JP2012046123A - Train stop position detecting device - Google Patents

Train stop position detecting device Download PDF

Info

Publication number
JP2012046123A
JP2012046123A JP2010191908A JP2010191908A JP2012046123A JP 2012046123 A JP2012046123 A JP 2012046123A JP 2010191908 A JP2010191908 A JP 2010191908A JP 2010191908 A JP2010191908 A JP 2010191908A JP 2012046123 A JP2012046123 A JP 2012046123A
Authority
JP
Japan
Prior art keywords
train
vehicle
fixed position
determination pattern
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2010191908A
Other languages
Japanese (ja)
Other versions
JP5511593B2 (en
Inventor
Hatsu Ueno
初 上野
Masahiro Yamaguchi
雅弘 山口
Hiroshi Kajiwara
浩 梶原
Satoshi Yamashita
悟司 山下
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kyosan Electric Manufacturing Co Ltd
Original Assignee
Kyosan Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kyosan Electric Manufacturing Co Ltd filed Critical Kyosan Electric Manufacturing Co Ltd
Priority to JP2010191908A priority Critical patent/JP5511593B2/en
Publication of JP2012046123A publication Critical patent/JP2012046123A/en
Application granted granted Critical
Publication of JP5511593B2 publication Critical patent/JP5511593B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

PROBLEM TO BE SOLVED: To check that a train is on-rail at a fixed position stop position with a simple configuration and processing.SOLUTION: A train stop position detecting device: measures a scan angle to edges A and B of both sides of connections 6 of a first vehicle 5a and a second vehicle 5b, and distance from a sensor reference position O to the edges A and B by scanning with a laser beam from an optical range finder 2; computes a position of a train traveling direction of the edges A and B of both sides of the connection part 6 of the first vehicle 5a and the second vehicle 5b to the fixed position reference position E which is a center of the train traveling direction of the fixed position stopping range of the train from the scan angle and the distance to the measured edges A and B; and determines whether the train is on-rail at the fixed position from the positions of the edges A and B to the computed fixed position reference position.

Description

この発明は、列車が駅の定位置停止範囲内に在線しているか否を判定する列車停止位置検知装置、特に検知精度の向上に関するものである。   The present invention relates to a train stop position detection device that determines whether or not a train is present within a fixed position stop range of a station, and particularly relates to an improvement in detection accuracy.

列車の制御システムは自動列車制御装置（以下、ＡＴＣ装置という）と自動列車運転制御装置（以下、ＡＴＯ装置という）を利用して運転操作等を自動化するとともに安全度の向上が図られている。ＡＴＣ装置を利用した運転方式では、軌道回路や軌道に沿って閉塞区間毎に設けたＡＴＣル−プにＡＴＣ地上装置から送られたＡＴＣ信号を列車の先頭車両に設けた受電器やＡＴＣアンテナで受信し、受信したＡＴＣ信号に基づき列車の速度を自動的に制限速度以下に制御している。このＡＴＣ装置として、近年は、多くの情報を伝送することができるデジタル式ＡＴＣ装置が採用されている。このデジタル式ＡＴＣ装置を採用することにより多現示化，多機能化が可能になり、速度制御以外の他の機能が実現可能となってきている。   The train control system uses an automatic train control device (hereinafter referred to as an ATC device) and an automatic train operation control device (hereinafter referred to as an ATO device) to automate driving operations and improve safety. In the driving method using the ATC device, the ATC signal sent from the ATC ground device to the ATC loop provided for each block section along the track circuit or track is received by the power receiver or ATC antenna provided in the head vehicle of the train. The train speed is automatically controlled below the speed limit based on the received ATC signal. In recent years, a digital ATC device capable of transmitting a large amount of information has been adopted as the ATC device. By adopting this digital ATC device, multiple indications and multiple functions can be realized, and functions other than speed control can be realized.

また、列車の定速度制御や定位置停止，ドア開閉などの運転操作を自動的に制御するデジタル式ＡＴＯ装置を採用することにより多機能化が可能になり、速度制御以外の他の機能が実現可能となっている。この列車を定位置に停止させるために、トランスポンダを利用した列車の停止位置検出装置が特許文献１等に開示されている。   In addition, by adopting a digital ATO device that automatically controls the operation of trains such as constant speed control, fixed position stop, and door opening / closing, multi-functionality is possible, and functions other than speed control are realized. It is possible. In order to stop the train at a fixed position, a train stop position detecting device using a transponder is disclosed in Patent Document 1 and the like.

特許文献１に示された列車停止位置検出装置の地上子４０は、図９（ａ）に示すように、列車の進行方向に沿って３個の電力波受信アンテナコイル４１ａ，４１ｂ，４１ｃを配置し、図９（ｂ）に示すように、車上子から送信している電力波を電力波受信アンテナコイル４１ａ、４１ｂ、４１ｃで受信したときの受信レベルＬａ，Ｌｂ，Ｌｃが閾値Ｌｓを超えているか否かにより列車の位置を判断し、電力波受信アンテナコイル４１ａの受信レベルＬａだけが閾値Ｌｓを超えている場合は、列車が所定の停止位置より手前の位置（ショート位置）にあると判定し、電力波受信アンテナコイル４１ｂの受信レベルＬｂだけが閾値Ｌｓを超えている場合は、列車が所定の停止位置（ジャスト位置）にあると判定し、電力波受信アンテナコイル４１ｃの受信レベルＬｃだけが閾値Ｌｓを超えている場合は、列車が所定の停止位置を超えた位置（オーバ位置）にあると判定している。   As shown in FIG. 9 (a), the ground element 40 of the train stop position detecting device disclosed in Patent Document 1 has three power wave receiving antenna coils 41a, 41b, and 41c arranged in the traveling direction of the train. As shown in FIG. 9B, the reception levels La, Lb, and Lc when the power wave transmitted from the vehicle top is received by the power wave receiving antenna coils 41a, 41b, and 41c exceed the threshold value Ls. The position of the train is determined based on whether or not it is, and if only the reception level La of the power wave receiving antenna coil 41a exceeds the threshold Ls, the train is at a position (short position) before the predetermined stop position. If only the reception level Lb of the power wave receiving antenna coil 41b exceeds the threshold value Ls, it is determined that the train is at a predetermined stop position (just position), and the power wave receiving antenna coil 41 is determined. If only the reception level Lc exceeds the threshold Ls are determined to be in a position where the train exceeds a predetermined stop position (over position).

