JP2023097302A - On-vehicle device - Google Patents

Abstract

To provide a technique for correctly specifying an existing ground element in order to realize speed control of a train using the existing ground element, not a ground element such as a transponder type ground element that can transmit various information onto a vehicle from the ground.SOLUTION: An on-vehicle device 10 comprises: an on-vehicle element 110 which detects a ground element; a positioning part 120 which positions the longitude and latitude by GNSS; a travel position calculation part 161 which calculates a current travel position by calculating a travel distance from a rail starting point; an on-vehicle storage part 190 which stores attribute information including the installation position longitude and latitude of the ground element and the installation position kilometrage of the ground element for each ground element; a ground element specification part 162 which specifies the ground element detected on the basis of the positioning longitude and latitude when the ground element is detected and the installation position longitude and latitude for each ground element, as the specific ground element; and a travel position correction part 163 which corrects the current travel position on the basis of the installation position kilometrage of the specific ground element.SELECTED DRAWING: Figure 6

Description

The present invention relates to an on-board device.

Triggered by the derailment accident on the JR Fukuchiyama Line in 2005, the railway technical standards were revised, and the introduction of devices that automatically decelerate or stop trains according to signal display information and track conditions became obligatory. was done. As a result, each railway company needs to introduce an ATS (Automatic Train Stop) device according to the signal indication information and track conditions.

As an example of such an ATS device, a technology is known in which a transponder-type ground coil is installed on a railroad track, various information is transmitted to the train side, and a speed check pattern is created on the train side to control the speed of the train. (See, for example, paragraphs [0004] to [0005] of Patent Document 1).

JP 2013-138603 A

However, replacing the existing non-transponder type beacon with a transponder type beacon and renovating the general system related to the ATS device requires a large amount of cost. Therefore, there are railway lines where introduction is difficult in terms of cost. Under these circumstances, existing beacons (for example, A technique for controlling the speed of a train using the ground coil of an ATS device called ATS-S type is desired. Specifically, for example, there is a demand for realizing a technology for creating a speed pattern of a reference speed on the vehicle side using an existing ground coil. One of the important elemental technologies for controlling the speed of trains using existing beacons is the technology to correctly identify which beacons stored on the train are the beacons detected by the train. is.

The problem to be solved by the present invention is to realize speed control of a train using an existing beacon, not a beacon capable of transmitting various information from the ground to the train, such as a transponder type beacon. and to provide a technique for correctly identifying the existing beacon.

The first invention for solving the above problems is a beacon detection means for detecting a beacon (for example, a beacon 110 in FIG. 1 etc.) and a positioning for measuring latitude and longitude by GNSS (Global Navigation Satellite System) means (for example, the positioning unit 120 in FIG. 6), and a traveling position calculation means (for example, the traveling position in FIG. calculation unit 161); and attribute information storage means (for example, the vehicle shown in FIG. Upper storage unit 190, beacon attribute information 200) and positioning latitude and longitude are acquired from the positioning means when detection by the beacon detection means is performed, and the positioning latitude and longitude are stored in the attribute information storage means. a specifying means (for example, a beacon specifying unit 162 in FIG. 6) for specifying the beacon detected by the beacon detecting means as a specific beacon based on the installation position latitude and longitude of each beacon, and a correcting means (for example, a traveling position correction unit 163 in FIG. 6) for correcting the current traveling position based on the installation position kilometer distance of the specific ground coil.

According to the first invention, when the on-board device stores attribute information including the installation position latitude and longitude and the installation position kilometer distance from the starting point of the track on the railroad track, and detects the ground coil. can identify the detected beacon as the specific beacon from the positioning latitude and longitude at the time of detection and the installation position latitude and longitude of each beacon. Then, it is possible to acquire the installation position kilometerage of the specific beacon, and correct the current traveling position, which is calculated at any time on the vehicle, with the acquired installation position kilometerage of the specific beacon. According to this, various information is not transmitted from the ground to the vehicle like a transponder type beacon, but by specifying the beacon, the current running position is corrected by the installed position of the specified beacon. It becomes possible to

In a second aspect of the invention, the attribute information further includes a type of the ground coil and control information corresponding to the type of the ground coil, and the speed limit related to the speed limit location and the kilometers of the start and end positions track condition information storage means (for example, the on-board storage unit 190 in FIG. 6, the track condition information 210 ), the control information for the specific beacon is acquired from the attribute information for each beacon, and the train is controlled based on the current running position, the control information for the specific beacon, and the track condition information. The on-vehicle device according to the first invention further comprises a speed control means (for example, the speed control unit 165 in FIG. 6) that controls the speed of .

