JP2018149906A - Train control system and central control unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a train control system capable of stopping a train at a predetermined stop position within a time shorter than conventionally when the train fails to stop at the predetermined position.SOLUTION: The train control system is provided with: an on-board control device that receives ground slave information from a ground slave provided on a track, and outputs the ground slave information, train position information, and train speed information; and a central control unit that has a storage unit for storing the ground slave information, the train position information, and the train speed information output from the on-board control device together with a reception time, a determination unit for determining a train stop on the basis of the train speed information, a train stop time storage unit for storing a train stop time at which the train stop is determined, a specification unit for specifying a distance from the train stop position to the ground slave on the basis of the train stop information at the train stop time and the reception time of the ground slave information, a traveling pattern selection unit for selecting a traveling pattern based on the distance specified by the specification unit, and a traveling pattern output unit for outputting the selected traveling pattern to the on-board control device.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a train control system in a railway vehicle.

  In an automatic train driving system in a conventional railway vehicle, an ATO device (automatic train driving device) having functions of stopping a train at a predetermined position on a train platform, a driving speed control and a station platform is mounted on the train. . Moreover, the central control apparatus provided in the central command room installed on the ground performs train departure commands, train door opening / closing commands, and the like. The train is operated by the central control device and the ATO device communicating with each other. (For example, refer to Patent Document 1).

  In general, the ATO device has a function of continuously managing the position and speed of the train by a speed generator mounted on the ground unit and the train, and stopping the train at a predetermined position of the station platform. . However, if the wheel slips or glides, the train may not stop at a predetermined position, and stops beyond the predetermined position (overrun) or stops without reaching the predetermined position ( Short run).

  Patent Document 1 below discloses a stop position correction method for stopping a train at a predetermined position when the train does not stop at a predetermined position due to overrun or short run.

JP 2002-67958 A

  In the above-mentioned Patent Document 1, after overrun, back inching is performed for moving the train backward to a predetermined stop position, and the vehicle is stopped at a predetermined position by repeatedly performing backward and forward a plurality of times. When performing reverse and forward several times, there is a problem that it takes a long time to stop the train at a predetermined position.

  The present invention has been made to solve the above-described problems, and has an object to stop a train at a predetermined stop position in a shorter time than conventional.

The train control system according to the first aspect of the invention is an on-board control device that receives ground element information from a ground element provided on a track, and outputs ground element information, train position information, and train speed information;
A storage unit that stores ground element information, train position information, and train speed information output by the on-board controller together with the reception time, a determination unit that determines train stop based on the train speed information, and a train that has been determined to be train stop A train stop time storage unit that stores the stop time, and a specifying unit that specifies a distance from the train stop position to the ground unit based on the train position information at the train stop time and the train position information at the reception time of the ground unit information, The central control device includes a travel pattern selection unit that selects a travel pattern based on the distance specified by the specifying unit, and a travel pattern output unit that outputs the selected travel pattern to the on-board control device.

  A central control device according to a second aspect of the present invention is a storage unit that stores ground unit information, train position information, and train speed information received from a ground unit provided on a track, output from an onboard control unit, together with a reception time; , A determination unit for determining a train stop based on train speed information, a train stop storage unit for storing a train stop time determined to be a train stop, and a train at a reception time of train position information and ground control information at the train stop time Based on the position information, a specifying unit for specifying the distance from the train stop position to the ground unit, a driving pattern selecting unit for selecting a driving pattern based on the distance specified by the specifying unit, and the on-board controller for the selected driving pattern A traveling pattern output unit that outputs to

The train control system according to the present invention receives on-ground information from an on-ground element provided on a track, and outputs on-ground information, train position information, and train speed information,
A storage unit that stores ground element information, train position information, and train speed information output by the on-board controller together with the reception time, a determination unit that determines train stop based on the train speed information, and a train that has been determined to be train stop A train stop time storage unit that stores the stop time, and a specifying unit that specifies a distance from the train stop position to the ground unit based on the train position information at the train stop time and the train position information at the reception time of the ground unit information, By providing a central control device having a travel pattern selection unit that selects a travel pattern based on the distance specified by the specifying unit and a travel pattern output unit that outputs the selected travel pattern to the on-board control device, The train can be stopped at a predetermined stop position in a short time.

  The central control device according to the present invention is a storage unit that stores ground unit information, train position information, and train speed information received from a ground unit provided on a track, output from the on-board control unit, together with a reception time; A determination unit for determining a train stop based on train speed information, a train stop storage unit for storing a train stop time determined to be a train stop, and a train position at a reception time of train position information and ground control information at the train stop time Based on the information, the specifying unit for specifying the distance from the train stop position to the ground unit, the driving pattern selecting unit for selecting the driving pattern based on the distance specified by the specifying unit, and the selected driving pattern to the on-board controller By providing the output travel pattern output unit, the train can be stopped at a predetermined stop position in a shorter time than in the past.