また、複数の車両検出センサを利用した列車の停止位置検出装置が特許文献２に開示されている。特許文献２に示された列車停止位置検出装置は、第１の車両検出センサをプラットホームの列車停止位置より手前で、一車両分の車両長より短い距離の位置に設け、１又は複数の第２の車両検出センサを列車停止位置近くに設け、列車の先頭車両が第１の車両検出センサを通過したときから第２の車両検出センサを通過するまでの時間から、その間の平均速度を検出するとともに先頭車両が第２の車両検出センサを通過するときの平均速度を検出し、第１の車両検出センサと第２の車両検出センサとの間の平均速度が所定値以内であり、かつ第２の車両検出センサを通過するときの平均速度が所定値以内であるとき列車が定位置に停止すると予測している。   A train stop position detection apparatus using a plurality of vehicle detection sensors is disclosed in Patent Document 2. In the train stop position detection device disclosed in Patent Document 2, the first vehicle detection sensor is provided in front of the platform train stop position at a distance shorter than the vehicle length for one vehicle. The vehicle detection sensor is provided near the train stop position, and the average speed is detected from the time from when the leading vehicle of the train passes the first vehicle detection sensor until it passes the second vehicle detection sensor. An average speed when the leading vehicle passes the second vehicle detection sensor is detected, the average speed between the first vehicle detection sensor and the second vehicle detection sensor is within a predetermined value, and the second It is predicted that the train stops at a fixed position when the average speed when passing through the vehicle detection sensor is within a predetermined value.

トランスポンダは高価であり、列車の定位置停止確認のためトランスポンダを設置するためには多くの費用を必要とする。また、複数の列車検出センサを使用すると、列車検出センサの設置が複雑であるとともに列車が定位置に停止したかどうかを予測するため、ある程度の定位置停止の判定誤差は不可避である。   The transponder is expensive, and it requires a lot of cost to install the transponder for confirming that the train stops at a fixed position. In addition, when a plurality of train detection sensors are used, the installation of the train detection sensors is complicated, and it is predicted whether or not the train has stopped at a fixed position. Therefore, a certain error in the fixed position stop is inevitable.

この発明は、このような問題を解消し、簡単な構成と処理で列車の定位置停止位置に在線していることを確認できる列車停止位置検知装置を提供することを目的とするものである。   An object of the present invention is to provide a train stop position detection device that can solve such problems and can confirm that the train is located at a fixed position stop position of a train with a simple configuration and processing.

この発明の列車停止位置検知装置は、測距装置と処理装置とを有し、前記測距装置は、駅のプラットホーム上の所定の位置に、車両連結部の両側の車両の屋根又は側面に向けて設置され、列車の定位置停止位置を含む範囲に放射ビームを最大走査角度で扇状に走査し、最大走査角度の中心をセンサ基準線とした車両連結部の両側の車両のエッジ部までの走査角度と放射ビームの走査開始位置であるセンサ基準位置から車両連結部の両側の車両のエッジ部までの距離を前記処理装置に出力し、前記処理装置は、前記測距装置から入力した前記エッジ部までの距離と走査角度から列車の定位置停止範囲の列車進行方向の中心である定位置基準位置に対する前記車両連結部の両側の車両のエッジ部の列車進行方向の位置を算出し、算出した前記定位置基準位置に対する前記エッジ部の位置から列車が定位置に在線しているか否を判定することを特徴とする。   The train stop position detecting device according to the present invention includes a distance measuring device and a processing device, and the distance measuring device is directed to a predetermined position on the platform of the station toward a roof or a side surface of the vehicle on both sides of the vehicle connecting portion. Scanning to the edge of the vehicle on both sides of the vehicle connecting part with the center of the maximum scanning angle as the sensor reference line, scanning the radiation beam in the range including the fixed position stop position of the train. The angle and the distance from the sensor reference position, which is the scanning start position of the radiation beam, to the edge portions of the vehicles on both sides of the vehicle connecting portion are output to the processing device, and the processing device receives the edge portion input from the distance measuring device. The position of the train traveling direction of the edge part of the vehicle on both sides of the vehicle connecting part with respect to the fixed position reference position that is the center of the traveling direction of the train in the fixed position stop range of the train is calculated from the distance to and the scanning angle. Localization Train from the position of the edge portion with respect to the reference position and wherein the determining whether are Zaisen in place.

この発明の他の列車停止位置検知装置は、測距装置と処理装置とを有し、前記測距装置は、駅のプラットホーム上の所定の位置に、車両連結部の両側の車両の屋根又は側面に向けて設置され、列車の定位置停止位置を含む範囲に放射ビームを最大走査角度で扇状に走査し、最大走査角度の中心をセンサ基準線とした車両連結部の両側の車両のエッジ部までの走査角度と放射ビームの走査開始位置であるセンサ基準位置から車両連結部の両側の車両及び車両連結部までの距離を前記処理装置に出力し、前記処理装置は、前記測距装置の走査範囲内の車両までの距離の領域の定位置停止位置に対応する範囲に定位置判定パターンと、該定位置判定パターンの列車進行方向の前後の範囲にショート位置判定パターンとオーバー位置判定パターンとがあらかじめ設けられ、前記測距装置から入力する走査角度毎の列車までの距離とあらかじめ設定されたショート位置判定パターンと定位置判定パターンとオーバー位置判定パターンを照合し、各パターン上に列車が検出されるか否により、列車が定位置に在線しているか否を判定することを特徴とする。   Another train stop position detecting device of the present invention includes a distance measuring device and a processing device, and the distance measuring device is located at a predetermined position on the platform of the station, on the roof or side surface of the vehicle on both sides of the vehicle connecting portion. To the edge of the vehicle on both sides of the vehicle connecting part with the center of the maximum scanning angle as the sensor reference line, scanning the radiation beam at the maximum scanning angle in the range including the fixed position stop position of the train And the distance from the sensor reference position, which is the scanning start position of the radiation beam, to the vehicle on both sides of the vehicle connecting portion and the vehicle connecting portion is output to the processing device, and the processing device outputs a scanning range of the distance measuring device. A fixed position determination pattern in a range corresponding to a fixed position stop position in a region of the distance to the vehicle within, and a short position determination pattern and an over position determination pattern in a range before and after the fixed position determination pattern in the train traveling direction. The distance to the train for each scanning angle input from the distance measuring device, the preset short position determination pattern, the fixed position determination pattern, and the over position determination pattern are collated. It is characterized by determining whether the train is in a fixed position depending on whether it is detected.