According to the second invention, the control information of the specific ground coil can be acquired and used for speed control of the train. According to this, without transmitting various information from the ground to the train like a transponder type beacon, by specifying the beacon, train speed control using the control information of the specified beacon can be performed. realizable.

In a third aspect of the present invention, the ground coil includes a ground coil whose type is stop control, and the control information of the ground coil whose type is the stop control in the attribute information is stop control start. When the type of the specific ground coil is the stop control, the speed control means is used for stop control based on the stop control start point kilometer and the track condition information. setting an initial speed at the start of stop control and a gradient to which the stop control is applied; and a speed pattern in which the stop control start point kilometer is the stop control start position based on the initial speed at the start of the stop control and the gradient to which the stop control is applied. is set as the reference speed, and the speed control is performed based on the current travel position and the reference speed.

According to the third invention, when a beacon whose type is stop control is detected and the beacon is specified, the stop control start point kilometer set as the control information of the beacon is acquired. can be done. Then, the speed pattern for stopping the train at the stop control start kilometer is set as the reference speed, and the speed control of the train can be performed based on the current running position and the reference speed.

In a fourth aspect of the invention, the control information of the ground coil whose type is the stop control in the attribute information further includes a stop limit kilometer, and the speed control means sets the speed pattern to the stop control. This is the on-board device of the third invention, which is set as a pattern to stop the vehicle before reaching the limit kilometer.

According to the fourth invention, when a beacon whose type is stop control is detected and the beacon is specified, the stop limit kilometerage set as the control information of the beacon can be obtained. can. Then, a speed pattern to stop the train before reaching the stop limit kilometer is set as a reference speed, and the speed of the train can be controlled based on the current running position and the reference speed.

The figure which shows the whole system containing an on-vehicle device. The figure which shows the data structural example of ground coil attribute information. The figure which shows the data structural example of track condition information. The figure explaining a ground coil specific process. 4A and 4B are diagrams for explaining speed control processing; FIG. The block diagram which shows the structural example of an on-vehicle apparatus. The flowchart which shows the flow of a train control process. The figure which shows the data structural example of the ground coil attribute information in a modification. The figure explaining the speed control process in a modification.

Preferred embodiments of the present invention will be described below with reference to the drawings. In addition, the present invention is not limited by the embodiments described below, and the forms to which the present invention can be applied are not limited to the following embodiments. Moreover, in the description of the drawings, the same reference numerals are given to the same parts.

FIG. 1 is a diagram showing an overall system including an on-board device 10 according to this embodiment. The on-board device 10 of the present embodiment sets a review speed according to the signal appearance and track conditions, and automatically activates braking control (brake control) when reaching a speed that conflicts with the review speed. By doing so, the train 1 is decelerated or stopped, and the ground coil 5 installed along the track 3 is detected to control the speed of the train 1. - 特許庁The beacon 5 is not a beacon capable of transmitting various information from the ground to the vehicle, such as a transponder type beacon, but is a passive ground coil made of a resonant circuit whose information that can be transmitted from the ground to the vehicle is limited. For example, it is a ground coil of ATS equipment called ATS-S type.

Here, the beacon 5 of the present embodiment includes the beacon 5 whose type is "position correction" (for example, the beacon 5a in FIG. 1) and the beacon 5 whose type is "stop control" (for example, There are two kinds of ground coils 5b) in FIG. The ground coil 5 (5a) whose type is "position correction" always constitutes a resonance circuit. The beacon 5 whose type is "stop control" constitutes a resonance circuit only when the traffic signal closest to the inside of the beacon 5 (hereinafter also referred to as the "closest signal") is in the stop mode. In the example of FIG. 1, the ground coil 5b constitutes a resonance circuit when the signal 7 indicates a stop. On the other hand, the train 1 is provided with an on-board coil 110 at the bottom of the car body. The on-board device 10 detects that the train 1 has passed the installation position of the ground coil 5 by detecting the ground coil 5 with the on-board coil 110 .

In addition, the on-board device 10 includes a positioning unit 120 (see FIG. 6) that measures the latitude and longitude of the running position of the train 1, and a running position that calculates the running position (current running position) of the train 1 on the track 3 at any time. and a calculation unit 161 (see FIG. 6).

