JP2017167669A - Transportation system - Google Patents
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Abstract
Description
本発明は、先頭車両に１台以上の後続自走車が相互に機械的に連結されることなく追従して移動する交通システムに関するものである。 The present invention relates to a traffic system in which one or more following self-propelled vehicles move following a leading vehicle without being mechanically connected to each other.
特開２０００−１１２５２３号公報（特許文献１）及び特開２０００−１１３３９９号公報（特許文献２）には、先頭車に対して無人運転される後続車の走行追従軌跡精度が高い縦列での縦列走行を実現した自動追従走行システムが開示されている。 In JP 2000-112523 A (Patent Document 1) and JP 2000-113399 A (Patent Document 2), columns in a column with high traveling follow-up trajectory accuracy of a following vehicle that is unmanned with respect to the leading vehicle are disclosed. An automatic following traveling system that realizes traveling is disclosed.
従来のシステムでは、先頭車に対して無人運転される後続車の走行追従軌跡精度が高い縦列での縦列走行は実現できる。しかしながら従来のシステムを見た当業者が、運転手によって運転されるか又は自動で運転される複数台の自走車が、自走車列を構成しながら、運行指令発生部から与えられる運行指令に従って、１以上の交差点を有する経路を通って移動する際に、先頭を移動する先頭自走車に、先頭自走車の目的地と同じ目的地に移動するか又は先頭自走車の目的地に至るまでの途中までは同じ経路を通る目的地へ移動する１台以上の後続自走車を相互に機械的に連結することなく追従させて移動する交通システムを構築する場合において、追従する１台以上の後続自走車をどのようなタイミングで分離・連結すれば、このシステムを有効に活用できるかを案出することはできない。 In the conventional system, it is possible to realize tandem traveling in a tandem with high traveling follow-up track accuracy of the following vehicle that is driven unattended with respect to the leading vehicle. However, a person skilled in the art who has seen a conventional system has a driving command given from the driving command generation unit while a plurality of self-propelled vehicles driven by a driver or automatically operated constitute a self-propelled vehicle train. According to the above, when traveling through a route having one or more intersections, the leading self-propelled vehicle that moves at the top moves to the same destination as the leading self-propelled vehicle or the destination of the leading self-propelled vehicle In the case of constructing a traffic system in which one or more following self-propelled vehicles moving to the destination passing through the same route are tracked without being mechanically connected to each other until the middle of It is not possible to devise how effectively this system can be used effectively by separating and connecting more than one vehicle.
本発明の目的は、先頭自走車の目的地と同じ目的地に移動するか又は先頭自走車の目的地に至るまでの途中までは同じ経路を通る目的地へ移動する１台以上の後続自走車を相互に機械的に連結することなく追従させて移動する交通システムにおいて、１台以上の後続自走車の分離・追従を繰り返すことにより交通システムを有効に活用できるようにすることにある。 The object of the present invention is to move to the same destination as the destination of the leading self-propelled vehicle or to one or more subsequent vehicles that move to the destination along the same route until reaching the destination of the leading self-propelled vehicle To make it possible to effectively utilize the traffic system by repeatedly separating and following one or more following self-propelled vehicles in a traffic system that moves following the self-propelled vehicles without mechanically connecting each other. is there.
また本発明の他の目的は、上記目的に加えて、自走車が乗り合い自走車の場合において、目的地を変更しながら連続運転する場合でも、乗客を確実に目的地まで輸送することを可能にする交通システムを提供することにある。 Another object of the present invention is to ensure that passengers are transported to their destinations even in the case of continuous driving while changing their destinations in the case of self-propelled vehicles in addition to the above-mentioned objectives. The goal is to provide a transportation system that enables it.
本発明は、原動機を搭載して運転手によって運転されるか又は自動で運転される複数台の自走車が、自走車列を構成しながら、運行指令発生部から与えられる運行指令に従って、１以上の交差点を有する経路を通って移動する際に、先頭を移動する先頭自走車に、先頭自走車の目的地と同じ目的地に移動するか又は先頭自走車の目的地に至るまでの途中までは同じ経路を通る目的地へ移動する１台以上の後続自走車が相互に機械的に連結されることなく追従して移動する交通システムを対象とする。本発明においては、運行指令発生部が運行指令を次のように発生する。すなわち先頭自走車の目的地に至るまでの途中までは同じ経路を通る異なる目的地へ移動する１台以上の他方面行き後続自走車が、異なる目的地に向かうためには先頭自走車とは離れて別の運転経路を移動するために経路変更をしなければならない交差点に自走車列が到達すると、自走車列から１台以上の他方面行き後続自走車が自走車列から離脱して交差点に設けた停留所に停留し、そして１台以上の他方面行き後続自走車の目的地と同じ目的地または１台以上の他方面行き後続自走車が目的地に至るまでの途中までは同じ経路を通る目的地へ移動する別の先頭自走車又は別の自走車列が停留所に来ると、１台以上の他方面行き後続自走車が別の先頭自走車または別の自走車列に追従することを１回以上繰り返して１台以上の他方面行き後続自走車が、異なる目的地に到達するように、運行指令発生部が複数台の自走車に運行指令をそれぞれ与える。なお交差点に設ける停留所は、交差点の周囲に設けられてもよいのは当然である。 In the present invention, a plurality of self-propelled vehicles that are driven by a driver with a prime mover or are automatically operated constitute a self-propelled vehicle train, according to an operation command given from an operation command generation unit, When traveling through a route having one or more intersections, the leading self-propelled vehicle moving at the top moves to the same destination as the leading self-propelled vehicle or reaches the destination of the leading self-propelled vehicle In the middle of the above, a traffic system in which one or more following self-propelled vehicles moving to a destination passing through the same route follow and move without being mechanically connected to each other is targeted. In the present invention, the operation command generation unit generates the operation command as follows. In other words, one or more of the following self-propelled vehicles traveling to different destinations on the same route up to the middle of the leading self-propelled vehicle are heading to the different destinations. When a self-propelled vehicle train arrives at an intersection that must change its route in order to move on another driving route away from the vehicle, one or more following self-propelled vehicles from the self-propelled vehicle train to the other side Depart from the line and stop at the stop at the intersection, and the same destination as the destination of one or more following self-propelled vehicles for the other side or one or more following self-propelled vehicles for the other side reach the destination If another leading self-propelled vehicle or another self-propelling vehicle train that moves to the destination that passes the same route is reached at the stop, one or more other following self-propelled vehicles will be another leading self-propelled vehicle After following one car or another self-propelled train one or more times, after going to one or more other sides Self-propelled vehicle provides to reach a different destination, operation command generating section for operation command to the plurality of self-propelled vehicle, respectively. Of course, the stop provided at the intersection may be provided around the intersection.
本発明のように１台以上の他方面行き後続自走車の分離と追従の決定を、先頭自走車の運行経路及び目的地と各他方面行き後続自走車の目的地とから決定した交差点を基準として行うと、１台の先頭自走車に追従させる後続自走車の台数を多くすることが可能になる。また先頭自走車の運転経路を停留所に停留する自走車の台数を考慮して定めれば、停留所に停留する自走車の停留時間の短縮化も可能となる。したがって先頭自走車に１台以上の後続自走車を追従させて移動させる場合に、簡単に且つスムーズに各後続自走車を目的地に移動させることが可能になる。なお状況に応じて、停留所に停留している他方面行きの後続自走車を先頭自走車に変更してもよく、また先頭自走車を後続自走車に変更してもよいのは勿論である。 As in the present invention, separation of one or more following self-propelled vehicles destined for the other side and determination of following are determined from the operation route and destination of the leading self-propelled vehicle and the destination of the following self-propelled vehicles destined for the other side. When the intersection is used as a reference, it is possible to increase the number of succeeding self-propelled vehicles that follow one leading self-propelled vehicle. If the driving route of the first self-propelled vehicle is determined in consideration of the number of self-propelled vehicles that stop at the stop, the stop time of the self-propelled vehicle that stops at the stop can be shortened. Therefore, when one or more following self-propelling vehicles are moved following the leading self-propelling vehicle, each succeeding self-propelling vehicle can be easily and smoothly moved to the destination. Depending on the situation, the following self-propelled vehicle that stops at the stop may be changed to the first self-propelled vehicle, and the first self-propelled vehicle may be changed to the following self-propelled vehicle. Of course.
