JP5225197B2 - Vehicle position detection device - Google Patents

Description

  The present invention relates to a vehicle position detection device that detects the position and speed of a vehicle on a railway track.

Conventionally, as a device for detecting a vehicle on a railroad track, wireless ranging is performed between the ground device and the on-vehicle device, the distance between the ground vehicles is obtained, and a plurality of ground children are installed. There is one that specifies a running line of a vehicle by passing through a ground element (for example, see Patent Document 1).
As another vehicle position detection technique, there is a method for obtaining a position by measuring the time for exchanging signals between the ground side and the vehicle upper side using an overhead wire or a rail as a signal transmission means (for example, a patent) Reference 2).
Furthermore, as a method using wireless communication, there is a method in which a signal transmitted from an antenna on a vehicle is received by three or more terrestrial wireless stations, and an existing distance is obtained by drawing an equidistant curve from the time difference ( For example, see Patent Document 3).
Also, instead of wireless communication, there was a method of determining the vehicle's location by measuring the propagation time of radio waves that bounce off the vehicle by radar and determining the distance, and identifying it on a track assumed to be a straight line (For example, refer to Patent Document 4).

JP 2006-213084 A JP 2004-175307 A Japanese Patent Laid-Open No. 9-15314 JP 2003-146212 A

However, in a conventional apparatus such as Patent Document 1, for example, a ground unit is installed in order to determine a running number, but a large number of ground units are required in a complicated linear configuration such as a base premises. For this reason, there has been a problem that installation and maintenance costs are increased. In addition, when the power source type is used, the wiring has to be routed, which also raises a problem that the cost is increased.
On the other hand, the device as described in Patent Document 2 does not require a configuration such as a ground unit, but cannot determine which side of the base station the vehicle is, and for vehicles passing through the position of the base station. There was a problem that a speed detection error occurred. Furthermore, there is a problem that a plurality of transmission / reception devices need to be installed on a track or an overhead line in a station premises where there are a plurality of number lines.
Moreover, in the apparatus described in Patent Document 3, there is a problem that it is necessary to install at least three ground communication apparatuses, which is expensive due to ground facilities. Furthermore, in the apparatus as described in Patent Document 4, it is assumed that the target vehicle is on a single track, and there is a problem that it is not possible to check where a plurality of lines in the stop are located. there were. In addition, due to the radar, there is a problem that it is difficult to distinguish the reflected waves from other than the vehicle to be detected.

  The present invention has been made to solve the above-described problems, and can detect the current position of the vehicle reliably at a low cost regardless of the arrangement of the tracks. The purpose is to obtain a device.

A vehicle position detection device according to the present invention includes an on-board communication device installed in a vehicle located on a railroad track, a ground communication device installed on the ground and performing wireless communication with the on-board communication device, and a ground communication device And an information acquisition unit for detecting a distance and an azimuth angle from the ground communication device to the vehicle communication device by wireless communication between the vehicle communication device and the vehicle communication device, and a storage device for storing the position information and the track arrangement information of the ground communication device , and it calculates the position information of the ground communication devices stored in the information storage device of the distance and azimuth to the on-board communication device from the ground communication apparatus acquired by the information acquisition unit obtains a position on a line between the vehicle control apparatus It is equipped with.

Vehicle position detecting apparatus of the invention detects the distance and azimuth from the terrestrial communication device to the onboard communication device, indicated by the line arrangement information by calculating the position information of the information and ground communication device of distance and azimuth Since the position on the track of the vehicle to be obtained is obtained, the current position of the vehicle can be reliably detected at low cost regardless of the arrangement of the track.

It is a block diagram which shows the vehicle position detection apparatus by Embodiment 1 of this invention. It is explanatory drawing which shows the method of calculating a coordinate from the distance and angle which the vehicle position detection apparatus by Embodiment 1 of this invention measured. It is explanatory drawing which shows the concept of the track | line arrangement | positioning information of the vehicle position detection apparatus by Embodiment 1 of this invention, and the specific principle of position identification by it. It is a flowchart which shows operation | movement of the vehicle position detection apparatus by Embodiment 1 of this invention. It is explanatory drawing which shows an example of the data structure of the track | line arrangement | positioning information of the vehicle position detection apparatus by Embodiment 1 of this invention. It is explanatory drawing which shows an example of the data structure of the ground communication apparatus arrangement | positioning information of the vehicle position detection apparatus by Embodiment 1 of this invention. It is a block diagram which shows the vehicle position detection apparatus by Embodiment 2 of this invention. It is a block diagram which shows the vehicle position detection apparatus by Embodiment 4 of this invention. It is a block diagram which shows the vehicle position detection apparatus by Embodiment 5 of this invention. It is a block diagram which shows the other example of the vehicle position detection apparatus by Embodiment 5 of this invention.