The positioning unit 120 performs positioning by GNSS (Global Navigation Satellite System) represented by GPS (Global Positioning System). For example, the positioning unit 120 can be implemented by a GPS module, GPS receiver, or the like that receives signals from the GPS satellites 9 . Galileo or Beidou satellite positioning system (BeiDou) other than GPS may be used. In the beacon identifying process, which will be described later, the on-board device 10 acquires the global spherical coordinates (latitude, longitude, altitude) of the positioning location obtained by the positioning unit 120 as the positioning latitude and longitude. The acquired positioning latitude and longitude are stored as positioning latitude and longitude information 193 (see FIG. 6).

The travel position calculator 161 calculates the current travel position by calculating the travel distance from the track starting point according to the rotation of the wheels or axles. Hereinafter, the position on the track indicated by the track distance from the starting point of the track will be referred to as a "kilometer". For example, the travel position calculation unit 161 adds the travel distance of the train 1 based on the detection signal of the rotation detector 13 to the installed position kilometer (see FIG. 2) obtained by detecting and specifying the ground coil. , the current running position (km) is calculated at any time. The rotation detector 13 is composed of a pulse generator, a tachometer, or the like that detects the rotation of wheels or axles. The calculated current travel position is updated and stored as needed as the travel position information 195 (see FIG. 6).

The on-board device 10 also stores beacon attribute information 200, which is attribute information of beacons to be detected (all beacons 5 on the track 3 on which the train 1 runs), and information on the track 3 on which the train 1 runs. and track condition information 210 relating to conditions are stored. Then, each time the on-board device 110 detects the beacon 5, the on-board device 10 performs 1) beacon identification processing for identifying which of the beacons 5 to be detected corresponds to the beacon 5. 2) running position correction processing for correcting the current running position of the train 1 based on the attribute information of the specified ground coil (specific ground coil) 5; 3) control information acquisition processing for acquiring control information; 4) speed control processing for controlling the speed of the train 1 according to the conditions of the track 3 inside the current running position of the train 1;

1. About Beacon Attribute Information FIG. 2 is a diagram showing a data configuration example of the beacon attribute information 200. As shown in FIG. As shown in FIG. 2, the beacon attribute information 200 is set by associating a beacon number 201 for identifying the corresponding beacon with each beacon to be detected and attribute information 203 of the concerned beacon. data table.

The attribute information 203 includes an installation position longitude and latitude, an installation position kilometer, and a type.

The latitude and longitude of the installation position of the corresponding ground coil are set in the installation position latitude and longitude.

In the installation position kilometerage, the installation position kilometerage indicating the position of the ground coil on the railroad track is set. In the example of the ground coil 5a of FIG. 1, the track distance from the track starting point (not shown) to the ground coil 5a (that is, the kilometer of the ground coil 5a) is set as the installation position kilometer. Similarly, in the example of the ground coil 5b in FIG. 1, the track distance from the track start point (not shown) to the ground coil 5b (the kilometer of the ground coil 5b) is set as the installation position kilometer.

"Position correction" or "stop control" is set as the type.

Also, in the attribute information 203, control information corresponding to the type of the ground coil is set. For example, the attribute information 203 of a beacon whose type is "stop control", such as the beacon number "No. 4" in FIG. Control information such as the degree, etc. is set.

2. Regarding Track Condition Information FIG. 3 is a diagram showing a data configuration example of the track condition information 210. As shown in FIG. The track condition information 210 includes, as information on track condition locations, the speed limit and start/end positions related to the speed limit location according to the conditions of the track based on the interpretation standard 5 of Article 57 of the Railway Technical Standards, and the gradient location of the track. It stores the slope value and the starting and ending positions.

The speed limit points according to the conditions of the track based on the interpretation standard 5 of Article 57 of the Railway Technical Standards are a) curve section, b) turnout section, c) structure section that limits speed, d) line end e) a predetermined railroad crossing; f) a predetermined downward grade. e) Predetermined level crossing is when there is a level crossing inside the ground coil, and it falls under "when there is a risk of entering the level crossing where the blocking operation of the barrier machine has not been completed". It is a railroad crossing. If there is a corresponding railroad crossing, the speed limit and start/end positions are set for the location of the railroad crossing.

In this embodiment, as shown in FIG. 3, the track condition information 210 is prepared as a data table that stores speed limits and gradients for each kilometer in association with each kilometer (track distance from the starting point of the track). be done.

3. About Beacon Identification Processing FIG. 4 is an explanatory diagram for explaining the beacon identification processing. In FIG. 4, installation position latitude and longitude P21, P23 of the ground coils on the track 3 on which the train 1 runs are indicated by "x" marks. In addition, a black dot indicates a positioning latitude and longitude P3 measured by the on-board device 10 of the train 1 when the on-board device 10 of the train 1 detects the beacon at the installation position latitude and longitude P21.

