JP2020205694A - Train control system - Google Patents

Abstract

To provide a train control system capable of controlling a train by more appropriately recognizing an object.SOLUTION: A train control system for controlling a train traveling on a track includes a storage part for storing control information related to stop control of the train in each attribute of an object, a detection part for detecting the object from sensor information acquired by a sensor for acquiring information related to the track, a specification part for specifying an attribute of the object detected by the detection part from the sensor information acquired by the sensor, and a control part for controlling the train according to control information corresponding to the attribute of the object stored in the storage part and specified by the specification part.SELECTED DRAWING: Figure 1

Description

The present invention relates to a train control system, and is suitable for application to, for example, a train control system that controls a train traveling on an orbit.

In a track transportation system, if there is an object around the track, it cannot be avoided by steering, so detecting the object is important for improving the safety and operability of the train.

In railways, which is one of the track transportation systems, a device for detecting obstacles has been proposed as a technique for detecting objects around the track (see Patent Document 1). In the obstacle detection device described in Patent Document 1, a radar mounted on a train emits radio waves, measures the reflected waves, and confirms the difference from a reference signal recorded in advance, thereby performing on orbit and. Detects objects that exist around the orbit.

JP-A-2015-34793

In railways, the general public is prohibited from entering the area around the track, but in maintenance work, maintenance and inspection, workers often work around the track. However, in the technique described in Patent Document 1, the train may determine a worker who is working normally as an obstacle. For example, when a train is determined to be an obstacle for a worker who is working normally, the train brakes and decelerates even in a situation where deceleration is not necessary.

The present invention has been made in consideration of the above points, and an object of the present invention is to propose a train control system or the like capable of more appropriately recognizing an object and controlling a train.

In order to solve such a problem, in the present invention, a train control system for controlling a train traveling on an orbit, a storage unit for storing control information related to stop control of the train for each attribute of an object, and the above-mentioned storage unit. A detection unit that detects an object from sensor information obtained by a sensor that acquires information related to an orbit, a specific unit that identifies an object attribute detected by the detection unit from sensor information obtained by the sensor, and the above. A control unit for controlling the train is provided according to the control information stored in the storage unit and corresponding to the attribute of the object specified by the specific unit.

According to the above configuration, the train can be stopped and controlled according to the attributes of the object, so that the necessary brakes can be applied while the unnecessary brakes can be reduced. For example, according to the above configuration, energy consumption can be reduced by reducing unnecessary brakes. Further, for example, according to the above configuration, by reducing unnecessary brakes, it is possible to suppress disturbance of the diamond, so that the train can be operated stably. Further, for example, according to the above configuration, when a worker is in an area where the entry of the worker is permitted, the train travels without applying the brake or with the brake having a low deceleration applied. When there are ordinary people in the area, the speed of the train can be controlled, such as by applying a brake with high deceleration, so safety can be ensured.

According to the present invention, a highly reliable train control system can be realized.

It is a figure which shows an example of the structure which concerns on the train control system by 1st Embodiment. It is a figure which shows an example of the train control rule by 1st Embodiment. It is a figure which shows an example of the flowchart which concerns on the train control processing by 1st Embodiment. It is a figure which shows an example of the flowchart which concerns on the object attribute identification processing by 1st Embodiment. It is a figure which shows an example of the structure which concerns on the train control system by 2nd Embodiment.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings. The present embodiment relates to a technique capable of safely and stably controlling a train based on the attributes of objects existing around the track. For example, the train control system according to the present embodiment records in advance the attributes of an object that may invade the monitoring area of the route and the control information that defines the control when the object of the attribute is detected. It has a database. In such a train control system, when an object is detected in the monitoring area provided in front of the train, the attribute of the object is specified, and the train is controlled based on the attribute of the specified object based on the database. It is characterized by doing. According to such a train control system, for example, it is possible to avoid erroneous detection of a worker working at an appropriate place in a line, so that train control can be performed appropriately.

In the following description, the "storage device" includes one or more memories. At least one memory in the storage device may be a volatile memory or a non-volatile memory. The storage device is a RAM (Random Access Memory), a ROM (Read Only Memory), an HDD (Hard Disk Drive), or the like.

Further, in the following description, the "control device" is one or more processors. The at least one processor is typically a microprocessor such as a CPU (Central Processing Unit), but may be another type of processor such as a GPU (Graphics Processing Unit). At least one processor may be a processor in a broad sense such as a hardware circuit (for example, FPGA (Field-Programmable Gate Array) or ASIC (Application Specific Integrated Circuit)) that performs a part or all of the processing.

Further, in the following description, the function may be described by the expression of "kkk unit", but the function may be realized by executing one or more computer programs by the control device, or one or more. It may be realized by the hardware circuit of. The description of each function is an example. A plurality of functions may be combined into one function, or one function may be divided into a plurality of functions.

Further, in the following description, the "train" is composed of one or more trained railcars (hereinafter, vehicles).

(1) First Embodiment In FIG. 1, 100 indicates a train control system according to the first embodiment as a whole.

