehicle core. 2. The track vehicle automatic control system according to claim 1, wherein the vehicle detection unit detects a vehicle based on a signal transmitted from the transponder vehicle upper member to the transponder ground member. 3. The rail vehicle automatic control system according to claim 1, wherein the transmitting unit transmits a signal indicating a regulation speed for a plurality of predetermined sections. 4. A second signal for transmitting to the vehicle a reference position for generating a deceleration pattern for decelerating the vehicle to a regulation speed of the predetermined section before reaching the start position of the predetermined section on the front side of the vehicle. And a deceleration pattern generation unit that is provided in the vehicle and that generates a deceleration pattern based on the reference position, wherein the speed control unit controls the speed of the vehicle based on the deceleration pattern. The track vehicle automatic control system according to any one of claims 1 to 3, which is characterized by the above-mentioned. 5. The rail car automatic control system according to claim 4, wherein the deceleration pattern generation unit generates a deceleration pattern for decelerating to the slowest speed. 6. A third transmitting unit for transmitting a signal indicating the position of the next transponder ground element to the vehicle, and a on-orbit provided on the vehicle based on a fixed point signal transmitted from the ground and a self-running distance. A vehicle position acquisition unit for acquiring the position of the vehicle; and, even though the speed control unit acquires that the vehicle has reached the position of the next transponder ground element by the vehicle position acquisition unit, The rail vehicle according to any one of claims 1 to 5, wherein when the signal from the transponder ground element is not acquired, the vehicle is stopped or the vehicle is controlled to travel at the slowest speed. Automatic control system. 7. An abnormality detection unit is provided for detecting that an abnormal state in which traveling of the vehicle is prohibited at a predetermined position on the track is generated, and the regulation speed determination unit is configured to detect the abnormality when the abnormality is detected. 7. The track vehicle automatic control system according to claim 1, wherein the regulation speed is determined so that the vehicle does not reach the position. 8. The vehicle detection unit acquires identification data of a detected vehicle, and the regulation speed determination unit further determines a regulation speed based on the identification data and the detected time of the vehicle. The track vehicle automatic control system according to any one of claims 1 to 7, which is characterized. 9. A ground device for a track vehicle automatic control system according to any one of claims 1 to 8, which is a regulation for determining a regulation speed of a vehicle for each predetermined section of the track based on a detection result of the vehicle. Ground equipment with speed determination unit. 10. A vehicle used in the track vehicle automatic control system according to claim 1, further comprising a speed control unit that controls the speed of the vehicle based on a regulation speed indicated by a received signal. Equipped vehicle. 11. A vehicle detection unit that detects a vehicle on a track, an entry possibility determination unit that determines whether or not a vehicle can enter a predetermined section of the track based on a detection result of the vehicle, and indicates whether or not the entry is possible. A railroad vehicle automatic control system comprising: a transmission unit for transmitting a signal to a vehicle, wherein the transmission unit includes a transponder ground element for transmitting a signal toward a transponder vehicle upper body. Automatic control system. 12. The track vehicle automatic control system according to claim 11, wherein the entry permission / prohibition determination unit determines whether or not a vehicle can enter a predetermined section such that the number of vehicles in the predetermined section is equal to or less than a predetermined number.