Embodiment 1 FIG.
1 is a block diagram showing a vehicle position detection apparatus according to Embodiment 1 of the present invention.
In the vehicle position detection device shown in FIG. 1, the ground communication device 1 is installed on the ground side, and the on-vehicle communication device 2 is installed on the vehicle 5. Then, by connecting the control device 3 and the storage device 4 to the ground communication device 1 and performing wireless communication 6 between the ground communication device 1 and the on-vehicle communication device 2, information acquisition provided in the ground communication device 1 is obtained. The unit 7 is configured to detect a distance and an azimuth angle from the ground communication device 1 to the on-vehicle communication device 2. That is, the ground communication device 1 is a device that is installed on the ground and performs wireless communication with the on-board communication device. The on-vehicle communication device 2 is a device that is installed in a vehicle located on a railroad track and performs wireless communication with a ground communication device. The control device 3 is a device that obtains the position of the vehicle 5 on the track by collating with the arrangement information stored in the storage device 4 based on the information on the azimuth angle of the distance acquired by the information acquisition unit 7. The storage device 4 is a device that stores position information and track arrangement information of the ground communication device 1. The vehicle 5 is a vehicle such as a train traveling on the track.

  In the vehicle position detection device configured as described above, information can be transmitted between the ground communication device 1 and the on-vehicle communication device 2 by wireless communication. The information acquisition unit 7 can determine the distance between communication devices by measuring the propagation time of radio waves. In addition, by using an array antenna or the like for the communication device, the arrival direction of radio waves can be measured, and the azimuth angle between the ground communication device 1 and the on-vehicle communication device 2 can be obtained. Since the distance and azimuth information are gathered, the relative positional relationship between the ground communication device 1 and the on-board communication device 2 can be obtained, and if the position of the ground communication device 1 is known, the on-board communication device 2 is absolute. Position can be obtained. In the configuration of FIG. 1, the ground communication device 1 is provided with an antenna capable of measuring the azimuth, whereby the azimuth and distance of the on-board communication device 2 are checked to calculate the absolute position.

Next, a vehicle position calculation method will be described with reference to FIG.
From the ground communication device 1 to the on-vehicle communication device 2, a distance d and an angle θ from a certain reference direction are obtained. The reference azimuth may be based on the direction of the antenna of the ground communication device 1 or may be determined based on an appropriate direction such as north. On the other hand, by using a trigonometric function, the difference in coordinates between the ground communication device 1 and the on-vehicle communication device 2 is obtained as dcos θ and dsin θ. In calculating these, the latitude and longitude may be calculated in consideration of the sphere of the earth, and if applied in a sufficiently narrow range, it may be considered as a plane and calculated with simple XY coordinates, or Other coordinate systems such as polar coordinates may be used.

The measurement of distance and azimuth will be described more specifically.
Regarding the distance measurement, if the propagation time of radio waves is measured, the propagation speed is known, so the distance between communication devices can be obtained. Regarding the measurement of propagation time, an external time signal such as a GPS signal is received, the time is accurately synchronized between the ground communication device 1 and the on-board communication device 2, and information on the transmission time is included in the wireless communication content. It is also possible to use a method that calculates the difference from the reception time measured on the receiving side, or to reciprocate wireless communication between devices, subtract the processing time from the time required, and divide the remaining time by 2. A one-way propagation time may be used.

  For the measurement of the azimuth angle, the azimuth angle is calculated by a calculation method such as a MUSIC (Multiple Signal Classification) method or a maximum likelihood estimation method based on information such as signal frequency, phase, and amplitude from a plurality of receiving elements arranged using an array antenna. Can be requested. Alternatively, a method may be used in which reception is performed while rotating a directional antenna and calculation is performed based on information such as the rotation angle and the frequency / phase / amplitude of the received signal.

