JP6272455B2 - Vehicle merge control system, vehicle merge control method, and failure detection apparatus for vehicle control system - Google Patents

Description

  The present invention relates to a vehicle merge control system, a vehicle merge control method, and an exaggeration detection device for a vehicle merge control system, and more particularly to a railway vehicle system.

  As a background art in this technical field, there is JP 2011-254666 A (Patent Document 1). In this publication, when a succeeding vehicle performs merge control on a preceding vehicle that has stopped, a method of performing merge support by calculating a speed pattern based on the remaining distance calculated by the millimeter-wave wireless transmission device and the merge support device Is described. As a method for performing the traveling control for the succeeding vehicle to merge with the preceding vehicle that is stopped, the target speed storage unit sets the traveling pattern corresponding to the remaining distance in advance in [0032] to [0035] of Patent Document 1. A method is described in which the merge support device determines a running pattern based on the remaining distance obtained from the millimeter-wave wireless transmission device and controls the train.

  Moreover, there exists Unexamined-Japanese-Patent No. 2013-86741 (patent document 2). This publication describes a method for verifying the legitimacy of route control in a traveling vehicle. For verification of route control validity, as a means for confirming the validity of the control data created in [0027] of Patent Document 2, reference data corresponding to the control data calculated from the train location information is created. It is shown that this is used to perform a comparison check.

JP 2011-254666 A JP 2013-86741 A

  In the conventional train merging method, from the viewpoint of control switching and safety, one or a plurality of stop measures are taken in the following train approaching to merge with the preceding train. The ratio of this stoppage to the time required for train merging in train consolidation is large.In other words, the realization of train merging without implementing the stoppage can greatly reduce the time required for train merging and improve the efficiency of train merging work. Is also connected. However, in the case of train merging that does not implement stop measures, control that can ensure safety when merging trains is required.

  In the method described in Patent Document 1, it is described that when a failure of the millimeter-wave wireless transmission device is detected, the subsequent train is stopped by the maximum service brake. If there is a large error in the distance, an incorrect traveling pattern different from the actual remaining traveling distance is selected, and the safety of control may be reduced.

  In addition, it is described that the emergency brake is applied when the merge support speed exceeds the speed limit using the speed signal generated by the speed generator, but the speed is measured by measuring the rotation of the axle. In such a case, the error in the low-speed traveling state may increase, and the possibility that the safety of the control is reduced cannot be denied.

  In addition, in the method described in Patent Document 2, as a method for confirming the validity of the route control data, the validity of the data is confirmed by comparing the control data with the collation data obtained by acquiring the location information. However, the soundness of each device itself used for acquiring control data and location information is not considered.

  Therefore, both data are generated including the same error, and there is a possibility that correctness is recognized for data that is originally an error and erroneous control is performed.

  As described above, if the data acquisition device itself is not verified at the stage of acquiring data for controlling the following train for merger, there is a possibility of leading to an accident such as a collision with the preceding train. To do.

In order to solve the above problems, the present invention provides a vehicle combination system in which a first vehicle and a second vehicle traveling behind the first vehicle are connected via respective connecting means. A control means for controlling the travel of the second vehicle, a distance measuring device for measuring the distance between the first vehicle and the second vehicle, a speed sensor for detecting the travel speed of the second vehicle, and a distance Based on the information obtained from the speed sensor and the first distance information calculated based on the difference in distance between the first vehicle and the second vehicle measured within a predetermined time based on the information obtained from the measuring device The second distance information calculated based on the predetermined time and the traveling speed detected within the predetermined time, the difference between the first distance information and the second distance information is failure detection hand determines healthy or not is determined the distance measuring device whether within the range of the threshold value With the door, the control means, when the difference is within the first threshold, and performs control of the second vehicle based on the distance information obtained from the distance measuring device.

  By taking the above-mentioned means, the present invention realizes shortening the time required for train merging while ensuring safety when merging two trains.