In the beacon identifying process, the on-board device 10 acquires the positioning latitude and longitude from the positioning unit 120 when the beacon 110 is detected by the on-board device. Then, the on-board device 10 identifies the detected beacon as a specific beacon based on the acquired positioning latitude and longitude and the installation position latitude and longitude of each beacon stored in the beacon attribute information 200. do.

Specifically, the on-board device 10 selects a beacon whose distance from the acquired positioning latitude and longitude is within the positioning error range among the detection target beacons as the specific beacon (that is, The detected beacon is specified as being the beacon at the installation position latitude and longitude). For example, referring to FIG. 4, when the ground coil installed at the installation position latitude and longitude P21 is detected, the positioning latitude and longitude P3 is obtained. Next, the beacon at the installation position latitude and longitude P21 whose distance from the positioning latitude and longitude P3 is within the distance Da of the positioning error range is specified as the specific beacon.

Here, it is a requirement for specifying a beacon that one beacon exists within the positioning error range (the installation position latitude and longitude is within the distance Da from the positioning latitude and longitude). The distance Da as a positioning error is at least 20 m or less, and can be 10 m or less under certain conditions. As a result, it is possible to specify ground coils whose installation interval is at least twice the distance Da, and it is possible to specify ground coils with installation intervals of at least 40 m, and up to 20 m if conditions are added.

4. About Running Position Correction Processing In the running position correction processing, when a beacon is specified as a result of the beacon specifying processing, the on-board device 10 detects a beacon within the positioning error range among the beacons to be detected. If one exists and the ground coil is successfully specified), the current running position of the train is corrected.

Specifically, the on-board device 10 refers to the attribute information 203 of the specified beacon (hereinafter referred to as "specified beacon" as appropriate) and acquires the installation position kilometerage. Then, the on-vehicle device 10 corrects the current travel position by updating the travel position information 195 by rewriting the current travel position with the installation position kilometer distance.

5. About Speed Control Processing In the speed control processing, the on-board device 10 sets a reference speed that serves as a reference speed for activating brake control based on the current running position of the train and the track condition information 210 . Then, the on-board device 10 controls the speed of the train based on the current running position and the set review speed.

Further, in the speed control process of the present embodiment, the on-board device 10 sets a speed pattern for stopping the train as a reference speed when detecting/identifying a beacon whose type is "stop control". Then, the on-board device 10 controls the speed of the train based on the current running position and the set review speed.

First, in the example of FIG. 5, there is a beacon No. 3 (see FIG. 2) whose type is "position correction" in kilometerage (A). In the attribute information 203 of the ground coil in the ground coil attribute information 200 of FIG. 2, the kilometer range (A) is set as the installation position kilometer range. Therefore, when the train approaches the third beacon and detects the beacon via the on-board coil 110, the on-board device 10 executes the beacon identifying process. Then, when the beacon is identified as the beacon No. 3, the on-board device 10 executes the traveling position correction process, and the current beacon is installed at the installation position kilometer distance (A) of the beacon. Correct the running position.

In the speed control process, the on-board device 10 calculates the current traveling position as needed while correcting as described above, and the speed limit and gradient set in association with the kilometerage in the track condition information 210. , and set the reference speed based on the idle running time of the train, the deceleration of the vehicle, and the train performance such as the length of the train.

Specifically, based on the current travel position calculated by the travel position calculation unit 161, the on-board device 10 first calculates the most recent change point of the speed limit from the track condition information 210 (the speed limit is the current travel position). position on the track that varies from the speed limit). The change points include high-order change points such as kilometerage (B) and kilometerage (E), and low-order change points such as kilometerage (D). When the most recent change point is an upper change point, the on-board device 10 sets the reference speed to the post-change limit speed when the train passes through the upper change point. For example, if we focus on the point of time when ground coil No. 3 is detected and specified, the speed limit at the installation position kilometer distance (A) is 45 km/h, and the speed limit at the most recent change point (B) is 80 km/h. It is an upper change point that changes. Therefore, at the point in time when attention is paid, the speed limit of 45 km/h is set as the reference speed, and the speed of the train is controlled based on the reference speed. Then, after the train passes through the kilometerage (B), which is the upper change point, the reference speed is set to the post-change speed limit of 80 km/h, and the speed of the train is controlled based on the reference speed. In addition, FIG. 5 shows that the train has passed through the upper changing points by increasing the distance from the upper changing points of kilometer (B) and kilometer (E) and changing the reference speed to a higher level. .