  Even when a large number of ground communication devices 1 are installed in order to extend the coverage of radio waves over the entire route, or when a large number of on-vehicle communication devices 2 exist on the route to operate a plurality of vehicles simultaneously. Since the wireless communication is performed simultaneously with the measurement of the distance and the azimuth, the position of each on-vehicle communication device 2 can be appropriately measured by transmitting an identification code or the like for distinguishing individual devices. . Further, since the reflected wave is not measured like a radar, it is not affected by the reflected wave from surrounding obstacles. For example, in a station premises where the entire ground communication device 1 can be covered with radio waves, the current positions of all vehicles can be measured without installing a large number of ground devices.

  Railway vehicles always operate along the tracks. At that time, many of the security mechanisms such as blockage are configured so as to operate according to which track section the vehicle is approaching by dividing the track into certain ranges. For this reason, information on which track section the vehicle has entered is more important than absolute position information such as the longitude and latitude and coordinates of the vehicle. Accordingly, track arrangement information is recorded in the storage device 4, and information on the track section where the vehicle is currently located is obtained by collating this information with the obtained vehicle position information.

FIG. 3 shows the principle of identifying the track section where the vehicle is located based on the distance and azimuth information. FIG. 4 is a flowchart from when the control device acquires and outputs the track section information from the distance and azimuth information. Hereinafter, the operation of the vehicle position detection device will be described with reference to these drawings.
The ground communication device 1 performs wireless communication with the on-board communication device 2 of the vehicle 5, and the information acquisition unit 7 obtains the distance d and the azimuth angle θ between the ground communication device 1 and the vehicle 5 (step ST1). 5 is obtained (step ST2). The line arrangement information held in the storage device 4 is expressed by absolute position information such as longitude and latitude and coordinates of the start point and end point of the straight line after approximating the shape of the line by a combination of straight lines. The actual data structure is a combination of the necessary number of structures as shown in FIG. Further, the line arrangement information conceptually shown on the plane is the line arrangement information 100 in FIG. 3 (the section of the arrow between white circles corresponds to the line section). The degree of approximation of the line shape to a straight line is determined according to the required accuracy. In addition to this, the absolute position information of the ground communication device 1 is held in the storage device 4 in the form as shown in FIG. The control device 3 reads these pieces of information from the storage device 4 (step ST3).

  As described above, the distance and the azimuth angle are obtained by wireless communication between the ground communication device 1 and the on-board communication device 2 on the vehicle 5, and the relative position of the vehicle 5 with respect to the ground communication device 1 is obtained. Can also be displayed on a plane (step ST4). The position of the vehicle 5 obtained in this way does not always coincide with any of the line arrangement information 100 due to measurement errors, the influence of the approximation of the line arrangement, etc., but the calculated absolute position of the vehicle 5 is the most. By selecting a near line, the position on the line can be identified (step ST5). Here, by associating the track section information with the track layout information 100, it is possible to determine in which track section the vehicle 5 is located among several partitioned track sections (step ST6). .

  In this way, the ground communication device 1 and the on-vehicle communication device 2 perform wireless communication to simultaneously measure distance and azimuth information, and the control device 3 uses the track arrangement information held in the storage device 4 to By identifying the position of the upper communication device 2 on the track, it is possible to identify the position of the vehicle in which track section.

As described above, according to the vehicle position detection device of the first embodiment, the on-board communication device installed in the vehicle located on the railroad track, and installed on the ground, performs wireless communication with the on-board communication device. A ground communication device, an information acquisition unit that detects a distance and an azimuth angle from the ground communication device to the on-board communication device by wireless communication between the ground communication device and the on-board communication device, position information of the ground communication device, and track arrangement a storage device for storing the information, from the ground communication apparatus acquired by the information acquisition unit of the vehicle by calculating the position information of the ground communication devices stored in the information storage device of the distance and azimuth to the on-board communication device Since the control device for obtaining the position on the track is provided, the current position of the vehicle can be reliably detected at low cost regardless of the arrangement of the track.

  In addition, according to the vehicle position detection device of the first embodiment, the track section information is included as the track arrangement information, and the control device obtains the position on the track of the vehicle in the track section. It can be detected whether it is located in a section.