FIG. 1 is a diagram showing an example of a configuration related to the train control system 100.

The train control system 100 includes a train 110. The train 110 runs along a certain track. The train 110 is a vehicle that transports passengers, freight, and the like. The train 110 includes a braking device that reduces the speed (running speed) of the train 110 based on the instruction of the control unit 117 described later.

Further, the train 110 includes a control device 111, a storage device 112, and a sensor 113. The functions of the train 110 (detection unit 114, specific unit 115, calculation unit 116, control unit 117, etc.) may be realized, for example, by the control device 111 reading the program into the storage device 112 and executing it (software). However, it may be realized by hardware such as a dedicated circuit, or it may be realized by combining software and hardware. Further, some of the functions of the train 110 may be realized by another computer capable of communicating with the train 110.

The sensor 113 is mounted in front of the train 110 and acquires information (sensor information) that senses the front of the train 110. As the sensor 113, various means such as a camera, a millimeter wave radar, a LIDAR (Light Detection and Ranging), an ultrasonic sensor, and a beacon radio wave receiver can be adopted. Further, as the sensor 113, a plurality of sensors 113 may be used in combination.

The detection unit 114 monitors the periphery of the track in front of the train 110 using the sensor 113, and determines (detects) the presence or absence of an object in the vicinity of the track.

When the detection unit 114 determines that an object exists around the orbit, it transmits the sensor information of the sensor 113 obtained from the object to the identification unit 115 and the calculation unit 116. The sensor information differs depending on the type of sensor 113 used. For example, when a camera is used, it becomes image information of the object, and when a millimeter wave radar or LIDAR is used, it becomes information on the reflection intensity and distance from the object. Become. In addition, the worker holds a beacon that emits radio waves on a regular basis, and when the detection unit 114 receives radio waves from the beacon via the beacon radio wave receiver, the worker determines that the worker exists in the surroundings. You may. As a means for detecting an object from sensor information, an image recognition technique, a laser detection technique, or the like may be used, and in the present embodiment, the method does not matter.

Further, the detection unit 114 acquires track information such as the radius of curvature and the gradient of the track corresponding to the current position of the train 110 estimated by the self-position estimation means from the track information database (not shown), and obtains the track information of the train 110. A monitoring area for detecting an object may be set around the orbit in front of the vehicle. The calculation of the current position of the train 110 is generally based on the integration of the speeds of the train 110, but other methods may be used. For example, a Global Positioning System (GPS) or the like may be used. In the present embodiment, it is sufficient that the current position of the train 110 can be uniquely determined, and the method is not limited. Further, as another means for setting the monitoring area, the track shape in front of the train 110 may be estimated from the image information, and the monitoring area may be derived based on the track shape. For example, it is conceivable to set a monitoring area within a certain range from the building limit set on the route on which the train 110 travels.

The identification unit 115 evaluates the degree of compatibility between the feature amount of the sensor information received from the detection unit 114 and the feature amount of the attribute type information storage unit 118, and identifies the attribute of the object detected by the detection unit 114. As a means for evaluating the degree of conformity, for example, a predetermined feature amount (for example, a threshold value such as saturation and reflection intensity) may be compared with the feature amount of the sensor information received from the detection unit 114. , Machine learning, which is generally used for image recognition and data classification, may be applied. The identification unit 115 transmits the attribute information indicating the attribute of the object specified above to the control unit 117.

Here, the attribute type information storage unit 118 is a database in which feature amounts of sensor information are registered in advance for each attribute of an object that may exist around the orbit. As an example, the case of registering a worker will be described. For example, when image information is used as sensor information, information such as the shape of clothes worn by the worker, the color of the clothes, and the worker's predetermined gestures (raising hands, raising flags, etc.) when the train 110 approaches is registered. Further, when the reflection intensity of a millimeter wave radar, LIDAR, or the like is used as the sensor information, the reflectance of the clothes worn by the worker is registered. For example, the worker may wear a reflective material having a high-luminance reflectance and register the reflectance in the attribute type information storage unit 118. Wearing a reflective material that is significantly stronger than general clothing is expected to have the effect of improving the accuracy of discrimination between ordinary people and workers.

For the sake of simplicity, the case of registering workers has been described above, but the same registration process is applied when registering equipment along railway lines such as electric pillars and equipment boxes, oncoming trains, maintenance vehicles, and the like.

Further, the identification unit 115 may specify the attribute of the object from one sensor information, or may specify it from a plurality of sensor information. For example, when sufficient image information from the camera cannot be obtained at night or in bad weather, the reflection intensity measured by the millimeter-wave radar matches the reflection intensity of the worker registered in the attribute type information storage unit 118. In this case, the attribute of the object detected by the detection unit 114 may be specified as a worker. Further, for example, when it is determined from the image information that the object is a worker but not from the reflection intensity, the attribute of the object may be specified as a non-worker. Even when an ordinary person dressed similar to a worker is detected, it is possible to specify it with high accuracy by specifying it according to the combination conditions including the reflection intensity. As described above, even in an environment where it is difficult for the specific sensor 113 to acquire the sensor information and recognize the sensor information, it is possible to specify the attributes of the highly reliable object.

