JP6399752B2 - Vehicle position recognition device - Google Patents

Description

  The present invention relates to a vehicle position recognizing device, and more particularly to a vehicle position recognizing device used in an on-board database type vehicle control device.

  Conventionally, in a railway, in order to keep a traveling interval of a plurality of vehicles in operation and prevent vehicles from colliding with each other, a block section is set on the track, and a traffic signal is installed at the boundary of the block section to advance to the vehicle. Alternatively, by instructing a stop, only one vehicle is allowed to enter the closed section. Here, if the driver does not follow the instructions from the traffic light etc. and proceeds to the blockage section, there is a danger that the vehicles will collide with each other, so now the vehicle control device causes each vehicle to overspeed and overrun. Regulation is done automatically.

  As for this type of vehicle control device, for example, Patent Document 1 discloses a vehicle control device using an on-board database system. The vehicle control device described in Patent Literature 1 includes a vehicle position calculation unit that calculates the position of the vehicle, a vehicle database that stores vehicle performance, a track database that stores track information, and a pattern generation unit. The pattern generation unit generates a speed check pattern in the speed limit section of the track based on the vehicle position information input from the vehicle position calculation unit, the vehicle performance input from the vehicle database, and the track information input from the track database. Generate.

  A vehicle position calculation unit constituting the vehicle control device described in Patent Document 1 calculates a travel distance of the host vehicle based on a speed signal supplied from an axle rotation detector or the like, and stores the calculated travel distance in a track database. The current track position of the host vehicle is grasped on the upper side of the vehicle by checking with the track information.

  By the way, in this type of railway, there are locations where the track branches off at a stop, a signal field, a railway station station, or the like. Even if it is a configuration, if specific route information after branching, such as the branching direction of the branching device (point) at the branching point and the branching line to be entered after branching, is not supplied from the ground side to the upper side of the vehicle, On the upper side, the current on-line position of the host vehicle cannot be grasped.

  However, when the route information of the vehicle after branching could not be supplied from the ground side to the upper side of the vehicle due to communication failure or failure, etc., or by manually switching the branching device for responding to an accident that occurred in the station premises, When there is a discrepancy between the route information supplied to the upper side of the vehicle and the actual progress of the own vehicle, the on-line position of the own vehicle traveling in the branch line cannot be calculated on the upper side of the vehicle. . As a result, it becomes impossible to ensure the safety of not only the own vehicle traveling in the branch line but also other vehicles traveling outside the branch line, and a driving obstruction accident occurs.

  With respect to the problem of the above-mentioned driving obstruction accident, the vehicle control device disclosed in Patent Document 1 cannot completely solve this problem. Moreover, in order to solve the problem, it is necessary to install point detecting radios such as ground elements, track circuits, and TAGs on all the branch lines, resulting in high costs.

JP 2009-240110 A

  The subject of this invention is providing the vehicle position recognition apparatus which can avoid a driving | operation obstruction accident.

  Another object of the present invention is to provide a vehicle position recognizing device that can reduce facility costs on the ground side.

In order to solve the above-described problem, the present invention is a vehicle position recognition device used in an on-board database type vehicle control device, and in a track, before a branching point in the traveling direction of the vehicle , and after the branching A ground element is arranged at the back of the location, it is recognized whether the vehicle is present in the space between the ground locations, and the control information after the branching based on the branch location is supplied to the on-board device .

  As described above, the vehicle position recognition device according to the present invention is arranged in front of the branch point and supplies the control information to the upper side of the vehicle, so regardless of the number of branch lines after branching, by one vehicle position recognition device, Control information such as position information of the vehicle position recognition device can be supplied from the ground side to the vehicle upper side. Therefore, the equipment cost on the ground side can be reduced.

  In addition, according to the vehicle position recognition device according to the present invention, the on-line position can be grasped on the upper side of the vehicle based on the supplied control information, so that it is possible to avoid a driving obstruction accident.

  The vehicle position recognition device according to the present invention preferably includes a first ground element and a second ground element. The first ground element is disposed on the track in front of the branch point of the track as viewed in the traveling direction of the vehicle, and the second ground element is disposed at the junction point after the branch. The first ground element and the second ground element define the area from the branch point to the merge point as one area.

  According to the configuration described above, the first ground element detects the vehicle entering the area, and the second ground element detects the vehicle advancement from the area. Therefore, the vehicle after branching due to a communication failure or failure. The route information supplied to the upper side of the vehicle and the actual vehicle Even when there is a discrepancy with the progress of the vehicle, it is possible to know on the ground side whether the vehicle is located inside or outside the area. As a result, for example, if it is determined that the vehicle is present at least in the area, safety against other vehicles traveling outside the area is ensured. Therefore, it is possible to avoid a driving obstruction accident.