Embodiment 2. FIG.
FIG. 7 is a configuration diagram illustrating the vehicle position detection apparatus according to the second embodiment.
In the configuration shown in FIG. 7, the control device 3 and the storage device 4 are installed on the vehicle 5. The on-board communication device 2 is provided with an antenna capable of measuring the direction of arrival of radio waves and an information acquisition unit 7, and the information acquisition unit 7 is connected to the The distance and azimuth angle from the communication device 2 to the ground communication device 1 are measured. The control device 3 is connected to the on-vehicle communication device 2 and identifies the position of the vehicle 5 on the track by comparing the information measured by the information acquisition unit 7 with the arrangement information held in the storage device 4. Since the principle relating to the measurement of the relative position and the position identification on the track is the same as that of the first embodiment, the description thereof is omitted here.

  In the configuration shown in FIG. 7, the on-vehicle communication device 2 includes an antenna capable of measuring the direction of arrival of radio waves, and the control device 3 and the storage device 4 are provided in the vehicle 5. May be different from the antenna capable of measuring the direction of arrival of radio waves. For example, an antenna capable of measuring the arrival direction of radio waves and an information acquisition unit 7 are provided on the side of the ground communication device 1 to measure the arrival direction and distance of the radio waves to obtain a relative positional relationship between the communication devices. You may make it transmit to the onboard communication apparatus 2 by the radio | wireless communication 6. FIG. The position of the vehicle 5 on the track can also be specified by checking the control device 3 installed in the vehicle 5 with the track layout information held in the storage device 4.

  Further, the on-board communication device 2 is provided with an antenna capable of measuring the arrival direction of radio waves and an information acquisition unit 7, and information on the relative positional relationship obtained by the information acquisition unit 7 is transmitted from the on-board communication device 2 to the ground communication device 1. The position may be identified by the control device 3 and the storage device 4 installed on the ground. That is, in this case, the information acquisition unit 7 is connected to the on-board communication device 2, and from the on-board communication device 2 to the on-ground communication device 1 by the wireless communication 6 between the on-board communication device 2 and the ground communication device 1. Detect distance and azimuth. The distance and azimuth information acquired by the information acquisition unit 7 is transmitted from the on-board communication device 2 to the ground communication device 1 by wireless communication, and the control device 3 connected to the ground communication device 1 controls the vehicle 5. Find the position on the track.

  Also, rather than transmitting relative positional relationship information (information on distance and azimuth angle acquired by the information acquisition unit 7), transmission of line arrangement information and ground communication apparatus arrangement information held by the storage device 4 is transmitted. The same effect can also be obtained by collating with positional information at the transmission destination.

As described above, according to the vehicle position detection device of the second embodiment, the on-board communication device installed in the vehicle located on the railroad track and the ground communication device perform wireless communication with the on-board communication device. A ground communication device, an information acquisition unit that is connected to the ground communication device and detects the distance and azimuth from the ground communication device to the on-board communication device by wireless communication between the ground communication device and the on-board communication device; A storage device that is installed and stores the positional information and track layout information of the ground communication device, and is connected to the on-vehicle communication device that is installed in the vehicle, from the ground communication device to the on-board communication device acquired by the information acquisition unit A control device that calculates the position on the track of the vehicle by calculating from the information of the distance and the azimuth and the position information of the ground communication device stored in the storage device, and the information of the distance and the azimuth obtained by the information acquisition unit From ground communication equipment to on-board communication equipment Since so as to transmit a wireless communication, it is also possible to know with certainty the current position of the vehicle on the vehicle side.

Further, according to the vehicle position detection device of the second embodiment, the on-board communication device installed in the vehicle located on the railroad track and the ground communication device installed on the ground and performing wireless communication with the on-board communication device. And an information acquisition unit for detecting a distance and an azimuth angle from the on-board communication device to the ground communication device by wireless communication between the on-board communication device and the ground communication device, and position information and track layout information of the ground communication device. a storage device for storing for, from the ground communication apparatus acquired by the information acquisition unit of the distance and azimuth to the on-board communication device information storage device calculates the position information of the stored ground communication devices on line of the vehicle Since the control device for obtaining the position is provided, a special configuration on the ground side is unnecessary, and the current position of the vehicle can be known with certainty.

Further, according to the vehicle position detection device of the second embodiment, the on-board communication device installed in the vehicle located on the railroad track and the ground communication device installed on the ground and performing wireless communication with the on-board communication device. And an information acquisition unit that is connected to the on-board communication device and detects the distance and azimuth from the on-board communication device to the ground communication device by wireless communication between the on-board communication device and the ground communication device, A storage device that stores position information and track layout information, and a ground communication device that is connected to the ground communication device and information on the distance and azimuth from the ground communication device acquired by the information acquisition unit and stored in the storage device A control device that calculates the position on the track of the vehicle by calculating from the position information of the ground communication device , and information on the distance and azimuth obtained by the information acquisition unit by wireless communication from the vehicle communication device to the ground communication device Control because it was transmitted The current position of reliably vehicle that be equipped with location on the ground to measure the car top can be obtained.

