JP2009023423A - Vehicle control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle control device capable of varying a safety allowance value (safety buffer) with respect to a vehicle position without correcting a wheel diameter, and securing the safety and reliability of vehicle control. <P>SOLUTION: When an in-vehicle device 11 passes through wayside coils 41, 42 installed along a traveling passage of a vehicle 1, the in-vehicle device is coupled to the wayside coils 41, 42 to be identified. Based on the identification, the in-vehicle device 11 identifies a wayside coil distance L1 between the wayside coils 41, 42 coupled forward and backward. Based on the rotational frequency and diameter of wheels 12 provided in the vehicle 1, the in-vehicle device 11 detects an integrated traveling distance L2. In addition, the in-vehicle device 11 calculates an error between the wayside coil distance L1 and the integrated traveling distance L2. A ground device 2 calculates a safety allowance value based on information on the error received from the in-vehicle device 11, and transmits a vehicle control signal including the safety allowance value to the in-vehicle device 11. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle control device capable of safely controlling a vehicle even when a detection error occurs in a travel distance due to a change in wheel diameter in a railway vehicle.

  In a railway system, in order to perform fine train control, it is necessary to continuously track the position of a train on a track. The train position is typically detected using a track circuit, but the track circuit can track successive positions on the track even though it can detect the presence of a train in an area. Can not. As a means for compensating for this, there is known a method of tracking a continuous position on a track using a pulse integrated value of a tacho generator attached to a train axle. However, this method has a risk of causing a large error in the travel distance due to a wheel diameter error.

  In order to correct the wheel diameter error, there is a means to correct the position by placing a ground element for each section, but after passing the ground element, an error occurs as the distance is integrated, so the distance between the ground elements is long. In this case, the amount of error immediately before the next ground element passes becomes large.

  In addition, when the train position is used for interval control of an automatic train control device (ATC), there is a risk that a train collision occurs due to a position error. As a method of ensuring safety, safety can be ensured by having the maximum error of the integrated pulse value of the tachometer as an allowance distance, but always having the maximum safety margin value has a drawback that the operation efficiency is lowered.

  In particular, in recent railway vehicles and the like, intelligence has been achieved, and in addition to position detection based on wheel diameter correction on the upper side of the vehicle, various travel controls such as brake control or speed monitoring to avoid collision with obstacles Is required to be processed in real time. In fact, since a CPU mounted on the upper side of the vehicle is given the highest priority to ensuring safety and reliability, high-speed processing is often sacrificed slightly. For this reason, it is desired that the various controls performed on the upper side of the vehicle have as short a processing time as possible from the viewpoint of reducing the load applied to the CPU.

  As means for solving the above-mentioned problems, for example, Patent Document 1 sequentially detects a ground element that oscillates a signal corresponding to the installation position as the vehicle travels, and rotates the axle when traveling between the ground elements. The travel distance between the ground elements is calculated based on the amount and the wheel diameter, the section distance between the ground elements is calculated according to the position information representing the respective positions of the ground elements, and the travel distance is calculated from the section distance. A first error is generated by subtraction, and a second error is generated by adding the first error every time the robot passes between the ground elements, and either the first error or the second error is generated. A wheel diameter automatic correction method is disclosed in which the wheel diameter value of the vehicle is increased or decreased accordingly.

  Patent Document 2 measures the accumulated rotation speed and rotation speed of the wheel, detects the boundary of the track section based on the installation position notification means, and analyzes the measurement result of the accumulated rotation speed and rotation speed of the wheel in the section. And the travel distance calculation system which corrects a wheel diameter with reference to the database which records an analysis result, and calculates a travel distance is disclosed.

However, in any case, although position detection based on wheel diameter correction is possible, in order to avoid collision with an obstacle, the wheel diameter correction value is used for various types of travel control such as brake control or speed monitoring. There is no disclosure on how to reflect this. In addition, since it is necessary to perform calculation processing for correcting the wheel diameter and calculating the travel distance, there is a limit to shortening the processing time and reducing the burden on the CPU.
JP-A-5-322593 JP 2001-106070 A

  An object of the present invention is to provide a vehicle control device that can change the safety margin value (safety buffer) with respect to the vehicle position without correcting the wheel diameter and ensure the safety and reliability of vehicle control. is there.