It is a figure which shows schematic structure of the train control system concerning Embodiment 1. FIG. 1 is a diagram illustrating a configuration of a vehicle according to a first embodiment. 1 is a diagram illustrating a configuration of a central control device according to a first embodiment. FIG. 3 is a flowchart of inching processing according to the first exemplary embodiment; It is a figure which shows the train stop position concerning Embodiment 1, and the positional relationship of a ground element. It is a figure which shows an example of the driving | running | working pattern table concerning Embodiment 1. FIG. It is a figure which shows the train stop position concerning Embodiment 1, and the positional relationship of a ground element. It is a figure which shows one general structural example of the hardware which implement | achieves the central control apparatus of the train control system concerning Embodiment 1. FIG. It is a figure which shows the structure of the vehicle concerning Embodiment 2. FIG.

Embodiment 1
FIG. 1 is a configuration diagram of a train control system 1000 according to the first embodiment of the present invention. A train control system 1000 shown in FIG. 1 includes a central control device 1, a central data transmission device 2 that transmits / receives data to / from the central control device 1, and a terrestrial data transmission device 3 that transmits / receives data to / from the central data transmission device 2. The platform door device 4 installed at the station 9 and the ground data transmission device 3, and the platform door control device 5 for controlling the platform door device 4; A base device 6 that transmits / receives data to / from the home door control device 5, a ground radio device 7 that is installed on the ground and transmits / receives data to / from the base device 6 and the train 10, and an on-vehicle radio (not shown) mounted on the train 10. A device 22 (described later) and an on-board control device 23 (described later) mounted on the train 10 are included.

  The central controller 1 is installed on the ground. The central control device 1 performs data transmission / reception with the ground data transmission device 3 and performs on-line management of the train 10. For example, if it becomes a condition that the train 10 stopped at the station 9 can depart, a departure instruction is transmitted to the ground data transmission device 3.

  The central data transmission device 2 is installed on the ground. The central data transmission device 2 receives data for controlling the train 10 and devices installed on the ground from the central control device 1, and further transmits the received data to the ground data transmission device 3. The central data transmission device 2 transmits the data transmitted from the train 10 received by the ground data transmission device 3 and the device installed on the ground to the central control device 1.

  The terrestrial data transmission device 3 is installed in a station or the like. Data for controlling the train 10 received from the central data transmission device 2 and devices installed on the ground is transmitted to the train 10 and devices installed on the ground via the base device 6 and the ground radio device 7. The ground data transmission device 3 receives data transmitted from the train 10 and devices installed on the ground via the base device 6 and the ground radio device 7 and transmits the received data to the central data transmission device 2. .

  The home door device 4 is installed to prevent a passenger at the station 9 from falling on the track. The platform door device 4 is interlocked with the door of the train 10 when the train stops at the station. When the train 10 stops at a predetermined position, the platform door device 4 and the door of the train 10 are opened and closed. You can get on and off.

  The home door control device 5 monitors the state of the home door device 4 and the stop position of the train 10, and performs opening / closing control of the home door device 4.

  The train control system 1000 is configured so that the track 8 is divided into a plurality of control areas, the base devices 6 are provided in each of the divided areas, and each base device 6 manages the train 10 in each control area. .

  The base device 6 receives data transmitted from the train 10 via the ground radio device 7. For example, train position information is received from the train 10, and the position of the train 10 is grasped from the received train position information. The received train position information is transmitted to the central control device 1 via the ground data transmission device 3 and the central data transmission device 2, so that the central control device 1 can perform on-line management of the train 10. . Moreover, the opening / closing control of the platform door device 4 is performed by transmitting information indicating that the train 10 has stopped at a predetermined position to the platform door control device 5.

  In addition, the base device 6 transmits stop limit position information for controlling the interval between trains to the on-board control device 23 via the ground radio device 7 and the on-board radio device 22. Here, the stop limit position information is information indicating a limit position that can be advanced with respect to the target train based on the position of the preceding train or the position where the train should stop.

  The track 8 is a structure on the roadbed on which the train 10 travels. The operation of the train 10 is controlled by the train control system 1000 shown in FIG. On the orbit 8, a plurality of ground elements (or position correction ground elements) 11 to 12 having IDs (ground element information) set therein are installed at intervals.

  The ground radio device 7 communicates with the on-board radio device 22 in the on-board device 21 included in the train 10. Only one terrestrial radio apparatus 7 may be arranged in each area, or a plurality of terrestrial radio apparatuses 7 may be arranged.