It is the figure which showed the apparatus structure of this invention. It is an example of the measurement result information format output from the radar of this invention. It is an example of the whole processing procedure for train merge in Example 1 of this invention. It is an example of the radar failure detection processing procedure by the failure detection apparatus of this invention. It is an example of the radar soundness confirmation processing procedure by the failure detection apparatus in Example 1 of this invention. It is an example of the radar soundness confirmation in the radar soundness confirmation process in Example 1 of this invention. It is the figure which showed the running pattern transition of the succeeding vehicle by the radar control in Example 1 of this invention. It is an example of the whole processing procedure for train merge in Example 2 of this invention. It is an example of the radar soundness confirmation processing procedure by the failure detection apparatus in Example 2 of this invention. It is an example of the radar soundness confirmation in the radar soundness confirmation process in Example 2 of this invention. It is an example of the vehicle low speed control in Example 2 of this invention. It is the figure which showed the running pattern transition of the following vehicle by the vehicle low speed control in Example 2 of this invention.

  Hereinafter, examples will be described with reference to the drawings.

  In this embodiment, a train system that performs merge control without stopping will be described.

  FIG. 1 is an example of a configuration diagram of a railway vehicle system according to the present embodiment. The following vehicle 102 approaching while traveling on the track 103 with respect to the preceding vehicle 101 stopped on the track 103 performs merge control for merging without stopping until merged with the preceding vehicle 101.

  The preceding vehicle 101 has a preceding vehicle merge control device 111 and a preceding vehicle coupler 112. The following vehicle 102 includes a following vehicle travel management device 121, a following vehicle merge control device 122, a following vehicle coupler 123, a following vehicle failure detection device 124, a following vehicle radar 125, a following vehicle speed generator 126, and a following vehicle train security device 127. Have The subsequent vehicle merge control device 122 receives the merge start instruction from the subsequent vehicle travel management device 121 and transmits inter-vehicle transmission information 131 to the preceding vehicle merge control device 111. The preceding vehicle merge control device 111 receives the inter-vehicle transmission information 131.

  Among these, the inter-vehicle transmission information 131 transmitted and received between the preceding vehicle merge control device 111 and the subsequent vehicle merge control device 122 includes, for example, optical communication using a laser, wireless communication using a spatial wave, communication using an LCX cable, and the like. It implement | achieves by the well-known means.

  The succeeding vehicle 102 determines the merge control start by the succeeding vehicle merge control device 122 by using the merge control start designation device 104 or by using the following vehicle radar 125.

  The merge control start designation device 104 is a device that transmits arbitrary information to a vehicle that has passed the position, such as a railroad ground element, and is installed at a position where merge control is started and merged with a passing train. Transmits control start information. The merge control start designating device 104 and the merge control end designating device 105 can designate a range as long as at least one merge control range designating device is installed on the track 103.

  Further, when the merge control start designation device 104 and the merge control end designation device 105 are not installed or have failed, the merge control start can be transmitted using the following vehicle radar 125. The succeeding vehicle 102 holds the merge plan information with the preceding vehicle 101 and can grasp the merge point with the preceding vehicle 101. Although the merge plan information is not shown, it may be provided as a database in the following vehicle 102. Further, the succeeding vehicle 102 can determine the position of the own train using information obtained from the railway ground unit and the speed generator 126. Specifically, the speed generator 126 detects the traveling speed of the following vehicle 102 as a speed sensor, and can calculate the traveling distance by integrating the detected speed within a predetermined time. If the position information has been acquired, the position information of the vehicle can be calculated based on the position information of the ground element and the distance information after passing the ground element. From the merge plan information and the position of the own train, the following vehicle 102 can calculate the inter-vehicle distance from the preceding vehicle 101. When the calculated inter-vehicle distance becomes a distance that can be captured by the subsequent vehicle radar 125, the subsequent vehicle travel management device 121 instructs the subsequent vehicle radar 125 to perform radar irradiation. The subsequent vehicle travel management device 121 starts the merge control with the subsequent vehicle radar 125 capturing the preceding vehicle 101, that is, the time when the inter-vehicle distance information with the preceding vehicle 101 is obtained as the merge control start position.