前記ショート位置判定パターンとオーバー位置判定パターンは、それぞれ第１の判定パターンと第２の判定パターンを有し、前記第１の判定パターンは車両連結部の凹部に対応する位置に設けられ、第２の判定パターンは車両連結部の連結面に対応する位置に設けられていることが望ましい。   The short position determination pattern and the over position determination pattern have a first determination pattern and a second determination pattern, respectively, and the first determination pattern is provided at a position corresponding to the concave portion of the vehicle connecting portion. It is desirable that the determination pattern is provided at a position corresponding to the connecting surface of the vehicle connecting portion.

また、前記測距装置は、センサ基準位置は前記定位置基準位置を含む列車進行方向と直交する定位置基準面上に設置されていることが望ましい。   In the distance measuring device, the sensor reference position is preferably installed on a fixed position reference plane orthogonal to the train traveling direction including the fixed position reference position.

この発明は、放射ビームを走査して放射ビームの走査開始位置であるセンサ基準位置から車両連結部の両側の車両のエッジ部に対する走査角度とエッジ部までの距離を測定し、測定したエッジ部までの走査角度と距離から列車の定位置停止範囲の列車進行方向の中心である定位置基準位置に対する車両連結部の両側の車両のエッジ部の列車進行方向の位置を算出し、算出した定位置基準位置に対するエッジ部の位置から列車が定位置に在線しているか否を判定するから、トランスポンダや複数の列車検出センサを使用しないで簡単な構成で列車が定位置に在線しているか否を確認することができ、トランスポンダが設置されていない駅のプラットホーム４にもホーム柵等の安全装置を設置することができる。また、車両連結部の間隔はばらつきがあるが、車両連結部の両側の車両のエッジ部の位置を測定することにより車両連結部のばらつきの影響を受けないですむ。   The present invention scans a radiation beam, measures a scanning angle and a distance from the sensor reference position, which is a scanning start position of the radiation beam, to an edge portion of the vehicle on both sides of the vehicle connection portion and the measured edge portion. The position in the train traveling direction of the edge portion of the vehicle on both sides of the vehicle connecting portion with respect to the fixed position reference position that is the center of the train traveling direction in the fixed position stop range of the train is calculated from the scanning angle and distance of Since it is determined from the position of the edge part relative to the position whether the train is at a fixed position, it is confirmed whether the train is at a fixed position with a simple configuration without using a transponder or a plurality of train detection sensors. It is possible to install a safety device such as a platform fence on the platform 4 of a station where no transponder is installed. Further, although the interval between the vehicle connecting portions varies, it is not affected by the variation of the vehicle connecting portions by measuring the positions of the edge portions of the vehicles on both sides of the vehicle connecting portion.

また、測距装置の走査範囲内の車両までの距離の領域の定位置停止位置に対応する範囲に定位置判定パターンと、定位置判定パターンの列車進行方向の前後の範囲にショート位置判定パターンとオーバー位置判定パターンとをあらかじめ設けておき、測距装置から入力する走査角度毎の列車までの距離とあらかじめ設定されたショート位置判定パターンと定位置判定パターンとオーバー位置判定パターンを照合し、各パターン上に列車が検出されるか否により、列車が定位置に在線しているか否を判定することにより、列車が定位置に在線しているか否を簡単な構成で検出することができる。   Further, a fixed position determination pattern in a range corresponding to a fixed position stop position in a range of a distance to a vehicle within a scanning range of the distance measuring device, and a short position determination pattern in a range before and after the train traveling direction of the fixed position determination pattern Over position determination patterns are prepared in advance, the distance to the train for each scanning angle input from the distance measuring device, the preset short position determination pattern, the fixed position determination pattern, and the over position determination pattern are collated. By determining whether or not a train is present at a fixed position, whether or not the train is present at a fixed position can be detected with a simple configuration.

この発明の列車停止位置検知装置の構成を示すブロック図である。It is a block diagram which shows the structure of the train stop position detection apparatus of this invention. 光測距装置の配置を示す斜視図である。It is a perspective view which shows arrangement | positioning of an optical ranging device. 定位置停止範囲に対する光測距装置の配置図である。It is an arrangement plan of an optical ranging device with respect to a fixed position stop range. 定位置在線判定処理を示す模式図である。It is a schematic diagram which shows a fixed position existing line determination process. 他の定位置在線判定処理を示す模式図である。It is a schematic diagram which shows another fixed position existing line determination process. この発明の第２の列車停止位置検知装置の構成を示すブロック図である。It is a block diagram which shows the structure of the 2nd train stop position detection apparatus of this invention. 第２の列車停止位置検知装置における光測距装置の走査範囲に対応して設けた位置判定パターンの配置図である。It is a layout view of a position determination pattern provided corresponding to the scanning range of the optical distance measuring device in the second train stop position detection device. 第２の列車停止位置検知装置の定位置在線判定処理の状態を示す模式図である。It is a schematic diagram which shows the state of the fixed position existing line determination process of a 2nd train stop position detection apparatus. 従来のトランスポンダを使用した列車停止位置検出装置の構成図である。It is a block diagram of the train stop position detection apparatus using the conventional transponder.

図１はこの発明の列車停止位置検知装置の構成を示すブロック図である。図に示すように、列車停止位置検知装置１は、光測距装置２と処理装置３を有し、図２の配置図に示すように、駅のプラットホーム４に停止した列車の車両間の位置、例えば１両目の車両５ａと２両目の車両５ｂの連結部６の位置を検出して列車が所定の停止位置範囲（以下、定位置停止位置という）に在線しているかどうかを確認するものである。光測距装置２は、例えばレーザビームを鏡面に当て、この鏡面を回転振動させることにより、図３に示すように、レーザビームをあらかじめ設定された最大走査角度θで扇状に走査し、最大走査角度θを微小単位走査角度毎に多分割し、単位走査角度毎に距離を測定して、最大走査角度θの中心をセンサ基準線として単位走査角度毎の距離を出力するものであり、図２に示すように、駅のプラットホーム４の屋根７の列車の定位置停止範囲の列車進行方向の中心である定位置基準位置を含む列車進行方向と直交する定位置基準面上の位置に、車両５ａ，５ｂの屋根又は側面に向けて設置されている。   FIG. 1 is a block diagram showing the configuration of the train stop position detection apparatus of the present invention. As shown in the figure, the train stop position detecting device 1 has an optical distance measuring device 2 and a processing device 3, and as shown in the layout diagram of FIG. 2, the position between train vehicles stopped on the platform 4 of the station. For example, the position of the connecting portion 6 of the first vehicle 5a and the second vehicle 5b is detected to check whether the train is in a predetermined stop position range (hereinafter referred to as a fixed position stop position). is there. The optical distance measuring device 2 scans the laser beam in a fan shape at a preset maximum scanning angle θ as shown in FIG. 3 by, for example, applying a laser beam to the mirror surface and rotating and oscillating the mirror surface. The angle θ is divided into multiple unit scan angles, the distance is measured for each unit scan angle, and the distance for each unit scan angle is output with the center of the maximum scan angle θ as the sensor reference line. As shown in FIG. 4, the vehicle 5a is positioned at a position on the fixed position reference plane perpendicular to the train traveling direction including the fixed position reference position that is the center of the train traveling direction of the fixed position stop range of the train on the roof 7 of the station platform 4. , 5b facing the roof or side.