運行指令発生部は、全ての自走車に運行指令を与えるように複数の自走車とは別に設けられ、全ての自走車と運行指令発生部との間は無線通信回線網により情報伝達可能に連結されているのが好ましい。このようにすると、いわゆる中央制御部に運行指令発生部を置いて、全ての自走車に対して運行指令を与えることができるので、他の自走車の状況を全て把握して運行指令を発生することができる。また中央制御を行うと、状況に応じて、先頭自走車を後続自走車に変更したり、後続自走車を先頭自走車に変更して運行計画を変更することが可能になる。 The operation command generation unit is provided separately from a plurality of self-propelled vehicles so as to give operation commands to all self-propelled vehicles, and information is transmitted between all the self-propelled vehicles and the operation command generation unit via a wireless communication network. It is preferable that they are connected. In this way, the operation command generation unit can be placed in the so-called central control unit, and operation commands can be given to all self-propelled vehicles. Can be generated. If central control is performed, it becomes possible to change the leading self-propelled vehicle to the following self-propelling vehicle or change the operation plan by changing the following self-propelling vehicle to the leading self-propelled vehicle.
運行指令発生部は、全ての自走車にそれぞれ搭載されており、全ての自走車間は、無線通信回線網により情報伝達可能に連結されていてもよい。このようにすると運行指令の発生を各自走車で行うので、１台の運行指令発生部の負担が減る上、システム全体が停止することを防止できる。 The operation command generation unit is mounted on each of the self-propelled vehicles, and all of the self-propelled vehicles may be connected to each other so as to be able to transmit information through a wireless communication network. In this way, since the operation command is generated by each self-propelled vehicle, the burden on one operation command generation unit is reduced and the entire system can be prevented from stopping.
運行指令発生部は、停留所で停留している他方面行き後続自走車が、最も速くまたは最も短い走行距離で目的地に到達できるように、別の先頭自走車又は別の自走車列自走車に追従すべき運行指令を停留所で停留している他方面行き後続自走車に与えるように構成してもよい。 The operation command generation unit is another leading self-propelled vehicle or another self-propelled vehicle train so that the following self-propelled vehicle that stops at the stop can reach the destination with the fastest or shortest travel distance. You may comprise so that the operation command which should follow a self-propelled vehicle may be given to the following self-propelled vehicle to the other side stopped at the stop.
本発明は、自走車が乗り合い自走車の場合にも適用できる。乗り合い自走車は、車庫に入る場合を除いて、運行スケジュールに従って目的地を変更しながら連続運行されるのが一般的である。このような場合に、各自走車が目的地に到達する前に、次の目的地または次の目的地に至る途中にある停留所（駅を含む）に向かうことを希望する乗客を乗車させることができれば、利用者の利便性が高まる。そこで本発明では、原動機を搭載して運転手によって運転されるか又は自動で運転される複数台の乗り合い自走車が自走車列を構成しながら、運行指令発生部から与えられる運行指令に従って、予め定めた複数の運行経路に跨がり且つ隣り合う複数の運行経路の境界部に交差点を有する連続運行経路を通って移動する際に、先頭を移動する先頭乗り合い自走車に、先頭乗り合い自走車の目的地と同じ目的地に移動するか又は前記先頭乗り合い自走車の目的地に至るまでの途中までは同じ経路を通る目的地へ移動する１台以上の後続乗り合い自走車が相互に機械的に連結されることなく追従して自走車列として移動する交通システムにおいて、以下の構成を採用する。 The present invention can also be applied to a case where the self-propelled vehicle is a self-propelled vehicle. A shared self-propelled vehicle is generally operated continuously while changing destinations according to an operation schedule, except when entering a garage. In such a case, before each self-propelled vehicle reaches its destination, passengers who want to go to the next destination or a stop (including a station) on the way to the next destination may be boarded. If possible, the convenience for the user will increase. Therefore, in the present invention, a plurality of self-propelled vehicles that are driven by a driver and automatically operated with a prime mover constitute a self-propelled vehicle train, according to an operation command given from an operation command generation unit. When moving through a continuous operation route that crosses a plurality of predetermined operation routes and has an intersection at the boundary of a plurality of adjacent operation routes, One or more following self-propelled vehicles that move to the same destination as the destination of the traveling vehicle or move to the destination that passes the same route until reaching the destination of the leading self-propelled vehicle The following configuration is employed in a traffic system that moves as a self-propelled vehicle train without being mechanically connected to the vehicle.
まず複数の乗り合い自走車には、運行指令発生部からの指令に応じてそれぞれ行き先を表示する行き先表示部が設けられている。そして運行指令発生部は、先頭乗り合い自走車の目的地に至るまでの途中までは同じ経路を通る異なる目的地へ移動する１台以上の他方面行き後続乗り合い自走車が、異なる目的地に向かうためには先頭乗り合い自走車とは離れて別の経路を移動するために経路を変更しなければならない交差点に乗り合い自走車列が到達すると、自走車列から前記１台以上の他方面行き後続乗り合い自走車が乗り合い自走車列から離脱して交差点に設けた停留所に停留し、１台以上の他方面行き後続乗り合い自走車の目的地と同じ目的地または１台以上の他方面行き後続乗り合い自走車が目的地に至るまでの途中までは同じ経路を通る目的地へ移動する別の先頭乗り合い自走車又は別の自走車列が停留所に来ると、１台以上の他方面行き後続乗り合い自走車が別の先頭乗り合い自走車または別の乗り合い自走車列に追従することを１回以上繰り返して１台以上の他方面行き後続乗り合い自走車が、異なる目的地に到達するように、複数台の乗り合い自走車に運行指令をそれぞれ与える。そして運行指令発生部は、先頭乗り合い自走車及び１台以上の後続乗り合い自走車が車庫に入るまでは、先頭乗り合い自走車及び１台以上の後続乗り合い自走車の目的地を順次変えながら先頭乗り合い自走車及び１台以上の後続乗り合い自走車を連続運行するように運行指令を発生する。また運行指令発生部は、先頭乗り合い自走車及び１台以上の後続乗り合い自走車が、それぞれの目的地が含まれる最終の運行経路に入るまでは、先頭乗り合い自走車及び１台以上の後続乗り合い自走車の行き先表示部に、それぞれの目的地が判る行き先表示を表示させ、先頭乗り合い自走車及び１台以上の後続乗り合い自走車が、それぞれの目的地が含まれる最終の運行経路に入ると、先頭乗り合い自走車及び１台以上の後続乗り合い自走車の行き先表示部に、それぞれの次の目的地が判る行き先表示を表示させる表示変更指令を発生する。 First, a plurality of self-propelled vehicles are provided with destination display units for displaying destinations in response to commands from the operation command generation unit. Then, the operation command generation unit sends one or more following side-to-side self-propelled vehicles that move to different destinations through the same route until halfway to the destination of the leading self-propelled vehicle. To reach the intersection where the route must be changed in order to move away from the head-to-head self-propelled vehicle, and the self-propelled vehicle train arrives, the one or more other vehicles from the self-propelled vehicle train Subsequent ride-to-direction self-propelled vehicles get off the self-propelled vehicle train and stop at the stop provided at the intersection, and the same destination or one or more One or more vehicles when another leading self-propelled vehicle or another self-propelled train that moves to the destination that passes the same route until the next-bound self-propelled vehicle to the destination arrives at the stop Follow-up car for the other side of the car Multiple vehicles so that one or more following self-propelled vehicles or another confronting self-propelled vehicle can be followed one or more times so that one or more subsequent-running self-propelled vehicles reach different destinations. The operation command is given to each self-propelled car. The operation command generation unit sequentially changes the destination of the leading self-propelled vehicle and one or more succeeding self-propelling vehicles until the leading self-propelling vehicle and one or more succeeding self-propelling vehicles enter the garage. However, an operation command is generated so that the leading self-propelled vehicle and one or more succeeding self-propelled vehicles are operated continuously. In addition, the operation command generation unit is in charge of the leading self-propelled vehicle and one or more succeeding self-propelling vehicles and one or more succeeding self-propelling vehicles until entering the final operation route including each destination. The destination display of the following passenger self-propelled vehicle displays the destination display indicating each destination, and the last operation including the respective destinations of the leading self-propelled vehicle and one or more succeeding self-propelled vehicles When the route is entered, a display change command is generated to display a destination display indicating each next destination on the destination display section of the front-running self-propelled vehicle and one or more following-running self-propelled vehicles.
