JP5171712B2 - Railroad crossing control device - Google Patents

Description

  The present invention relates to a railroad crossing control for instructing the operation timing of a railroad crossing barrier from the vehicle.

  Railroad crossing time tends to be longer due to high-speed operation of trains, high-density operation, and low-speed driving during rush hours. As a method of shortening the level crossing interruption time, there is a method of calculating the opening / closing timing of the circuit breaker on the upper side of the vehicle and communicating with the level crossing device wirelessly.

  In the level crossing control system described in Patent Document 1, the driving control device obtains an appropriate timing time for controlling the level crossing at an appropriate point based on the travel control pattern, the travel position and speed of the vehicle, and the level crossing position. Further, a crossing stop traveling control pattern that stops immediately before the crossing is generated. The operation control device transmits a level crossing control command to the level crossing control device installed at the level crossing via the wireless device. The crossing control device returns a reception response signal and a crossing normal signal to the operation control device. The driving control device deletes the crossing stop traveling control pattern by receiving both signals.

  However, in the level crossing control system of Patent Document 1, after the level crossing stop traveling control pattern is erased, the specified required alarm time (the time from when the alarm sounds to the time when the breaker goes down, after the breaker goes down) The time until the train reaches the railroad crossing) is not necessarily secured.

  In the railroad crossing control system described in Patent Document 2, in consideration of this, when the driving control device receives a shut-off completion, the maximum acceleration is calculated from the current position and current speed of the vehicle, and the travel control (restricted speed) is performed. ) It is determined whether the arrival time until the railroad crossing when traveling according to the pattern is equal to or longer than a specified time. When the time is longer than the specified time, the level crossing control pattern is immediately deleted. When the time is less than the specified time, the level crossing stop traveling control pattern is deleted after a delay corresponding to the insufficient time.

JP 7-10667 JP 2004-224155 A

  In the railroad crossing control system described in Patent Literature 1, as described in Patent Literature 2, there is a problem that the required alarm time cannot be secured depending on the traveling method after the railroad crossing control pattern is erased.

  Further, in Patent Document 2, in order to ensure a necessary alarm time (specified time), when the operation control device receives a cutoff or alarm completion signal, maximum acceleration is performed based on the current position and current speed of the vehicle, and travel control is performed. The alarm time is determined from the arrival time until the railroad crossing when traveling according to the pattern. However, when the vehicle does not travel at the maximum acceleration, there is a problem that the interruption time becomes longer accordingly.

  Incidentally, according to FIG. 2 of Patent Document 2, the traveling control pattern PT is a control curve in which the speed is maintained below the pattern. In FIG. 3 of Patent Document 2, the current speed Va of the vehicle at the time of calculating the arrival time until the railroad crossing is lower than the maximum allowable speed determined by the travel control pattern PT by the maximum acceleration. That is, the traveling control pattern PT corresponds to a brake curve of ATS-P (pattern controlled train automatic stop device) or ATC (automatic train control device), a deceleration / stop pattern by a traffic light, and safe passage of a curve or a branch, This is considered to be a deceleration pattern for securing a stopping distance on a slope and passenger comfort.

  These travel controls are performed only when the vehicle speed exceeds the pattern, and as long as the vehicle speed is below the pattern, neither acceleration nor deceleration is controlled, and the speed control is left to the discretion of the driver. . Therefore, the travel time until the railroad crossing is reached varies. For example, at a station without a turnout, a so-called bar line station, a progress signal is also output to a train that stops. That is, the trajectory to be traveled by the train to be stopped is different from the travel control pattern, and in the method of Patent Document 2, the level crossing interruption time becomes long. In addition, in order to improve train density, a parallel diamond may be set so that each station stop and express train travel between stations at the same time during rush hours. When there is no influence from the preceding train, the traveling control patterns are the same except for the stop / acceleration part at the station, but the actual traveling speed is adjusted for time, so the express train travels at a lower speed than the stop at each station In other words, the control timing of a crossing differs between the two.