  FIG. 2 is a diagram illustrating a configuration of a vehicle of the train 10 that travels the train control system 1000 according to the first embodiment. FIG. 2 shows only the devices necessary for the description of the train control system 1000 according to the first embodiment, but other devices and functions may be mounted.

  The train 10 shown in FIG. 2 has an on-board device 21 installed in the train 10, an on-board unit 24 provided on the outer surface of the bottom of the vehicle and capable of communicating with an approaching ground unit, and a speed provided on the axle of the train 10. An on-board antenna 26 for transmitting and receiving data to and from the generator 25 and the ground radio device 7 is provided. An on-board radio device 22 connected to the on-board antenna 26 and an on-board control device 23 connected to the on-board radio device 22, the speed generator 25, and the on-board child 24 are provided inside the on-board device 21. It is done. The on-board control device 23 includes a train control unit 27 connected to the on-board wireless device 22 and the speed generator 25, a ground unit information receiving unit 28 connected to the train control unit 27 and the on-board unit 24, and a train control unit. 27 is connected to the storage unit 29.

  The storage unit 29 stores an on-board database (not shown). Information on the track 8 on which the train 10 travels (track 8 information) is stored in the on-board database. The information on the trajectory 8 includes position information indicating which area each base unit 6 manages and information on the distance to the ground element (ground element position information).

  The on-vehicle wireless device 22 communicates with the ground wireless device 7 corresponding to the current position of the own train.

  When the vehicle upper element 24 passes over the ground element (when it overlaps the vehicle element 24 and the ground element), it detects the ID of the ground element. This ID is received by the ground element information receiving unit 28 as ground element information. This ground child information is output from the ground child information receiving unit 28 to the train control unit 27.

  The speed generator 25 generates a pulse corresponding to the number of rotations of the wheels, calculates the travel amount and speed of the train 10, and outputs them to the train control unit 27.

  The train control unit 27 calculates the position of the train 10 based on the movement amount of the train 10 output from the speed generator 25 and the ground element position information stored in the storage unit 29. The position of the train 10 calculated here is handled as train position information. The train position information includes kilometer information, up / down line information, and number line information in the station. Moreover, the speed of the train 10 output from the speed generator 25 is treated as train speed information.

  The on-vehicle control device 23 transmits on-vehicle data including ground information, train position information, and train speed information to the base device 6 via the on-vehicle wireless device 22 and the ground wireless device 7.

  Hereinafter, the basic operation of the train control system 1000 will be described. The base unit 6 detects the position of the train 10 that travels in the management area of the base unit 6 and sends / receives position information to / from other base units 6, and generates stop limit position information based on the position information. To do. The generated stop limit position information is transmitted to the ground radio apparatus 7. The terrestrial wireless device 7 transmits the generated stop limit position information to the on-vehicle wireless device 22.

  Further, in the base device 6, on-line management information indicating where the train 10 existing in the base is located is created, and this information is transmitted to the central control device 1 via the ground data transmission device 3. . In the central control device 1, the positions of all trains in the system are grasped based on the on-line management information from the base device 6.

  The stop limit position information received by the on-board wireless device 22 is transmitted to the train control unit 27. The train control unit 27 generates a speed check pattern based on the stop limit position information. The speed check pattern is a train operation curve in which the horizontal axis represents distance (position) and the vertical axis represents speed. The train control unit 27 compares the train speed information detected by the speed generator 25 with the generated speed check pattern. When the train speed information exceeds the speed check pattern, specifically, when the train speed at a certain position is faster than the speed represented by the speed check pattern, the train control unit 27 generates a brake command, and the brake command Is transmitted to a brake control device (not shown). For example, when the train 10 shown in FIG. 1 approaches a preceding train (not shown), the brake control device automatically brakes because the train speed information exceeds the speed check pattern. Thus, according to the train control system 1000 concerning this Embodiment 1, since operation control of the train 10 can be performed with an appropriate train space | interval, transport efficiency can be improved.

  Next, a case where the vehicle stops at a predetermined position such as the station 9 will be described. The train control unit 27 continuously detects the position of the own train and the train speed at a constant cycle, and generates a speed check pattern that decelerates so that the train 10 stops at the train stop position stored in the storage unit 29 in advance. To do. The train control unit 27 detects the current position and the train speed at a constant cycle, adjusts the braking force while comparing the detected current position and train speed with the speed check pattern, and decelerates according to the speed check pattern. If the train position is correctly detected and the train 10 is decelerated with the determined braking force in response to the brake command of the train control unit 27, it is possible to stop at a predetermined position such as the station 9. Become.

  However, with respect to the traveling direction of the train 10 (in the direction of arrow 60 in FIG. 1), the second ground provided just before the first ground element 11 (ground element P0) provided at a predetermined train stop position. If the idling or sliding occurs after the child 12 (ground child P1), the train position may not be detected correctly.