  As a result, the succeeding vehicle 102 travels on the track 103 and passes the merge control start position indicated by the merge control start designation device 104, or when the succeeding vehicle radar 125 captures the preceding vehicle 101, the merge control is started.

  When the subsequent vehicle travel management device 121 determines the start of the merge control as described above, it gives an instruction to start the merge control to the subsequent vehicle merge control device 122.

  When the subsequent vehicle merge control device 122 receives the merge control start instruction from the subsequent vehicle travel management device 121, it transmits a merge preparation instruction to the preceding vehicle merge control device 111 as the subsequent vehicle coupler 123 and the inter-vehicle transmission information 131. When the succeeding vehicle coupler 123 receives the merge preparation instruction, the succeeding vehicle coupler 123 shifts the coupler to a state in which the merger can be merged. When the preceding vehicle merge control device 111 receives the merge preparation instruction, it transmits the merge preparation instruction to the preceding vehicle coupler 112. When the preceding vehicle coupler 123 receives the merge preparation instruction, the preceding vehicle coupler 123 shifts the coupler to a state in which the merger can be merged.

  Further, the subsequent vehicle merge control device 122 transmits a merge preparation instruction to the subsequent vehicle failure detection device 124. The order in which the subsequent vehicle merge control device 122 transmits the merge preparation instruction to each of the subsequent vehicle coupler 123, the preceding vehicle merge control device 111, and the subsequent vehicle failure detection device 124 is not limited.

  The subsequent vehicle failure detection device 124 has a radar failure detection function, and instructs the subsequent vehicle radar 125 to start measurement of the inter-vehicle distance with respect to the preceding vehicle 101. The inter-vehicle distance information of the preceding vehicle 101 and the succeeding vehicle 102 detected by the succeeding vehicle radar 125 in response to the instruction to start the inter-vehicle distance measurement is received, and the following vehicle radar 125 is operating normally as a radar and is not broken. Detect.

  The subsequent vehicle failure detection device 124 has a radar soundness confirmation function. The inter-vehicle distance information and the rapid information generated by the following vehicle speed generator 126 are received and compared. In order to confirm the soundness of the following vehicle radar 125, the information used for the comparison is sound if the speed information detected at a speed of 5 km / h or higher, which is considered to be high accuracy of the speed information generated by the speed generator, The accuracy of the sex confirmation will be higher.

  The succeeding vehicle radar 125 has a distance measuring function, and when receiving an inter-vehicle distance measurement start instruction from the subsequent vehicle failure detection device 124, the following vehicle radar 125 starts measuring the inter-vehicle distance by the distance measuring function with respect to the preceding vehicle 101. The following vehicle radar 125 is not limited to a radar as long as it has a distance measuring function. For example, an apparatus having a ranging function using ultrasonic waves can be considered.

  The subsequent vehicle speed generator 126 transmits the generated speed information to the subsequent vehicle failure detection device 124 when the merge control is started. A known technique may be used for the speed information to be transmitted.

  The succeeding vehicle train safety device 127 detects the behavior deviating from the traveling pattern set by the succeeding vehicle travel management device 121 under the vehicle control by the succeeding vehicle radar 125 by the succeeding vehicle travel management device 121. It is possible to apply an emergency brake. A known technique may be used to detect the deviating behavior.

  FIG. 2 is a diagram illustrating an example of measurement result information of the inter-vehicle distance between the preceding vehicle 101 and the succeeding vehicle 102 using the distance measuring function included in the following vehicle radar 125. The content of the information is an execution time at the time of measurement and inter-vehicle distance information obtained as a result of the measurement. In this embodiment, it is assumed that the preceding vehicle at the merge destination is stopped or moving at a speed that can be regarded as a stop. Therefore, as the measurement time advances, the inter-vehicle distance also decreases, and the travel distance within a predetermined time can be calculated.