  An object of the present invention is to secure a necessary alarm time for a level crossing and to make the level crossing interruption time constant regardless of the traveling speed of the vehicle. Another object is to automatically stop the vehicle when an obstacle sensor is activated or when an emergency stop button is pressed. It is another object of the present invention to secure a necessary alarm time for a vehicle that does not have an onboard crossing control unit and a vehicle in which the onboard crossing control unit is out of order.

  In order to solve the above-described problems, the present invention predicts the driving curve (vehicle speed) that will be traveled in the future from the current distance / speed and the train schedule, instead of predicting the arrival time until the railroad crossing by the travel control pattern. By predicting the travel time to the level crossing along the driving curve, the necessary alarm time for the level crossing is ensured and the interruption time is made constant.

  A railroad crossing control device according to an embodiment of the present invention includes an onboard crossing control unit on a vehicle, and a ground crossing control unit that executes a crossing warning / blocking operation based on a crossing control command received from the onboard crossing control unit. And a transmission / reception unit that connects between the vehicle crossing control unit and the ground control unit. The on-vehicle crossing control unit detects a travel position and speed of the vehicle, predicts and generates a driving curve (a travel locus of position / speed) from a certain point according to a travel control algorithm, and generates the driving Calculate the arrival time from the current position to the railroad crossing along the curve, and when the arrival time reaches the point where the time required for the railroad crossing warning / blocking is included, including the on-vehicle / ground communication time in the transceiver Then, a cutoff command is output to the ground level crossing control unit, and after the cutoff command is output, a level crossing stop pattern is generated and passed to the operation control unit.

  When the ground crossing control unit receives the shut-off command, it returns a normal response to the on-vehicle crossing control unit, activates an alarm device, lowers the barrier after a certain time, and the on-road crossing control unit When a normal response is received from the control unit, the operation control unit is notified to delete the railroad crossing stop pattern. The operation control unit outputs a brake control command to the brake control unit according to the lower one of the deceleration pattern and the level crossing stop pattern by the ground signal control device.

  In the vehicle crossing control unit according to one embodiment of the present invention, the driving control unit is configured to follow a motor driving command (acceleration command) according to a lower one of a predicted driving curve, a deceleration pattern, and a level crossing stop pattern. It is characterized by issuing a brake control command and automatically driving the vehicle.

  Further, in the vehicle crossing control unit according to the present invention, the prediction / history driving curve display unit superimposes and displays the speed / position driving history (history driving curve) on the predicted driving curve. It is characterized by assisting driving the vehicle along a curve.

  In addition, the onboard crossing control unit according to the present invention generates a crossing stop pattern again when the obstacle detection sensor provided in the crossing device detects an obstacle, so that the crossing control pattern is once erased and a fault occurs at the crossing. Even if it occurs, the vehicle can stop before the railroad crossing.

  In addition, when the emergency stop button provided in the crossing device is pressed, the on-vehicle crossing control unit according to the present invention can generate the crossing stop pattern again, so that the vehicle can be temporarily stopped after the crossing control pattern is once erased. Features.

  According to the present invention, it is possible to secure the necessary alarm time for a level crossing and to make the level crossing interruption time constant regardless of the traveling speed of the vehicle. In addition, the vehicle can be automatically stopped when the obstacle sensor is activated or when the emergency stop button is pressed. Furthermore, a necessary alarm time can be secured even for a vehicle that does not have an on-vehicle crossing control unit or a vehicle in which the on-vehicle crossing control unit fails.

It is a block diagram which shows the structure of the level crossing control apparatus which concerns on Example 1 of this invention. It is a figure which shows the prediction driving | running curve which concerns on the said Example 1, a speed limit pattern, and a level crossing stop pattern. It is a figure which shows the time chart of the level crossing interruption | blocking instruction | command which concerns on the said Example 1. FIG. It is a figure which shows the prediction driving | running curve which concerns on the said Example 1, a speed limit pattern, and a level crossing stop pattern. It is a block diagram which shows the structure of the level crossing control apparatus which concerns on Example 2 of this invention. It is a block diagram which shows the structure of the level crossing control apparatus which concerns on Example 3 of this invention. It is a figure which shows the example of a display of the prediction and historical driving | operation curve which concerns on the said Example 3. FIG. It is a figure which shows the structure of the level crossing apparatus which concerns on Example 4 of this invention. It is a figure which shows the structure of the level crossing apparatus which concerns on Example 5 of this invention. It is a figure which shows the structure of the level crossing control apparatus which concerns on Example 6 of this invention. It is a flowchart which shows the process of the on-vehicle / ground level crossing control part which concerns on the said Example 6. FIG.