  In order to solve the above-described problems, the present invention discloses a vehicle control device according to two embodiments.

  First, in the vehicle control device according to the first embodiment, when the on-board device passes over the ground unit installed along the traveling path of the vehicle, the on-board unit is combined with the ground unit to identify the ground unit. The distance L1 between the ground elements is specified for the two ground elements connected back and forth, and the integrated traveling distance L2 is detected from the rotation speed and diameter of the wheels provided in the vehicle. Then, an error between the above-ground distance L1 and the accumulated travel distance L2 is calculated.

  On the other hand, the ground device calculates the safety margin value based on the error signal received from the on-board device, and transmits a vehicle control signal including the safety margin value to the on-board device.

  A number of ground elements are arranged at intervals along the traveling path of the vehicle, and the distance between the ground elements is different individually, but once installed, the installation position is fixed. Therefore, the distance is constant between the identified ground elements and can be regarded as an absolute value. This distance between the ground elements can be stored in a database in the on-board device together with identification information (ID information) assigned to each ground element.

  On the other hand, the cumulative travel distance L2 is a fluctuating value that changes due to wheel wear, polishing, or the like. As the wheel wears and polishes, the accumulated travel distance appears larger than the actual travel distance.

  In the vehicle control device according to the first embodiment, paying attention to the characteristics of the above-mentioned two distance information, the error between the ground distance L1 and the accumulated travel distance L2, which are absolute values, is calculated using the on-vehicle device. Operate on the side.

  The obtained error signal is transmitted to the ground device. The ground device calculates a safety margin value SB for the vehicle position based on the error signal received from the on-vehicle device.

  The ground device transmits a vehicle control signal including the safety margin value calculated as described above to the on-board device. The on-board device receives the vehicle control signal transmitted from the ground device and performs brake control or the like with a safety margin value. The safety margin value is added to the protection distance required between the preceding vehicle and the following vehicle for the purpose of rearward protection of the preceding vehicle.

  Here, as the wear and polishing of the wheels progress, the cumulative travel distance L2 viewed from the same distance between ground elements L1 increases and the error Er increases. Since the error Er is an error with respect to the distance L1 between the ground elements, which is an absolute value, when the error Er becomes large, in order to operate the vehicle safely, a large margin corresponding to the error must be secured.

  In the case of the present invention, the safety margin value SB increases as the error Er increases. The increase in the safety margin value SB belongs to the safety side in terms of vehicle operation because the protection distance between the preceding vehicle and the following vehicle is increased in the operation of the vehicle.

  Conversely, when the error Er becomes smaller, the safety margin value SB becomes smaller. The reduction in the safety margin value SB means that the protective distance between the preceding vehicle and the succeeding vehicle can be shortened in the operation of the vehicle, so that the efficiency of the vehicle operation can be improved.

  It is also possible to adjust the wheel diameter so that the accumulated traveling distance L2 substantially coincides with the distance L1 between the grounds. In this case, the error Er and the safety margin value SB are minimized, Efficiency can be maximized.

  Further, since the error Er obtained by the signal processing is monitored instead of directly measuring and monitoring the wheel diameter, the wheel diameter can be easily managed. In addition, since the information on the obtained error Er is transmitted to the ground device side and can be centrally managed on the ground device side, the maintenance management of the vehicle operation is rationalized.

  In the vehicle control apparatus according to the second embodiment, an error between the distance between ground elements L1 and the accumulated travel distance L2 is calculated on the ground apparatus side. In this case, when the on-vehicle device passes over a ground element installed along the traveling path of the vehicle, the on-vehicle device is combined with the ground element to identify the ground element, and the wheel provided in the vehicle The accumulated travel distance L2 is detected from the number of rotations and the diameter, and the information on the identified ground element and the accumulated travel distance information are transmitted.

  On the other hand, the ground device receives the signal transmitted from the on-board device, and specifies the distance L1 between the ground children for the two ground children combined before and after from the information of the ground children included in the received signal. . Then, an error between the distance between the ground elements L1 and the accumulated traveling distance L2 is calculated, the safety margin value is calculated based on the calculation result, a vehicle control signal including the safety margin value is generated, and the vehicle A control signal is transmitted to the on-board device.