  FIG. 3 shows an overall processing flow until the preceding vehicle 101 and the succeeding vehicle 102 complete the merging after the merging control start position is detected by the merging control start designating device 104 or the like.

  When the merge control start position is detected and merge control is started, the following vehicle travel management device 121 transfers the train to the preceding vehicle coupler 112 via the preceding vehicle merge control device 111 as the following vehicle coupler 123 and inter-vehicle transmission information 131. Send the coupler merge preparation instruction for merge. The succeeding vehicle coupler 123 and the preceding vehicle coupler 112 that have received the coupler merging preparation instruction perform a coupler process 1020 for train merging. Note that this processing is unnecessary for a coupler that always exists in a mergeable form. Moreover, since this process should just be completed by the time of train merge, it is not necessary to implement at this stage, but it is desirable to implement at least by the time it transfers to radar vehicle control for safety.

  Next, radar failure detection processing 1030 is performed to confirm that the following vehicle radar 125 is operating normally. When the subsequent vehicle radar 125 is operating normally, the radar soundness confirmation processing 1040 is performed using the subsequent vehicle radar 125 and the subsequent vehicle speed generator 126. Details of the radar failure detection process 1030 and the radar soundness confirmation process 1040 will be described later with reference to FIGS. Radar control is executed when radar normality notification and soundness notification presence / absence check 1050 are performed, and radar normality cannot be detected in radar failure detection processing 1040 or radar soundness confirmation processing 1050 cannot be confirmed. Since the train merge is impossible, the merge control is terminated 1090, and the train is merged by a conventional manual vehicle operation.

  When normal operation and soundness of the following vehicle radar 125 are confirmed, for example, a general train control using a speed generator or a track circuit is shifted to a vehicle control by a radar (1060). Thereafter, the succeeding vehicle 102 is controlled using the traveling pattern selected based on the inter-vehicle distance information output from the succeeding vehicle radar 125 until the merge with the preceding vehicle 101 is completed. An example of a running pattern in vehicle control by radar will be described later with reference to FIG.

  Train merge 1070 is performed according to the vehicle control run pattern by the radar, the vehicle control by the radar is terminated (1080), and the merge control is terminated (1090).

  FIG. 4 shows a processing flow of radar failure detection processing performed by the following vehicle failure detection device 124.

  The subsequent vehicle failure detection device 124 that has received the merge control start instruction from the subsequent vehicle merge control device 122 transmits a radar measurement start instruction S 1031 to the subsequent vehicle radar 125. Receiving the radar measurement start instruction, the following vehicle radar 125 performs measurement by the radar to the preceding vehicle 101 and notification of the measurement result information to the following vehicle failure detection device 124 using the distance measuring function (S1032). The subsequent vehicle failure detection device 124 performs the presence / absence confirmation S1033 of the measurement result information notified from the subsequent vehicle radar 125. If the information on the inter-vehicle distance is included in the measurement result information shown in FIG. It judges that it is operating, performs radar normality notification S1035 to the following vehicle merge control device 122, and ends the processing (1036). When the measurement result information is not included, it is confirmed that the succeeding vehicle 102 exists in a radar capturing section 211 (S1034) described later (S1034), and if it exists in the section, measurement result information including information on the inter-vehicle distance. Is continuously analyzed from the following vehicle radar 125 until it is notified. When the following vehicle 102 is out of the radar capture section 211 and measurement result information including information on the inter-vehicle distance is not observed, the subsequent vehicle failure detection device 124 ends the radar failure detection processing 1030 (1036).

  FIG. 5 shows a processing flow of the radar soundness confirmation processing performed by the subsequent vehicle failure detection device 124.