  Moreover, when the brake command of the train control unit 27 is not correctly responded, the train 10 may not be decelerated with the determined braking force. In such a case, deceleration is not performed according to the speed check pattern. If the speed check pattern is not followed, the train control unit 27 changes the brake command and controls to follow the speed check pattern. However, if the amount of difference between the brake command of the train control unit 27 and the actual braking force increases, control according to the speed check pattern may not be possible.

  If the train position is not correctly detected or if the train controller 27 cannot respond correctly to the brake command, the train cannot be stopped at the predetermined train stop position and the train is determined with respect to the traveling direction of the train 10. There are cases where the vehicle stops before the stop position or stops after the train stop position determined with respect to the traveling direction of the train 10. In such a case, an inching process for determining whether the train 10 is moved forward from the stop position or moved backward is necessary.

  FIG. 3 is a configuration diagram of the central controller 1 according to the first embodiment of the present invention. 3 includes an input unit 31 and an output unit 38 connected to the central data transmission device 2, a storage unit 32 connected to the input unit 31, a determination unit 33 connected to the storage unit 32, The train stop time storage unit 34 connected to the determination unit 33, the specifying unit 35 connected between the storage unit 32 and the train stop time storage unit 34, and the travel pattern selection unit connected to the storage unit 32 and the specifying unit 35 36, a travel pattern output unit 37 connected between the travel pattern selection unit 36 and the output unit 38 is provided.

  Input unit 31 is connected to central data transmission device 2 and receives data transmitted from train 10 and a device installed on the ground. On the other hand, the output unit 38 is connected to the central data transmission device 2 and transmits data to the train 10 and devices installed on the ground.

  The memory | storage part 32 memorize | stores the ground element information, the train position information, and the train speed information which the on-board controller 23 output together with the reception time. In the first embodiment, the time refers to a certain moment in the flow of time, and the hour / minute / second based on the clock provided in the central control device 1 is defined as the time. Further, it may be hour / minute / second based on the clock of a device other than the central control device 1. Moreover, the apparatus which clocks time other than a timepiece may be sufficient. Further, the storage unit 32 has a track 8 database, and information on the track 8 on which the train 10 travels (track 8 information) is recorded in advance. The track 8 database includes position information indicating which area each base unit 6 is managing, and installation distance information (installation position information) of the ground unit. The storage unit 32 has a travel pattern database. The travel pattern database stores a travel pattern for a specific distance, and stores a plurality of travel patterns corresponding to the distance. The travel pattern is a pattern including power running (notch level and time), notch off (time), and brake (brake level and time).

  The determination unit 33 determines whether the train 10 has stopped based on the train speed information stored in the storage unit 32. Specifically, when the train speed of 0.5 km / h or less continues for a preset determination time or more, it is determined that the train 10 has stopped. If the determination time to be set is too long, it affects the line management, and is preferably about 3 seconds. Moreover, the determination time to set can be changed suitably. The determination part 33 determines about the position where the train 10 stopped, when it determines with a train stop. Details will be described later.

  The train stop time storage unit 34 stores the train stop time when the determination unit 33 determines that the train is stopped. Specifically, when the determination unit 33 determines that the train is stopped, the time when the train speed is first set to 0.5 km / h or less is stored as the train stop time.

  The specifying unit 35 specifies the distance from the train stop position to the ground unit based on the train position information stored at the storage unit 32 and the train position information at the reception time of the ground unit information. Specific specification will be described later.

  The travel pattern selection unit 36 selects a travel pattern corresponding to the distance specified by the specifying unit 35 from among a plurality of travel patterns stored in the storage unit 32.

  The travel pattern output unit 37 outputs the travel pattern selected by the travel pattern selection unit 36 to the output unit 38. The output unit 38 transmits the selected traveling pattern to the terrestrial data transmission device 3 via the central data transmission device 2. The traveling pattern received by the ground data transmission device 3 is transmitted from the ground wireless device 7 to the vehicle 10 through the base device 6.

  When the on-board control device 23 of the train 10 receives the travel pattern transmitted from the central control device 1, it controls power running, notch-off, and brake according to the travel pattern, and stops the train 10 at a predetermined position.

  Next, operation | movement of the central control apparatus 1 of the train control system 1000 concerning Embodiment 1 is demonstrated. FIG. 4 is a flowchart of inching processing performed by the central controller 1. First, in the determination part 33, a train stop determination is performed (S101). The train stop determination determines that the train 10 has stopped when a train speed of 0.5 km / h or less continues for a preset determination time. When it is determined that the train 10 has not stopped (S101: N), the determination of the train stop is performed again.