Further, the specific unit 115 has a higher degree of conformity when one object exhibits a plurality of types of features and a certain degree of conformity (for example, when the object conforms to both a worker and an ordinary person). You may select the attribute, or select the attribute that will be the control on the safer side (for example, if it is not possible to clearly distinguish whether the object is a "worker" or a "general person", continue running " A "general person" who slows down may be selected from the "worker").

The calculation unit 116 calculates the point where the object detected by the detection unit 114 exists (hereinafter, referred to as object point information) from the sensor information received from the detection unit 114. The calculation unit 116 transmits the object point information to the control unit 117.

The object point information is information including distance information indicating the distance from the center of the orbit. As a method of calculating the object point information, for example, the distance from the head of the train 110 calculated based on the time and angle at which the emitted radio wave or the emitted light from the millimeter wave radar, LIDAR, etc. hits the object and is reflected, and the distance between the train 110 and the object. The distance from the center of the orbit may be calculated from the angle, or the distance from the center of the orbit may be calculated using the parallax image of the stereo camera. In the present embodiment, the method does not matter. .. Further, the object point information may include distance information indicating the distance from the head of the train 110 to the object.

The object point information may be the current position information indicating the current position calculated from GPS or the like. Further, the object point information may be coordinate information on the map calculated from the current position information and the map information.

The control unit 117 selects the corresponding train control rule from the control information storage unit 119 based on the attribute information received from the specific unit 115 and the object point information received from the calculation unit 116. The control unit 117 controls the speed of the train 110 according to the selected train control rule. Examples of specific devices for the control drive means of the train 110 include an inverter, a motor, and a friction brake.

Here, the control information storage unit 119 is a database in which train control rules (an example of control information) corresponding to the attribute information and the object point information of the object detected in front of the train 110 are registered in advance. An example of the train control rule will be described later with reference to FIG.

For example, when the control unit 117 selects a train control rule for decelerating the train 110, the timing at which the deceleration control is started and the deceleration to be applied are the current speed of the train 110 and the head of the train 110 to the object. It may be decided according to the distance of. For example, when the object is distant, the control unit 117 may gradually decelerate with a low deceleration brake, or may perform control not to start deceleration until the object is further approached.

In addition, the detection unit 114 may detect the presence or absence of an object by using the past sensor information as well as the newly acquired sensor information. Further, the identification unit 115 may specify the attribute of the object by using the past sensor information as well as the newly acquired sensor information. Further, the calculation unit 116 may calculate the object point information by using the past sensor information as well as the newly acquired sensor information. Each of the detection unit 114, the specific unit 115, and the calculation unit 116 may estimate the operating state of the object by utilizing a method such as a Kalman filter and using past sensor information. For example, when the detection unit 114 detects an object that moves linearly from the past sensor information, even if the sensor information cannot be acquired at a certain moment, the object is at a position predicted from the past sensor information. May be presumed to exist and the subsequent processing may be executed.

Further, the detection unit 114 may calculate the accuracy information regarding the presence / absence of the detected object and transmit it to the control unit 117. The specific unit 115 may calculate the accuracy information for the attribute of the specified object and transmit it to the control unit 117. The calculation unit 116 may calculate the accuracy information for the calculated object point information and transmit it to the control unit 117. As the accuracy information, the goodness of fit calculated by the specific unit 115 may be used, or the probability distribution information of the data acquired by each sensor 113 may be used. For example, when the sensor 113 is a camera, the detection unit 114 uses the image information of the camera because it shows a probability distribution with a small variance of reliability during the day and a probability distribution with a large variance of reliability at night. When the presence or absence of an object is detected, the accuracy information regarding the presence or absence of the object detected in the daytime is transmitted to the control unit 117 as the first value, and the accuracy information regarding the presence or absence of the object detected at night is higher than the first value. It is transmitted to the control unit 117 as a low second value.

When the accuracy information is lower than the predetermined value, the control unit 117 may control the train 110 by adopting a safer train control rule. For example, even if the attribute of an object is identified as a worker who is making a predetermined gesture, if the accuracy of the result is lower than the predetermined value, it is assumed that there is a worker or an ordinary person who is not making a predetermined gesture. Operation such as controlling the speed of 110 is assumed.

Further, as a method of controlling the speed of the train 110, the control unit 117 may, for example, transmit a generated control drive command to an ATO (Automatic Train Operation) device (automatic train operation device) for automatic control. An alarm may be presented to the driver to encourage manual brake control. Whether to apply the automatic control or the manual control may be decided before the running of the train 110, or may be manually decided by the driver after the running of the train 110 is started. Further, when receiving the accuracy information, the control unit 117 may decide whether to apply the automatic control or the manual control based on the accuracy information. For example, in normal times, the train 110 is controlled by automatic control, but if the accuracy information is lower than the predetermined value, it is judged that the judgment by the system may be incorrect, and the system manually controls the driver. Operation such as encouraging switching to is conceivable.