  Hereinafter, embodiments will be described with reference to the drawings. In the following description, the same elements are denoted by the same reference numerals and description thereof is omitted.

  FIG. 1 is a block diagram showing a railroad crossing control apparatus according to Embodiment 1 of the present invention.

  The on-road crossing control unit 5 includes a driving curve prediction unit 16, a crossing control unit timing calculation unit 17, and a crossing stop pattern control unit 18. The railroad crossing device 2 is installed on a route, performs a railroad crossing warning and blocking operation, and performs information communication with the railroad crossing vehicle upper device 1 wirelessly.

  The driving curve prediction unit 16 inputs the travel position and speed of the vehicle 1 from the speed / position detection unit 9 and inputs signal information of the signal control device 3 from the driving control unit 6. The signal control device 3 is a ground device such as ATS-P or ATC. For the speed / position detection unit 9, a method using a position correcting transponder and a speed generator, or a method using GPS, Doppler radar, or the like is used. The signal information from the signal control device 3 includes a temporary speed limit in addition to deceleration pattern information when approaching the preceding vehicle.

  The driving curve prediction unit 16 is a vehicle from a certain point according to the input speed / position, signal information and the travel control algorithm 12 stored in the data storage unit 4, the vehicle performance DB (database) 13, the route DB 14, and the train diagram 15. Predicts and generates a running curve (running locus of position / speed) to be run. That is, the predicted driving curve is a curve in which the traveling speed ahead from a certain point is predicted. This predicted operation curve P1 is shown in FIG. The predicted operation curve P1 is determined according to the train schedule, and includes a deceleration stop portion at a stop station and an acceleration portion at the time of departure. For example, in a time zone where there are many passengers such as morning rush hour, even if the speed limit is the same, this driving curve has a lower speed pattern than other time zones.

  The level crossing control timing calculation unit 17 calculates the arrival time T1 from the current position to the level crossing along the predicted driving curve, and the level crossing warning / interruption including the on-vehicle / ground communication time in the transmission / reception unit 8a / 8b. When the time point required for the crossing is reached, a cutoff command 31 is output to the ground level crossing control unit 10 of the level crossing device 2. The predicted operation curve is sequentially updated until passing through the level crossing, but no change is made so that the time to reach the level crossing is shortened after the interruption command 31 is output. Since the communication time may be affected by the communication environment such as noise, the cutoff command 31 may be output in advance with the remaining time as a timer method. That is, in FIG. 2, when an appropriate required time from the interruption command output time to the expected level crossing arrival time is, for example, 35 seconds, communication is started, for example, 40 seconds before the expected level crossing arrival time, and the time is measured. When it is before the second, a shutoff command is output. In this way, the shutoff command can be output at an accurate time. Further, the crossing control timing calculation unit 17 outputs a cutoff release command 34 to the ground crossing control unit 10 when the vehicle passes the crossing.

  FIG. 3 shows an example of a time chart related to the level crossing cutoff command.

  The level crossing warning time and the time from the time of crossing to the time of arrival are as follows: `` Ministerial Ordinance on Enforcement of Ministerial Ordinances for Establishing Technical Standards on Railways and Maintenance of Ministerial Ordinances Related to the Ministry of Land, Infrastructure and Transport The “Notification of the Standards Establishing the Standards of Article 44, Paragraph 2, Articles 46 to 48, Article 60, and Article 139, Paragraph 2 of the Ordinary Railway Structure Regulations” From the completion of the disconnection to the completion of the disconnection, the standard is 15 seconds or more, and from the completion of the disconnection to the arrival of the vehicle, the standard is 20 seconds. Assuming that the time T3 from the alarm start to the completion of the interruption is 15 seconds, the time T4 from the completion of the interruption to the arrival of the vehicle is 20 seconds, and the communication time T2 between the vehicle crossing control unit 5 and the ground level crossing control unit 10 is 1 second, The shut-off command 31 from the upper level crossing control unit 5 is output 36 seconds before reaching the level crossing.