処理装置３は、エッジ検出部３１と演算処理部３２と位置判定部３３及び列車位置出力部３４を有する。エッジ検出部３１は光測距装置２から出力される走査角度毎の距離データを入力し、入力した距離データの変化から１両目の車両５ａと２両目の車両５ｂの連結部６におけるエッジ部を検出し、車両５ａ，５ｂのエッジ部の走査角度と距離を演算処理部３２に出力する。演算処理部３２はエッジ検出部３１から入力したエッジ部の走査角度と距離により列車の定位置停止範囲の列車進行方向の中心である定位置基準位置に対する１両目の車両５ａと２両目の車両５ｂの連結部６におけるエッジ部の位置を算出して位置判定部３３に出力する。位置判定部３３は演算処理部３２から入力した定位置停止位置の基準位置に対する１両目の車両５ａと２両目の車両５ｂの連結部６におけるエッジ部の位置から列車が定位置停止位置に在線しているか否を判定して列車位置出力部３４に出力する。列車位置出力部３４は位置判定部３３から入力する判定結果をホーム柵装置や列車制御装置に出力する。   The processing device 3 includes an edge detection unit 31, an arithmetic processing unit 32, a position determination unit 33, and a train position output unit 34. The edge detection unit 31 receives the distance data for each scanning angle output from the optical distance measuring device 2, and determines the edge portion in the connecting portion 6 of the first vehicle 5a and the second vehicle 5b from the change of the input distance data. And the scanning angle and distance of the edge portions of the vehicles 5a and 5b are output to the arithmetic processing unit 32. The arithmetic processing unit 32 determines the first vehicle 5a and the second vehicle 5b with respect to the fixed position reference position that is the center of the train moving direction in the fixed position stop range of the train based on the scanning angle and distance of the edge input from the edge detecting unit 31. The position of the edge part in the connecting part 6 is calculated and output to the position determination part 33. The position determination unit 33 connects the train to the fixed position stop position from the position of the edge portion in the connecting portion 6 of the first vehicle 5a and the second vehicle 5b with respect to the reference position of the fixed position stop position input from the arithmetic processing unit 32. It is determined whether or not the train is output to the train position output unit 34. The train position output unit 34 outputs the determination result input from the position determination unit 33 to the platform fence device or the train control device.

この列車停止位置検知装置１において、例えば図３の配置図に示すように、光測距装置２を、最大走査角度θの中心であるセンサ基準位置が列車の定位置停止範囲の列車進行方向の中心である定位置基準位置を含む列車進行方向と直交する定位置基準面Ｅ上にあるように配置したときに列車が定位置停止位置に在線しているか否を確認するときの処理を、図４の模式図を参照して説明する。   In this train stop position detection device 1, for example, as shown in the layout diagram of FIG. 3, the optical distance measurement device 2 is connected to the sensor reference position that is the center of the maximum scanning angle θ in the train traveling direction of the train fixed position stop range. The processing when confirming whether or not the train is located at the fixed position stop position when arranged so as to be on the fixed position reference plane E perpendicular to the traveling direction of the train including the fixed position reference position that is the center is shown in FIG. This will be described with reference to FIG.

列車の在線位置を検出するとき、光測距装置２はレーザビームの走査を開始し、単位走査角度毎に列車までの距離を測定して、単位走査角度毎の距離データを処理装置３に出力する。処理装置３のエッジ検出部３１は光測距装置２から入力する走査角度毎の距離データの変化から１両目の車両５ａの２両目の車両５ｂの連結部６における１両目の車両５ａのエッジ部Ａと２両目の車両５ｂのエッジ部Ｂを検出し、エッジ部Ａの走査角度αとセンサ基準位置Ｏからエッジ部Ａまでの距離ｄ１と、エッジ部Ｂの走査角度βとセンサ基準位置Ｏからエッジ部Ｂまでの距離ｄ２を演算処理部３２に出力する。演算処理部３２は、入力した１両目の車両５ａのエッジ部Ａの走査角度αとセンサ基準位置Ｏからエッジ部Ａまでの距離ｄ１からセンサ基準線ＯＣ、すなわち定位置基準面Ｅと１両目の車両５ａのエッジ部Ａの距離Ｘ１を算出し、２両目の車両５ｂのエッジ部Ｂの走査角度βとセンサ基準位置Ｏからエッジ部Ｂまでの距離ｄ２からセンサ基準線ＯＣと２両目の車両５ｂのエッジ部Ｂの距離Ｘ２を算出して位置判定部３３に出力する。位置判定部３３は入力した距離Ｘ１と距離Ｘ２を比較し、距離Ｘ１と距離Ｘ２が一致している場合は列車が定位置に在線していると判定し、距離Ｘ１が距離Ｘ２より大きい場合は列車が所定の停止位置を越えた位置（オーバー位置）に在線していると判定し、距離Ｘ１が距離Ｘ２より小さい場合は列車が所定の停止位置より手前の位置（ショート位置）に在線していると判定する。   When detecting the train position, the optical distance measuring device 2 starts scanning the laser beam, measures the distance to the train for each unit scanning angle, and outputs the distance data for each unit scanning angle to the processing device 3. To do. The edge detection unit 31 of the processing device 3 determines the edge portion of the first vehicle 5a in the connecting portion 6 of the second vehicle 5b of the first vehicle 5a from the change in the distance data for each scanning angle input from the optical distance measuring device 2. A and an edge portion B of the second vehicle 5b are detected, and from the scanning angle α of the edge portion A and the distance d1 from the sensor reference position O to the edge portion A, the scanning angle β of the edge portion B and the sensor reference position O The distance d2 to the edge part B is output to the arithmetic processing part 32. The arithmetic processing unit 32 calculates the sensor reference line OC, that is, the fixed position reference plane E and the first car from the input scanning angle α of the edge part A of the first car 5a and the distance d1 from the sensor reference position O to the edge part A. The distance X1 of the edge portion A of the vehicle 5a is calculated, the sensor reference line OC and the second vehicle 5b from the scanning angle β of the edge portion B of the second vehicle 5b and the distance d2 from the sensor reference position O to the edge portion B are calculated. The distance X2 of the edge portion B is calculated and output to the position determination unit 33. The position determination unit 33 compares the input distance X1 with the distance X2. If the distance X1 and the distance X2 match, the position determination unit 33 determines that the train is at a fixed position. If the distance X1 is greater than the distance X2, It is determined that the train is present at a position beyond the predetermined stop position (over position), and if the distance X1 is smaller than the distance X2, the train is present at a position before the predetermined stop position (short position). It is determined that