FIG. 2 is a diagram showing an example of a train control rule. In this example, train control rules are defined according to the attributes of the object and the distance from the center of the track.

In the control information storage unit 119, for example, when a person exists within "2 m" from the center of the track, a train control rule for decelerating the train 110 is stored regardless of the attribute of the person. Further, for example, when a person exists within "2 m" to "5 m" from the center of the track, and the attribute of the person is a worker and the worker is making a predetermined gesture, the train When the running of 110 is continued, the attribute of the person is a worker, and the worker is not making a predetermined gesture, the train 110 is decelerated, and when the attribute of the person is a general person, the train 110 is decelerated. The train control rule for decelerating the train 110 is stored. Further, for example, when a person is separated from the center of the track by more than "5 m", a train control rule for continuing the running of the train 110 is stored regardless of the attribute of the person.

Further, in FIG. 2, a person has been taken as an example for explanation, but the same applies to an object. Although not shown, in the control information storage unit 119, for example, when an object exists within "5 m" from the center of the track, and the attribute of the object is work equipment, the train 110 runs. When the attribute of the object is other than the work equipment, the train control rule for decelerating the train 110 is stored. Further, for example, when an object is separated from the center of the track by more than "5 m", a train control rule for continuing the running of the train 110 is stored regardless of the attribute of the object.

In this example, for the sake of simplicity, the deceleration is shown in two stages of "continuation of running" and "deceleration". For example, it depends on the distance from the head of the train 110 to the object and the distance from the center of the track to the object. The deceleration may be specified.

Further, the control information storage unit 119 may store train control rules including information on inspection work, maintenance work, and construction work (hereinafter, referred to as work information) in the route. The work information includes one or more information of a place (for example, a section, a work position, etc.) and a time (for example, a time zone, a period, etc.) in which a worker works. As an example of the train control rule using the work information, for example, in the section and time zone where the inspection work is being performed, if a worker is detected, it is assumed that there is no abnormality, and the speed of the train 110 is determined according to the train control rule shown in FIG. Although it is controlled, if a worker is detected outside the section, it is conceivable that deceleration is controlled as an unplanned intrusion.

The above is a description of the main components of the train control system 100 and each component. Next, the process related to the train control system 100 will be described.

FIG. 3 is a diagram showing an example of a flowchart relating to the train control process performed by the train 110. The train control process is executed at regular intervals. Steps S300 to S303 are executed by the detection unit 114. Step S304 is executed by the specific unit 115. Step S305 is executed by the calculation unit 116. Step S306 and step S307 are executed by the control unit 117.

In step S300, the detection unit 114 acquires the current sensor information from the sensor 113.

In step S301, the detection unit 114 sets the monitoring area at the current position (location point) of the train 110 based on the sensor information.

In step S302, the detection unit 114 determines whether or not an object exists in the monitoring area (determines the presence or absence of an object) based on the sensor information.

In step S303, the detection unit 114 determines the next process to be executed based on the result of determining whether or not the object exists in the monitoring area in step S302. When the detection unit 114 determines that an object exists in front of the train 110, the process shifts to step S304, and when it determines that the object does not exist in front of the train 110, the detection unit 114 ends the train control process.

In step S304, the identification unit 115 performs the object attribute identification process. The specific unit 115 evaluates the degree of conformity between the feature amount of the sensor information for the object (object to be controlled) detected by the detection unit 114 and each feature amount stored in the attribute type information storage unit 118. The identification unit 115 identifies the attribute of the object to be controlled based on the evaluated goodness of fit, and transmits the attribute information indicating the attribute of the object to the control unit 117. An example of the object attribute identification process will be described later with reference to FIG.

In step S305, the calculation unit 116 calculates the object point information of the object based on the sensor information for the object to be controlled, and transmits the calculated object point information to the control unit 117.

Although FIG. 3 shows an example in which step S305 is performed after step S304, these steps may be processed independently. For example, step S305 may be processed before step S304, or step S304 and step S305 may be processed in parallel.

In step S306, the control unit 117 selects the train control rule corresponding to the attribute information and the object point information of the object to be controlled from the control information storage unit 119.

In step S307, the control unit 117 controls the speed of the train 110 based on the selected train control rule.

FIG. 4 is a diagram showing an example of a flowchart relating to the object attribute specifying process performed by the specifying unit 115. In the object attribute identification process, a case where the attributes of the object to be controlled are specified by using a plurality of sensors 113 will be described. As the plurality of sensors 113, a sensor A (for example, a camera) and a sensor B (for example, millimeter wave information) will be described as an example.

In step S400, the specific unit 115 acquires a feature amount (threshold value) for each attribute of the object related to the sensor A from the attribute type information storage unit 118.