  In this case, the same effect as that of the first embodiment described above can be obtained.

  As described above, according to the present invention, it is possible to vary the safety margin value (safety buffer) for the vehicle position without performing wheel diameter correction processing, and to ensure vehicle control safety and reliability. An apparatus can be provided.

<Vehicle control device according to the first embodiment>
FIG. 1 is a diagram schematically showing the configuration of the vehicle control device according to the first embodiment of the present invention. Referring to the drawing, the vehicle control device according to the first embodiment includes an on-board device 11 mounted on a vehicle 1 and a ground device 2.

  The vehicle 1 includes wheels 12 and travels on a travel path 3 such as a rail in a direction indicated by an arrow F1. A rotation detector 14 such as a speed generator is attached to at least one of the wheels 12. Also, a brake device 16 is attached to some of the wheels 12.

  On the travel path 3, ground pieces 41 and 42 are installed at points A and B separated by a predetermined distance L1, respectively. The distance L1 is sufficiently longer than the vehicle length of the vehicle 1. A large number n of ground elements 41 and 42 are installed along the travel path 3 of the vehicle 1 over the entire length thereof, but only two adjacent ones are representatively shown in FIG. The ground elements 41 and 42 are composed of, for example, a transponder or the like, and are coupled to the vehicle upper element 13 provided in the vehicle 1 to perform transmission / reception. Such ground elements 41 and 42 are well known. Self-identification information (ID information) is set in the ground pieces 41 and 42, and when the ground pieces 41 and 42 are combined with the vehicle upper piece 13, the ID information is transmitted to the vehicle pieces 13 via the vehicle upper piece 13. It is taken into the upper device 11.

  When the on-vehicle device 11 passes over the ground elements 41 and 42, the on-board apparatus 11 is combined with the ground elements 41 and 42 to identify the ground elements 41 and 42, and the two on-ground elements 41 and 42 that are coupled back and forth. In addition to specifying the distance L1 between the ground and the child, the integrated travel distance L2 is detected from the rotational speed and diameter of the wheels 12 provided in the vehicle 1. Then, an error between the distance between ground elements L1 and the accumulated travel distance L2 is calculated.

  The on-board device 11 shown in FIG. 1 includes a ground-to-ground distance database 111, a distance calculation unit 112, an error calculation unit 113, a transmission / reception unit 114, a control unit 115, and the like as specific configurations. However, the on-board device 11 can be configured with the MPU as a main element, and in this case, the above-described units (111 to 115) are not hardware-like, but rather are software representing processing steps. It will be taken as a typical one.

  First, when the n ground children 41 to 4n are arranged along the entire length of the traveling path 3, the distance between ground children 111 is adjacent to the ground children 41 to 4n together with ID information. The distance L1 between the two ground elements is stored as a database. When the vehicle upper element 13 is combined with the ground elements 41 to 4n, ID information of the combined ground elements is sent to the distance information 111 between the ground elements, and the combined ground elements are specified. Then, the distance L1 between the ground elements is specified for the two ground elements 41 and the ground elements 42 joined back and forth.

  Next, the distance calculation unit 112 is supplied with a rotation signal of the wheel 12 from the rotation detector 14. The distance calculation unit 12 calculates an integrated travel distance L2 from the rotation signal supplied from the rotation detector 14 and a preset wheel diameter.

  The error calculation unit 113 calculates an error between the distance between ground elements L1 read from the distance between ground elements 111 and the accumulated travel distance L2 supplied from the distance calculation unit 112, and generates an error signal Er. To do. The generated error signal Er is transmitted T1 toward the ground device 2 through the transmission / reception unit 114, the on-board antenna 15, and the like. Transmission of the error signal Er from the on-vehicle device 11 to the ground device 2 may use a track circuit, a ground loop, or the like in addition to the illustrated wireless method.

  On the other hand, the ground device 2 calculates the safety margin value SB based on the error signal Er received from the onboard device 11, and transmits T2 the vehicle control signal including the safety margin value SB to the onboard device 11. .

