JP2022039451A - Travel pattern creation device and travel pattern creation method - Google Patents

Abstract

To prevent late arrival between stations beyond a passing station by creating a planned travel pattern between the present time of the train and the next station so exceed the travel pattern powering toward the lower limit speed in the passing station.SOLUTION: A travel pattern creation device comprises: a planned travel pattern creation part which creates a planned travel pattern that represents a relationship between a position of a train and a speed of the train at the position; and a passing station lower limit speed calculation part which calculates, as a passing station lower limit speed, a speed that satisfies a target travel time between the passing station of the train and a next station of the passing station, and causes a slowest passing speed of the passing station. The planned travel pattern between a present time point of the train and the next station, which is created by the planned travel pattern creation part, has a passing speed of the passing station exceeding the passing station lower limit speed.SELECTED DRAWING: Figure 4

Description

The present invention relates to an apparatus and a method for creating a running pattern of a train.

When a railway train travels from the departure station to the arrival station according to a given target travel time, it performs operations such as acceleration, constant speed, coasting, and braking, and the relationship between the position and speed of the train at that time is the traveling pattern. It can be represented by a called position-velocity graph.

As a method of controlling a railway train, a target running pattern (hereinafter referred to as "planned running pattern") is created between stations before departure from the station, and then the current speed and plan of the train while running between stations. A general method is to drive a train according to a planned running pattern by comparing running patterns to determine a driving operation.

In addition, as a method for creating a planned running pattern, Non-Patent Document 1 creates a pattern for running at the fastest speed between the current station and the next station (hereinafter referred to as "fastest pattern") as an initial value, and then creates the fastest pattern. A method of repeating pattern adjustments such as shortening the powering section and inserting coasting operation within the margin time, which is the difference between the running time and the predetermined target running time, using the mountain climbing method is described. Has been done.

However, if the station is currently a transit station and the margin time for the target travel time is extremely large due to the setting of the crossing order of trains or the disorder of operation, the target travel time can be satisfied only by the above two adjustment methods. There is a problem that the pattern cannot be created and the train arrives at the next station early.

Further, according to Patent Document 1, when an acceleration higher than expected is obtained due to an increase in the overhead line voltage during traveling and the vehicle arrives at the next station earlier than the target traveling time, the brake section during the planned traveling pattern. It describes how to prevent premature arrival by fine-tuning the pattern so that it is longer.

Japanese Patent No. 5944229

Energy-saving driving curve creation method by optimizing running resistance and braking distance, Takeshi Nagata, 1996 IEEJ Electronics, Information and Systems Division Conference, 1996.

When not only the current station but also the next station is a passing station, the method described in Patent Document 1 may cause the passing speed of the next station to drop too much due to the extension of the brake section. As a result, even if the vehicle accelerates to the maximum from the next station, there is a problem that the train arrives late with respect to the target travel time between stations ahead of the next station. Therefore, it is necessary to create a planned running pattern between the next station from the present time of the train so that late arrival between stations ahead of the next station can be prevented.

In order to solve the above problems, a typical travel pattern creation device according to the present invention includes a planned travel pattern creation unit that creates a planned travel pattern that represents the relationship between the position of the train and the speed of the train at the position, and a train. It is planned to have a passing station lower limit speed calculation unit that satisfies the target travel time between stations from the passing station to the next station of the passing station and calculates the speed at which the passing speed of the passing station is the lowest as the lower limit speed of the passing station. The planned running pattern between the current time and the next station of the train created by the running pattern creation unit is characterized by having a passing speed of the passing station exceeding the lower limit speed of the passing station.

According to the present invention, by creating a planned running pattern between the current station of the train and the next station so as to exceed the pattern of powering toward the lower limit speed of the passing station of the next station, the pattern between the stations ahead of the next station is created. It is possible to prevent late arrival.
Issues, configurations and effects other than those mentioned above will be clarified by the description in the following examples.

It is a figure which shows the pattern example of the passing lower limit speed. It is a figure which shows the relationship with the component, and the train of the traveling pattern making apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the data of the planned running pattern created by the planned running pattern making part. It is a figure which shows an example of the created planned driving pattern. It is a figure which shows the adjustment method of the planned running pattern using a brake. It is a figure which shows an example of the flowchart of the processing procedure which creates a planned running pattern.

Examples of the present invention will be described as embodiments for carrying out the present invention with reference to FIGS. 1 to 6. In the description of the drawings, the same parts are designated by the same reference numerals.

As an embodiment of the present invention, the next station to pass by is created by creating a planned running pattern between the next stations passing from the present time of the train so as to exceed the pattern of powering toward the lower limit speed of the passing station of the passing next station. Explain how to prevent late arrival between stations ahead.

The lower limit speed of the passing station is the passing of the next station that passes through each running pattern that can be run within the target running time after accelerating the distance between the stations from the next station to the next station to the maximum. The speed of the pattern with the lowest speed. That is, when the traveling speed at the time of passing the next station to be passed is lower than the lower limit speed, it means that the target traveling time to the next station is not satisfied (delayed arrival at the next station is confirmed).