このようにしてトランスポンダや複数の列車検出センサを使用しないで、簡単な構成で列車が定位置停止位置に在線しているか否を確認することができ、トランスポンダが設置されていない駅のプラットホーム４にもホーム柵等の安全装置を設置することができる。また、１両目の車両５ａと２両目の車両５ｂの連結部６の間隔Ｌはばらつきがある。このため例えば１両目の車両５ａのエッジ部Ａの位置だけを測定した場合は連結部６のばらつきを吸収できないが、１両目の車両５ａのエッジ部Ａと２両目の車両５ｂのエッジ部Ｂの位置を検出することにより連結部６のばらつきを吸収することができる。   Thus, without using a transponder or a plurality of train detection sensors, it is possible to check whether or not the train is at the fixed position stop position with a simple configuration, and to the platform 4 of the station where the transponder is not installed. Can also be installed with safety devices such as home fences. Further, the distance L between the connecting portions 6 of the first vehicle 5a and the second vehicle 5b varies. For this reason, for example, when only the position of the edge portion A of the first vehicle 5a is measured, the variation of the connecting portion 6 cannot be absorbed, but the edge portion A of the first vehicle 5a and the edge portion B of the second vehicle 5b are not. By detecting the position, variations in the connecting portion 6 can be absorbed.

前記説明では光測距装置２を、最大走査角度θの中心であるセンサ基準位置Ｏが定位置基準面Ｅ上にあるように配置した場合について説明したが、図５の模式図に示すようにセンサ基準位置Ｏを定位置基準面Ｅより列車進行方向の前後にずらして光測距装置２を配置しても良い。   In the above description, the optical distance measuring device 2 has been described so that the sensor reference position O that is the center of the maximum scanning angle θ is located on the fixed position reference plane E. However, as shown in the schematic diagram of FIG. The optical distance measuring device 2 may be arranged by shifting the sensor reference position O from the fixed position reference plane E back and forth in the train traveling direction.

この場合、定位置基準面Ｅとセンサ基準線ＯＣと距離Ｘと、センサ基準線ＯＣと１両目の車両５ａのエッジ部Ａの距離Ｘ１及びセンサ基準線ＯＣと２両目の車両５ｂのエッジ部Ｂの距離Ｘ２を使用して定位置基準面Ｅとエッジ部Ａとの距離及び定位置基準面Ｅとエッジ部Ｂとの距離を算出して比較することにより、列車が定位置停止位置に在線しているか否を検出することができる。   In this case, the fixed position reference plane E, the sensor reference line OC and the distance X, the sensor reference line OC and the distance X1 of the edge portion A of the first vehicle 5a, and the sensor reference line OC and the edge portion B of the second vehicle 5b. By calculating and comparing the distance between the fixed position reference plane E and the edge portion A and the distance between the fixed position reference plane E and the edge portion B using the distance X2 of the train, the train is located at the fixed position stop position. It can be detected whether or not.

前記説明では定位置基準面Ｅと１両目の車両５ａのエッジ部Ａの距離と、定位置基準面Ｅと２両目の車両５ｂのエッジ部Ｂの距離を比較して列車が定位置に在線しているか否を判定する場合について説明したが、１両目の車両５ａと２両目の車両５Ｂの連結部６の位置を検出してパターン比較により列車が定位置に在線しているか否を判定する列車停止位置検知装置１ａについて説明する。   In the above description, the distance between the fixed position reference plane E and the edge portion A of the first vehicle 5a is compared with the distance between the fixed position reference plane E and the edge portion B of the second vehicle 5b. The train for determining whether or not the train is present at a fixed position through pattern comparison by detecting the position of the connecting portion 6 of the first vehicle 5a and the second vehicle 5B has been described. The stop position detection device 1a will be described.

列車停止位置検知装置１ａの処理装置３ａは、図６のブロック図に示すように、パターン判定部３５と列車位置出力部３４を有し、光測距装置２はセンサ基準位置Ｏが定位置基準面Ｅ上にあるように配置されている。処理装置３のパターン判定部３５には、図７に示すように、光測距装置２の走査範囲内で車両の定位置停止位置に対応する範囲に定位置判定パターン８Ｃが設けられ、その列車進行方向の前後の範囲にショート位置判定パターン８Ａ，８Ｂとオーバー位置判定パターン８Ｄ，８Ｅとがあらかじめ設けられている。このショート位置判定パターン８Ａ，８Ｂとオーバー位置判定パターン８Ｄ，８Ｅのうちショート位置判定パターン８Ｂとオーバー位置判定パターン８Ｄは１両目の車両５ａと２両目の車両５ｂの連結部６の凹部に対応し、ショート位置判定パターン８Ａとオーバー位置判定パターン８Ｅは連結部６の連結部に対応している。そしてパターン比較部３５は光測距装置２から入力する走査角度毎の列車までの距離とあらかじめ設定されたショート位置判定パターン８Ａ，８Ｂと定位置判定パターン８Ｃとオーバー位置判定パターン８Ｄ，８Ｅを照合し、各パターン上に列車が検出されるか否により、列車が定位置に在線しているか否を判定する。   As shown in the block diagram of FIG. 6, the processing device 3 a of the train stop position detection device 1 a includes a pattern determination unit 35 and a train position output unit 34, and the optical distance measuring device 2 has a sensor reference position O that is a fixed position reference. It arrange | positions so that it may exist on the surface E. FIG. The pattern determination unit 35 of the processing device 3 is provided with a fixed position determination pattern 8C in a range corresponding to the fixed position stop position of the vehicle within the scanning range of the optical distance measuring device 2, as shown in FIG. Short position determination patterns 8A and 8B and over position determination patterns 8D and 8E are provided in advance in a range before and after the traveling direction. Of the short position determination patterns 8A and 8B and the over position determination patterns 8D and 8E, the short position determination pattern 8B and the over position determination pattern 8D correspond to the recesses of the connecting portion 6 of the first vehicle 5a and the second vehicle 5b. The short position determination pattern 8A and the over position determination pattern 8E correspond to the connecting portion of the connecting portion 6. Then, the pattern comparison unit 35 compares the distance to the train for each scanning angle input from the optical distance measuring device 2, the preset short position determination patterns 8A and 8B, the fixed position determination pattern 8C, and the over position determination patterns 8D and 8E. Whether or not the train is present at a fixed position is determined based on whether or not the train is detected on each pattern.