Embodiment 3 FIG.
In the first or second embodiment, the line arrangement information stored in the storage device 4 includes the kilometer information of the starting point position of the line, and wireless communication between the ground communication device 1 and the on-vehicle communication device 2 is performed. When the position of the vehicle 5 is identified based on the distance and the azimuth angle measured in 6, the existence of the vehicle is determined by apportioning the kilometer information according to the closest position between the starting point and the ending point of the track. The position can be obtained not by track section but by kilometer information. That is, Embodiment 3 has kilometer information as the track arrangement information, and the control device obtains the position on the track of the vehicle in kilometer.

  Thereby, it can be applied to purposes that require more accurate position information. The current position of the vehicle for operation management may be a certain position that represents the vehicle, but for security purposes, the length of the vehicle needs to be considered. Information on the distance from the front end to the rear end of the vehicle (in the case of forming a knitting) is separately held, and this is added to obtain the distance between the front end and the rear end.

  Furthermore, since the movement of the vehicle can be tracked by repeatedly performing the measurement of the position that can be understood up to the kilometer, it can be used for the measurement of the vehicle speed. For example, if the measurement is performed every second, the average moving speed per second can be obtained by multiplying the moving distance by 3600 times. In addition, about the measurement of a vehicle speed, even when the position of a vehicle is calculated | required in a track section, the approximate speed can be calculated | required.

  As described above, according to the vehicle position detection device of the third embodiment, the vehicle has the kilometer information as the track arrangement information, and the control device obtains the position of the vehicle on the rail in kilometer. Can be obtained more accurately.

  In addition, according to the vehicle position detection device of the third embodiment, the control device performs the process of obtaining the position of the vehicle on the track over a plurality of times that are different in time, and determines the vehicle's position from the difference between the results of the plurality of times. Since the moving speed is obtained, the current speed of the vehicle can be obtained.

Embodiment 4 FIG.
FIG. 8 is an explanatory diagram illustrating a vehicle position detection device according to the fourth embodiment.
FIG. 8 shows a configuration in which the ground communication device 1 is installed in the vicinity of a branch point in a place where one line is divided into a plurality of number lines. The actual terrestrial communication device 1 may be installed at a position that does not conflict with the vehicle between the rails, may be installed at a position sufficiently close to the side of the track, or is supported on the track. It may be installed in. Since traffic lights are often installed in the vicinity of these branch points, there is a method of attaching to the support pillars of such traffic lights.

  In the vehicle position detection device of the present invention, when measuring the distance and the azimuth angle, it is necessary to be in a position where the communication devices can be directly seen. If there are obstacles between them, measurement cannot be performed correctly. In a place where a plurality of vehicles 5a and 5b stop side by side like a vehicle base, it is necessary to devise the arrangement of communication devices in order to ensure line-of-sight communication with a vehicle in between. When the ground communication device 1 is arranged near the branch point of the track, it is possible to perform communication with direct line of sight without being obstructed by the vehicles 5a and 5b arranged side by side. For other obstacles such as overhead poles, it is guaranteed that there are no obstacles at least within the construction limit range of the track, and line-of-sight communication is ensured within a certain range from the branch point of the track. be able to. That is, in the present embodiment, the ground communication device 1 is installed in the vicinity of a branch point of a plurality of number lines and at a position where the entire number lines can be seen with radio waves. With such a configuration, the wireless communication 6 between the ground communication device 1 and the on-vehicle communication device 2 can be reliably performed.

  Furthermore, the distance measurement error due to wireless communication largely depends on the accuracy of the mounted watch, and it may be difficult to reduce the error sufficiently. According to the arrangement of FIG. 8, even if the distance accuracy is insufficient, there is an advantage that it is possible to know which number line the vehicle 5a (5b) has entered if the accuracy of the azimuth is ensured.