In step S401, the specific unit 115 calculates the goodness of fit of the sensor A. For example, the specific unit 115 uses the feature amount of the sensor information of the sensor A (for example, shape information) and the feature amount related to the acquired sensor A (for example, the threshold value of the shape information) for each attribute. The degree of similarity between the shape information and the threshold value of the shape information is calculated. The specific unit 115 normalizes the highest similarity among the calculated similarity to obtain the goodness of fit of the sensor A.

In step S402, the specific unit 115 acquires a feature amount (threshold value) for each attribute of the object related to the sensor B from the attribute type information storage unit 118.

In step S403, the identification unit 115 calculates the goodness of fit of the sensor B. For example, the specific unit 115 uses the feature amount (for example, reflectance) of the sensor information of the sensor B and the feature amount (reflectance threshold value) related to the acquired sensor B, and has a reflectance for each attribute. And the difference between the reflectance threshold and the reflectance are calculated. The specific unit 115 normalizes the smallest difference among the calculated differences to obtain the goodness of fit of the sensor B.

In step S404, the identification unit 115 specifies the attributes of the object to be controlled. For example, the specific unit 115 compares the goodness of fit of the sensor A with the goodness of fit of the sensor B, refers to the attribute type information storage unit 118, and uses the feature amount of the sensor information having the higher goodness of fit to be controlled. Identify the attributes of the object. For example, in the specific unit 115, if the attribute of the object to be controlled determined from the sensor information of the sensor A and the attribute of the object to be controlled to be determined from the sensor information of the sensor B are different, the deceleration of the train 110 is decelerated. The attribute with the higher stop control may be specified as the attribute of the object to be controlled.

In step S405, the identification unit 115 determines whether or not the attribute of the object to be controlled is a person. If it is determined that the specific unit 115 is a person, the process is transferred to step S407, and if it is determined that the person is not a person, the process is transferred to step S406.

In step S406, the specific unit 115 outputs the attribute of the object to be controlled as an "object" to the control unit 117.

In step S407, the specific unit 115 determines whether or not the attribute of the object to be controlled is a worker. When the specific unit 115 determines that it is a worker, it shifts the process to step S409, and when it determines that it is not a worker, it shifts the process to step S408.

In step S408, the specific unit 115 outputs the attribute of the object to be controlled to the control unit 117 as a “general person”.

In step S409, the specific unit 115 determines whether or not the attribute of the object to be controlled is a worker raising his hand. When the specific unit 115 determines that the worker is raising his / her hand, the process is transferred to step S411, and when it is determined that the worker is not a worker who is raising his / her hand, the specific unit 115 shifts the process to step S410.

In step S410, the specific unit 115 outputs the attribute of the object to be controlled to the control unit 117 as a “worker (without raising hands)”.

In step S411, the specific unit 115 outputs the attribute of the object to be controlled to the control unit 117 as a “worker (with raised hands)”.

The above is the description of the train control process executed by the train control system 100.

As described above, the train control system shown in the present embodiment stores in advance the attribute information indicating the attribute of the object that may invade the monitoring area of the route and the train control rule when the object of the attribute is detected. It has a database. Such a train control system is characterized in that when an object is detected in the monitoring area, the attribute of the object is specified based on the database, and the train is controlled based on the train control rule corresponding to the attribute. By controlling the train based on the attributes of the object, for example, it is possible to avoid disturbance of operation due to unnecessary deceleration, warning, etc. for workers who perform normal construction, inspection work, and the like. Further, for example, when an ordinary person, an unplanned worker, or the like enters the periphery of the track, the speed is reduced to enable control to avoid a collision.

For the sake of simplicity, we have mainly described the case of registering workers, but as mentioned above, the same applies when registering objects other than humans, such as electric pillars, equipment boxes and other equipment along the railway lines, oncoming trains, maintenance vehicles, etc. The effect of is obtained.

(2) Second Embodiment In the train control system 100 of the first embodiment, an object is detected by using the sensor information acquired by the sensor 113 mounted on the train 110 (on the vehicle). The train control system 500 of the second embodiment is characterized in that an object is detected by using the sensor information acquired by the sensor 513 installed along the railway line. In this embodiment, a configuration different from that of the first embodiment will be mainly described.

FIG. 5 is a diagram showing an example of the configuration related to the train control system 500.

The train control system 500 includes a ground device 510. The ground device 510 includes a control device 511, a storage device 512, a sensor 513, and a communication device 514.

The sensor 513 senses the periphery of the installed location to acquire sensor information. The sensor 513 may be configured by using existing equipment such as a device for detecting an obstacle at a railroad crossing, a surveillance camera provided in a station yard, and the like. Further, for example, for the sensor 513, a new sensor 513 (for example, a camera, a millimeter wave radar, a lidar, an ultrasonic sensor, etc.) may be installed along the railway line.

The communication device 514 is an interface device for wirelessly communicating with the communication device 521 included in the train 110.

The functions of the ground device 510 (for example, the ground monitoring unit 515, the information transmission unit 516, etc.) may be realized by, for example, the control device 511 reading the program into the storage device 512 and executing it (software), or may be dedicated. It may be realized by hardware such as the circuit of, or it may be realized by combining software and hardware. In addition, some of the functions of the ground device 510 may be realized by another computer capable of communicating with the ground device 510.