すなわち、図８（ａ）に示すように、１両目の車両５ａがショート位置判定パターン８Ａ，８Ｂと定位置判定パターン８Ｃ及びオーバー位置判定パターン８Ｄ，８Ｅの位置に達して１両目の車両５ａと２両目の車両５ｂの連結部６が定位置停止位置より列車の進行方向の後方にあり、図７（ａ）に示すように、１両目の車両５ａの位置をショート位置判定パターン８Ｂと定位置判定パターン８Ｃ及びオーバー位置判定パターン８Ｄ上で検出したとき、列車がショート位置に在線していると判定する。また、図８（ｂ）に示すように、１両目の車両５ａの位置をショート位置判定パターン８Ｂ上で検出しなく、１両目の車両５ａと２両目の車両５ｂの連結部６の連結面の位置をショート位置判定パターン８Ａ上で検出し、１両目の車両５ａの位置を定位置判定パターン８Ｃとオーバー位置判定パターン８Ｄ上で検出したとき、列車がショート位置に在線していると判定する。このように１両目の車両５ａの位置をショート位置判定パターン８Ｂ上で検出しないで１両目の車両５ａと２両目の車両５ｂの連結部６の連結面の位置をショート位置判定パターン８Ａ上で検出することにより連結部６の位置を確実に検出することができる。   That is, as shown in FIG. 8A, the first vehicle 5a reaches the positions of the short position determination patterns 8A and 8B, the fixed position determination pattern 8C, and the over position determination patterns 8D and 8E, and the first vehicle 5a The connecting portion 6 of the second vehicle 5b is behind the fixed position stop position in the traveling direction of the train, and as shown in FIG. 7A, the position of the first vehicle 5a is set to the short position determination pattern 8B and the fixed position. When detected on the determination pattern 8C and the over-position determination pattern 8D, it is determined that the train is at the short position. Further, as shown in FIG. 8B, the position of the first vehicle 5a is not detected on the short position determination pattern 8B, and the connection surface of the connecting portion 6 of the first vehicle 5a and the second vehicle 5b is not detected. When the position is detected on the short position determination pattern 8A and the position of the first vehicle 5a is detected on the fixed position determination pattern 8C and the over position determination pattern 8D, it is determined that the train is on the short position. Thus, the position of the connecting surface of the connecting portion 6 of the first vehicle 5a and the second vehicle 5b is detected on the short position determination pattern 8A without detecting the position of the first vehicle 5a on the short position determination pattern 8B. By doing so, the position of the connecting portion 6 can be reliably detected.

また、図８（ｃ）に示すように、１両目の車両５ａと２両目の車両５ｂの連結部６が定位置停止位置にあり、図７（ｂ）に示すように、２両目の車両５ｂの位置をショート位置判定パターン８Ｂで検出し、１両目の車両５ａと２両目の車両５ｂ及び連結部６の位置を定位置判定パターン８Ｃ上で検出し、１両目の車両５ａの位置をオーバー位置判定パターン８Ｄ上で検出したとき、列車が定位置停止位置に在線していると判定する。このとき定位置判定パターン８Ｃ上で１両目の車両５ａと２両目の車両５ｂの間の連結部６とその幅を確認することができる。   Further, as shown in FIG. 8 (c), the connecting portion 6 of the first vehicle 5a and the second vehicle 5b is at the fixed position stop position, and as shown in FIG. 7 (b), the second vehicle 5b. Is detected by the short position determination pattern 8B, the positions of the first vehicle 5a, the second vehicle 5b and the connecting portion 6 are detected on the fixed position determination pattern 8C, and the position of the first vehicle 5a is over-positioned. When detected on the determination pattern 8D, it is determined that the train is present at the fixed position stop position. At this time, the connecting portion 6 between the first vehicle 5a and the second vehicle 5b and the width thereof can be confirmed on the fixed position determination pattern 8C.

また、図８（ｄ）に示すように、２両目の車両５ａの位置をショート位置判定パターン８Ｂと定位置判定パターン８Ｃ上で検出し、オーバー位置判定パターン８Ｄ上で車両の位置を検出しなく、１両目の車両５ａと２両目の車両５ｂの連結部６の連結面の位置をオーバー位置判定パターン８Ｅ上で検出しているとき、列車がオーバー位置に在線していると判定する。また、図８（ｅ）に示すように、２両目の車両５ａの位置をショート位置判定パターン８Ｂと定位置判定パターン８Ｃ及びオーバー位置判定パターン８Ｄ上で検出しているとき、列車がオーバー位置に在線していると判定する。   Further, as shown in FIG. 8D, the position of the second vehicle 5a is detected on the short position determination pattern 8B and the fixed position determination pattern 8C, and the position of the vehicle is not detected on the over position determination pattern 8D. When the position of the connecting surface of the connecting portion 6 of the first vehicle 5a and the second vehicle 5b is detected on the over position determination pattern 8E, it is determined that the train is in the over position. Further, as shown in FIG. 8E, when the position of the second vehicle 5a is detected on the short position determination pattern 8B, the fixed position determination pattern 8C, and the over position determination pattern 8D, the train is in the over position. It is determined that there is a line.