このよう先頭乗り合い自走車及び１台以上の後続乗り合い自走車の行き先表示部の表示を変更すると、最終の運行経路に入った段階で、各自走車が最終の目的地に到達する前に、次の目的地または次の目的地に至る途中にある停留所（駅を含む）に向かうことを希望する乗客を乗車させることができる。その結果、利用者の利便性が高まる。 If you change the display of the destination display section of the front-running self-propelled vehicle and one or more subsequent-running self-propelled vehicles, before each self-propelled vehicle reaches the final destination when entering the final route A passenger who wants to go to the next destination or a stop (including a station) on the way to the next destination can be picked up. As a result, user convenience is enhanced.
乗り合い自走車の場合の運行経路は、循環する運行経路または往復する運行経路であるのが好ましい。このような運行経路を採用すると、連続運行をスムーズに行うことができる。 The operation route in the case of a shared self-propelled vehicle is preferably a circulating operation route or a reciprocating operation route. If such an operation route is adopted, continuous operation can be performed smoothly.
行き先表示の変更技術は、以下のように一般化できる。すなわち原動機を搭載して運転手によって運転されるか又は自動で運転される複数台の乗り合い自走車が自走車列を構成しながら、運行指令発生部から与えられる運行指令に従って、予め定めた複数の運行経路に跨がり且つ隣り合う複数の運行経路の境界部に交差点を有する連続運行経路を通って移動する際に、先頭を移動する先頭乗り合い自走車に、先頭乗り合い自走車の目的地と同じ目的地に移動するか又は先頭乗り合い自走車の目的地に至るまでの途中までは同じ経路を通る目的地へ移動する１台以上の他方面行き後続乗り合い自走車が相互に機械的に連結されることなく追従して自走車列として移動する交通システムにおいて、運行指令発生部が、先頭乗り合い自走車及び１台以上の後続乗り合い自走車がそれぞれ目的地に移動するように運行指令を発生するようにし、複数の乗り合い自走車には、運行指令発生部からの指令に応じてそれぞれ行き先を表示する行き先表示部を設ける。そして運行指令発生部を、先頭乗り合い自走車及び１台以上の後続乗り合い自走車が車庫に入るまでは、先頭乗り合い自走車及び１台以上の後続乗り合い自走車の目的地を順次変えながら先頭乗り合い自走車及び１台以上の後続乗り合い自走車を連続運行するように運行指令を発生し、さらに運行指令発生部は、先頭乗り合い自走車及び１台以上の後続乗り合い自走車が、それぞれの目的地が含まれる最終の運行経路に入るまでは、先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車の行き先表示部に、それぞれの目的地が判る行き先表示を表示させ、先頭乗り合い自走車及び１台以上の後続乗り合い自走車が、それぞれの目的地が含まれる最終の運行経路に入ると、先頭乗り合い自走車及び１台以上の後続乗り合い自走車の行き先表示部に、それぞれの次の目的地が判る行き先表示を表示させる表示変更指令を発生するように構成すればよい。 The destination display change technology can be generalized as follows. That is, a plurality of self-propelled vehicles that are driven by a driver with a prime mover or are automatically operated constitute a self-propelled vehicle train, and are determined in advance according to an operation command given from the operation command generation unit. The purpose of the leading self-propelled vehicle to the leading self-propelled vehicle that moves at the top when moving through a continuous operational route that crosses multiple operational routes and has an intersection at the boundary of multiple adjacent operational routes Move to the same destination as the ground, or move to the destination that passes the same route until halfway to the destination of the front-running self-propelled vehicle. In a traffic system that moves as a self-propelled vehicle train that follows without being connected to each other, the operation command generation unit moves the leading and self-propelled vehicles to the destination respectively. So as to generate an urchin operation command, the plurality of omnibus self-propelled vehicle, provided with a destination display unit, each displaying a destination in response to a command from the operation command generating section. Then, change the destination of the front-running self-propelled vehicle and one or more subsequent-running self-propelled vehicles in order until the driving command generation unit enters the garage with the first-running self-propelled vehicle and one or more subsequent-running self-propelled vehicles However, the operation command is generated so that the head-to-head self-propelled vehicle and one or more subsequent-compartment self-propelled vehicles are continuously operated, and the operation command generation unit further includes the head-to-head self-propelled vehicle and one or more subsequent-compartment self-propelled vehicles. However, until entering the final operation route that includes each destination, the destination display showing each destination is displayed on the destination display section of the front-running self-propelled vehicle and the one or more succeeding self-propelled vehicles. When the leading self-propelled vehicle and one or more succeeding self-propelled vehicles enter the final operation route including their respective destinations, the leading self-propelled vehicle and one or more succeeding self-propelled vehicles destination The radical 113 may be configured to generate a display change instruction for displaying the destination display can be seen, each of the next destination.
以下、図面を参照しつつ本発明の交通システムの実施の形態を詳細に説明する。本発明の交通システムでは、図１にイメージで示すように、原動機（エンジン、モータ等）を搭載して運転手によって運転されるか又は自動で運転される複数台の自走車ＡＭが、相互に機械的に連結されることなく追従して自走車列ＡＣを構成しながら、運行指令に従って、交差点を有する経路を通って移動する。自走車は、人を輸送する場合と人を輸送しない場合がある。本願明細書においては、自走車がいずれの場合も含む場合には、単に自走車と呼び、人を輸送する場合には乗り合い自走車と言う。 Hereinafter, embodiments of the traffic system of the present invention will be described in detail with reference to the drawings. In the traffic system of the present invention, as shown in an image in FIG. 1, a plurality of self-propelled vehicles AM mounted with a prime mover (engine, motor, etc.) or driven automatically by a driver are mutually connected. The self-propelled vehicle train AC is constructed without being mechanically connected to the vehicle, and moves along a route having an intersection according to the operation command. Self-propelled vehicles may or may not carry people. In this specification, when a self-propelled vehicle is included in any case, it is simply called a self-propelled vehicle, and when a person is transported, it is called a shared self-propelled vehicle.
図２は、乗り合い自走車を例にして、本発明の運行システムにおける乗り合い自走車ＡＭ１〜ＡＭ４の分離と追従の状況を説明するための図である。図３は、図２の乗り合い自走車の車列ＡＣが走行する運行経路網ＳＲＮの一例を示す図である。図３に示す運行経路網と同様のものとしては、端末交通システムが挙げられる。これは、従来の公共交通である鉄道や路線バスに比べ、出発地や目的地により近い場所をつなぐ交通システムで用いられるような運行経路網である。こうした端末交通システムは、高齢者や障害者などの交通制約者の移動の負担をより軽減するものとして期待される一方で、以下のような課題が残されていた。まず、端末移動では乗降地が多様に分散することが多く、従来型の交通システムでは、すべての乗客を乗降需要のあるすべての停留所に連れ回すことになる。また、高齢者や障害者は乗降に時間を要するため、それぞれの停留所での滞留時間も長くなり、結果として速達性を大きく喪失するものになってしまう。さらに、比較的広範囲を移動する場合には、複数の運行経路を乗り継ぐ必要があり、乗客に乗り換えの動作を強いることになってしまうという問題もある。これらの課題は、従来のオンデマンドバス等で利用されていた車両運行方式で解決することは難しく、電子連結車両の特性を活かした運行方式による解決が求められていた。本実施の形態では、このような問題を解消する。 FIG. 2 is a diagram for explaining the situation of separation and following of the self-propelled vehicles AM1 to AM4 in the operation system of the present invention, taking the self-propelled vehicle as an example. FIG. 3 is a diagram illustrating an example of an operation route network SRN on which the convoy self-propelled vehicle train AC of FIG. 2 travels. As the same thing as the operation route network shown in FIG. 3, a terminal traffic system is mentioned. This is an operation route network that is used in a transportation system that connects places closer to the departure point and destination as compared to conventional public transportation such as railways and route buses. While such a terminal transportation system is expected to further reduce the burden of movement of traffic constrained persons such as the elderly and disabled persons, the following problems remain. First, terminal movement often involves a variety of boarding and exiting locations, and the conventional traffic system takes all passengers to all stops where there is a demand for getting on and off. Moreover, since elderly people and persons with disabilities need time to get on and off, the residence time at each stop also becomes longer, and as a result, the rapid delivery is greatly lost. Furthermore, when moving in a relatively wide range, it is necessary to transfer a plurality of operation routes, and there is a problem in that passengers are forced to change. These problems are difficult to solve by the vehicle operation method used in conventional on-demand buses and the like, and there is a need for a solution by an operation method that takes advantage of the characteristics of electronically connected vehicles. In this embodiment, such a problem is solved.
