JP2011024343A - Automatic train operating device and automatic train operating method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device and method for automatically operating a train, which can reduce influence on the operating time of the train even if train speed deviates from an operating curve. <P>SOLUTION: In the automatic train operating device 21, a normal operation curve 41 following an operation plan and a recovery operation curve 42 for recovering operation delay from the operation plan are set as operation curves 23 and train speed 26 is made to follow a target speed 24 obtained from the operation curve 23. The device has an operation curve switching part 12 switching the operation curve 41 from the normal operation curve 41 to the restoration operation curve 42 and makes the train speed 26 follow the target speed 24 obtained from the restoration operation curve 42 when the train speed 26 of the train 20 performing an operation following the target speed 24 obtained from the normal operation curve 41 is lower than the target speed 24 and a prescribed speed difference occurs. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to an automatic train operation device and an automatic train operation method, and in particular, an automatic train operation device having a function of detecting an abnormality during traveling between stations of a train and switching an operation curve when the abnormality occurs. It relates to the train operation method.

  A conventional automatic train driving device has a standard driving pattern (hereinafter referred to as “normal driving curve”) according to the driving plan and a plurality of corrected driving patterns (hereinafter referred to as “recovery driving curve”) for recovering the driving delay from the driving plan. When the difference from the diagram occurs, the optimum one is selected from the plurality of recovery operation curves, and the power running control device or brake device is This signal is controlled by giving a signal (for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 57-36505

  However, the conventional technique disclosed in Patent Document 1 matches a diagram when a train is stopped at one station, selects an operation curve corresponding to the diagram, and sets the train speed on the selected operation curve. However, while the train is traveling from one station to another station, the train speed may be reduced due to the occurrence of an abnormality (for example, a crew member performing a brake operation). In the case of deviation from the operation curve, there is a problem that the operation time of the train is affected.

  The present invention has been made in view of the above, and an automatic train operation device capable of reducing the influence on the train operation time even when the train speed deviates from the operation curve. And to get the automatic train operation method.

  In order to solve the above-described problems and achieve the object, the present invention sets, as an operation curve, a normal operation curve along the operation plan and a recovery operation curve that recovers an operation delay from the operation plan. In the automatic train driving apparatus for causing the train speed to follow the target speed obtained from the operation curve, the train speed of the train performing the operation following the first target speed obtained from the normal operation curve is the first speed. When the predetermined speed difference occurs and the operation curve is switched from the normal operation curve to the recovery operation curve, the train speed is changed to the second target speed obtained from the recovery operation curve. It has an operation curve switching part which makes it track.

  According to the present invention, the operation curve to be followed is changed from the normal operation curve to the recovery operation curve or from the recovery operation curve to the normal operation curve, so that the train speed is deviated from the operation curve. In addition, there is an effect that the influence on the operation time of the train can be reduced.

FIG. 1 is a diagram showing a configuration of an automatic train driving device according to an embodiment of the present invention. FIG. 2 is a diagram for explaining the operation when the train speed deviates from the normal operation curve. FIG. 3 is a diagram for explaining the operation when the train speed deviates from the recovery operation curve. FIG. 4 is a flowchart for determining the change of the operating curve.

  Embodiments of an automatic train operation device and an automatic train operation method according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment.
FIG. 1 is a diagram illustrating a configuration of an automatic train driving device according to an embodiment of the present invention, and FIG. 2 is a diagram for explaining an operation when a train speed deviates from a normal operation curve. FIG. 3 is a diagram for explaining the operation when the train speed deviates from the recovery operation curve.

  In FIG. 1, an automatic train control device 5, a train travel position recognition device 6, a train braking device 9, a train propulsion device 10, and an automatic train operation device 21 are mounted on a train 20.

  The automatic train driving device 21 includes a normal operation curve storage unit 1, a recovery operation curve storage unit 2, a train speed measurement unit 8, and an operation curve switching unit 12 as main components. The operation curve switching unit 12 includes an operation curve selection unit 3, a train target speed setting unit 4, a train speed control unit 7, and a target speed difference detection unit 11.

  The normal operation curve storage unit 1 stores a normal operation curve (hereinafter simply referred to as “normal curve”) 41, and the recovery operation curve storage device 2 stores a recovery operation curve (hereinafter simply referred to as “recovery curve”) 42. Are stored, and these operation curves are selected by an operation curve selection unit (hereinafter simply referred to as “selection unit”) 3. The selection unit 3 is controlled by a target speed difference detection unit (hereinafter simply referred to as “detection unit”) 11 described later.