このように進行しているとき及び停止しているとき、光測距装置２で１両目の車両５ａと２両目の車両５ｂ及び連結部６の位置を検出し、検出した１両目の車両５ａと２両目の車両５ｂ及び連結部６の位置がショート位置判定パターン８Ａ，８Ｂと定位置判定パターン８Ｃ及びオーバー位置判定パターン８Ｄ，８Ｅ上にあるかどうかを判定することにより、列車が定位置に在線しているか否を簡単な構成で検出することができる。   When the vehicle is traveling and stopped, the optical distance measuring device 2 detects the positions of the first vehicle 5a, the second vehicle 5b, and the connecting portion 6, and the detected first vehicle 5a By determining whether the positions of the second vehicle 5b and the connecting portion 6 are on the short position determination patterns 8A and 8B, the fixed position determination pattern 8C, and the over position determination patterns 8D and 8E, the train is in a fixed position. It can be detected with a simple configuration.

１；列車停止位置検知装置、２；光測距装置、３；処理装置、
４；プラットホーム、５；車両、６；連結部、７；屋根、３１；エッジ検出部、
３２；演算処理部、３３；位置判定部、３４；列車位置出力部、
３５；パターン判定部。 1; train stop position detection device, 2; optical distance measuring device, 3; processing device,
4; Platform, 5; Vehicle, 6; Connection part, 7; Roof, 31; Edge detection part,
32; arithmetic processing unit, 33; position determination unit, 34; train position output unit,
35; a pattern determination unit.

特開２００１−１５１１１２号公報JP 2001-151112 A 特開平６−２７８５９９号公報JP-A-6-278599

Claims (4)

測距装置と処理装置とを有し、
前記測距装置は、駅のプラットホーム上の所定の位置に、車両連結部の両側の車両の屋根又は側面に向けて設置され、列車の定位置停止位置を含む範囲に放射ビームを最大走査角度で扇状に走査し、最大走査角度の中心をセンサ基準線とした車両連結部の両側の車両のエッジ部までの走査角度と放射ビームの走査開始位置であるセンサ基準位置から車両連結部の両側の車両のエッジ部までの距離を前記処理装置に出力し、
前記処理装置は、前記測距装置から入力した前記エッジ部までの距離と走査角度から列車の定位置停止範囲の列車進行方向の中心である定位置基準位置に対する前記車両連結部の両側の車両のエッジ部の列車進行方向の位置を算出し、算出した前記定位置基準位置に対する前記エッジ部の位置から列車が定位置に在線しているか否を判定することを特徴とする列車停止位置検知装置。 A ranging device and a processing device;
The distance measuring device is installed at a predetermined position on the platform of the station toward the roof or side of the vehicle on both sides of the vehicle connecting portion, and the radiation beam is projected at a maximum scanning angle in a range including the fixed position stop position of the train. Vehicles on both sides of the vehicle connecting portion from the sensor reference position, which is a scanning angle to the edge of the vehicle on both sides of the vehicle connecting portion with the center of the maximum scanning angle as the sensor reference line and the scanning start position of the radiation beam. Output the distance to the edge of the processing unit,
The processing device is configured such that the vehicle on both sides of the vehicle connecting portion with respect to a fixed position reference position that is a center in a train traveling direction of a fixed position stop range of a train from a distance and a scanning angle input from the distance measuring device to the edge portion. A train stop position detection device that calculates a position of an edge portion in a traveling direction of a train and determines whether a train is present at a fixed position from the position of the edge portion with respect to the calculated fixed position reference position. 測距装置と処理装置とを有し、
前記測距装置は、駅のプラットホーム上の所定の位置に、車両連結部の両側の車両の屋根又は側面に向けて設置され、列車の定位置停止位置を含む範囲に放射ビームを最大走査角度で扇状に走査し、最大走査角度の中心をセンサ基準線とした車両連結部の両側の車両のエッジ部までの走査角度と放射ビームの走査開始位置であるセンサ基準位置から車両連結部の両側の車両及び車両連結部までの距離を前記処理装置に出力し、
前記処理装置は、前記測距装置の走査範囲内の車両までの距離の領域の定位置停止位置に対応する範囲に定位置判定パターンと、該定位置判定パターンの列車進行方向の前後の範囲にショート位置判定パターンとオーバー位置判定パターンとがあらかじめ設けられ、前記測距装置から入力する走査角度毎の列車までの距離とあらかじめ設定されたショート位置判定パターンと定位置判定パターンとオーバー位置判定パターンを照合し、各パターン上に列車が検出されるか否により列車が定位置に在線しているか否を判定することを特徴とする列車停止位置検知装置。 A ranging device and a processing device;
The distance measuring device is installed at a predetermined position on the platform of the station toward the roof or side of the vehicle on both sides of the vehicle connecting portion, and the radiation beam is projected at a maximum scanning angle in a range including the fixed position stop position of the train. Vehicles on both sides of the vehicle connecting portion from the sensor reference position, which is a scanning angle to the edge of the vehicle on both sides of the vehicle connecting portion with the center of the maximum scanning angle as the sensor reference line and the scanning start position of the radiation beam. And the distance to the vehicle connecting portion is output to the processing device,
The processing device includes a fixed position determination pattern in a range corresponding to a fixed position stop position in a distance range to a vehicle within a scanning range of the distance measuring device, and a range before and after the fixed position determination pattern in the train traveling direction. Short position determination pattern and over position determination pattern are provided in advance, the distance to the train for each scanning angle input from the distance measuring device, preset short position determination pattern, fixed position determination pattern, and over position determination pattern A train stop position detection device that performs collation and determines whether a train is present at a fixed position based on whether a train is detected on each pattern. 前記ショート位置判定パターンとオーバー位置判定パターンは、それぞれ第１の判定パターンと第２の判定パターンを有し、前記第１の判定パターンは車両連結部の凹部に対応する位置に設けられ、第２の判定パターンは車両連結部の連結面に対応する位置に設けられていることを特徴とする請求項２記載の列車停止位置検知装置。   The short position determination pattern and the over position determination pattern have a first determination pattern and a second determination pattern, respectively, and the first determination pattern is provided at a position corresponding to the concave portion of the vehicle connecting portion. The train stop position detection device according to claim 2, wherein the determination pattern is provided at a position corresponding to a connection surface of the vehicle connection portion. 前記測距装置は、センサ基準位置は前記定位置基準位置を含む列車進行方向と直交する定位置基準面上に設置されていることを特徴とする請求項１乃至３のいずれかに記載の列車停止位置検知装置。   4. The train according to claim 1, wherein the distance measuring device has a sensor reference position installed on a fixed position reference plane orthogonal to a train traveling direction including the fixed position reference position. 5. Stop position detection device.
JP2010191908A 2010-08-30 2010-08-30 Train stop position detector Active JP5511593B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2010191908A JP5511593B2 (en) 2010-08-30 2010-08-30 Train stop position detector