図３の運行経路網ＳＲＮは、４つのエリアＡ〜Ｄにそれぞれ個別の循環経路タイプの運行経路ＳＲＡ〜ＳＲＤを備えており、各運行経路ＳＲＡ〜ＳＲＤの交差部分には、交差点Ｊ１〜Ｊ３を備えている。図３において、○印は停留所を示しており、本実施の形態では、交差点も停留所となる。図３の例では、運行経路網はエリアＡ〜Ｄの４つのエリアに区分けされており、それぞれのエリアで周回ルートが設けられている。また、エリＢのように、一つのエリアに複数の交差点が存在することもある。周回ルートは必ずしも異なる停留所のみを結ぶ必要はなく、例えば図４（Ａ）のように同じ停留所が複数回現れるようなルートであっても良い。また、図４（Ｂ）のように、エリア内の停留所を巡回する経路は一通りに定まっていなくても良い。（この図の例では、１−２−４−５の順で周回するルートと、３−４−５の順で周回するルートが存在する。）各有人の先頭自走車には、あらかじめ走行可能なエリアを決めることできる。そのため、走行可能でないエリアには、交差点を越えて侵入することができない場合がある。 The operation route network SRN of FIG. 3 includes operation routes SRA to SRD of individual circulation route types in four areas A to D, respectively, and intersections J1 to J3 are provided at intersections of the operation routes SRA to SRD. I have. In FIG. 3, a circle indicates a stop, and in this embodiment, the intersection is also a stop. In the example of FIG. 3, the operation route network is divided into four areas A to D, and a circulation route is provided in each area. Also, like Eli B, there may be a plurality of intersections in one area. The circuit route does not necessarily need to connect only different stops, and may be a route in which the same stop appears several times as shown in FIG. 4A, for example. Further, as shown in FIG. 4B, the route for patrol around the stop in the area may not be fixed. (In the example of this figure, there are routes that circulate in the order of 1-2-4-5 and routes that circulate in the order of 3-4-5.) Each manned leading self-propelled vehicle travels in advance. You can decide where you can. For this reason, there are cases where it is not possible to enter an area where the vehicle cannot travel beyond the intersection.
図２においては、先頭乗り合い自走車ＡＭ１に後続乗り合い自走車ＡＭ２及びＡＭ３が追従して乗り合い自走車列ＡＣが構成されている。図示していないが、乗り合い自走車ＡＭ１〜ＡＭ４には、管制制御システムＭＣ内に配置された運行指令発生部ＣＧからの指令に応じてそれぞれ行き先を表示する行き先表示部ＤＰが設けられている。図２の例では、運行指令発生部ＣＧは、次のような動作を各自走車ＡＭ１〜ＡＭ４に行わせる運行指令を発生し、無線で各自走車ＡＭ１〜ＡＭ４に送信する。まず先頭乗り合い自走車ＡＭ１の目的地に至るまでの途中までは同じ経路を通る異なる目的地へ移動する２台の他方面行き後続乗り合い自走車ＡＭ２及びＡＭ３が、異なる目的地に向かうためには先頭乗り合い自走車ＡＭ１とは離れて別の経路を移動するために経路を変更しなければならない交差点Ｊ１に乗り合い自走車列ＡＣが到達すると、自走車列ＡＣから他方面行き後続乗り合い自走車ＭＣ３が乗り合い自走車列ＡＣから離脱して交差点Ｊ１の停留所Ｓに停留する。そして停留所Ｓに停留する他方面行き後続乗り合い自走車ＡＭ３の目的地と同じ目的地または他方面行き後続乗り合い自走車ＡＭ３が目的地に至るまでの途中までは同じ経路を通る目的地へ移動する別の先頭乗り合い自走車ＡＭ１１（図３）又は別の自走車列が停留所Ｓに来ると、他方面行き後続乗り合い自走車ＡＭ３が別の先頭乗り合い自走車ＡＭ１１または別の乗り合い自走車列に追従する。 In FIG. 2, the following self-propelled vehicles AM2 and AM3 follow the leading self-propelled vehicle AM1, and a self-propelled vehicle train AC is formed. Although not shown, each of the self-propelled vehicles AM1 to AM4 is provided with a destination display unit DP that displays a destination according to a command from the operation command generation unit CG arranged in the control system MC. . In the example of FIG. 2, the operation command generation unit CG generates an operation command that causes each of the self-propelled vehicles AM1 to AM4 to perform the following operation, and transmits the operation command to each of the self-propelled vehicles AM1 to AM4 wirelessly. First, to reach the destination of the self-propelled vehicle AM1, the two subsequent-facing self-propelled vehicles AM2 and AM3 that move to different destinations through the same route head for different destinations. Rides the intersection J1 where the route must be changed in order to move away from the leading car AM1 and move along another route. The self-propelled vehicle MC3 gets on and leaves the self-propelled vehicle train AC, and stops at the stop S at the intersection J1. Then, move to the destination that passes through the same route until the destination of the next-passage self-propelled vehicle AM3 that stops at the stop S is the same destination as the destination of the self-propelled vehicle AM3 or the other side of the self-propelled vehicle AM3. When another leading self-propelled vehicle AM11 (FIG. 3) or another self-propelling vehicle train arrives at the stop S, the following-facing self-propelling vehicle AM3 bound to the other side becomes another leading self-propelled vehicle AM11 or another shared vehicle. Follow the train.
また図２の例では、停留所Ｓに停留していて先頭乗り合い自走車ＡＭ１の目的地と同じ目的地または先頭乗り合い自走車ＡＭ１の目的地に至るまでの途中までは同じ経路を通る異なる目的地へ移動する後続乗り合い自走車ＡＭ４が、交差点Ｊ１に到達した乗り合い自走車列ＡＣに追従する動作を行う。図３の例では、後続乗り合い自走車ＡＭ４はエリアＡ内のどこかの停留所を最終目的地とするものである。なお後に詳しく説明するように、運行指令発生部ＣＧは、後続乗り合い自走車ＡＭ４が、最終目的地が含まれる最終の運行経路ＳＲＡに入ると、後続乗り合い自走車ＡＭ４の行き先表示部に、次の目的地が判る行き先表示を表示させる指令を出力する。 Further, in the example of FIG. 2, the vehicle stops at the stop S and has different destinations that pass through the same route until reaching the same destination as the head-riding self-propelled vehicle AM1 or the destination of the head-riding self-propelled vehicle AM1. The following self-propelled vehicle AM4 moving to the ground performs an operation of following the self-propelled vehicle train AC that has reached the intersection J1. In the example of FIG. 3, the follow-up self-propelled vehicle AM4 has a stop in some area A as its final destination. As will be described in detail later, when the subsequent ride self-propelled vehicle AM4 enters the final travel route SRA including the final destination, the operation display generation unit CG displays the destination display portion of the subsequent ride self-propelled vehicle AM4, A command to display a destination display indicating the next destination is output.
運行指令発生部ＣＧは、他方面行きの後続乗り合い自走車ＡＭ３が、分離と追従の動作を１回以上繰り返して、当初の先頭乗り合い自走車ＡＭ１の目的地とは異なる目的地に到達するように、乗り合い自走車に運行指令をそれぞれ与えるように構成されている。 In the operation command generation unit CG, the succeeding self-propelled vehicle AM3 destined for the other side repeats the separation and following operations one or more times, and reaches a destination different from the destination of the initial leading self-propelled vehicle AM1. Thus, it is comprised so that a driving | operation command may be given to a riding self-propelled vehicle, respectively.
本実施の形態によれば、停留所において、後続乗り合い自走車の分離と追従を切り替え、また各車両の行き先表示を変更することにより、乗り換え無しで乗客を目的地まで輸送することができる。したがって、複数の地域の既存の輸送経路をつないで、より広範な交通網を形成することができる。また、乗り換え動作が困難な乗客に対して移動を容易にするとともに、乗り換えに伴う他の乗客の待ち時間を短縮することができる。 According to this embodiment, passengers can be transported to their destinations without changing trains by switching separation and tracking of the following and self-propelled vehicles at the stop and changing the destination display of each vehicle. Therefore, a wider transportation network can be formed by connecting existing transportation routes in a plurality of regions. In addition, it is possible to facilitate the movement of passengers who are difficult to transfer, and to shorten the waiting time of other passengers accompanying the transfer.