  When the normal response 32 from the ground level crossing control unit 10 is received, the level crossing stop pattern is deleted. When the abnormal response 33 is received from the ground level crossing control unit 10 or when the normal response 32 cannot be received, the level crossing stop pattern remains as it is and the vehicle stops. When the train speed hits the level crossing stop pattern and the normal response 32 is received during deceleration, the brake is released, but the subsequent acceleration is possible within a range that does not arrive at the level crossing earlier than the predicted time.

  If the level crossing control unit 10 receives the shut-off command 31 and there is no abnormality in the level crossing device 2, the ground level crossing control unit 10 returns a normal response 32 to the on-vehicle crossing control unit 5 and sounds the alarm device 11a. Lower. If there is an abnormality in the crossing device 2, an abnormal response 33 is returned to the on-vehicle crossing control unit 5. Moreover, when the ground level crossing control part 10 receives the interruption | blocking cancellation | release command 34, while stopping the ringing of the alarm device 11a, the interruption machine 11b is raised.

  In the above example, if there is no abnormality in the railroad crossing device 2, the normal response 32 is immediately returned on the assumption that the breaker 11b is operating normally. A response may be returned.

  The level crossing stop pattern control unit 18 generates a level crossing stop pattern for the level crossing at the timing when the level crossing control timing calculation unit 17 outputs the cutoff command 31 and passes it to the operation control unit 6. When the normal response 32 is received from the ground level crossing control unit 10, the level crossing stop pattern control unit 18 notifies the operation control unit 6 of a level crossing control pattern deletion command. Note that nothing is performed when the abnormal response 33 is received or when the normal response 32 times out, so the vehicle 1 stops according to the level crossing stop pattern.

  The operation control unit 6 corresponds to ATS-P or ATC, and normally outputs a brake control command to the brake control unit 7 in accordance with a deceleration pattern created based on a signal from the ground signal control device 3. However, when the predicted driving curve and the level crossing stop pattern are input, the driving control unit 6 sends a brake control command to the brake control unit 7 according to the lower one of the predicted driving curve and the level crossing stop pattern as shown in FIG. Output to. Note that the predicted operating curve does not exceed the deceleration pattern.

  FIG. 4 shows an example of a predicted operation curve when there is a margin in the operation time between stations as a predicted operation curve P2. In order to use the margin, I run at a lower maximum speed. In this example, since the traveling speed is low, the point L2 where the shutoff command is issued is closer to the level crossing than L1 in FIG. 2, and is adjusted so that the time from the shutoff command output to the level crossing is the same in 36 seconds. .

(Effect of Example 1)
According to the first embodiment, the estimated arrival time until the railroad crossing is calculated including the information on the train schedule. Therefore, in various cases where the vehicle travels at a speed lower than the speed limit pattern for ensuring safety, the railroad crossing interruption time is constant. It can be. Further, since the sequential operation curve is predicted (calculated) using the signal information from the signal control device 3, a signal indicating that the vehicle has approached the previous train or a signal indicating a temporary speed limit is input from the signal control device 3. Appropriate predictions can be made even when Furthermore, since the train control is performed to prevent the arrival at an earlier time than the predicted arrival time, a necessary level crossing interruption time can be ensured.

  FIG. 5 is a block diagram showing an example of a railroad crossing control apparatus according to Embodiment 2 of the present invention.

  The operation control unit 6 ′ corresponds to an ATO (automatic train operation device), and is usually an acceleration command so as to travel along a target speed pattern that is lower than the speed limit pattern based on the signal from the signal control device 3 on the ground. Is output to the motor control unit 22 and a brake control command is output to the brake control unit 7.