  The subsequent vehicle failure detection device 124 performs soundness confirmation processing 1040 of the subsequent vehicle radar 125 after confirming normal operation of the radar by the radar failure detection processing. First, the speed information acquisition S1041 generated by the following vehicle speed generator 126 is performed. For the acquisition of the speed information, the subsequent vehicle speed generator 126 may transmit the speed information to the subsequent vehicle failure detection device 124, or the subsequent vehicle failure detection device 124 may acquire the speed information. In addition, when seeking the accuracy of soundness confirmation, only speed information of 5 km / h or more is acquired. Next, measurement result information is received from the following vehicle radar 125 (S1042 to S1043). Next, the speed information and the measurement result information are analyzed, and it is confirmed that information capable of confirming the soundness of the following vehicle radar 125 has been acquired (S1044). The information that can confirm the soundness has been acquired means that the measurement result information including the measurement time and the inter-vehicle distance information is held, and the speed information generated during the measurement time is held. When the information that can confirm the soundness has not been acquired, the speed information and the speed result information are acquired again, and the process is repeated until the information that can confirm the soundness is acquired. When the information that can confirm the soundness has been acquired, the radar soundness confirmation S1045 is performed. The soundness notification confirmation of the following vehicle radar 125 is performed (S1046), and when the notification has been made, the radar soundness confirmation processing is terminated (1048). If not notified, it is confirmed that the following vehicle 102 exists in the radar capturing section 211 (S104), and if it is within the section, the process returns to the speed information acquisition S1041. If the subsequent vehicle radar 125 has not been notified of soundness and the subsequent vehicle 102 is outside the radar capture section 211, it is determined that the subsequent vehicle radar 125 is unhealthy and the radar soundness confirmation processing 1040 is terminated (1048). ).

  FIG. 6 shows a processing flow of the radar soundness confirmation in the radar soundness confirmation process performed by the subsequent vehicle failure detection device 124.

  When the subsequent vehicle failure detection device 124 acquires the information that allows the soundness confirmation, the subsequent vehicle failure detection device 124 extracts the measurement result information notified from the subsequent vehicle radar 125 (S1045-1), and calculates the difference between the measurement time and the inter-vehicle distance information. Calculate (S1045-2). Next, the speed information within the measurement time acquired from the subsequent vehicle speed generator 126 is extracted (S1045-3), and the travel distance is calculated from the difference between the measurement times and the speed information (S1045-4). The two types of values calculated from the above are compared (S1045-5), and it is confirmed whether or not the comparison result is within an arbitrary error (S1045-6). When the comparison result is within the error, the soundness of the following vehicle radar 125 is notified to the following vehicle merge control device 122 (S1045-7), and the radar soundness confirmation S1045 is ended (S1045-8). If the comparison result is out of error, the radar soundness confirmation S1045 is terminated without doing anything (S1045-8). The threshold value of the error depends on the driving pattern 202 and the driving pattern 203, and is an arbitrary threshold value, but is assumed to be about 0 m or more and less than 0.1 m. When the subsequent vehicle failure detection device 124 notifies the soundness of the subsequent vehicle radar 125, the subsequent vehicle merge control device 122 transmits information that can be shifted to vehicle control by the subsequent vehicle radar 125 to the subsequent vehicle travel management device 121. To do. When the succeeding vehicle travel management device 121 receives the control transfer enable information from the succeeding vehicle merge control device 122, the succeeding vehicle travel management device 121 switches to vehicle control by radar, and merges the preceding vehicle 101 and the succeeding vehicle 102 by vehicle control by radar.

  FIG. 7 is a diagram illustrating the behavior of the succeeding vehicle 102 when merging is realized by vehicle control using a radar.

  Trains are usually controlled by a signaling system, and the signaling system generally ensures the safety of train operation by keeping an interval between trains in consideration of a certain safety margin. Therefore, it is difficult for the following vehicle to approach within a certain distance from the preceding vehicle. Therefore, in the present embodiment, when the succeeding vehicle 102 receives information that has passed through the radar capture section 211 by the merge control start designating device 104 or the like, the following vehicle control process is performed. By the radar failure detection process and the radar soundness confirmation process in the merge control process, the control is shifted to the above-described radar vehicle control at the control switching point 212 that is assumed to be the point where the soundness of the following vehicle radar 125 is confirmed. After the transfer of control, the succeeding vehicle 102 deletes the travel pattern 201 and is travel-controlled by the travel pattern 202 selected by the vehicle control by the radar. The succeeding vehicle 102 approaches the preceding vehicle 101 by the traveling pattern 202, and further approaches by the traveling pattern 203 such that the preceding vehicle 101 and the succeeding vehicle 102 have the lowest possible merging speed at a close distance, and the merging is realized at the merging point 221. To do.