なお上記実施の形態では乗客の輸送を行うため、自走車を先頭乗り合い自走車及び後続乗り合い自走車と名付けたが、人を輸送しない場合には先頭自走車及び後続自走車と呼ぶ。なお以後の説明では、特に乗客を輸送する場合に限定しないときには、先頭自走車及び後続自走車の用語を使用する場合もある。 In the above embodiment, since the passengers are transported, the self-propelled vehicles are named as the leading self-propelled vehicles and the following self-propelled vehicles. Call. In the following description, the terms “leading self-propelled vehicle” and “following self-propelled vehicle” may be used unless the present invention is particularly limited to transporting passengers.
（運行経路網の具体例）
ここで二つの典型的な運行経路網の例を挙げる。一つは、図５（Ａ）で示すように、複数のエリア内を周回する局所的なルートと、異なるエリア間を接続する幹線ルートの２種類の経路によって構成される運行経路網である。またもう一つは、図５（Ｂ）で示すように、それぞれの乗客の自宅から主要な駅の間を輸送するための端末交通ネットワークである。
(Specific examples of route network)
Here are two examples of typical route networks. As shown in FIG. 5 (A), one is an operation route network composed of two types of routes: a local route that circulates in a plurality of areas and a main route that connects different areas. As shown in FIG. 5B, the other is a terminal traffic network for transporting between the main stations of each passenger's home.
（先頭自走車の制御）
上記実施の形態において、管制制御システムＭＣからの運行指令により移動する先頭自走車の制御について説明する。図６は、運行指令に基づく先頭自走車の制御フローの一例を示している。なおこの制御フローでは、自走車は乗り合い自走車である。ステップＳＴ１では、到着した交差点の停留所Ｓにおいて、先に管制制御システムＭＣから受信済みの運行経路情報に応じて、先頭自走車に追従する後続自走車（例えば、図２の後続自走車ＡＭ４）の追加と交差点で先頭自走車から分離される後続自走車（例えば、図２の後続自走車ＡＭ３）の分離が行なわれる。また必要な行き先表示の切換が実施される。ステップＳＴ１の詳細は、後に説明する図８に示す通りである。なおこのステップＳＴ１はステップＳＴ１０の後に実行される。ステップＳＴ２では、管制制御システムＭＣから先頭自走車の次の運行経路を示す運行指令を受信する。なお次の運行指令が、先に受けている運行指令と変わらない場合もある。先頭自走車が移動を開始するとステップＳＴ３で現在地を検出し、ステップＳＴ４で管制制御システムＭＣに現在地の情報を送信する。ステップＳＴ５で、現在地が停留場であるか否かの判断がなされ、停留所でなければステップＳＴ３乃至ＳＴ５が繰り返される。そしてステップＳＴ５で、現在地が停留所であると判断された後、ステップＳＴ６に進んでその停留所での乗降者がいる自走車には乗降動作命令が送信される。そしてステップＳＴ７で乗降動作が実行される。ステップＳＴ７については、図７のフローに詳細を示してある。このフローでは、ドアの開閉（ステップＳＴ７１），乗車人数確認（ステップＳＴ７２）、満車の確認（ステップＳＴ７３）、表示を「満車」に変更（ステップＳＴ７４）及び先頭自走車に作業完了と乗車人数を伝達（ステップＳＴ７５）を実行する。そしてステップＳＴ８で全ての自走車からの乗降動作の完了を確認すると、ステップＳＴ９において、管制制御システムＭＣに乗客数を送信する。次にステップＳＴ１０において、現在地（停留所）が交差点であるか否かの判断がなされ、停留所で無ければステップＳＴ２に戻り、停留所であればステップＳＴ１へと戻る。
(Control of the top self-propelled vehicle)
In the above embodiment, control of the leading self-propelled vehicle that moves according to the operation command from the control system MC will be described. FIG. 6 shows an example of the control flow of the leading self-propelled vehicle based on the operation command. In this control flow, the self-propelled vehicle is a self-propelled vehicle. In step ST1, the following self-propelled vehicle (for example, the following self-propelled vehicle in FIG. 2) that follows the leading self-propelled vehicle in accordance with the operation route information that has been received from the control control system MC first at the arrival stop S. Addition of AM4) and separation of the following self-propelled vehicle separated from the leading self-propelled vehicle at the intersection (for example, the following self-propelled vehicle AM3 in FIG. 2) are performed. In addition, necessary destination display switching is performed. Details of step ST1 are as shown in FIG. This step ST1 is executed after step ST10. In step ST2, an operation command indicating the next operation route of the first self-propelled vehicle is received from the control system MC. Note that the next operation command may not be different from the previous operation command. When the leading self-propelled vehicle starts moving, the current location is detected in step ST3, and information on the current location is transmitted to the control system MC in step ST4. In step ST5, it is determined whether or not the current location is a stop. If it is not a stop, steps ST3 to ST5 are repeated. In step ST5, after it is determined that the current location is a stop, the process proceeds to step ST6, and a boarding / alighting operation command is transmitted to a self-propelled vehicle having passengers at the stop. In step ST7, a boarding / alighting operation is executed. Details of step ST7 are shown in the flow of FIG. In this flow, opening / closing of the door (step ST71), confirmation of the number of passengers (step ST72), confirmation of fullness (step ST73), change the display to “full” (step ST74) and completion of work on the first self-propelled vehicle and the number of passengers Is transmitted (step ST75). When the completion of the getting-on / off operation from all self-propelled vehicles is confirmed in step ST8, the number of passengers is transmitted to the control system MC in step ST9. Next, in step ST10, it is determined whether or not the current location (stop) is an intersection. If it is not a stop, the process returns to step ST2, and if it is a stop, the process returns to step ST1.
図８は、図６のステップＳＴ１の詳細であって、乗り合い自走車を前提とした場合において、先頭自走車の最終目的地が含まれる運行エリアに入る交差点に到達したときに、後続自走車の切り離しと、新たな後続自走車の追従（牽引）と、行き先表示部の変更を実行する際に行う先頭自走車における制御部の動作フローの一例を示している。この動作フローが実行される前提として、先頭走行車及び後続走行車は、それぞれ行き先表示部（図２の符号Ｄ参照）を備えており、そこに運行経路網内のエリア名のいずれか一つを表示するものとする。また行き先表示部には、「回送」や「満車」など、旅客に乗車できないことを知らせる情報も表示される。なお後続自走車の最終目的地（最終目的エリア）が異なる場合には、同一の自走車列にある車両が、それぞれ異なるエリア名を表示することになる。図８の動作フローの例では、先頭自走車が最終目的地を含むエリアの交差点に到達すると、ステップＳＴ１０１で管制制御システムＭＣから各種情報を受信する。そしてステップＳＴ１０２で、牽引する（追従する）後続自走車の縦列構成が決定される。次にステップＳＴ１０３では、次の目的地（本実施の形態では交差点）とそこまでの走行ルートを決定する。そしてステップＳＴ１０４で、到達した交差点で分離すべき後続自走車への切り離しを命令する。次にステップＳＴ１０５で、到達した交差点にある停留所に停留している新たに牽引（追従）すべき後続自走車に追従のための連結命令が出される。つづくステップＳＴ１０６では、車列の中に行き先表示に示すエリアと現在のエリアが同一である自走車が存在するか否かの判断がなされる。この判断で存在する場合には、該当する自走車に対して行き先表示を次の目的地（エリア）の表示に変更する指示を出力し、存在しない場合にはステップＳＴ１０８へ進む。ステップＳＴ１０８では、各自走車からの作業完了を受信すると一連の制御を終了する。 FIG. 8 shows the details of step ST1 in FIG. 6, and assuming that a shared self-propelled vehicle is assumed, when the vehicle reaches an intersection that includes the final destination of the leading self-propelled vehicle, An example of the operation flow of the control unit in the leading self-propelled vehicle that is performed when disconnecting the traveling vehicle, following (pulling) the new succeeding self-propelling vehicle, and changing the destination display unit is shown. As a premise that this operation flow is executed, the leading traveling vehicle and the following traveling vehicle are each provided with a destination display section (see reference numeral D in FIG. 2), and any one of area names in the operation route network is provided there. Is displayed. The destination display section also displays information notifying passengers that they cannot board, such as “forwarding” or “full”. When the final destination (final destination area) of the following self-propelled vehicle is different, vehicles in the same self-propelled vehicle train display different area names. In the example of the operation flow of FIG. 8, when the leading self-propelled vehicle reaches the intersection of the area including the final destination, various information is received from the control system MC at step ST101. In step ST102, the tandem configuration of the following self-propelled vehicle to be towed (followed) is determined. Next, in step ST103, the next destination (intersection in the present embodiment) and the travel route to that point are determined. In step ST104, an instruction is given to disconnect the vehicle from the following self-propelled vehicle to be separated at the reached intersection. Next, in step ST105, a connection command for following is issued to the following self-propelled vehicle to be newly towed (followed) that is stopped at the stop at the reached intersection. In subsequent step ST106, it is determined whether or not a self-propelled vehicle having the same area as the destination display and the current area exists in the train. If it exists by this determination, an instruction to change the destination display to the display of the next destination (area) is output to the corresponding self-propelled vehicle, and if not, the process proceeds to step ST108. In step ST108, when the completion of work from each self-propelled vehicle is received, a series of control is terminated.