The ground monitoring unit 515 transmits the sensor information acquired by the sensor 513 to the train 110 via the information transmission unit 516. The information transmitting unit 516 controls the communication device 514 and transmits the sensor information to the information receiving unit 522 that controls the communication device 521 included in the train 110.

Since the processing in the train control system 500 is basically the same as that in the first embodiment, the description thereof will be omitted.

The present embodiment is characterized in that the sensor 513 is provided along the railway line, but the sensor information from the sensor 113 provided on the vehicle may be used together, or the sensor 113 may not be provided on the vehicle. ..

Further, the detection unit 114, the specific unit 115, the calculation unit 116, the control unit 117, the attribute type information storage unit 118 and the control information storage unit 119 are mounted on the train 110, and some or all of these functions are provided. It may be installed in equipment on the ground (for example, ground equipment 510, server equipment, etc.). For example, when all the functions are installed on the ground equipment, the train 110 receives the control instruction of the train 110 from the ground equipment after the ground equipment acquires the sensor information and detects the object, and is based on the control instruction. The operation of controlling the train 110 can be considered.

As described above, according to the present embodiment, by utilizing the sensor installed on the ground, it is possible to detect an object even in a range out of sight from the train, such as a distant place or a curved section, and the safety of train operation is improved. Can contribute to.

(3) Other Embodiments In the above-described embodiment, the case where the present invention is applied to a train control system has been described, but the present invention is not limited to this, and various other systems. It can be widely applied to devices, methods, programs, recording media, and the like.

Further, in the above-described embodiment, the calculation unit 116 describes the case of calculating the distance from the center of the orbit as the distance from the orbit, but the present invention is not limited to this, and the calculation unit 116 uses the orbit. The distance from the building limit may be calculated as the distance from.

Further, in the above-described embodiment, the configuration of each table is an example, and one table may be divided into two or more tables, or all or a part of the two or more tables is one table. You may.

Further, in the above description, information such as programs, tables, and files that realize each function is recorded in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or an IC card, an SD card, a DVD, or the like. Can be placed on the medium.

The above-described embodiment has, for example, the following characteristic configurations.

A train control system (eg, train control system 100, train control system 500) that controls a train (eg, train 110) traveling on an orbit is an attribute (eg, person, person, etc.) of an object (eg, person, object, etc.). For each general person, worker, worker who recognizes train 110, worker who does not recognize train 110, thing, equipment along the line, oncoming train, maintenance vehicle, equipment related to work, equipment not involved in work, etc.) A storage unit (for example, storage device 112, control information storage unit 119) that stores control information (for example, train control rule) related to the stop control of the train, and information related to the track (for example, image information, from an object). Sensor information obtained by a sensor (for example, sensor 113, sensor 513, camera, millimeter wave radar, LIDAR, ultrasonic sensor, beacon radio wave receiver, etc.) that acquires reflection intensity and distance information, radio waves from a beacon, etc. A detection unit (for example, detection unit 114) that detects an object from the sensor, a specific unit (for example, specific unit 115) that specifies the attribute of the object detected by the detection unit from the sensor information obtained by the sensor, and the above. The train is controlled according to the control information stored in the storage unit corresponding to the attribute of the object specified by the specific unit (for example, brake control according to the speed of the train 110, the distance between the train 110 and the object). It is provided with a control unit (for example, control unit 117) that performs brake control according to the response, transmits a drive command to the ATO device, presents an alarm to the driver, and manually controls the brake, etc.).

According to the above configuration, the train can be stopped and controlled according to the attributes of the object, so that the necessary brakes can be applied while the unnecessary brakes can be reduced. For example, according to the above configuration, energy consumption can be reduced by reducing unnecessary brakes. Further, for example, according to the above configuration, by reducing unnecessary brakes, it is possible to suppress disturbance of the diamond, so that the train can be operated stably. Further, for example, according to the above configuration, when a worker is in an area where the entry of the worker is permitted, the train travels without applying the brake or with the brake having a low deceleration applied. When there are ordinary people in the area, the speed of the train can be controlled, such as by applying a brake with high deceleration, so safety can be ensured.

The storage unit stores control information related to the stop control of the train for each attribute of the object and for each distance from the track (see, for example, FIG. 2), and together with the sensor information obtained by the sensor. The distance between the object detected by the detection unit and the track (for example, the track) based on the position information of the sensor (for example, the position information of the head of the train 110, the position information of the sensor installed on the ground, etc.). A calculation unit (for example, calculation unit 116) for calculating the distance from the center of the building, the distance from the building limit, etc.) is provided, and the control unit is an object specified by the specific unit stored in the storage unit. The train is controlled according to the control information corresponding to the attribute of the above and the distance calculated by the calculation unit.