  In FIG. 7, the distance from the start point of the radar capture section 211 to the merged point 221 is 100 m, but this depends on the radar reach distance of the following vehicle radar 125 and is not necessarily 100 m. Similarly, the distance from the end point of the radar capture section 211 to the merged point 221 is 30 m, but the end point of the radar capture section 211 is said to decrease the accuracy of speed information generated by the speed generator in the travel pattern 201. This is a point where the following vehicle 102 travels at 5 km / h and depends on the travel pattern 201, so it is not necessarily 30 m.

  According to the first embodiment, when the trains are merged, a section for confirming the soundness of the radar of the following vehicle is provided, and by switching to the vehicle control by the radar whose soundness is confirmed, the vehicle travels at a low speed for the merger. Accurate control of the following vehicle is possible, and safe train merging can be performed without stopping.

  In the first embodiment, the radar failure detection process 1030 and the radar soundness confirmation process 1040 are performed in the radar capture section 211, the radar normality notification and the soundness notification presence / absence 1050 are performed, and if there is no notification, merge control is performed. Has ended.

  In the second embodiment, the merge control method when the radar normality notification can be confirmed but the radar soundness notification cannot be confirmed will be described.

  FIG. 8 shows an overall processing procedure for train merging by radar control in the second embodiment.

  Since the processing procedures of 2020 to 2040 are the same as those in the first embodiment, description thereof is omitted. The presence / absence confirmation 2050 of the radar normal notification and the soundness level 1 notification is performed, and the transition process when both are confirmed is the same as in the first embodiment. If any of them cannot be confirmed, the presence / absence of the radar normal notification and the soundness level 2 notification is confirmed (2070). If both are confirmed, the vehicle shifts to vehicle low speed control (2080). If any of them cannot be confirmed, it is determined that the vehicle low speed control is impossible, the merge control is terminated (2110), and the train merge is performed by the conventional manual vehicle operation.

  FIG. 9 shows a processing flow of radar soundness confirmation processing by the failure detection apparatus in the second embodiment.

  Since the processing procedures of S2041 to S2045 are the same as those in the first embodiment, description thereof is omitted. Radar soundness confirmation S2045 is performed, and the presence or absence of soundness level 1 notification is confirmed (S2046). When the soundness level 1 notification is confirmed, the processing of the radar soundness confirmation processing 2040 is terminated (2048). When the soundness level 1 notification cannot be confirmed, it is confirmed that the following vehicle 102 exists in the radar capturing section 311 (S2047). When the succeeding vehicle 102 exists in the radar capturing section 311, the process returns to the speed information acquisition S <b> 2041. When the following vehicle 102 does not exist in the radar capturing section 311, the radar soundness confirmation processing 2040 is terminated (2048).

  FIG. 10 shows a processing flow of the radar soundness confirmation in the radar soundness confirmation process in the second embodiment.

  Since the processing procedure of S2045-1 to S2045-6 is the same as that of the first embodiment, the description thereof is omitted. The values calculated from S2045-2 and S2045-4 are compared (S2045-5), and it is confirmed whether the comparison result is within the level 1 error (S2045-6). When it is within the level 1 error, the radar soundness level 1 notification S2045-7 is sent to the following vehicle merge control device 122, and the radar soundness confirmation S2045 is ended (S2045-10). If it is not within the level 1 error, it is confirmed whether the comparison result is within the level 2 error (S2045-8). If the error is within the level 2 error, a radar soundness level 2 notification S2045-9 is sent to the following vehicle merge control device 122, and the radar soundness confirmation S2045 is terminated (S2045-10). If it is not within the level 2 error, nothing is done and the radar soundness confirmation S2045 is terminated (S2045-10). The threshold values for the level 1 error and the level 2 error depend on the driving pattern 302, the driving pattern 303, and the wheel performance of the following vehicle 102, and thus are arbitrary threshold values. It is assumed that the level 2 error is about 0.1 m or more and less than 1.0 m.