FIG. 1 is a diagram showing an example of a pattern of the lower limit speed of a passing station. In FIG. 1, the traveling patterns A, B, C, D and E accelerate the distance between the passing stations from the next station to the next station to the maximum with the passing speeds A, B, C, D and E as the base points, respectively. It is a pattern that ran. Among them, the traveling patterns A, B, C and D can travel between the passing next station and the station one after another within the target traveling time, and the traveling pattern E is delayed one after another from the target traveling time. When arriving, the lower limit speed of the passing station is the passing speed D.

FIG. 2 is a diagram showing the relationship between the components of the traveling pattern creating device 10 and the train according to the embodiment of the present invention. The role of each component will be described below with reference to FIG.
Here, the traveling pattern creating device 10 may be installed on either the vehicle surface or the ground side. When installed on the ground, the train can be operated according to the created traveling pattern by transmitting the calculation result to the on-board device wirelessly.

The passing station lower limit speed calculation unit 101 has a function of calculating the passing station lower limit speed, which is the lower limit speed when the train passes through each station. When the next station is the arrival station, the lower limit speed of the passing station is 0 km / h.

As a method of calculating the lower limit speed of a passing station, for example, for each passing speed of the passing station, a running pattern that runs at the fastest speed between the stations from the passing station to the next station of the passing station is created, and each of them is created. Of the running time of the running pattern, the passing speed when it matches the target running time between the stations from the passing station to the next station of the passing station is calculated as a whole, and the lower limit speed of the passing station of the passing station is obtained. There is a way to calculate.

Further, the method of calculating the lower limit speed of the passing station is not limited to this, and it may be calculated by a mathematical method by assuming that the acceleration is a constant value and solving the equation of motion.

In this embodiment, a running pattern is set to run at the fastest speed from the passing station to the station next to the passing station, but the running method is not limited to this, and energy-saving running including coasting is performed. A running pattern may be set.

Further, in this embodiment, a method of calculating the lower limit speed of a passing station in real time during train operation is shown, but the present invention is not limited to this, and the lower limit speed of the passing station of each station is calculated in advance and stored as a database. It may be a method of leaving. According to this, the calculation load is expected to be reduced.

The acceleration performance storage unit 102 has a function of holding (storing) acceleration performance information such as the acceleration performance of the train 105 and the running resistance type.

The lower limit speed pattern creation unit 103 has a function of creating a lower limit speed pattern toward the lower limit speed of the passing station at the next station to be passed, which is output from the lower limit speed calculation unit 101 of the passing station. This lower limit speed pattern is a running pattern when accelerating at the maximum acceleration of the acceleration performance output from the acceleration performance storage unit 102.

Further, the acceleration when creating the lower limit speed pattern is not limited to the maximum acceleration, and may be set smaller than this maximum acceleration in consideration of the ride quality of the train and the output efficiency of each acceleration of the train.

The planned running pattern creation unit 104 has a function of creating a planned running pattern for traveling in the section to the next station to be passed, based on the current position and the current speed of the train 105. This planned travel pattern is a pattern that travels in a position-speed region higher than the lower limit speed pattern output from the lower limit speed pattern creation unit 103.

FIG. 3 is a diagram showing an example of data of a planned travel pattern generated by the planned travel pattern creation unit 104. As shown in the figure, the planned driving pattern is in a format in which the speed and driving operation at each point are stored as time-series data.

Next, as a method of creating a planned driving pattern, a case of creating a planned driving pattern for traveling between stations at a given target driving time will be described. In this case, after creating the pattern that travels at the fastest speed in the section from the current position of the train and the current speed to the next station (hereinafter referred to as "fastest pattern") as the initial value, the travel time of the fastest pattern is given. There is a method of repeating the adjustment of the planned running pattern by using the mountain climbing method within the range of the spare time, which is the difference between the set target running times.

In this method, when adjusting the planned running pattern, a planned running pattern for traveling in a position-speed region higher than the lower limit speed pattern is created by suppressing adjustment for traveling in a position-speed region lower than the lower limit speed pattern. Is possible. FIG. 4 shows an example of the created planned driving pattern.

As a method of adjusting the planned running pattern using the hill climbing method, two general driving methods that contribute to the reduction of energy consumption are shortening the powering section and inserting coasting driving. However, if the margin time of the target driving time is extremely large and it is not possible to create a planned driving pattern that satisfies the target driving time with only these two adjustment methods, an adjustment method of decelerating by using brake operation is also added.

As an example of the method of adjusting the planned driving pattern using the brake operation, as shown in FIG. 5 (a), the planned driving pattern in which the brake operation with a strong deceleration from the current speed is used in a short section (“adjusted” in the figure). There is a way to adjust the pattern ").

Further, the method is not limited to this method, and as shown in FIG. 5 (b), a method of adjusting from the current speed to a planned running pattern (“adjusted pattern” in the figure) in which a weak deceleration brake operation is used in a long section. May be adopted.