According to the above configuration, the train can be stopped and controlled according to the attribute of the object and the distance of the object from the track. For example, when the object is located far from the orbit (for example, when the object is more than a predetermined value away from the center of the orbit), the vehicle travels with a brake having a low deceleration, and the object is located near the orbit. When this is done (for example, when the object is located within a predetermined value range from the center of the trajectory), it becomes possible to apply the brake more appropriately, such as traveling with a brake having a high deceleration. Therefore, according to the above configuration, energy consumption can be further reduced, trains can be operated more stably, and the like.

A second storage unit (for example, a storage device 112, which stores information on the color of the object, the shape of the object, the gesture of the object, and / or the reflectance of the object, as feature quantities indicating the attributes of the object, The attribute type information storage unit 118) is provided, and the specific unit refers to the second storage unit and uses the feature amount of the sensor information acquired by the sensor to obtain the attribute of the object detected by the detection unit. Specific (for example, the degree of conformity between the feature amount stored in the second storage unit and the feature amount of the sensor information is calculated, and the attribute of the feature amount having the highest degree of conformity is specified as the attribute of the object).

According to the above configuration, for example, the attributes of an object can be specified from the color, shape, gesture, reflectance, and any combination thereof. For example, by using a plurality of types of features, the attributes of an object can be specified more accurately.

The storage unit stores control information related to the first stop control corresponding to the attribute of the worker who does not recognize the train, and corresponds to the attribute of the worker who recognizes the train. The control information related to the second stop control whose deceleration is relatively lower than that of the first stop control is stored (see, for example, FIG. 2), and the specific unit recognizes that the train is approaching. When it is determined that the object is performing the gesture indicating that, the attribute of the object is specified as the attribute of the worker who recognizes the train (see, for example, FIG. 4), and the control unit determines that According to the control information (for example, the train control rule corresponding to the raised hand) stored in the storage unit and corresponding to the attribute of the worker recognizing the train specified by the specific unit, the train is moved. Control.

According to the above configuration, for example, the train can be controlled depending on whether or not the worker recognizes the train, so that the brake can be applied more appropriately.

The sensor includes a first sensor (for example, sensor A) and a second sensor (for example, sensor B), and the specific unit includes the sensor information of the first sensor and the sensor information of the second sensor. The attributes of the object detected by the detection unit are specified from the sensor information (see, for example, FIG. 4).

According to the above configuration, for example, since the attribute of the object is specified by using the sensor information of the first sensor and the sensor information of the second sensor, the attribute of the object can be specified more accurately.

A third storage unit (for example, a storage device 112, an attribute type information storage unit 118) for storing the feature amount of the first sensor and the feature amount of the second sensor is provided for each attribute of the object, and the specific unit. Calculates the degree of conformity by comparing the feature amount of the sensor information acquired by the first sensor with the feature amount of the first sensor stored in the third storage unit, and calculates the degree of conformity. The degree of conformity is calculated by comparing the feature amount of the sensor information of the sensor of the above sensor with the feature amount of the second sensor stored in the third storage unit, and the sensor information of the sensor having the higher degree of conformity is obtained. It is used to identify the attributes of the object (see, for example, FIG. 4).

In the above configuration, for example, since the attribute of the object is specified by using the sensor information of the sensor having the higher goodness of fit, the attribute of the object can be specified more accurately.

When the attribute of the object determined from the sensor information of the first sensor and the attribute of the object determined from the sensor information of the second sensor are different from each other, the specific unit stops with a high deceleration of the train. The attribute of the control side is specified as the attribute of the above object.

In the above configuration, for example, even if the attribute of the object cannot be uniquely specified, the train can be operated safely by specifying the attribute of the object that has the higher deceleration control of the train as the attribute of the object. Can be done.

A fourth storage unit (for example, a storage device 112) for storing work information (for example, work information) indicating a place where work is performed by an operator is provided, and the control unit is stored in the fourth storage unit. When it is determined that the current position of the train is the place where the work is performed by referring to the work information, it corresponds to the attribute of the object specified by the specific unit stored in the storage unit. The train is controlled according to the control information.

In the above configuration, for example, the train can be stopped and controlled in consideration of the place where the work is scheduled, so that the brake can be applied more appropriately.

A fourth storage unit (for example, a storage device 112) for storing work information (for example, work information) indicating the time when the work is performed by the worker is provided, and the control unit is stored in the fourth storage unit. When it is determined that the current time is the time when the work is performed by referring to the work information, the control information corresponding to the attribute of the object specified by the specific unit is stored in the storage unit. , Control the above train.

In the above configuration, for example, the train can be stopped and controlled in consideration of the scheduled work time, so that the brake can be applied more appropriately.

The control unit includes the accuracy of the detection result by the detection unit (for example, accuracy information regarding the presence or absence of the detected object), the accuracy of the calculation result by the calculation unit (for example, the accuracy information for the calculated object point information), and the above. When it is determined that one or more of the certainty of the specific result by the specific unit (for example, the accuracy information for the attribute of the specified object) is lower than the threshold value, it is specified by the specific unit stored in the storage unit. The train is controlled according to control information having a higher deceleration than the control information corresponding to the attribute of the object and the distance calculated by the calculation unit.