  FIG. 11 shows a flow of vehicle low speed control in the second embodiment.

  When the subsequent vehicle 102 starts the vehicle low speed control 2081, the train traveling speed based on the speed information generated by the speed generator 126 is a lower limit value that is assumed to be high in the speed information generated by the speed generator. h (S2082). Next, the subsequent vehicle failure detection device 124 refers to the result of calculating the train speed and the inter-vehicle distance from the measurement result information measured by the subsequent vehicle radar 125 (S2083 to S2084). When it is detected in S2084 that the train speed is faster than 5 km / h (S2085), an emergency brake instruction S2086 is given to the train security device 127, and the vehicle low speed control 2081 is ended (2089). When the train speed is 5 km / h or less, the inter-vehicle distance is confirmed with reference to the calculation of S2084 (S2087). When the inter-vehicle distance is larger than 10 m, the process returns to S2084 and the vehicle low speed control is continued (S2087). When it is detected in S2084 that the inter-vehicle distance is 10 m or less (S2087), the vehicle approaches the preceding vehicle 101 by inertial speed, trains are merged, and the vehicle low speed control 2081 is terminated (2089). The threshold for determining the inter-vehicle distance in S2087 is 10 m, but may be any threshold that can ensure safety.

  FIG. 12 is a diagram illustrating the behavior of the succeeding vehicle 102 at the time of realizing the merge by the vehicle low speed control.

  The following vehicle 102 is traveling in the traveling pattern 301 at the normal time. When the succeeding vehicle 102 receives the information that has passed through the radar capture section 211 by the merge control start designation device 104 or the like, the succeeding vehicle 102 performs the merge control process described above. If there is no radar soundness level 1 notification and no radar soundness level 2 is detected by the radar failure detection process and the radar soundness confirmation process in the merge control process until the end of the radar capture section 311, the control switching point 312 described above. Shifts to vehicle low speed control. After the control shift, the succeeding vehicle 102 deletes the travel pattern 301 and is travel-controlled by the travel pattern 302 by the vehicle low speed control. The succeeding vehicle 102 approaches the preceding vehicle 101 by the traveling pattern 302, and realizes merging at the merging point 321 through the inertial traveling section 312.

  According to the merge control procedure described in the second embodiment, the section for confirming the soundness of the radar of the following vehicle is provided, the speed information generated by the speed generator and the measurement result information from the radar in which the soundness level 2 is confirmed. By the vehicle low speed control which becomes the double control by the above, it becomes possible to control the following vehicle running at a low speed for merging, and safe train merging can be performed without stopping even once.

  In the first embodiment, the information from the speed generator 126 is mainly used to determine whether or not the radar 125 is healthy. However, in the third embodiment, the information from the speed generator is used instead of the information from the speed generator. An example of checking the soundness based on the information is shown.

  At least two merge control range designation devices are installed in the range where merge control is performed. The distance measurement by the radar 125 is performed at the timing of passing through one merged control range specifying device, and the distance measurement is similarly performed at the timing of passing through another merged control range specifying device. The succeeding vehicle 102 acquires distance information of the two merged control range designating devices in advance or by acquiring information from the control range designating device in advance, and distance information by the radar 125 when moving between the two merged control range designating devices. And distance information between the two merge control range specifying devices may be compared. The subsequent processing flow may be the same as in the first and second embodiments.

  In addition, the train in the present invention includes a train train composed of one vehicle, and is not limited to a train for railways, and can be applied to control where at least two vehicles are connected. In addition, when applied to a train train composed of two or more cars, the leading vehicle may be provided with the radar 125, and the effects of the present invention can be obtained even if any other device is provided on any vehicle in the train. It is done.