With the method shown in FIG. 5A, a large adjustment range for traveling time can be secured. On the other hand, the method shown in FIG. 5B is expected to ensure a comfortable ride and reduce passenger anxiety about train delays.

The train 105 controls the control drive according to the planned travel pattern output from the planned travel pattern creation unit 104. The method of controlling the control drive of the train may be DAS (Driver Assistance System; driving support device), that is, a method operated by the driver according to a driving command, or ATO (Automatic Train Operation; automatic train operation device). That is, it may be a method of automatically controlling.

Next, a procedure for creating a planned running pattern between the current position of the train and the next station when the method of this embodiment is used will be described.

FIG. 6 is a diagram showing an example of a flowchart of a processing procedure for creating a planned travel pattern.
In step S11, the passing station lower limit speed calculation unit 101 calculates the passing station lower limit speed, which is the lower limit speed of the next station through which the train passes. As an example of this calculation method, as described above, the target running time between stations from the passing station (the next station passing in step S11) to the next station of the passing station (the next station in step S11) is satisfied. The speed at which the passing speed of the passing station is the lowest is calculated as the lower limit speed of the passing station.

In step S12, the lower limit speed pattern creation unit 103 has the maximum acceleration performance output from the acceleration performance storage unit 102 toward the lower limit speed of the passing station at the next station to be passed, which is output from the lower limit speed calculation unit 101 of the passing station. Create a lower limit speed pattern from the running pattern when accelerating with acceleration or the running pattern including coasting.

In step S13, the planned travel pattern creation unit 104 sets the section from the current position and the current speed of the train 105 to the next station to pass through at a position higher than the lower limit speed pattern output from the lower limit speed pattern creation unit 103. Create a planned driving pattern to drive in the speed range. After creating the planned driving pattern, the process ends.

As described above, according to this embodiment, passing by creating a planned running pattern between the next stations passing from the present time of the train so as to exceed the running pattern of driving toward the lower limit speed of the passing station of the passing next station. It is possible to prevent late arrival between stations ahead of the next station.

Further, the present invention is not limited to the above examples, and various modifications can be made without departing from the gist of the present invention.

10 Travel pattern creation device 101 Passing station lower limit speed calculation unit 102 Acceleration performance storage unit 103 Lower limit speed pattern creation unit 104 Planned travel pattern creation unit 105 Train

Claims (6)

A planned running pattern creation unit that creates a planned running pattern that represents the relationship between the position of the train and the speed of the train at that position,
A passing station lower limit speed calculation unit that satisfies the target travel time between stations from the passing station of the train to the next station of the passing station and calculates the speed at which the passing speed of the passing station is the lowest as the lower limit speed of the passing station. Prepare,
A traveling pattern creating device created by the planned traveling pattern creating unit, wherein the planned traveling pattern between the present time and the next station of the train has a passing speed of the passing station exceeding the lower limit speed of the passing station. The traveling pattern creation device according to claim 1.
The passing station lower limit speed calculation unit creates a running pattern that runs at the fastest speed between stations from the passing station of the train to the next station of the passing station, or a running pattern that includes coasting running for each passing speed of the passing station. A traveling pattern creating device, characterized in that the lower limit speed of the passing station is calculated from the created traveling pattern. The traveling pattern creation device according to claim 1 or 2.
An acceleration performance storage unit that stores acceleration performance information related to the acceleration performance of the train,
The lower limit for accelerating the train with the maximum acceleration of the train from the acceleration performance information and creating a lower limit speed pattern which is a traveling pattern for passing the passing station at the lower limit speed of the passing station from the passing station lower limit speed calculation unit. Further equipped with a speed pattern creation unit,
A traveling pattern creating device created by the planned traveling pattern creating unit, wherein the planned traveling pattern between the present time and the next station of the train has a passing speed of the passing station exceeding the lower limit speed pattern. The traveling pattern creation device according to claim 3.
The lower limit speed pattern creating unit is a traveling pattern creating device characterized in that the maximum acceleration of the train is set to an acceleration smaller than the maximum acceleration in consideration of the riding comfort of the train and the output efficiency of each acceleration of the train. The traveling pattern creation device according to any one of claims 1 to 4.
The planned travel pattern creation unit is a travel pattern creation device characterized by adding a brake operation section to the planned travel pattern between the current time of the train and the next station. The first step of calculating the speed at which the target traveling time between stations from the passing station of the train to the next station of the passing station is satisfied and the passing speed of the passing station is the lowest is calculated as the lower limit speed of the passing station.
The second step of creating a lower limit speed pattern from a running pattern including a running pattern or coasting running when accelerating at the maximum acceleration toward the lower limit speed of the passing station at the passing station.
A method for creating a traveling pattern, which comprises a third step of creating a planned traveling pattern for traveling in a position-speed region higher than the lower limit speed pattern in a section from the current position and the current speed of the train to the passing station.

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