In the above configuration, for example, when the certainty of any of object detection, object position calculation, and object attribute identification is low, the train is operated safely by setting the stop control to have a higher deceleration of the train. be able to.

The sensor is provided on the train.

According to the above configuration, for example, each time the train approaches an object, the accuracy of detecting the object and the accuracy of identifying the attribute of the object are improved, so that the brake can be applied more appropriately.

The sensor is provided on the ground.

According to the above configuration, it is possible to detect an object even in a range where the line of sight is poor from the train, such as a distant place or a curved section, so that the brake can be applied more appropriately.

Further, the above-described configuration may be appropriately changed, rearranged, combined, or omitted as long as it does not exceed the gist of the present invention.

The present invention is not limited to the above-described embodiment, and includes various modifications. The above-described embodiment has been described in detail for the sake of easy understanding in the present invention, and is not necessarily limited to the one including all the configurations described. It is also possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. ..

100 ... train control system, 110 ... train.

Claims (12)

A train control system that controls trains running on orbit.
A storage unit that stores control information related to the stop control of the train for each attribute of the object,
A detector that detects an object from the sensor information obtained by the sensor that acquires the information related to the trajectory, and
A specific unit that identifies the attribute of the object detected by the detection unit from the sensor information obtained by the sensor, and a specific unit.
A control unit that controls the train according to control information stored in the storage unit and corresponding to the attributes of the object specified by the specific unit.
Train control system with. The storage unit stores control information related to the stop control of the train for each attribute of the object and for each distance from the track.
A calculation unit for calculating the distance between the object detected by the detection unit and the trajectory based on the sensor information obtained by the sensor and the position information of the sensor is provided.
The control unit controls the train according to control information stored in the storage unit and corresponding to the attributes of the object specified by the specific unit and the distance calculated by the calculation unit.
The train control system according to claim 1. As a feature amount indicating the attribute of the object, a second storage unit for storing information on the color of the object, the shape of the object, the gesture of the object, and / or the reflectance of the object is provided.
The specific unit refers to the second storage unit and identifies the attribute of the object detected by the detection unit by using the feature amount of the sensor information acquired by the sensor.
The train control system according to claim 1. The storage unit stores control information related to the first stop control corresponding to the attribute of the worker who does not recognize the train, and corresponds to the attribute of the worker who recognizes the train. The control information related to the second stop control whose deceleration is relatively lower than that of the first stop control is stored.
When it is determined that the object is making a gesture indicating that the train is approaching, the specific unit is a worker who recognizes the train as an attribute of the object. Identify as an attribute
The control unit controls the train according to the control information stored in the storage unit and corresponding to the attribute of the worker recognizing the train specified by the specific unit.
The train control system according to claim 3. The sensor includes a first sensor and a second sensor.
The specific unit identifies the attribute of the object detected by the detection unit from the sensor information of the first sensor and the sensor information of the second sensor.
The train control system according to claim 1. A third storage unit for storing the feature amount of the first sensor and the feature amount of the second sensor is provided for each attribute of the object.
The specific unit calculates the degree of conformity by comparing the feature amount of the sensor information acquired by the first sensor with the feature amount of the first sensor stored in the third storage unit. The degree of conformity is calculated by comparing the feature amount of the sensor information of the second sensor with the feature amount of the second sensor stored in the third storage unit, and the sensor having the higher degree of conformity Identify the attributes of the object using sensor information,
The train control system according to claim 5. When the attribute of the object determined from the sensor information of the first sensor and the attribute of the object determined from the sensor information of the second sensor are different from each other, the specific unit stops the train with a high deceleration. Specifying the control attribute as the attribute of the object,
The train control system according to claim 5. It is equipped with a fourth storage unit that stores work information indicating the place where the work is performed by the worker.
The control unit refers to the work information stored in the fourth storage unit, and when it is determined that the current position of the train is the place where the work is performed, the control unit is stored in the storage unit. , The train is controlled according to the control information corresponding to the attribute of the object specified by the specific unit.
The train control system according to claim 1. It is equipped with a fourth storage unit that stores work information indicating the time when the work is performed by the worker.
The control unit refers to the work information stored in the fourth storage unit, and when it is determined that the current time is the time when the work is performed, the specific unit is stored in the storage unit. The train is controlled according to the control information corresponding to the attribute of the object specified by the unit.
The train control system according to claim 1. When the control unit determines that one or more of the accuracy of the detection result by the detection unit, the accuracy of the calculation result by the calculation unit, and the accuracy of the specific result by the specific unit is lower than the threshold value. The train is controlled according to control information having a higher deceleration than the control information stored in the storage unit and corresponding to the attribute of the object specified by the specific unit and the distance calculated by the calculation unit.
The train control system according to claim 2. The sensor is provided on the train.
The train control system according to claim 1. The sensor is provided on the ground.
The train control system according to claim 1.

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