  In the place of the track arrangement as shown in FIG. 8, in the system using the track circuit, which is a position detection technique widely used in modern railways, it is necessary to install a track circuit for each track. In addition, since a separate track circuit is installed in the turnout for safe control of the switch, a large number of ground facilities are required. When the configuration of the present embodiment is applied in such a place, a large number of ground facilities can be replaced with a small number of communication devices, and costs can be reduced.

  As described above, according to the vehicle position detection device of the fourth embodiment, the ground communication device is installed in the vicinity of a branch point of a plurality of number lines and at a position where the entire number lines can be seen with radio waves. It is possible to reliably determine on which number line the vehicle is located by the angle information.

Embodiment 5 FIG.
In each of the above embodiments, a single terrestrial communication device 1 is installed. However, a plurality of terrestrial communication devices 1 may be installed, and position measurement is performed between the terrestrial communication device 1 and the on-board communication device 2. If it carries out, a position can be calculated | required with higher precision from the synthesis | combination of a several position measurement result. The fifth embodiment is an example in which a plurality of ground communication devices 1 are installed in this way.

  In FIG. 9, three ground communication devices and three information acquisition units (ground communication devices 1a, 1b, and 1c and information acquisition units 7a, 7b, and 7c) are installed and connected to each other through a communication line 8, from which the vehicle 5 The example which measured the position of is shown. Here, the principle of measuring the position of the vehicle 5 from each of the ground communication device 1a, the ground communication device 1b, and the ground communication device 1c is the same as that of the first embodiment. The information measured in this way is aggregated to any one of the ground communication devices through the communication line 8 and statistical calculation is performed, so that the position of the vehicle 5 can be determined with higher accuracy than when measured from the single ground communication device 1. Can be measured. That is, the control device (not shown) synthesizes the information on the distance to the on-vehicle communication device (not shown) and the azimuth obtained by the information acquisition units 7a, 7b, and 7c to obtain the position of the vehicle 5 on the track. .

  The information transmitted through the communication line 8 may be a measurement value itself for position measurement by wireless communication, or may be information on the relative position of the vehicle 5 as seen from the ground communication device calculated therefrom. Information identified on the track may be used. A convenient method can be selected according to the statistical processing method. The communication line 8 may be wired or wireless. Further, the measurement result may be transmitted to the vehicle instead of any one of the ground communication devices 1a, 1b, and 1c, and statistical processing may be performed there.

Also, an antenna capable of measuring the direction of arrival of radio waves and an information acquisition unit 7 are provided on the upper side of the vehicle, and the distance and azimuth are measured from the information acquisition unit 7 to the plurality of ground communication devices 1a, 1b, and 1c. Such an example will be described next.
FIG. 10 is an explanatory diagram showing an example in which three ground communication devices (ground communication devices 1 a, 1 b, 1 c) are installed and their positions are measured from the information acquisition unit 7 installed in the vehicle 5. Note that illustration of the on-board communication device on the vehicle 5 side is omitted.
In this example, the distance and azimuth angle from the information acquisition unit 7 of the vehicle 5 to the respective ground communication devices 1a, 1b, and 1c are measured with respect to the ground communication device 1a, the ground communication device 1b, and the ground communication device 1c. The control device (not shown) identifies the position of the own vehicle based on the position information of each ground communication device 1a, 1b, 1c held in a storage device (also not shown). This information is statistically processed to improve accuracy.

  As described above, according to the vehicle position detection device of the fifth embodiment, a plurality of ground communication devices and information acquisition units are installed, and the control device calculates the distance to the on-vehicle communication device obtained by each information acquisition unit and Since the information on the azimuth angle is synthesized and the position on the track of the vehicle is obtained, the measurement accuracy of the vehicle position can be improved.

  Further, according to the vehicle position detection device of the fifth embodiment, a plurality of ground communication devices are installed, the information acquisition unit obtains distances and azimuth angles to the plurality of ground communication devices, and the control device is an information acquisition unit. Since the position on the track of the vehicle is obtained based on the obtained distance and azimuth to the plurality of ground communication devices and the position information of each ground communication device, a special configuration is particularly required as a ground communication device. Instead, the measurement accuracy of the vehicle position can be improved.

  Note that the vehicle position is determined as kilometer information based on the kilometer described in the third embodiment and the vehicle speed measurement is applied to the configurations of the fourth and fifth embodiments. May be.