  However, when the predicted driving curve and the level crossing stop pattern are input, the acceleration command is sent to the motor control unit 22 during acceleration and the brake control is set during deceleration according to the lower of the predicted driving curve and level crossing stop pattern. The command is output to the brake control unit 7.

(Effect of Example 2)
According to the second embodiment, by automatically driving the vehicle, variations in acceleration control due to the discretion of the driver can be eliminated, and the level crossing interruption time can be made more constant.

  FIG. 6 is a block diagram showing a railroad crossing control apparatus according to Embodiment 3 of the present invention.

  The prediction / history driving curve display unit 21 inputs the predicted driving curve from the driving curve prediction unit 16 and displays it on a monitor or the like. Further, the speed / position of the vehicle is sequentially input from the speed / position detection unit 9, and the speed / position travel history (history operation curve) is superimposed and displayed. A display example is shown in FIG. The driver looks at the monitor and can appropriately and easily control the train speed so that the history operation curve P4 indicating the actual value of the train speed matches the predicted operation curve P3.

(Effect of Example 3)
According to the third embodiment, for vehicles equipped with a train control device that does not have acceleration control such as ATS-P and ATC, and vehicles that do not have a deceleration control function with only stop control such as normal ATS. In addition, the driver can be supported so that the crossing time is constant.

  FIG. 8: is a block diagram which shows an example of the crossing apparatus side among the crossing control apparatuses based on Example 4 of this invention.

  When the obstacle detection sensor 23a detects an obstacle during the level crossing blocking operation, the ground level crossing control unit 10 notifies the on-vehicle level crossing control unit 5 of the abnormal response 33 via the transmission / reception unit 8a / 8b. The crossing stop pattern control unit 18 of the on-vehicle crossing control unit 5 generates a crossing stop pattern again and notifies the driving control unit 6 of it.

  FIG. 9 is a block diagram illustrating an example of the crossing device side in the crossing control device according to the fifth embodiment of the present invention.

  When the pressing of the emergency stop button 23b is detected, the ground level crossing control unit 10 notifies the onboard crossing control unit 5 of the abnormal response 33 via the transmission / reception unit 8a / 8b. The crossing stop pattern control unit 18 of the on-vehicle crossing control unit 5 generates a crossing stop pattern again and notifies the driving control unit 6 of it.

(Effect of Example 4 and Example 5)
According to the fourth embodiment and the fifth embodiment, a function of automatically stopping the vehicle when an obstacle sensor or an emergency stop button is pressed is added to the crossing control devices of the first to third embodiments. be able to.

  FIG. 10 is a block diagram showing a railroad crossing control apparatus according to Embodiment 6 of the present invention.

  In this embodiment, it is determined whether the passing vehicle is a wireless-compatible vehicle as in the above-described embodiment. If the passing vehicle is a wireless-compatible vehicle, the railroad crossing device 2 is wirelessly controlled as in the first to fifth embodiments. In the case of a non-wireless vehicle, the railroad crossing device 2 is controlled in the same manner as in the prior art.

  Even when the fastest vehicle traveling on the line travels on the ground, the time required for alarm / blocking of the level crossing and the time for determining whether the passing vehicle is wireless compatible are secured. The passage detector 24a is installed at a position where it can be done. A conventional train crossing detector for level crossings is installed at the tip of the passage detector 24a. On the other hand, a passage detector 24b is also provided on the vehicle 1.

  When the vehicle passes over the passage detector 24a, the passage detectors 24a / 24b notify passage signals to the ground level crossing control unit 10 and the vehicle level crossing control unit 5, respectively. The ground-side passage detector 24a can also detect the passage of a vehicle that does not have the passage detector 24b on the vehicle. For example, a track circuit and a transponder (two-way communicator) are provided, the ground crossing control unit 10 detects the passage of the vehicle by the track circuit, and the passage detector 24b on the vehicle detects the passage by the transponder. In another example, an axle detector and an RFID (wireless tag) are provided, the ground level crossing control unit 10 detects the passage of the vehicle with the axle detector, and the passage detector 24b on the vehicle detects the passage by reading information from the RFID. Detect.

  Hereinafter, processing of the vehicle crossing control unit 5 and the ground crossing control unit 10 will be described with reference to FIG.