  A train target speed setting unit (hereinafter simply referred to as “setting unit”) 4 includes an operation curve 23 selected by the selection unit 3, a speed limit 40 output from the automatic train control device 5, and a train travel position recognition device 6. The target speed 24 of the train 20 is determined on the basis of the current position 25 of the train output from.

  The train speed control unit (hereinafter simply referred to as “control unit”) 7 is configured to train speed based on the target speed 24 output from the setting unit 4 and the current train speed 26 output from the train speed measurement unit 8. Notch information 27 for 26 to follow the target speed 24 is output to the train braking device 9 and the train propulsion device 10.

  Hereinafter, the operation of each unit will be described in more detail. The detection unit 11 compares the train speed 26 output by the train speed measurement unit 8 with the target speed 24 output by the setting unit 4, and detects a predetermined speed difference. To do.

  When the normal curve 41 is selected, the selection unit 3 selects the recovery curve 42 based on the speed difference information 28 and outputs it as the operation curve (operation curve information) 23. The setting unit 4 outputs a target speed (target speed information) 24 in accordance with the operation curve 23, and the control unit 7 outputs notch information 27 so that the train speed 26 follows the target speed 24.

  When the recovery curve 42 is selected, the selection unit 3 selects the normal curve 41 based on the speed difference information 28 and outputs it as the operation curve (operation curve information) 23. The setting unit 4 outputs a target speed (target speed information) 24 in accordance with the operation curve 23, and the control unit 7 outputs notch information 27 so that the train speed 26 follows the target speed 24.

  Hereinafter, the operation of the automatic train driving device 21 will be described using a specific example of the driving curve. 2 and 3, when the train 20 travels from the departure station 30 to the arrival station (arrival place) 31, the automatic train driving device 21 usually has a speed not exceeding the speed limit 40 shown in the figure. A curve 41 and a recovery curve 42 are set. These curves are set for each section.

(Normal operation curve to recovery operation curve)
In FIG. 2, when the train 20 departs from the departure station 30 and the train speed 26 follows the normal curve 41 (A), for some reason (for example, when a crew member performs a brake operation), FIG. It is assumed that the train 20 decelerates near the abnormality occurrence point 50 shown in FIG. 4 and the train speed 26 deviates from the normal curve 41 in the deceleration direction (B). At this time, the detection unit 11 outputs the speed difference information 28 to the selection unit 3, and the selection unit 3 changes to the recovery curve 42 based on the speed difference information 28 (C).

  The setting unit 4 outputs the target speed 24 according to the operation curve 23 (recovery curve 42), and the control unit 7 outputs the notch information 27 so that the train speed 26 follows the target speed 24. The train braking device 9 or the train propulsion device 10 causes the train speed 26 to follow the target speed 24 based on the notch information 27.

  That is, the operation curve switching unit 12 is configured such that the train speed 26 of the train 20 performing the operation following the target speed (first target speed) 24 obtained from the normal curve 41 is lower than the first target speed, and When a predetermined speed difference occurs, the operation curve 24 is switched from the normal curve 41 to the recovery curve 42, and the train speed 26 is caused to follow the target speed (second target speed) 24 obtained from the recovery curve 42.

  These operations will be described with specific examples. For example, when the speed limit 40 is 75 km / h, the speed at the constant speed of the recovery curve 42 is 72 km / h, and the speed at the constant speed of the normal curve 41 is 70 km / h. When the train speed 26 near the abnormality occurrence point 50 decreases, for example, by about 2 km / h, the selection unit 3 switches from the normal curve 41 to the recovery curve 42.

  In the above description of (B), the case where the train 20 decelerates is described. However, the present invention is not limited to the case where the train 20 decelerates. For example, the train speed 26 is accelerated, but slightly from the normal curve 41. It also includes dissociated states.

(From recovery operation curve to normal operation curve)
In FIG. 3, when the train 20 is traveling following the recovery curve 42 (A), the train 20 is accelerated near the abnormality occurrence point 51 for some reason, and the train speed 26 is accelerated from the recovery curve 42. When the direction deviates (B), the detection unit 11 outputs the speed difference information 28 to the selection unit 3, and the selection unit 3 changes to the normal curve 41 based on the speed difference information 28 (C). .