整理すると、図８の制御フローでは行き先表示の表示は、現在位置が以下の条件を満たすときにのみ変更することができる。 In summary, in the control flow of FIG. 8, the display of the destination display can be changed only when the current position satisfies the following conditions.
・現在の位置が交差点である。 ・ The current position is an intersection.
・現在位置するエリアと現在の行き先表示で示されているエリアが一致している。 • The area where the current location is located matches the area shown on the current destination display.
ただし、車両が満車になったときは、任意の停留所で行き先表示の表示を「満車」に切り替えることができる。乗客は、運行経路網内の任意の停留所から乗り合い自走車に乗ることができ、乗り合い自走車によって目的地とする停留所に移動することができる。乗客が乗り合い自走車に乗るときは、目的地とするエリアが行き先表示に表示されたン自走車にのみ乗ることができる。特に、出発地と目的地が同一のエリアＸにあるときは、Ｘが表示された乗り合い自走車にのみ乗ることになる。また、行き先表示が「回送」もしくは「満車」と表示された乗り合い自走車には、誰も乗ることができない。 However, when the vehicle is full, the destination display can be switched to “full” at any stop. Passengers can ride on a self-propelled vehicle from any stop in the route network, and can move to a destination stop by the self-propelled vehicle. When passengers ride on a self-propelled vehicle, they can only ride on the self-propelled vehicle whose destination area is displayed on the destination display. In particular, when the departure point and the destination are in the same area X, the user rides only on the self-propelled vehicle on which X is displayed. In addition, no one can ride a shared self-propelled vehicle whose destination display indicates “forward” or “full”.
図９は、本発明を適用した旅客輸送の具体例を説明するための図である。なお以下の説明では乗り合い自走車を単に自走車と言う。この例では、エリアＡ，Ｂ，Ｃの３つの局所的なエリアと、それらを繋ぐ循環経路からなるエリア（中央の円）からなる運行経路網を考える。Ａ，Ｂ，Ｃの各エリアは地理的に離れていて、それらを結合する循環経路上を高速に走行する「快速」自走車１〜３及び１１〜１３を設ける。４つのエリアのそれぞれについて、先頭自走車は自身のいるエリアの外には出られないものとする。 FIG. 9 is a diagram for explaining a specific example of passenger transportation to which the present invention is applied. In the following explanation, a self-propelled vehicle is referred to simply as a self-propelled vehicle. In this example, consider an operation route network composed of three local areas, areas A, B, and C, and an area (a central circle) formed of circulation routes that connect them. The areas A, B, and C are geographically separated, and are provided with “rapid” self-propelled vehicles 1 to 3 and 11 to 13 that travel at high speed on a circulation path connecting them. For each of the four areas, it is assumed that the leading self-propelled vehicle cannot go outside the area in which it is located.
エリアＡ，Ｂ，Ｃにおいて、それぞれの運行経路は複数の停留所を周回するルートによって構成されており、その上を複数の先頭自走車が周回する。また、循環経路はエリアＡ，Ｂ，Ｃのそれぞれと繋がる交差点Ｊ１〜Ｊ３のみからなる周回ルートにより構成されており、その上を右回りと左回りの２方向で先頭自走車が周回する（図中では、３台ずつ右まわりの自走車１〜３と左回りの自走車１１〜１３がある。 In areas A, B, and C, each operation route is configured by a route that goes around a plurality of stops, and a plurality of leading self-propelled vehicles go around it. In addition, the circulation route is configured by a circulation route including only intersections J1 to J3 connected to areas A, B, and C, and the top self-propelled vehicle circulates in two directions, clockwise and counterclockwise ( In the figure, there are three self-propelled vehicles 1 to 3 clockwise and three self-propelled vehicles 11 to 13 counterclockwise.
以上の運行経路網において、以下のような方法で旅客を輸送する。まずステップ1において、エリアＡ，Ｂ，Ｃのそれぞれにおいて、先頭自走車の行き先表示を自身の属するエリアとし、また後続の自走車の行き先表示を外部のエリアとする。例えばエリアＡでは、先頭自走車の行き先表示を「エリアＡ」とし、後続の自走車の行き先表示を「エリアＢ」と「エリアＣ」とする。なお、図中では先頭自走車は省略している。また、行き先をここではａ，ｂ，ｃで表している。各エリアを周回する間、乗客は自身の目的地のあるエリアの行き先表示を掲げた自走車に乗車する。 In the above operation route network, passengers are transported in the following manner. First, in step 1, in each of areas A, B, and C, the destination display of the first self-propelled vehicle is the area to which it belongs, and the destination display of the subsequent self-propelled vehicle is the external area. For example, in area A, the destination display of the first self-propelled vehicle is “area A”, and the destination displays of the following self-propelled vehicles are “area B” and “area C”. In the figure, the leading self-propelled vehicle is omitted. Further, the destinations are represented by a, b, and c here. While going around each area, the passenger gets on a self-propelled vehicle that displays the destination indication of the area where the destination is located.
次にステップ２において、各エリアで交差点Ｊ１〜Ｊ３から出発した車列が１周すると、後続の自走車を交差点で切り離す。切り離された自走車は、循環経路を走行する先頭自走車に接続され、それぞれの目的地のエリアに向かう。 Next, in step 2, when the trains departing from the intersections J1 to J3 in each area make one round, the following self-propelled vehicles are separated at the intersection. The separated self-propelled vehicle is connected to the leading self-propelled vehicle that travels along the circulation route, and heads for each destination area.
ステップ３において、目的地のあるエリアの交差点に到着した後続の自走車は切り離され、新たにそのエリアの先頭自走車に接続される。 In step 3, the following self-propelled vehicle that has arrived at the intersection of the area with the destination is disconnected and newly connected to the leading self-propelled vehicle in the area.
さらにステップ４において、後続の自走車は次の客を運ぶために、自走車の行き先表示を外部のエリアに切り替え、現在のエリアを周回する。例えばステップ３において、エリアＢおよびＣから循環経路を経て運ばれてきた後続の自走車は、ステップ４において新たに行き先表示をエリアＢおよびＣに切り替える。このとき注意すべきことは、新たに行き先表示がエリアＢおよびＣに変更された後続自走車に乗車している乗客は、エリアＡのどこかの停留所を目的地としていることである。したがって、エリアＡを周回する間に、既に後続の自走車に乗っている旅客を降車させながら、エリアＡ内の新たな旅客を乗車させることになる。 Further, in step 4, the following self-propelled vehicle switches the display of the destination of the self-propelled vehicle to an external area to go around the current area in order to carry the next customer. For example, in step 3, the following self-propelled vehicle that has been transported from areas B and C via the circulation route newly switches the destination display to areas B and C in step 4. It should be noted at this time that passengers riding in the following self-propelled vehicles whose destination display is newly changed to areas B and C are destined for some stop in area A. Therefore, while traveling around area A, a new passenger in area A is boarded while a passenger already riding in the following self-propelled vehicle gets off.