  The distance L1 between the ground elements seen through the n ground elements 41 to 4n arranged at intervals is different, but the installation positions of the ground elements 41 to 4n are fixed. Therefore, the distance between ground elements L1 is, for example, a fixed value between the identified ground elements 41-42, and can be regarded as an absolute value. The distance between ground elements L1 is stored in a database 111 in the distance between ground elements 111 in the on-board device 11 together with ID information assigned to each of the ground elements 41 to 4n.

  On the other hand, the cumulative travel distance L2 is a fluctuating value that changes due to wear or polishing of the wheels 12. As the wheels 12 are worn and polished, the accumulated travel distance appears larger than the actual travel distance.

In the vehicle control apparatus according to the first embodiment, paying attention to the characteristics of the two distance information L1 and L2 described above, the distance between the ground-to-child distance L1 that is an absolute value and the accumulated travel distance L2 that is a variation value. The error is calculated on the on-vehicle device 11 side. In the case of the embodiment of FIG. 1, in the error calculation unit 113, the following equation (1),
Er = | L1-L2 | / L2 (1)
Thus, a proportional error signal Er is obtained. The error signal Er is transmitted T1 to the ground device 2.

The ground device 2 calculates the safety margin value SB for the vehicle position based on the error signal Er received R2 by the ground antenna 21 and the transmission / reception unit 22. The safety margin value SB is calculated by the following expression (2) in the arithmetic processing unit 23 constituting the ground device 2.
SB = Er * L2 (2)
Can be obtained. The safety margin value SB obtained in this way is added to the head or rear of the protective distance required between the preceding vehicle and the following vehicle. The safety margin value SB may be stored in the arithmetic processing unit 23 as a database.

  The ground device 2 transmits T2 the vehicle control signal including the safety margin value SB obtained as described above to the on-vehicle device 11 by the transmission / reception unit 22 and the ground antenna 21. The on-board device 11 receives R1 of the vehicle control signal transmitted from the ground device 2 by the on-board antenna 15 and the transmission / reception unit 114. Then, the received R1 signal is taken into the control unit 115, a speed command signal is supplied from the control unit 115 to the brake device 16, and the vehicle speed is controlled with the safety margin value SB.

  Here, as the wear and polishing of the wheel 12 progresses, the cumulative travel distance L2 as seen from the same distance L1 between the ground elements increases as the wheel 12 progresses, and the error signal Er increases as apparent from the equation (1). . Since the error signal Er is an error with respect to the ground-to-ground distance L1 which is an absolute value, when the error signal Er becomes large, in order to operate the vehicle 1 safely, a large margin corresponding to it must be secured. I must.

  In the case of the present invention, when the error signal Er increases, the safety margin value SB increases as understood from the equation (2). When the safety margin value SB is increased, the protection distance between the preceding vehicle and the succeeding vehicle is increased in the operation of the vehicle 1, and therefore, the vehicle belongs to the safety side.

  Conversely, when the error signal Er becomes small, the safety margin value SB becomes small. When the safety margin value SB is reduced, the operation distance of the vehicle 1 can be reduced because the protective distance between the preceding vehicle and the succeeding vehicle can be reduced.

  It is also possible to adjust the wheel diameter so that the accumulated travel distance L2 substantially coincides with the distance L1 between ground and child. In this case, the error signal Er and the safety margin value SB are minimized, and the vehicle is operated. Efficiency can be maximized.

  As is clear from the above description, in the case of the present invention, the wheel diameter is not directly measured and monitored, but the error signal Er obtained by the signal processing is monitored, so that the wheel diameter can be easily managed. become. In addition, since the information of the obtained error signal Er is transmitted to the ground device 2 side and can be centrally managed on the ground device 2 side, maintenance management of vehicle operation is rationalized.

<Vehicle Control Device According to Second Embodiment>
In the vehicle control apparatus according to the second embodiment, an error between the distance between ground elements L1 and the accumulated travel distance L2 is calculated on the ground apparatus 2 side. An example is shown in FIG. In FIG. 2, the same reference numerals are assigned to the parts corresponding to the constituent parts appearing in FIG.