On the other hand, when the most recent change point is the lower change point, the on-board device 10 sets the reference speed for decelerating to the post-change limit speed at the lower change point. For example, Kilometerage (D) is the sub-change point where the speed limit changes from 80 km/h to 55 km/h. In this case, the on-board device 10 calculates the deceleration distance required to decelerate from the pre-change speed limit of 80 km/h to the post-change speed limit of 55 km/h with a predetermined braking force. Next, the deceleration control start point (C) is calculated backward by subtracting the deceleration distance from the change point (D). Then, the reference speed is set to the limit speed before change of 80 km/h until the determined deceleration control start point (C), and the reference speed from the deceleration control start point (C) to the change point (D) is the limit speed before change. The reference speed of the speed pattern gradually decreases from 80 km/h to the post-change speed limit of 55 km/h.

Further, when the on-board device 10 detects and specifies a beacon whose type is "stop control" and corrects the current traveling position, the inward nearest traffic signal of the beacon is a stop indication. A speed pattern is created to stop the train by starting braking from the stop control start point kilometer related to the beacon, and the reference speed is set.

In the example of FIG. 5, there is a beacon No. 4 (see FIG. 2) whose type is "stop control" at the kilometer distance (F), and the inner nearest traffic signal of the beacon is the traffic signal 7a. be. The indication of the signal 7a is the stop indication. Further, in the beacon attribute information 200 in FIG. 2, in the attribute information 203 of the beacon, kilometerage (F) is set as the installation position kilometerage, and kilometerage (G) is set as the kilometerage stop control start point of the control information. is set.

Therefore, when the train reaches the No. 4 beacon and detects the beacon via the on-board coil 110, the on-board device 10 executes the beacon identifying process. Then, when the beacon is identified as the beacon No. 4, the on-board device 10 executes the traveling position correction process, and the current distance (F) of the installation position of the beacon is set to the distance (F). Correct the running position.

Subsequently, the on-board device 10 executes the control information acquisition process because the identified beacon type is "stop control". That is, the on-board device 10 refers to the beacon attribute information 200, reads the control information from the beacon attribute information 203, and acquires the control information of the beacon including the stop control start point kilometer distance (G). do.

Then, the on-board device 10 sets the speed pattern of the reference speed to start braking from the stop control start point kilometer (G) and stop by the stop indication signal 7a as the reference speed. Specifically, first, the current running position is retrieved from the track condition information 210, and the initial speed at the start of the stop control and the slope to which the stop control is applied, which are used for the stop control, are set. Here, the control speed of 70 km/h (see FIG. 3) at the stop control start point kilometer distance (G; 14,580 m) is read out and set as the initial speed at the start of stop control. Also, the gradient of −20‰ (see FIG. 3) at the stop control start point kilometer distance (G; 14,580 m) is read out and set as the stop control applicable gradient. Subsequently, based on the set initial speed at the start of stop control, the slope to which the stop control is applied, and the train performance, the speed pattern for stopping with the stop control start point kilometer distance (G) as the stop control start position is set as the reference speed. do. After that, the on-board device 10 performs speed control based on the current traveling position and the reference speed.

In addition, in the above-described beacon identification process, a beacon within the positioning error range (within the distance Da in FIG. 4) cannot be identified among the beacons to be detected, and a situation may occur in which the beacon identification fails. . If it fails to identify the ground coil, the on-board device 10 stops the train by, for example, an emergency brake.

6. Configuration of On-Board Device FIG. 6 is a block diagram showing a configuration example of the on-board device 10. As shown in FIG. As shown in FIG. 6, the on-board device 10 includes an on-board device 110, a positioning unit 120, an operation input unit 130, a display unit 140, a communication unit 150, an on-board control unit 160, and an on-board storage unit. 190 .

The operation input unit 130 is, for example, an input device having switches, buttons, etc., and outputs an operation signal according to the operation input to the on-vehicle control unit 160 . The display unit 140 is realized by, for example, a liquid crystal display device or the like, and performs display according to a display signal from the on-vehicle control unit 160 .

The communication unit 150 performs data communication with an external device. For example, it can be realized by a radio communication device, a modem, a TA (terminal adapter), a jack of a communication cable for wired use, a control circuit, or the like.