  The setting unit 4 outputs the target speed 24 according to the new operation curve 23 (normal curve 41), and the control unit 7 outputs the notch information 27 so that the train speed 26 follows the target speed 24. The train braking device 9 or the train propulsion device 10 causes the train speed 26 to follow the target speed 24 based on the notch information 27.

  That is, the operation curve switching unit 12 is configured such that the train speed 26 of the train 20 performing the operation following the target speed (first target speed) 24 obtained from the recovery curve 42 exceeds the first target speed, and When a predetermined speed difference occurs, the operation curve 24 is switched from the recovery curve 42 to the normal curve 41, and the train speed 26 is caused to follow the target speed (second target speed) 24 obtained from the normal curve 41.

  These operations will be described with specific examples. For example, when the speed limit 40 is 75 km / h, the speed at the constant speed of the recovery curve 42 is 72 km / h, and the speed at the constant speed of the normal curve 41 is 70 km / h. When the train speed 26 near the abnormality occurrence point 51 increases, for example, by about 2 km / h, the selection unit 3 switches from the recovery curve 42 to the normal curve 41.

  In this way, when the train speed 26 deviates from the driving curve 23 that is being followed, the arrival time at the arrival station 31 may change, the automatic train driving device 21 may take the train 20 by acceleration / deceleration. In consideration of the deterioration of comfort, it is possible to reduce the influence on the driving time without repeating the switching of the driving curve 23.

  In other words, the selection unit 3 limits the switching from the normal curve 41 to the recovery curve 42 and the switching from the recovery curve 42 to the normal curve 41 in any one of the sections from the departure station 30 to the arrival station 31.

  FIG. 4 is a flowchart for determining the change of the operation curve 23. When the detection unit 11 compares the train speed 26 with the target speed 24 and determines that the train 20 is traveling and the train speed 26 deviates from the target speed 24 (step S10, Yes), the train speed It is determined whether 26 follows the normal curve 41 or the recovery curve 42.

  When the train speed 26 follows the normal curve 41 (step S <b> 11, Yes), the detection unit 11 outputs speed difference information 28 to the selection unit 3, and the selection unit 3 is based on the speed difference information 28. To change to the recovery curve 42 (step S12).

  In step S11, when the train speed 26 follows the recovery curve 42 (step S11, No), the detection unit 11 outputs speed difference information 28 to the selection unit 3, and the selection unit 3 displays the speed difference. Based on the information 28, the normal curve 41 is changed (step S13).

  When it is determined in step S10 that the train speed 26 is not deviated from the target speed 24 (No in step S10), the detection unit 11 enters a standby state.

  In the above description of the operation, the speed difference of the train speed 26 has been described using 2 km / h. However, the speed difference is not limited to this, and any speed difference other than 2 km / h may be used.

  In addition, the detection unit 11 may be configured to change the operation curve 23 in consideration of route data such as a route height difference or a gradient as a change condition of the target speed 24. For example, since the train 20 traveling on the uphill on the normal curve 41 is in a situation where it is difficult to shorten the driving time, in this case, the detection unit 11 uses the route data recorded in the automatic train driving device 21 in advance. The operation curve 23 is changed to the recovery curve 42 according to the kilometer and the train speed 26. In addition, for the train 20 traveling on the normal curve 41 on the downhill, the detection unit 11 changes the operation curve 23 to the normal curve 41 as described above. Thus, the automatic train driving device 21 according to the present embodiment can change the operation curve 23 by combining the disturbance and the route data by having the route data.

  2 and 3, the switching of the operation curve 23 from when the train 20 leaves the departure station 30 to the arrival station 31 is described. For example, from the arrival station 31 to another station It is also possible to take over the operation of changing the operation curve 23 from the train 20 to the departure station 30 during the period (not shown). That is, when the arrival time of the arrival station (arrival place) 31 in one section shown in FIG. 2 is delayed, the selection unit 3 selects the recovery curve 42 in the next section or later.

  As described above, the automatic train driving device 21 according to the present embodiment has a selected operation curve due to some abnormality when the train 20 travels between stations while following the operation curve 23. 23, when the train speed 26 deviates from the normal curve 41, the normal curve 41 is changed to the recovery curve 42, or the recovery curve 42 is changed to the normal curve 41. Therefore, the influence on the operation time of the train 20 can be reduced. Is possible. Further, when the train speed 26 exceeds the recovery operation curve during the recovery operation, it is immediately changed to the normal curve 41, so that unnecessary power running is suppressed and energy saving can be realized.