  1, 1a, 1b, 1c Ground communication device, 2 on-vehicle communication device, 3 control device, 4 storage device, 5, 5a, 5b vehicle, 6 wireless communication, 7, 7a, 7b, 7c information acquisition unit, 8 communication line , 100 Line arrangement information.

Claims (10)

An on-board communication device installed in a vehicle located on a railroad track;
A ground communication device installed on the ground and performing wireless communication with the on-board communication device;
An information acquisition unit that detects a distance and an azimuth from the ground communication device to the on-board communication device by wireless communication between the ground communication device and the on-board communication device;
A storage device for storing position information and track layout information of the ground communication device;
Wherein the information the ground communication device obtained by the obtaining unit calculates the position information of the ground communication devices stored in the information and the storage device of the distance and azimuth to the onboard communication device on line of the vehicle A vehicle position detection device comprising a control device for obtaining a position. An on-board communication device installed in a vehicle located on a railroad track;
A ground communication device installed on the ground and performing wireless communication with the on-board communication device;
An information acquisition unit that is connected to the ground communication device and detects a distance and an azimuth from the ground communication device to the on-board communication device by wireless communication between the ground communication device and the on-board communication device;
A storage device that is installed in the vehicle and stores the location information and track arrangement information of the ground communication device;
Wherein is installed in the vehicle is connected to the onboard communication device, the ground which has been stored in the information and the storage device of the distance and azimuth from the terrestrial communication apparatus acquired by the information acquiring unit to said onboard communication device A controller for calculating the position on the track of the vehicle by calculating from the position information of the communication device ,
A vehicle position detection device that transmits information on a distance and an azimuth obtained by the information acquisition unit by wireless communication from the ground communication device to the on-board communication device. An on-board communication device installed in a vehicle located on a railroad track;
A ground communication device installed on the ground and performing wireless communication with the on-board communication device;
An information acquisition unit that detects a distance and an azimuth from the on-board communication device to the ground communication device by wireless communication between the on-board communication device and the ground communication device;
A storage device for storing position information and track layout information of the ground communication device;
Wherein the information the ground communication device obtained by the obtaining unit calculates the position information of the ground communication devices stored in the information and the storage device of the distance and azimuth to the onboard communication device on line of the vehicle A vehicle position detection device comprising a control device for obtaining a position. An on-board communication device installed in a vehicle located on a railroad track;
A ground communication device installed on the ground and performing wireless communication with the on-board communication device;
An information acquisition unit that is connected to the on-board communication device and detects a distance and an azimuth from the on-board communication device to the ground communication device by wireless communication between the on-board communication device and the ground communication device;
A storage device that is connected to the ground communication device and stores position information and track arrangement information of the ground communication device;
Which is connected with the ground communication device, calculated from the position information of the ground communication devices stored in the information and the storage device of the distance and azimuth from the terrestrial communication apparatus acquired by the information acquiring unit to said onboard communication device And a control device for obtaining a position on the track of the vehicle,
A vehicle position detection device transmitting distance and azimuth information acquired by the information acquisition unit by wireless communication from the on-board communication device to the ground communication device.   A plurality of ground communication devices and information acquisition units are installed, and the control device determines the position on the track of the vehicle by synthesizing the distance and azimuth information to the on-vehicle communication device obtained by each information acquisition unit. The vehicle position detection device according to claim 1 or 2, characterized in that   A plurality of ground communication devices are installed, the information acquisition unit obtains distances and azimuth angles to the plurality of ground communication devices, and the control device obtains distances and azimuth angles to the plurality of ground communication devices obtained by the information acquisition unit. The vehicle position detection device according to claim 3 or 4, wherein a position on a track of the vehicle is obtained based on the position information of each ground communication device.   The vehicle according to any one of claims 1 to 6, wherein the ground communication device is installed in the vicinity of a branch point of a plurality of number lines and at a position where the whole number line can be seen by radio waves. Position detection device.   The control device performs the process of obtaining the position on the track of the vehicle over a plurality of times different in time, and obtains the moving speed of the vehicle from the difference between the results of the plurality of times. The vehicle position detection device according to claim 7.   The vehicle position detection according to any one of claims 1 to 8, wherein the vehicle section detection section includes track section information as the track arrangement information, and the control device obtains a position on the track of the vehicle in the track section. apparatus.   The vehicle position detection according to any one of claims 1 to 8, wherein the control unit has kilometer information as the track arrangement information, and the control device obtains the position of the vehicle on the track in kilometres. apparatus.

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