  When it determines with the train 10 having stopped (S101: Y), the determination part 33 determines the position where the train 10 stopped. The determination unit 33 confirms whether or not the signal (P0 signal) from the ground unit P0 is continuously received (S102). Specifically, the determination unit 33 checks whether or not the P0 signal is stored in the storage unit 32. If the signal is continuously received (S102: Y), specifically, if the reception of the P0 signal is continuously stored, it is determined that the vehicle is stopped at the predetermined train stop position, and the inching process is performed. Since there is no need to perform the process, the process ends.

  When the P0 signal is not continuously received (S102: N), it is confirmed whether the P0 signal has been received within the past M seconds (S103). When the P0 signal is received within the past M seconds (S103: Y), specifically, when the P0 signal is recorded in the storage unit 32 within the past M seconds, the train 10 is the train It is determined that the stop position has been exceeded. In this case, since it is necessary to reverse the train 10 in order to stop at the predetermined train stop position, reverse inching described later is performed (S104).

  When the P0 signal has not been received within the past M seconds (S103: N), specifically, when the P0 signal has not been recorded in the storage unit 32 within the past M seconds, the train 10 is a predetermined train. It is determined that the stop position has not been reached. Thereafter, the determination unit 33 determines whether or not a signal (P1 signal) from the ground element P1 provided immediately before the ground element P0 is received within the past N seconds with respect to the traveling direction of the train 10. Confirm (S105). Specifically, the determination unit 33 checks whether or not the P1 signal is stored in the storage unit 32. When the P1 signal is received within the past N seconds (S105: Y), specifically, when the P0 signal is recorded in the storage unit 32 within the past N seconds, the ground unit P1 and the ground unit P0 It is determined that the train 10 is stopped between. In this case, since it is necessary to move the train 10 forward in order to stop at the set train stop position, forward inching A described later is performed (S106).

  When the P1 signal has not been received within the past N seconds (S105: N), it is determined that the ground element P1 has not been reached. In this case, forward inching B described later is performed (S107).

  The reverse inching will be described. When the determination unit 33 determines that the train 10 has stopped beyond the ground element P0, the inching is performed to move the train 10 backward.

  First, the distance for moving the train 10 backward is specified. The identification unit 35 performs the identification of the distance. The specifying unit 35 specifies the distance from the train stop position to the ground unit P0 based on the train position information at the reception time of the ground unit information stored in the storage unit 32 and the train position information at the train stop time. FIG. 5 is a diagram showing the train stop position and the position of the train 10 when receiving the ground element P0 signal. Here, the train stop position and the ground child P0 position are the train position information (km information) at the train stop time stored in the storage unit 32 and the train position information (km information) at the time of receiving the ground child P0 signal. Show. The position of the train 10 at the time of receiving the ground element P0 signal is X (P0), and the position of the train 10 at the stop time is X (S0). X (S0) −X (P0), which is the difference in kilometers between the position X (S0) and the position X (P0), is specified as the distance that the train 10 has traveled to the train stop after receiving the ground element P0 signal. . In other words, the distance from the ground element P0 to the train stop position is specified.

  As described above, after the distance from the ground element P0 to the train stop position is identified, the traveling pattern selection unit 36 identifies the distance identified by the identifying unit 35 from the traveling patterns stored in the storage unit 32. Select the driving pattern corresponding to. FIG. 6 is a diagram illustrating an example of a travel pattern table stored in the storage unit 32. In FIG. 6, three forward patterns and three backward patterns are shown, but the number of patterns is arbitrary. In the running pattern, power running corresponding to the distance, notch-off time, and brake control are stored in advance. For example, when it is desired to move the distance L1 [m] backward, the travel pattern selection unit 36 selects the corresponding travel pattern 1-B from the travel patterns stored in the storage unit 32. In the running pattern 1-B, after T1 [s] power running control is performed at the level NLV1, NO1 [s] notch-off is performed. After that, by performing BT1 [s] brake control at level NLV1, the pattern is made to move backward by L1 [m] and stop. The travel pattern selection unit 36 transmits the selected travel pattern to the travel pattern output unit 37. In FIG. 6, only one type of power running and brake control level and time in one pattern is set, but it is not limited to one type. Two or more levels and times may be set. In that case, power running and brake control can be performed in stages.

  The forward inching A will be described. When the determination unit 33 determines that the train 10 is stopped between the ground element P1 and the ground element P0, the inching 1 for moving the train 10 forward is performed.