The on-board control unit 160 is realized by electronic components such as processors such as a CPU (Central Processing Unit) and DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), and FPGA (Field-Programmable Gate Array). Data input/output control is performed between each unit. Then, the on-board control unit 160 performs various arithmetic processing based on predetermined programs and data, the present information acquired from the beacon via the on-board coil 110, the latitude and longitude measured by the positioning unit 120, and the like. It controls the operation of the upper device 10 . This on-vehicle control unit 160 includes a running position calculating unit 161, a beacon specifying unit 162, a running position correcting unit 163, a control information acquiring unit 164, a speed control unit 165, and a speed control unit 167 when specifying failure. ,including. These functional units may be processing blocks realized as software by executing programs, or circuit blocks realized by hardware circuits such as ASIC and FPGA. In the present embodiment, processing blocks implemented as software by the on-board control unit 160 executing the train control program 191 will be described.

The beacon identifying unit 162 is a functional unit that executes a beacon identifying process, and identifies the beacon detected by the onboard coil 110 as the specific beacon. Specifically, when the onboard coil 110 detects a beacon, the beacon identifying unit 162 determines the positioning latitude and longitude at the time of detection by the positioning unit 120 and the ground coil stored in the beacon attribute information 200 . The detected beacon is specified as a specific beacon based on the installation position latitude and longitude of each beacon.

The running position correction unit 163 is a functional unit that executes a running position correction process, and based on the installation position kilometer distance (see FIG. 2) of the specific beacon specified by the beacon specifying unit 162, the running position calculation unit The current running position calculated by 161 is corrected.

The control information acquisition unit 164 is a functional unit that executes control information acquisition processing, and acquires the control information of the specific beacon from the beacon attribute information 200 based on the specific beacon identified by the beacon identification unit 162. .

The speed control unit 165 is a functional unit that executes speed control processing, sets a reference speed based on the current running position and the track condition information 210, and performs speed control of the train based on the reference speed. Further, when the speed control unit 165 detects and specifies a beacon whose type is "stop control", the speed control unit 165 acquires the control information of the specific beacon including the stop control start point kilometer distance from the beacon attribute information 200, The speed control of the train is performed based on the current running position, the control information of the specific beacon (stop control starting point kilometer distance), and the track condition information 210 . In this embodiment, the speed control unit 165 sets a speed pattern in which the train is stopped at the stop control start kilometer as the stop control start position as the reference speed, and controls the speed of the train based on the reference speed. By activating brake control when the running speed of the train reaches the verification speed, the running speed is controlled so as not to exceed the verification speed.

The identification failure time speed control unit 167 performs control to stop the train by, for example, an emergency brake when identification of the detected ground coil fails. Incidentally, when the specification of the ground coil fails, instead of stopping the train, a process of activating brake control may be executed so as to decelerate the train to a predetermined slow speed.

The on-vehicle storage unit 190 is implemented by a storage medium such as an IC (Integrated Circuit) memory, hard disk, or optical disk. The on-vehicle storage unit 190 stores in advance a program for operating the on-board device 10 and realizing various functions of the on-board device 10, data used during execution of the program, and the like. Alternatively, it is temporarily stored each time processing is performed. In this embodiment, the on-board storage unit 190 stores a train control program 191, positioning latitude and longitude information 193, running position information 195, beacon attribute information 200 (see FIG. 2), and track condition information 210 ( See FIG. 3) and are stored.

7. Flow of Processing FIG. 7 is a flow chart showing the flow of train control processing performed by the on-board device 10 . The processing described here is realized by the on-board control unit 160 reading out the train control program 191 from the on-board storage unit 190 and executing it in the on-board device 10 .

As shown in FIG. 7, in the train control process, the speed control unit 165 first starts the speed control process (step S1). By the processing started here, the speed control unit 165 sets the review speed based on the current travel position and the track condition information 210, and activates brake control so that the travel speed does not exceed the review speed.

Moreover, when a beacon is detected by the onboard coil 110 (step S11: YES), the beacon identifying unit 162 executes a beacon identifying process. That is, first, the beacon specifying unit 162 acquires the positioning longitude and latitude when the beacon is detected from the positioning unit 120 (step S13). Then, the beacon identifying unit 162 identifies the detected beacon based on the acquired positioning latitude and longitude and the installation position latitude and longitude of each beacon stored in the beacon attribute information 200 (step S15). ). For example, the beacon identifying unit 162 identifies as the specific beacon the beacon whose installation position latitude and longitude is within the predetermined distance Da from the positioning latitude and longitude in the manner described with reference to FIG. 4 .