上記実施の形態では、乗客を輸送する場合を例として説明したが、乗客では荷物を輸送する場合にも本発明を適用できるのは勿論である。 In the embodiment described above, the case of transporting passengers has been described as an example. However, the present invention can be applied to the case of transporting luggage by passengers.
また上記実施の形態では、先頭自走車には運転手が乗車しているが、本発明は無人で運転される自動制御の先頭自走車を用いる場合にも適用できる。また状況に応じて、後続自走車を単独で所望の停留所に移動させてもよいのは勿論である。 In the above embodiment, the driver is on the leading self-propelled vehicle. However, the present invention can also be applied to the case where an automatic control leading self-propelled vehicle that is driven unattended is used. Of course, the following self-propelled vehicle may be moved to a desired stop depending on the situation.
また上記実施の形態のように管制制御システムＭＣに運行指令発生部ＣＧを配置して中央制御を行うため、状況に応じて、先頭自走車を後続自走車に変更したり、後続自走車を先頭自走車に変更してもよいのは勿論である。このようにすると運行計画を変更することが容易になる。 In addition, since the operation command generation unit CG is arranged in the control control system MC to perform central control as in the above embodiment, the leading self-propelled vehicle is changed to the succeeding self-propelled vehicle or the following self-propelled vehicle depending on the situation. Of course, the car may be changed to the leading self-propelled vehicle. This makes it easy to change the operation plan.
また運行指令発生部ＣＧを、全ての自走車にそれぞれ搭載して、全ての自走車間を、無線通信回線網により情報伝達可能に連結する構成を採用してもよい。このようにすると運行指令の発生を各自走車で行うので、１台の運行指令発生部の負担が減る上、システム全体が停止することを防止できる。 Alternatively, a configuration may be adopted in which the operation command generation unit CG is mounted on each of the self-propelled vehicles, and all of the self-propelled vehicles are connected to each other so as to be able to transmit information through a wireless communication network. In this way, since the operation command is generated by each self-propelled vehicle, the burden on one operation command generation unit is reduced and the entire system can be prevented from stopping.
さらに運行指令発生部ＣＧは、停留所で停留している後続自走車が、最も速くまたは最も短い走行距離で目的地に到達できるように、別の先頭自走車又は別の自走車列に追従すべき運行指令を停留所で停留している後続自走車に与えるように構成してもよい。 In addition, the operation command generation unit CG sets another leading self-propelling vehicle or another self-propelling vehicle train so that the following self-propelling vehicle stopped at the stop can reach the destination with the fastest or shortest traveling distance. You may comprise so that the operation command which should be followed may be given to the following self-propelled vehicle stopped at the stop.
本発明によれば、１台以上の後続自走車の分離・追従を繰り返すことにより交通システムを有効に活用できる。特に本発明のように１台以上の他方面行き後続自走車の分離と追従の決定を、先頭自走車の運行経路及び目的地と各他方面行き後続自走車の目的地とから決定した交差点を基準として行うと、１台の先頭自走車に追従させる後続自走車の台数を多くすることが可能になる。また先頭自走車の運転経路を停留所に停留する自走者の台数を考慮して定めれば、停留所に停留する自走車の停留時間の短縮化も可能となる。したがって先頭自走車に１台以上の後続自走車を追従させて移動させる場合に、簡単に且つスムーズに各後続自走車を目的地に移動させることが可能になる。 According to the present invention, it is possible to effectively utilize a traffic system by repeatedly separating and following one or more following self-propelled vehicles. In particular, as in the present invention, the determination of separation and tracking of one or more following self-propelled vehicles for the other side is determined from the operation route and destination of the leading self-propelled vehicle and the destination of the following self-propelled vehicle for each other side. When this intersection is used as a reference, it is possible to increase the number of succeeding self-propelled vehicles that follow one leading self-propelled vehicle. Moreover, if the driving route of the first self-propelled vehicle is determined in consideration of the number of self-propelled people who stop at the stop, the stop time of the self-propelled vehicle stopped at the stop can be shortened. Therefore, when one or more following self-propelling vehicles are moved following the leading self-propelling vehicle, each succeeding self-propelling vehicle can be easily and smoothly moved to the destination.
また先頭乗り合い自走車及び１台以上の後続乗り合い自走車が、それぞれの目的地が含まれる最終の運行経路に入ると、先頭乗り合い自走車及び１台以上の後続乗り合い自走車の行き先表示部に、それぞれの次の目的地が判る行き先表示を表示させる表示変更指令を発生して、先頭乗り合い自走車及び１台以上の後続乗り合い自走車の行き先表示部の表示を変更すると、最終の運行経路に入った段階で、各自走車が最終の目的地に到達する前に、次の目的地または次の目的地に至る途中にある停留所（駅を含む）に向かうことを希望する乗客を乗車させることができる。その結果、利用者の利便性が高まる。 In addition, when the leading self-propelled vehicle and one or more succeeding self-propelled vehicles enter the final operation route including their respective destinations, the destination of the leading self-propelled vehicle and one or more succeeding self-propelled vehicles When the display change command to display the destination display for each next destination is displayed on the display unit, and the display of the destination display unit of the leading and self-propelled vehicles is changed, Hope to go to the next destination or a stop on the way to the next destination (including the station) before each self-propelled vehicle reaches the final destination when entering the final route Passengers can be boarded. As a result, user convenience is enhanced.
ＡＭ，ＡＭ１〜ＡＭ４ 自走車
Ａ〜Ｄ エリア
ＳＲＣ〜ＳＲＤ 運行経路
Ｊ１〜Ｊ４ 交差点
ＭＣ 管制制御システム
ＣＧ 運行指令発生部
AM, AM1 to AM4 Self-propelled vehicles A to D area SRC to SRD Operation route J1 to J4 Intersection MC Control system CG Operation command generator
Claims (10)
前記複数の乗り合い自走車には、前記運行指令発生部からの指令に応じてそれぞれ行き先を表示する行き先表示部が設けられており、
前記運行指令発生部は、
前記先頭乗り合い自走車の目的地に至るまでの途中までは同じ経路を通る異なる目的地へ移動する１台以上の他方面行き後続乗り合い自走車が、前記異なる目的地に向かうためには前記先頭乗り合い自走車とは離れて別の経路を移動するために経路を変更しなければならない前記交差点に前記乗り合い自走車列が到達すると、前記自走車列から前記１台以上の他方面行き後続乗り合い自走車が前記乗り合い自走車列から離脱して前記交差点に設けた停留所に停留し、
前記１台以上の他方面行き後続乗り合い自走車の目的地と同じ目的地または前記１台以上の他方面行き後続乗り合い自走車が目的地に至るまでの途中までは同じ経路を通る目的地へ移動する別の先頭乗り合い自走車又は別の自走車列が前記停留所に来ると、前記１台以上の他方面行き後続乗り合い自走車が前記別の先頭乗り合い自走車または別の乗り合い自走車列に追従することを１回以上繰り返して前記１台以上の他方面行き後続乗り合い自走車が、前記異なる目的地に到達するように、前記複数台の乗り合い自走車に前記運行指令をそれぞれ与え、
また前記運行指令発生部は、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車が車庫に入るまでは、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車の目的地を順次変えながら前記先頭乗り合い自走車及び前記１台以上の他方面行き後続乗り合い自走車を連続運行するように運行指令を発生し、
さらに前記運行指令発生部は、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車が、それぞれの目的地が含まれる最終の運行経路に入るまでは、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車の前記行き先表示部に、それぞれの前記目的地が判る行き先表示を表示させ、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車が、それぞれの前記目的地が含まれる最終の運行経路に入ると、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車の前記行き先表示部に、それぞれの次の目的地が判る行き先表示を表示させる表示変更指令を発生することを特徴とする交通システム。 A plurality of self-propelled vehicles that are driven by a driver with a prime mover or are automatically operated constitute a self-propelled vehicle train, and are set in advance according to an operation command given from the operation command generation unit. When moving through a continuous operation route that has an intersection at the boundary of a plurality of adjacent operation routes, the purpose of the front-end self-propelled vehicle is One or more following self-propelled vehicles that move to the destination that passes through the same route until they reach the same destination as the ground or to the destination of the leading self-propelled vehicle mutually mechanically In a traffic system that moves as a self-propelled vehicle train without being connected,
Each of the plurality of self-propelled vehicles is provided with a destination display unit that displays a destination according to a command from the operation command generation unit,
The operation command generator is
In order for one or more following side-to-side self-propelled vehicles to move to different destinations that pass the same route until halfway to the destination of the leading self-propelled vehicle, When the crossing self-propelling vehicle train reaches the intersection where the route must be changed to move another route away from the leading self-propelling vehicle, the one or more other surfaces from the self-propelling vehicle train The next-passing self-propelled vehicle leaves the shared self-propelled vehicle train and stops at the stop provided at the intersection,
The same destination as the destination of the one or more following side-to-side self-propelled vehicles or the destination that passes the same route until the one or more following side-to-side self-propelled vehicles reach the destination When another leading self-propelling vehicle or another self-propelling vehicle train that moves to the stop comes to the stop, the one or more following traveling self-propelling vehicles for the other side are said another leading self-propelling vehicle or another sharing Repeating the self-propelled vehicle train one or more times so that the one or more following self-propelled vehicles traveling to the other side reach the different destinations. Give each directive,
In addition, the operation command generation unit is configured so that the leading self-propelled vehicle and the one or more succeeding self-propelled vehicles are in a state until the leading self-propelled vehicle and the one or more succeeding self-propelled vehicles enter the garage. An operation command is generated to continuously operate the head-to-head self-propelled vehicle and the one or more subsequent-side self-propelled vehicles while sequentially changing the destination,
Further, the operation command generation unit is configured to perform the operation of the leading self-propelled vehicle until the leading self-propelling vehicle and the one or more succeeding self-propelling vehicles enter a final operation route including each destination. The destination display section of each of the one or more succeeding self-propelled vehicles displays a destination display indicating each destination, and the leading self-propelled vehicle and the one or more succeeding self-propelled vehicles are respectively When entering the final operation route including the destination, the destination display showing each next destination is displayed on the destination display section of the leading and self-propelling vehicles and the one or more following traveling self-propelling vehicles. A traffic system characterized by generating a display change command to be displayed.