  In the embodiment of FIG. 2, when the vehicle upper element 13 passes over the ground elements 41, 42, it is combined with the ground elements 41, 42 to identify the ground elements 41, 42, 42 ID information is transmitted T1 toward the ground device 2 by the transmission / reception unit 114 and the on-board antenna 15. Further, a rotation signal of the wheel 12 is supplied to the distance calculation unit 112 from the rotation detector 14 such as a speed generator. The distance calculation unit 12 calculates the integrated travel distance L2 from the rotation signal supplied from the rotation detector 14 and a preset wheel diameter. Information on the calculated integrated travel distance L2 is also transmitted T1 toward the ground device 2 by the transmission / reception unit 114 and the on-board antenna 15.

  On the other hand, the ground device 2 receives the signal T1 transmitted from the on-board device 11 by the ground antenna 21 and receives the two ground children combined from the information on the ground children 41 and 42 included in the received signal. For grounds 41 and 42, the distance L1 between ground and child is specified. Then, an error between the distance L1 between the ground and the accumulated travel distance L2 is calculated, a safety margin value SB is calculated based on the calculation result, a vehicle control signal including the safety margin value SB is generated, and the vehicle control signal is calculated. Transmit T2 toward the on-vehicle device 11.

  The ground device 2 shown in FIG. 2 includes a transmission / reception unit 22 and a calculation processing unit 23, and further includes an error calculation unit 113 and a distance between ground units 111. The error calculation unit 113 calculates an error between the distance between ground elements L1 read from the distance between ground elements 111 and the accumulated travel distance L2 supplied from the distance calculation unit 112, and generates an error signal Er. To do.

  The arithmetic processing unit 23 calculates a safety margin value SB based on the error signal Er supplied from the error calculation unit 113, and transmits a vehicle control signal including the safety margin value SB to the vehicle by the transmission / reception unit 22 and the ground antenna 21. Transmission T2 is performed toward the apparatus 11.

  The on-board device 11 receives R1 of the vehicle control signal transmitted T2 from the ground device 2 by the on-board antenna 15 and the transmission / reception unit 114. Then, the received R1 signal is taken into the control unit 115 from the transmission / reception unit 114, a speed command signal is supplied from the control unit 115 to the brake device 16, and the vehicle speed is controlled with the safety margin value SB.

  The method for calculating the error between the distance L1 between the ground and the accumulated travel distance L2 and calculating the safety margin value SB based on the calculation result is the same as in the embodiment of FIG. The same effect as the embodiment can be obtained.

1 is a diagram schematically showing an embodiment of a vehicle control device according to the present invention. It is a figure which shows another embodiment of the vehicle control apparatus which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle 11 On-board device 111 Ground element distance database 112 Distance calculation part 113 Error calculation part 114 Transmission / reception part 115 Control part 12 Wheel 13 Upper part 14 Rotation detector 15 On-board antenna 16 Brake apparatus
2 Ground device 21 On-board antenna 22 Transmission / reception device 23 Arithmetic processing unit 41, 42 Ground unit

Claims (2)

A vehicle control device including an on-vehicle device and a ground device,
The on-board device is:
When passing over a ground element installed along the traveling path of the vehicle, the ground element is identified by combining with the ground element, and the distance between the ground elements for the two ground elements combined before and after the identification Identify L1,
An integrated travel distance L2 is detected from the rotational speed and diameter of the wheels provided in the vehicle;
Calculating an error between the distance L1 between the ground and the total travel distance L2,
The ground device calculates the safety margin value based on the error information received from the on-board device, and transmits a vehicle control signal including the safety margin value to the on-board device.
Vehicle control device. A vehicle control device including an on-vehicle device and a ground device,
The on-board device is:
When passing over a ground element installed along the traveling path of the vehicle, the ground element is identified in combination with the ground element,
An integrated travel distance L2 is detected from the rotational speed and diameter of the wheels provided in the vehicle;
Send information on the identified ground child and the accumulated mileage information,
The ground device is
The signal transmitted from the on-board device is received, and from the information of the ground element included in the received signal, the distance L1 between the ground elements is specified for the two ground elements combined before and after,
An error between the ground distance L1 and the accumulated travel distance L2 is calculated, the safety margin value is calculated based on the calculation result, a vehicle control signal including the safety margin value is generated, and the vehicle control signal To the on-board device,
Vehicle control device.

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