Then, when the ground coil is identified (the detected ground coil is identified successfully) (step S17: YES), the running position correction unit 163 executes a running position correction process to correct the current running position. (Step S19). That is, the traveling position correction unit 163 corrects the current traveling position by the installed position kilometer of the specific ground coil.

Subsequently, when the type of the specific ground coil is "stop control" (step S21: YES), the control information acquisition unit 164 executes control information acquisition processing (step S23). Here, the control information acquisition unit 164 refers to the beacon attribute information 200, reads the control information from the beacon attribute information 203, and obtains the control information of the beacon (in this embodiment, the stop control start point kilometer distance). ). Then, the speed control unit 165 executes speed control processing. That is, first, the speed control unit 165 refers to the track condition information 210, and based on the stop control start point kilometer, sets the initial speed at the start of the stop control and the gradient to which the stop control is applied (step S25). ). Subsequently, the speed control unit 165 sets, as a reference speed, a speed pattern for stopping with the stop control start point kilometer distance as the stop control start position, based on the initial speed at the start of the stop control and the stop control applied gradient (step S27). Then, the speed control unit 165 performs speed control of the train based on the reference speed set in step S27 (step S29). After that, the process returns to step S11.

On the other hand, if the beacon could not be specified (failed to specify the detected beacon) (step S17: NO), the speed control unit 167 at the time of specification failure stops the train, for example, by an emergency brake (step S31).

As described above, according to the present embodiment, in the on-board device, the installation position kilometer, installation position latitude and longitude, type, and beacon attribute information including control information corresponding to the type for each beacon to be detected 200 and track condition information 210 including the speed limit and start and end positions related to track condition points (speed limit points and track gradient points). Then, when a beacon is detected, the beacon is identified as a specific beacon based on the positioning latitude and longitude at the time of detection and the installation position latitude and longitude of each beacon, and the current running position is calculated at any time on the vehicle. can be corrected by the installation position kilometer of the specific ground coil. According to this, various information is not transmitted from the ground to the vehicle like a transponder type beacon, but by specifying the beacon, the current running position is corrected by the installed position kilometer of the specified beacon. It becomes possible to

Also, based on the current running position, the track condition information 210 can be referenced to set the verification speed, and the speed of the train can be controlled based on the verification speed. Specifically, the reference speed can be set based on the setting of the speed limit and slope associated with the track distance (km) from the track starting point. When a beacon is detected and identified and the type of the beacon is "stop control", the stop control start point kilometer set as control information is acquired from the beacon attribute information 200. , a speed pattern in which the stop control start point kilometer is used as the stop control start position, and a speed pattern for stopping can be set as a reference speed. Then, speed control of the train can be performed based on the verification speed. According to this, without transmitting various information from the ground to the train like a transponder type beacon, by specifying the beacon, train speed control using the control information of the specified beacon can be performed. realizable.

It should be noted that the form to which the present invention can be applied is not limited to the above-described embodiment, and the addition, omission, or change of constituent elements can be applied as appropriate.

For example, the control information of a beacon whose type is "stop control" is stored including the stop limit kilometer. A configuration may be adopted in which the speed control process is performed using the point kilometer. In the example of the ground coil 5b in FIG. 1, the stop limit kilometer distance is the track distance from the track starting point (not shown) to the stop limit point P1 related to the signal 7 (a predetermined distance (for example, 10 m) before the signal 7 kilometer. position).

FIG. 8 is a diagram showing a data configuration example of the ground coil attribute information 200A in this modified example. As shown in FIG. 8, the beacon attribute information 200A is set by associating the beacon number 201 for identifying the corresponding beacon with the beacon attribute information 203A for each beacon to be detected. data table.

Then, in the beacon attribute information 200A of this modified example, the attribute information 203A of the beacon whose type is "stop control", such as the beacon with the beacon number "No. 4" in FIG. Control information including a stop limit kilometer indicating the position on the track of the stop limit point related to the child inward nearest signal is set. In the present embodiment, the stop control start point kilometerage and the stop limit point kilometerage are set in the control information of the beacon whose type is "stop control". FIG. 8 shows an example in which the stop control start point kilometer coincides with the installation position kilometer of the ground coil.

In the speed control process of this modified example, the on-board device 10 detects and specifies a beacon whose type is "stop control", and when the current traveling position is corrected, the inward nearest signal of the beacon is stopped. Since this is the current state, a speed pattern to stop the specific ground coil by the stop limit kilometer is set as the reference speed.