  When receiving the notification of the passing signal 35a (step S101), the on-vehicle crossing control unit 5 notifies the ground level crossing control unit 10 by radio (step S102).

  When the ground level crossing control unit 10 receives the notification of the passage signal 35b (step S201), the ground level crossing control unit 10 waits to receive the function operating signal 41 (step S202).

  When the level crossing control unit 10 receives the function operation signal 41 within a predetermined time, the level crossing control unit 10 performs a level crossing warning / interruption control 31 according to the level crossing cutoff command 31 from the vehicle crossing control unit 5 (the vehicle crossing control unit and Cooperative control mode) (S204). When the function operating signal cannot be received within a predetermined time, alarm / shutoff control is performed without using the level crossing cutoff command 31 (individual control mode by the ground level crossing control unit) (S205-S206). The passage detector 24a is also installed at a position after passing the level crossing. When the vehicle is detected, the ground level crossing control unit stops the level crossing alarm and opens the circuit breaker (S207-S209).

(Effect of Example 6)
According to the sixth embodiment, a vehicle having a vehicle crossing control unit and a vehicle having no vehicle crossing can be traveled, and the crossing devices of the first to third embodiments can be introduced step by step. In addition, a vehicle in which the vehicle onboard crossing control unit has failed can be driven.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Railroad crossing device, 3 ... Signal control device, 4 ... Vehicle data storage part, 5 ... Vehicle crossing control part, 6 ... Driving control part, 7 ... Brake control part, 8a ... Transmission / reception part (vehicle upper side) ), 8b: Transmission / reception unit (crossing side), 9: Speed / position detection unit, 10: Ground level crossing control unit, 11a: Level crossing warning device, 11b ... Level crossing breaker, 12 ... Travel control algorithm storage unit, 13 ... Vehicle performance DB storage unit, 14 ... route DB storage unit, 15 ... train diagram storage unit, 16 ... driving curve prediction unit, 17 ... crossing control timing calculation unit, 18 ... crossing stop pattern control unit, 21 ... prediction / history driving curve display unit , 22 ... motor control unit, 23a ... failure detection sensor, 23b ... emergency stop button, 24a ... passage detector (ground side), 24b ... passage detector (vehicle upper side), 31 ... cut-off command, 32 ... normal response, 33 … Abnormal response, 34… blocking Removal instruction, 41 ... function operation in the signal.

Claims (3)

A vehicle level crossing control device provided on a vehicle for communicating with a ground level crossing control unit that controls a level crossing control unit that controls a level crossing device that performs a crossing warning and blocking operation, and controls the ground level crossing control unit,
A transmitting / receiving unit that wirelessly communicates with the ground level crossing control unit;
A means for predicting an operation curve indicating a travel speed ahead from a certain point on the route according to train schedule, current position, route information, and generating a predicted operation curve;
Means for predicting the arrival time from the current position to the railroad crossing based on the predicted driving curve;
Based on the predicted driving curve and the arrival time, a level crossing control command transmission position that can secure a time required for a level crossing warning and a cutoff is calculated, and a means for outputting a cutoff command to the level crossing when the vehicle reaches the position;
While generating a crossing stop pattern for stopping before the crossing after outputting the shut-off command, while erasing the crossing stop pattern by a normal response from the crossing control unit ,
If an abnormal signal is received from the ground level crossing control unit after this level crossing stop pattern is deleted,
Means for regenerating the cut-off pattern ;
A vehicle crossing control device comprising: The predicted operating curve and acceleration and slow down the vehicle along the lower of Izure or speed of the railroad crossing stop pattern and the speed limit pattern, further comprising operation control means for automatically driving the vehicle so as to reach the level crossing in the street predicted time The on-vehicle crossing control device according to claim 1. Detecting means for detecting the speed and position of the vehicle;
Based on the speed and position detected by the detection means, a creation means for creating a history driving curve indicating a travel history of the vehicle;
Display means for displaying the predicted operation curve and the history operation curve in an overlapping manner;
The vehicle crossing control device according to claim 1, further comprising:

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