  First, the distance for moving the train 10 forward is specified. The specification of the distance is performed by the specifying unit 35 as in the backward inching. FIG. 7 is a diagram showing the train stop position and the position of the train 10 when receiving the ground element P1 signal. Here, the train stop position and the ground child P1 position indicate the train position information (km information) at the train stop time stored in the storage unit 32 and the train position information (km information) at the reception time of the ground information. . The position of the train 10 at the time of receiving the ground element P1 signal is X (P1), and the position of the train 10 at the stop time is X (S1). X (S1) -X (P1), which is the difference in kilometers between the position X (S1) and the position X (P1), is specified as the distance that the train 10 has traveled from receiving the ground element P1 signal to stopping the train . In other words, the distance from the ground element P1 to the train stop position is specified.

  Next, the trajectory 8 database stored in the storage unit 32 is referred to. In the orbit 8 database, the position information of the ground element P1 and the position information of the ground element P0 are stored. Therefore, if the distance from the ground stop P1 to the train stop position is known, the distance from the train stop position to the ground stop P0 can be specified. Specifically, since the distance between the ground element P1 and the ground element P0 (P01 distance between the ground elements) is known from the track 8 database, the distance between the P01 ground element and the distance from the ground element P1 calculated above to the train stop position Is calculated, the distance from the train stop position to the ground element P0 is specified. In FIG. 7, when the distance between the P01 ground elements is X (P01) from the position information of the ground element P1 and the position information of the ground element P0, X (P01) − {X (S1) −X (P1)} is It is specified as the distance from the train stop position to the ground unit P0.

  As described above, after specifying the distance from the train stop position to the ground unit P0, the travel pattern selection unit 36 sets the distance specified by the specification unit 35 from the travel patterns stored in the storage unit 32. Select the corresponding travel pattern. The travel pattern selection unit 36 transmits the selected travel pattern to the travel pattern output unit 37.

  The forward inching B will be described. When it is determined by the determination unit 33 that the ground child P1 has not been reached, inching B for moving the train 10 forward is performed. Since the train 10 has not reached the ground element P1, it is necessary to move a distance longer than the forward inching 1 described above. Therefore, when performing forward inching B, after controlling the train 10 with predetermined power running and notch-off, receiving a signal from the ground element P1, performing weak brake control, and receiving the ground element P0 signal Then, a stronger brake control is performed and the train 10 is stopped. After the train 10 is stopped, the inching process shown in FIG. 4 is performed.

  In Embodiment 1 described above, the storage unit 32 and the train stop time storage unit 34 have been described as separate storage units, but may be configured by the same storage unit. Moreover, although the specific part 35 and the determination part 33 were demonstrated as another structure, you may give the function of the determination part 33 to the specific part 35. FIG.

  In the first embodiment described above, the configuration included in the central controller 1 includes at least a processor, a memory, a receiver, and a transmitter, and the operation of each device can be realized by software. . FIG. 8 is a diagram illustrating a general configuration example of hardware for realizing the central control device 1 of the train control system 1000 according to the first embodiment. The apparatus shown in FIG. 8 includes a processor 101, a memory 102, a receiver 103, and a transmitter 104. The processor 101 performs calculation and control by software using the received data. The memory 102 stores received data or data necessary for the processor 101 to perform calculation and control, and also stores software. The receiver 103 is an interface that receives a signal or information input to the central controller 1. The transmitter 104 is an interface that transmits a signal or information output from the central control device 1. Note that a plurality of processors 101, memories 102, receivers 103, and transmitters 104 may be provided.

  As described above, the train control system 1000 according to the first embodiment receives the ground element information from the ground element provided on the track 8 and outputs the ground element information, the train position information, and the train speed information. The control unit 23, the storage unit 32 that stores the ground unit information, the train position information, and the train speed information output by the on-board control unit 23 together with the reception time, and the determination unit 33 that determines the train stop based on the train speed information. Based on the train stop time storage unit 34 for storing the train stop time determined to be the train stop, and the train position information at the train stop time and the train position information at the reception time of the ground child information, from the train stop position to the ground child A specifying unit 35 for specifying the distance, a driving pattern selecting unit 36 for selecting a driving pattern based on the distance specified by the specifying unit 35, and on-vehicle control of the selected driving pattern A traveling pattern output unit 37 for outputting the location 23, by which a central control unit 1 having, in a shorter time than the prior art, can be stopped to stop position determined train 10.

  Moreover, in the train control system 1000 according to the first embodiment, the specifying unit 35 in the central control device 1 is configured such that the ground unit information is the first ground unit information of the first ground unit provided at the train stop target position. Based on the train position information at the time of receiving the first ground element information and the train position information at the train stop time, the first distance from the train stop position to the first ground element is specified. By selecting a reverse traveling pattern corresponding to one distance, the train 10 can be stopped at a predetermined stop position in a shorter time than in the past.