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2010191908A JP5511593B2 (en) 2010-08-30 2010-08-30 Train stop position detector

Publications (2)

Publication Number Publication Date
JP2012046123A true JP2012046123A (en) 2012-03-08
JP5511593B2 JP5511593B2 (en) 2014-06-04

Family

ID=45901506

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2010191908A Active JP5511593B2 (en) 2010-08-30 2010-08-30 Train stop position detector

Country Status (1)

Country Link
JP (1) JP5511593B2 (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014111423A (en) * 2012-10-29 2014-06-19 Kyosan Electric Mfg Co Ltd Train position determination system
JP2015105052A (en) * 2013-12-02 2015-06-08 三菱電機株式会社 Vehicle stop position detector
JP2015168272A (en) * 2014-03-04 2015-09-28 サクサ株式会社 Gap falling detection system
JP6000488B1 (en) * 2015-09-17 2016-09-28 三菱重工交通機器エンジニアリング株式会社 Train position detection device, train stop detection device, train position detection method, and train stop detection method
WO2017008785A1 (en) * 2015-07-10 2017-01-19 Pintsch Bamag Antriebs- Und Verkehrstechnik Gmbh Arrangement and method for generating a door release signal for platform doors
JP2021047142A (en) * 2019-09-20 2021-03-25 株式会社デンソーウェーブ Vehicle detection device
JP2021050995A (en) * 2019-09-25 2021-04-01 株式会社デンソーウェーブ Train car detector

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03295759A (en) * 1990-04-12 1991-12-26 Hitachi Ltd Monitoring device
JPH06278599A (en) * 1993-03-29 1994-10-04 Koito Ind Ltd Train stop position detecting device
JPH08239041A (en) * 1995-03-03 1996-09-17 Nippon Signal Co Ltd:The Home door controller
JP2001151112A (en) * 1999-11-25 2001-06-05 Kyosan Electric Mfg Co Ltd Train stopping position detecting device
JP2011020657A (en) * 2009-07-21 2011-02-03 Nippon Signal Co Ltd:The Platform door system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03295759A (en) * 1990-04-12 1991-12-26 Hitachi Ltd Monitoring device
JPH06278599A (en) * 1993-03-29 1994-10-04 Koito Ind Ltd Train stop position detecting device
JPH08239041A (en) * 1995-03-03 1996-09-17 Nippon Signal Co Ltd:The Home door controller
JP2001151112A (en) * 1999-11-25 2001-06-05 Kyosan Electric Mfg Co Ltd Train stopping position detecting device
JP2011020657A (en) * 2009-07-21 2011-02-03 Nippon Signal Co Ltd:The Platform door system

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014111423A (en) * 2012-10-29 2014-06-19 Kyosan Electric Mfg Co Ltd Train position determination system
JP2015105052A (en) * 2013-12-02 2015-06-08 三菱電機株式会社 Vehicle stop position detector
JP2015168272A (en) * 2014-03-04 2015-09-28 サクサ株式会社 Gap falling detection system
WO2017008785A1 (en) * 2015-07-10 2017-01-19 Pintsch Bamag Antriebs- Und Verkehrstechnik Gmbh Arrangement and method for generating a door release signal for platform doors
JP6000488B1 (en) * 2015-09-17 2016-09-28 三菱重工交通機器エンジニアリング株式会社 Train position detection device, train stop detection device, train position detection method, and train stop detection method
JP2017056931A (en) * 2015-09-17 2017-03-23 三菱重工交通機器エンジニアリング株式会社 Train position detector, train stop detector, train position detecting method, and train stop detecting method
JP2021047142A (en) * 2019-09-20 2021-03-25 株式会社デンソーウェーブ Vehicle detection device
JP7347065B2 (en) 2019-09-20 2023-09-20 株式会社デンソーウェーブ Vehicle detection device
JP2021050995A (en) * 2019-09-25 2021-04-01 株式会社デンソーウェーブ Train car detector
JP7287217B2 (en) 2019-09-25 2023-06-06 株式会社デンソーウェーブ vehicle detector

Also Published As

Publication number Publication date
JP5511593B2 (en) 2014-06-04

Similar Documents

Publication Publication Date Title
JP5511593B2 (en) Train stop position detector
CN107179530B (en) Device for determining an offset of a detection device mounted on a vehicle
KR101405193B1 (en) Driving lane recognition method and system
US6842189B2 (en) Road monitoring method for a vehicle and a system thereof
KR101927155B1 (en) Method and system for recognizing space of shoulder of road
US11243292B2 (en) Automatic calibration of a vehicle radar sensor
CN102590793A (en) Method for operating sensor of vehicle and vehicle having sensor
WO2019082700A1 (en) Control device, control method, program, and storage medium
JP5963400B2 (en) Method and apparatus for detecting train stop position
JP2011037371A (en) Train position detection device
JP2006258598A (en) Object detection apparatus for vehicle
JP6748733B2 (en) Communication control device, charge collection system, communication control method and program
JP2009073397A (en) Train position detection device and mobile radio
CN111094104B (en) Detecting and optimizing stop point accuracy for a vehicle
JP5428443B2 (en) Road-to-vehicle communication system
JP6966280B2 (en) Lane control devices, wireless communication systems, wireless communication methods and programs
KR101571938B1 (en) System for controlling train
JP4578288B2 (en) Overrun prevention control device
JP4931951B2 (en) Train position detection device
JP4739012B2 (en) Automatic traveling cart
KR100807098B1 (en) Signal control system using laser detector
JP6997573B2 (en) How to install roadside antenna, wireless communication system and roadside antenna
JP7338297B2 (en) Vehicle detection device and platform door control system
KR101139432B1 (en) car position distinction apparatus and the method of distinguishing car position on the multi-lane and non-stop basis
JP2002108452A (en) Travel controller of unmanned vehicle

Legal Events

Date Code Title Description
RD03 Notification of appointment of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7423

Effective date: 20111226

RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20120120

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20130617

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20140318

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20140325

R150 Certificate of patent or registration of utility model

Ref document number: 5511593

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250