FIG. 9 is a diagram for explaining the speed control process of this modified example. Similar to FIG. 5, the horizontal axis is kilometer, the vertical axis is speed, and an example of setting the inspection speed is indicated by a thick solid line. there is The speed control process of this modification differs from the speed control process described in the above embodiment with reference to FIG. 5 in the process when detecting and specifying the No. 4 beacon whose type is "stop control". Since the type of the beacon No. 4 is "stop control", the attribute information 203A of the beacon No. 4 in the beacon attribute information 200A contains the stop control start point kilometer distance and the stop limit point kilometer distance as control information. and are set. For example, the kilometerage (F) at the same position as the installation position kilometerage is set as the stop control start kilometerage, and the kilometerage (H) is set as the stop limit kilometerage.

In this modification, the on-board device 10 executes the beacon specifying process when the train approaches the fourth beacon and detects the beacon via the on-board device 110, and the beacon is the fourth beacon. If it is possible to identify the beacon No. 1, the running position correction process is executed to correct the current running position by the installed position kilometer distance (F) of the beacon. Subsequently, the on-board device 10 retrieves the current running position from the track condition information 210, and sets the initial speed at the start of the stop control and the slope to which the stop control is applied, which are used for the stop control. For example, in the same manner as in the example of FIG. 5, the control speed of 70 km/h (see FIG. 3) at the stop control start point kilometer (F; 14,240 m) is read and set as the initial speed at the start of stop control. Also, the slope of −20‰ (see FIG. 3) at the stop control starting point kilometer (F; 14,240 m) is read out and set as the stop control applicable slope. Subsequently, based on the set initial speed at the start of stop control, the stop control applied gradient, and the train performance, braking is started from the stop control start point kilometer (F), and by the stop limit point kilometer (H) The speed pattern to stop is set as the reference speed. After that, the on-board device 10 performs speed control based on the current traveling position and the reference speed.

According to this modification, a beacon whose type is "stop control" is detected, and when the beacon is specified, a speed pattern for stopping by the stop limit point related to the traffic light closest to the inner side of the specific beacon can be created to set the lookup speed.

10 on-board device, 110 on-board child, 120 positioning unit, 130 operation input unit, 140 display unit, 150 communication unit, 160 on-board control unit, 161 running position calculation unit, 162 ground coil specifying unit, 163 running position correction unit , 164 control information acquisition unit 165 speed control unit 167 specific failure speed control unit 190 on-board storage unit 191 train control program 193 positioning longitude and latitude information 195 traveling position information 200, 200A beacon attribute information, 210 track condition information, 1 train, 3 track, 5 ground coil

Claims (4)

a beacon detection means for detecting a beacon;
Positioning means for measuring latitude and longitude by GNSS (Global Navigation Satellite System);
Traveling position calculation means for calculating the current traveling position by calculating the traveling distance from the track starting point according to the rotation of the wheel or axle;
attribute information storage means for storing, for each ground coil, attribute information including the installation position latitude and longitude of the ground coil and the installation position km distance of the ground coil;
Obtaining the positioning latitude and longitude from the positioning means when detection is made by the beacon detection means, the positioning latitude and longitude, and the installation position latitude and longitude of each of the beacons stored in the attribute information storage means; a identifying means for identifying the beacon detected by the beacon detecting means as a specific beacon based on;
Correction means for correcting the current travel position based on the installation position kilometer distance of the specific ground coil;
On-board equipment. The attribute information further includes a type of the ground coil and control information corresponding to the type of the ground coil,
a track condition information storage means for storing track condition information including the speed limit and the kilometerage of the start and end positions related to the speed limit location, and the slope value and the kilometerage of the start and end positions related to the grade location of the track;
The control information of the specific beacon is obtained from the attribute information of each beacon, and the train speed is controlled based on the current running position, the control information of the specific beacon, and the track condition information. a speed control means for
The on-vehicle device of claim 1, further comprising: The ground coil includes a ground coil whose type is stop control,
The control information of the ground coil whose type is the stop control in the attribute information includes a stop control start point kilometer,
The speed control means, when the type of the specific ground coil is the stop control, based on the stop control start point kilometer and the track condition information, the initial speed at the start of stop control used for stop control and setting a stop control applied slope, and based on the stop control start initial speed and the stop control applied slope, a speed pattern with the stop control start point kilometer as the stop control start position is set as a reference speed. and performing the speed control based on the current running position and the reference speed;
The on-vehicle device according to claim 2. The control information of the ground coil whose type is the stop control in the attribute information further includes a stop limit kilometer,
The speed control means sets the speed pattern as a pattern to be stopped by the stop limit kilometer.
The on-vehicle device according to claim 3.

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