  In the train control system 1000 according to the first embodiment, the storage unit 32 in the central control device 1 stores in advance a ground unit database in which the positions of ground units are recorded, and the specifying unit 35 stores ground unit information. When it is the second ground element information of the second ground element that is provided in front of the first traveling element from the first ground element that is provided at the train stop target position, Based on the train position information, the train position information at the train stop time, and the ground element database, the second distance from the train stop position to the first ground element is specified, and the traveling pattern selection unit 36 moves forward corresponding to the second distance. By selecting a running pattern to be performed, the train 10 can be stopped at a predetermined stop position in a shorter time than before.

  In addition, the central control device 1 according to the first embodiment receives the ground element information, the train position information, and the train speed information received from the ground element provided on the track 8 and output from the on-board controller 23. A storage unit 32 that stores the train stop time, a determination unit 33 that determines train stop based on the train speed information, a train stop time storage unit 34 that stores a train stop time determined to be a train stop, and a train position at the train stop time Based on the train position information at the reception time of the information and the ground child information, the specifying unit 35 that specifies the distance from the train stop position to the ground child, and the driving pattern selection that selects the driving pattern based on the distance specified by the specifying unit 35 Section 36 and a traveling pattern output unit 37 for outputting the selected traveling pattern to the on-board controller 23, the train 10 can be set in a shorter time than before. It was can be stopped to the stop position.

In the central control device 1 according to the first embodiment, the specifying unit 35, when the ground unit information is the first ground unit information of the first ground unit provided at the train stop target position, Based on the train position information at the information reception time and the train position information at the train stop time, the first distance from the train stop position to the first ground element is specified,
The traveling pattern selection unit 36 can stop the train 10 at a predetermined stop position in a shorter time than before by selecting a traveling pattern that moves backward corresponding to the first distance.

In the central control device 1 according to the first embodiment, the storage unit 32 stores in advance a ground unit database that records the positions of the ground units.
When the ground unit information is the second ground element information of the second ground element provided immediately before the first ground element provided in the train stop target position with respect to the train traveling direction, Based on the train position information at the reception time of the second ground element information, the train position information at the train stop time and the ground element database, the second distance from the train stop position to the first ground element is identified,
The traveling pattern selection unit 36 can stop the train 10 at a predetermined stop position in a shorter time than before by selecting a traveling pattern that moves forward corresponding to the second distance.

Embodiment 2
FIG. 9 is a diagram illustrating a configuration of a vehicle of the train 90 that travels the train control system 2000 according to the second embodiment. It is a feature that a speed sensor 91 is provided in the vehicle of the train 90 that travels the train control system 2000 according to the second embodiment. The configuration of each device is the same as that of the first embodiment except for those specifically mentioned.

  The speed sensor 91 is a device that detects the amount of movement of the train 90 and the speed of the train 90 by reflection of electromagnetic waves. Electromagnetic waves include radio waves and light. The speed sensor 91 includes an output unit 38 that irradiates the road surface with electromagnetic waves and a detection unit that detects electromagnetic waves reflected from the road surface, and can detect the amount of movement of the train 90 in a non-contact manner. Further, the speed sensor 91 can calculate the speed of the train 90 from the detected movement amount of the train 90. An example of the speed sensor 91 is a Doppler sensor. The speed sensor 91 is not limited to a specific sensor as long as it can detect the amount of movement of the train 90 and the speed of the train 90 using the reflection of electromagnetic waves without using the rotation of the wheels.

  The movement amount of the train 90 and the speed of the train 90 detected by the detection unit of the speed sensor 91 are input to the train control unit 27. The train control unit 27 calculates the position of the train 90 based on the movement amount of the train 90 and the ground information detected by the speed sensor 91, and the calculated position of the train 90 is treated as train position information. The speed of the train 90 detected by the speed sensor 91 is handled as train speed information.

  Since the speed sensor 91 is a sensor that does not use the rotation of the wheel, the speed sensor 91 is not easily affected by idling or sliding of the wheel. Further, by providing a laying sheet on the road surface through which the train 90 passes, the road surface reflection surface is homogenized and the detection accuracy is improved. In particular, it is possible to obtain more accurate train position information and train speed information by providing a laying sheet at a predetermined train stop position.

  By using not only the train position information and train speed information obtained based on the detection result of the speed sensor 91 but also the train position information and train speed information obtained based on the detection result of the speed generator 25, the train The accuracy of position and train speed will be higher. The train control unit 27 uses the detection result of the speed sensor 91 that uses the reflection of the electromagnetic wave that is not easily affected by idling and sliding in a place where the accuracy of the sensor that uses the reflection of the electromagnetic wave is obtained, and the speed that uses the reflection of the electromagnetic wave. For places where the accuracy of the sensor 91 is difficult to obtain, the detection result of the speed generator 25 can be used.