  As described above, the present invention can be applied to an automatic train operation apparatus and an automatic train operation method having a function of detecting an abnormality during traveling between stations of a train and switching an operation curve when the abnormality occurs. In particular, the invention is useful as an invention capable of reducing the influence on the operation time of a train.

DESCRIPTION OF SYMBOLS 1 Normal operation curve memory | storage part 2 Recovery operation curve memory | storage part 3 Operation curve selection part 4 Train target speed setting part 5 Automatic train control apparatus 6 Train travel position recognition apparatus 7 Train speed control part 8 Train speed measurement part 9 Train braking device 10 Train Propulsion device 11 Target speed difference detection unit 12 Operation curve switching unit 20 Train 21 Automatic train operation device 23 Operation curve 24 Target speed (first target speed, second target speed)
25 Current position 26 Train speed 27 Notch information 28 Speed difference information 30 Departure station 31 Arrival station (arrival place)
40 Speed limit 41 Normal operation curve 42 Recovery operation curve 50, 51 Abnormal point

Claims (7)

As the operation curve, a normal operation curve according to the operation plan and a recovery operation curve for recovering the operation delay from the operation plan are set, and the automatic train operation device causes the train speed to follow the target speed obtained from the operation curve. Because
When the train speed of the train performing the operation following the first target speed obtained from the normal operation curve is lower than the first target speed and a predetermined speed difference occurs, the operation curve Switching from the normal operation curve to the recovery operation curve, and having an operation curve switching unit that causes the train speed to follow the second target speed obtained from the recovery operation curve,
Automatic train operation device characterized by. As the operation curve, a normal operation curve according to the operation plan and a recovery operation curve for recovering the operation delay from the operation plan are set, and the automatic train operation device causes the train speed to follow the target speed obtained from the operation curve. Because
When the train speed of the train performing the operation following the first target speed obtained from the recovery operation curve exceeds the first target speed and a predetermined speed difference occurs, the operation curve Switching from the recovery operation curve to the normal operation curve, and having an operation curve switching unit that causes the train speed to follow the second target speed obtained from the normal operation curve,
Automatic train operation device characterized by. The operation curve switching unit is
A target speed difference detector for detecting a speed difference between the train speed and the target speed;
An operation curve selection unit that selects the normal operation curve or the recovery operation curve according to the speed difference information from the target speed difference detection unit;
A train target speed setting unit that sets the target speed based on the operation curve selected by the operation curve selection unit;
Based on the target speed information from the train target speed setting unit, a train speed control unit that controls the train speed,
The automatic train driving device according to claim 1 or 2, further comprising:   The operation curve selection unit restricts the switching from the normal operation curve to the recovery operation curve and the switching from the recovery operation curve to the normal operation curve only to any one of the switching. The automatic train driving apparatus as described in any one of 1-3.   The said operation curve selection part selects the said recovery operation curve as an operation curve after the following area, when the arrival time of the arrival place in one area is delayed. The automatic train operation apparatus as described in one. An automatic train operation method in which a normal operation curve according to an operation plan and a recovery operation curve that recovers an operation delay from the operation plan are set as the operation curve, and the train speed follows the target speed obtained from the operation curve. Because
A speed measurement step for measuring the train speed of the train that is operating to follow the first target speed obtained from the normal operation curve;
A target speed difference detecting step for detecting that the train speed measured in the speed measuring step is lower than the first target speed and that a predetermined speed difference has occurred;
An operation curve selection step for selecting the recovery operation curve based on speed difference information from the target speed difference detection step;
A train target speed setting step for setting a second target speed obtained from the recovery operation curve selected in the operation curve selection step;
A train speed control step for controlling the train speed based on second target speed information from the train target speed setting step;
An automatic train driving method comprising: An automatic train operation method in which a normal operation curve according to an operation plan and a recovery operation curve that recovers an operation delay from the operation plan are set as the operation curve, and the train speed follows the target speed obtained from the operation curve. Because
A speed measurement step for measuring a train speed of the train that is performing an operation following the first target speed obtained from the recovery operation curve;
A target speed difference detecting step for detecting that the train speed measured in the speed measuring step exceeds the first target speed and that a predetermined speed difference has occurred;
An operation curve selection step for selecting the normal operation curve based on speed difference information from the target speed difference detection step;
A train target speed setting step for setting a second target speed obtained from the normal operation curve selected in the operation curve selection step;
A train speed control step for controlling the train speed based on second target speed information from the train target speed setting step;
An automatic train driving method comprising:

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