前記先頭自走車の目的地に至るまでの途中までは同じ経路を通る異なる目的地へ移動する１台以上の他方面行き後続自走車が、前記異なる目的地に向かうためには前記先頭自走車とは離れて別の運転経路を移動するために経路変更をしなければならない前記交差点に前記自走車列が到達すると、前記自走車列から前記１台以上の他方面行き後続自走車が前記自走車列から離脱して前記交差点に設けた停留所に停留し、
前記１台以上の他方面行き後続自走車の目的地と同じ目的地または前記１台以上の他方面行き後続自走車が目的地に至るまでの途中までは同じ経路を通る目的地へ移動する別の先頭自走車又は別の自走車列が前記停留所に来ると、前記１台以上の他方面行き後続自走車が前記別の先頭自走車または別の自走車列に追従することを１回以上繰り返して前記１台以上の他方面行き後続自走車が、前記異なる目的地に到達するように、前記運行指令発生部から前記複数台の自走車に前記運行指令をそれぞれ与えることを特徴とする交通システム。 A plurality of self-propelled vehicles that are driven by a driver with a prime mover or that are automatically operated constitute one or more self-propelled vehicles, and one or more intersections according to the operation command given by the operation command generation unit When traveling through a route having a road, the leading self-propelled vehicle moving at the head moves to the same destination as the destination of the leading self-propelled vehicle or reaches the destination of the leading self-propelled vehicle In the traffic system where one or more following self-propelled vehicles that move to the destination along the same route follow and move without being mechanically connected to each other,
One or more following self-propelled vehicles traveling to different destinations passing through the same route until reaching the destination of the leading self-propelled vehicle, the leading self When the self-propelled vehicle train arrives at the intersection where the route must be changed in order to move on another driving route away from the traveling vehicle, the following vehicles from the self-propelled vehicle train to the one or more other surfaces A traveling vehicle leaves the self-propelled vehicle train and stops at a stop provided at the intersection
Move to the same destination as the destination of the one or more following self-propelled vehicles destined for the other side or until the one or more following self-propelled vehicles destined for the other side reach the destination When another leading self-propelling vehicle or another self-propelling vehicle train comes to the stop, the one or more following self-propelling vehicles follow the other leading self-propelling vehicle or another self-propelling vehicle train. The operation command is sent from the operation command generation unit to the plurality of self-propelled vehicles so that the one or more following self-propelled vehicles destined to the other side reach the different destination by repeating the operation one or more times. Transportation system characterized by giving each.
前記全ての自走車と前記運行指令発生部との間は無線通信回線網により情報伝達可能に連結されている請求項３に記載の交通システム。 The operation command generator is provided separately from the plurality of self-propelled vehicles so as to give the operation command to all the self-propelled vehicles,
The traffic system according to claim 3, wherein all of the self-propelled vehicles and the operation command generation unit are connected by a wireless communication network so as to be able to transmit information.
前記全ての自走車間は、無線通信回線網により情報伝達可能に連結されている請求項３に記載の交通システム。 The operation command generation unit is installed in all the self-propelled vehicles,
The traffic system according to claim 3, wherein all the self-propelled vehicles are connected by a wireless communication network so that information can be transmitted.
前記運行指令発生部は、前記先頭乗り合い自走車及び１台以上の後続乗り合い自走車がそれぞれ目的地に移動するように前記運行指令を発生し、
前記複数の乗り合い自走車には、前記運行指令発生部からの指令に応じてそれぞれ行き先を表示する行き先表示部が設けられており、
また前記運行指令発生部は、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車が車庫に入るまでは、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車の目的地を順次変えながら前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車を連続運行するように運行指令を発生し、
さらに前記運行指令発生部は、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車が、それぞれの目的地が含まれる最終の運行経路に入るまでは、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車の前記行き先表示部に、それぞれの前記目的地が判る行き先表示を表示させ、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車が、それぞれの前記目的地が含まれる最終の運行経路に入ると、前記先頭乗り合い自走車及び前記１台以上の後続乗り合い自走車の前記行き先表示部に、それぞれの次の目的地が判る行き先表示を表示させる表示変更指令を発生することを特徴とする交通システム。 A plurality of self-propelled vehicles that are driven by a driver with a prime mover or are automatically operated constitute a self-propelled vehicle train, and are set in advance according to an operation command given from the operation command generation unit. When moving through a continuous operation route that has an intersection at the boundary of a plurality of adjacent operation routes that spans the operation route of One or more following self-propelled vehicles that move to the destination that passes the same route until they reach the same destination as the destination or until the destination of the leading self-propelled vehicle are mechanically connected to each other In a traffic system that moves as a self-propelled vehicle train without being connected to
The operation command generation unit generates the operation command so that the leading and self-propelled vehicles and one or more succeeding self-propelled vehicles each move to a destination,
Each of the plurality of self-propelled vehicles is provided with a destination display unit that displays a destination according to a command from the operation command generation unit,
In addition, the operation command generation unit is configured so that the leading self-propelled vehicle and the one or more succeeding self-propelled vehicles are in a state until the leading self-propelled vehicle and the one or more succeeding self-propelled vehicles enter the garage. The operation command is generated so that the leading self-propelled vehicle and the one or more succeeding self-propelling vehicles are continuously operated while sequentially changing the destination,
Further, the operation command generation unit is configured to perform the operation of the leading self-propelled vehicle until the leading self-propelling vehicle and the one or more succeeding self-propelling vehicles enter a final operation route including each destination. The destination display section of each of the one or more succeeding self-propelled vehicles displays a destination display indicating each destination, and the leading self-propelled vehicle and the one or more succeeding self-propelled vehicles are respectively When entering the final operation route including the destination, the destination display showing each next destination is displayed on the destination display section of the leading and self-propelling vehicles and the one or more following traveling self-propelling vehicles. A traffic system characterized by generating a display change command to be displayed.
前記全ての自走車と前記運行指令発生部との間は無線通信回線網により情報伝達可能に連結されている請求項８に記載の交通システム。 The operation command generator is provided separately from the plurality of self-propelled vehicles so as to give the operation command to all the self-propelled vehicles,
The traffic system according to claim 8, wherein all of the self-propelled vehicles and the operation command generation unit are connected by a wireless communication network so as to be able to transmit information.
前記全ての自走車間は、無線通信回線網により情報伝達可能に連結されている請求項８に記載の交通システム。 The operation command generation unit is installed in all the self-propelled vehicles,
The traffic system according to claim 8, wherein all the self-propelled vehicles are connected to each other by a wireless communication network so that information can be transmitted.
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