  As described above, the train control system 2000 according to the second embodiment uses the train position information and the train speed information calculated from the travel amount of the train 90 detected by the non-contact speed sensor 91 provided in the train 90. Thus, it is less susceptible to wheel slipping and sliding. Thereby, train position information and train speed information with higher accuracy can be used, and the train 90 can be stopped at a predetermined stop position in a shorter time than before.

  Further, the present invention is preferably applied to an unmanned train control system. Accurate control is possible by performing train control based on a travel pattern stored in advance.

  Note that the present invention can be freely combined with each other within the scope of the invention, and the embodiments can be appropriately modified or omitted.

DESCRIPTION OF SYMBOLS 1 Central control apparatus 2 Central data transmission apparatus 3 Ground data transmission apparatus 4 Home door apparatus 5 Home door control apparatus 6 Base apparatus 7 Ground radio apparatus 8 Track 9 Station 10 Train 11 First ground element 12 Second ground element 21 On-board apparatus DESCRIPTION OF SYMBOLS 22 On-board radio equipment 23 On-board control apparatus 24 On-board child 25 Speed generator 26 On-board antenna 27 Train control part 28 Ground element information receiving part 29 Storage part 31 Input part 32 Storage part 33 Determination part 34 Train stop time storage part 35 Identification Unit 36 Traveling Pattern Selection Unit 37 Traveling Pattern Output Unit 38 Output Unit 60 Arrow 90 Train 91 Speed Sensor 101 Processor 102 Memory 103 Receiver 104 Transmitter 1000, 2000 Train Control System

Claims (8)

An on-board controller that receives ground element information from a ground element provided on a track, and outputs the ground element information, train position information, and train speed information;
A storage unit that stores the ground unit information, the train position information, and the train speed information output by the on-board control device together with a reception time; a determination unit that determines a train stop based on the train speed information; and a train Based on the train stop time storage section that stores the train stop time determined to be stopped, and the train position information at the train stop time and the train position information at the reception time of the ground slave information, A specifying unit for specifying a distance to, a driving pattern selecting unit for selecting a driving pattern based on the distance specified by the specifying unit, a driving pattern output unit for outputting the selected driving pattern to the on-vehicle controller, A central control unit having
Train control system equipped with. When the ground unit information is the first ground unit information of the first ground unit provided at the train stop target position, the specifying unit in the central control unit is configured to receive the train at the reception time of the first ground unit information. Based on the position information and the train position information at the train stop time, specify the first distance from the train stop position to the first ground element,
The travel pattern selection unit selects a travel pattern that travels backward corresponding to the first distance.
The train control system according to claim 1. The storage unit in the central control device stores in advance a ground unit database that records the position of the ground unit,
In the case where the ground unit information is the second ground element information of the second ground element that is provided immediately before the first ground element that is provided at the train stop target position with respect to the train traveling direction. The second distance from the train stop position to the first ground element is specified based on the train position information at the reception time of the second ground element information, the train position information at the train stop time, and the ground element database. And
The traveling pattern selection unit selects a traveling pattern that moves forward corresponding to the second distance.
The train control system according to claim 1. The train position information and the train speed information are calculated from the amount of train movement detected by a non-contact speed sensor provided in the train.
The train control system according to any one of claims 1 to 3. A storage unit that stores ground element information, train position information, and train speed information received from a ground element provided on the track, which is output from the on-board controller, and train time based on the train speed information. Based on the determination unit that determines the stop, the train stop storage unit that stores the train stop time determined as the train stop, and the train position information at the train stop time and the train position information at the reception time of the ground unit information A specifying unit for specifying a distance from a train stop position to the ground unit, a driving pattern selecting unit for selecting a driving pattern based on the distance specified by the specifying unit, and the selected driving pattern to the on-board controller. A running pattern output section to output,
Central control unit with. When the ground unit information is the first ground unit information of the first ground unit provided at the train stop target position, the specifying unit is configured to receive the train position information and the train at the reception time of the first ground unit information. Based on the train position information at the stop time, identify the first distance from the train stop position to the first ground element,
The travel pattern selection unit selects a travel pattern that travels backward corresponding to the first distance.
The central controller according to claim 5. The storage unit stores in advance a ground unit database that records the position of the ground unit,
In the case where the ground unit information is the second ground element information of the second ground element that is provided immediately before the first ground element that is provided at the train stop target position with respect to the train traveling direction. The second distance from the train stop position to the first ground element is specified based on the train position information at the reception time of the second ground element information, the train position information at the train stop time, and the ground element database. And
The traveling pattern selection unit selects a traveling pattern that moves forward corresponding to the second distance.
The central controller according to claim 5. The train position information and the train speed information are calculated from the amount of train movement detected by a non-contact speed sensor provided in the train.
The central control apparatus of any one of Claim 5 to 7.

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