Claims (7)

In the vehicle merging system in which the first vehicle and the second vehicle traveling behind the first vehicle are connected via respective connecting means,
The second vehicle is
Control means for controlling travel of the second vehicle;
A distance measuring device for measuring a distance between the first vehicle and the second vehicle;
A speed sensor for detecting a traveling speed of the second vehicle;
From the first distance information calculated based on the difference in distance between the first vehicle and the second vehicle measured within a predetermined time based on the information obtained from the distance measuring device and the speed sensor Based on the obtained information , the first distance information and the second distance are compared with the second distance information calculated based on the predetermined time and the traveling speed detected within the predetermined time. A failure detection means for determining whether or not the difference with the information is within a range of a first threshold and determining whether or not the distance measuring device is healthy,
The said control means controls the said 2nd vehicle based on the distance information obtained from the said distance measuring device, when the said difference is in the range of the said 1st threshold value, The vehicle combination system characterized by the above-mentioned. The vehicle merging system according to claim 1,
The first distance information is calculated based on a difference in distance between the first vehicle and the second vehicle measured within a predetermined time,
The second distance information is calculated based on the predetermined time and a traveling speed detected within the predetermined time,
The failure detection means determines whether or not a difference between the first distance information and the second distance information is within a range of a second threshold having a value larger than the first threshold ,
The control means switches to low speed control based on the speed sensor and the distance measuring device when the difference is within the range of the second threshold. In the vehicle merging system according to any one of claims 1 to 2 ,
A merging control range designating device for designating a range for performing control for merging the second vehicle with the first vehicle on the travel route of the second vehicle;
The vehicle merging system characterized in that the second vehicle determines whether the distance measuring device by the failure detection means is healthy or not when detecting an intrusion into a range on a travel route that performs control for merging. . In the vehicle merging system according to any one of claims 1 to 2 ,
On the travel route of the second vehicle, and having at least two merge control range designation devices that communicate with the second vehicle,
The vehicle merging system, wherein the second vehicle performs distance measurement by the distance measuring device when passing through the merging control range specifying device. In the vehicle merger system according to any one of claims 1 to 4 ,
A first vehicle and a second vehicle traveling on a track;
The speed sensor being a speed generator;
The distance measuring device which is a radar,
The vehicle merging system, wherein the second vehicle is connected to the stopped first vehicle by switching a traveling pattern. In the vehicle merging method in which the first vehicle and the second vehicle traveling behind the first vehicle are connected via respective connecting means,
The distance between the first vehicle and the second vehicle is measured, and the first distance information is obtained based on the difference in the distance between the first vehicle and the second vehicle measured within a predetermined time. Calculate
Detecting the traveling speed of the second vehicle, calculating second distance information based on the predetermined time and the traveling speed detected within the predetermined time ;
The first distance information and the second distance information are compared to determine whether the difference between the first distance information and the second distance information is within a first threshold range. Determining whether the first distance information is healthy;
If the difference is Ru der range of the first threshold value, the vehicle merge to the first by controlling the second vehicle based on the distance information, characterized in that connected to the first vehicle Method. In the failure detection device for a vehicle merging system in which the preceding train and the following train are connected via a coupler,
Before the subsequent train switches to control linked to the preceding train that is stopped,
First calculated based on a difference in distance between the preceding vehicle and the following vehicle measured within a predetermined time based on information obtained from a distance measuring device that measures the distance between the preceding train and the following train. Distance information and
Compared to the predetermined time based on information obtained from a speed sensor that detects the traveling speed of the subsequent train , and second distance information calculated based on the traveling speed detected within the predetermined time , Determining whether the difference between the first distance information and the second distance information is within a first threshold range and determining whether the distance measuring device is healthy;
After determining that the difference is within the range of the first threshold, the failure detection device for a vehicle combination system is switched to connection control based on the first information.

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