As described above, according to the present invention, the following effects can be obtained.
(1) It is possible to provide a vehicle position recognition device that can avoid a driving obstruction accident.
(2) It is possible to provide a vehicle position recognition device that can reduce the equipment cost on the ground side.

  Other objects, configurations and advantages of the present invention will be described in more detail with reference to the accompanying drawings. The accompanying drawings are merely examples.

It is a figure showing typically the vehicle control device concerning the embodiment of the present invention. It is a figure which shows typically the vehicle control apparatus of FIG.

  1 and 2, the same reference numerals indicate the same or corresponding parts. As shown in FIG. 1, in a railway, in order to keep the traveling interval of a plurality of vehicles (3) to be operated and to prevent the vehicles (3) from colliding with each other, a block section B is set on the track 1 and is closed. By installing a traffic light or the like (not shown) at the boundary BL of the section B and instructing the vehicle (3) to proceed or stop, only one vehicle (3) is allowed to enter the closed section B.

  Here, if the driver does not follow the instructions from the traffic light and moves forward to the block section B, there is a risk that the vehicles (3) will collide with each other. Therefore, the speed of each vehicle (3) is currently controlled by the vehicle control device. Excess and overrun are automatically regulated. The vehicle control device 2 in FIG. 2 includes an on-board device 30 mounted on the vehicle 3 side and a ground device 40 installed on the ground side.

  The on-board device 30 includes a database unit 31, a signal processing unit 32, and an on-board unit 33. Since these are well-known components in the technical field, they will be briefly described below. The database unit 31 stores basic information necessary for this type of vehicle control in advance. Here, “basic information necessary for this type of vehicle control” refers to distance information and gradient information of the track 1 on which the vehicle 3 travels, acceleration information and braking performance information of the host vehicle 3, and signal indications. Series information, etc. In short, output from the ground unit in a conventional automatic vehicle stop device (IWAYU ATS device) or an automatic vehicle stop device with a pattern-controlled speed check function (so-called ATS-P device) Vehicle control information to be performed corresponds to this.

  The signal processing unit 32 calculates the travel distance of the host vehicle 3 based on a speed signal supplied from an axle rotation detector (not shown), for example, and the calculated travel distance is stored in the database unit 31. By comparing with the information, the current standing position of the host vehicle 3 on the track 1 is continuously grasped. Furthermore, the signal processing unit 32 generates a speed check pattern from the current current position of the subject vehicle 3 to the stop target position and outputs it to the braking mechanism (not shown) as necessary. Is controlled.

  The on-vehicle device 30 described above is also found in a conventional on-vehicle database type vehicle control device. By the way, in this type of railway, there is a place where the track 1 branches. For example, the track 1 in FIG. 1 has a branch point P1 before the approach-side block boundary BL and a branch point (joint point) after the advance-side block boundary BL in the traveling direction F of the vehicle 3. is there. The track 1 is branched into a plurality of branch lines 11 to 13 via branching devices (not shown) provided at the branch points, and the branch lines 11 to 13 are again connected via branching devices (not shown) provided at the joining points. Merged into orbit 1.

  In the track 1, the area from the branch point to the merge point includes a stop, a signal field, a railway station premises, and the like. In the specification of the present application, a stop is a general term for a railway station (including freight), a signal field, and a yard. A signal field is a stop where a branching unit and signal equipment are installed on the premises and handled as a stop, but in principle it does not handle passengers getting on and off, and is a ministerial ordinance that establishes technical standards related to railways. Article 2 No. 8 stipulates that it is a place used exclusively for vehicle misplacement or waiting. A railway station is one of the facilities that make up a railway and is a place used for passengers getting on and off vehicles and loading and unloading cargo.

  1 is set to each of the branch lines 11 to 13 according to the number of incoming lines in the station of the arrival station, for example, in the on-board database type vehicle control device, the branching unit at the branch point P1 It is necessary to previously acquire the route information of the vehicle 3 after branching, such as the branching direction and the branching lines 11 to 13 to be entered, through communication with the ground device 40.

  However, as already explained, when the on-board device 30 cannot acquire the route information from the ground device 40 due to the occurrence of a communication failure or failure, etc., or to manually branch to deal with an accident occurring in the station premises If there is a discrepancy between the acquired route information and the actual progress due to the switching of the branching device of P1, the own vehicle 3 is connected to the branch lines 11 to 13 on the on-board device 30 side. Which one is running is unknown, and it is impossible to accurately grasp the current on-line position of the host vehicle 3. As a result, it becomes impossible to ensure safety not only for the own vehicle 3 traveling in the branch lines 11 to 13 but also to other vehicles traveling on the track 1 outside the branch lines 11 to 13, resulting in a driving obstruction accident. To do.

  With regard to the problem of the above-mentioned driving obstruction accident, this cannot be completely solved by the configuration of the on-vehicle database system vehicle control device alone. Further, in order to solve the problem, it is necessary to install point detecting radio devices such as ground elements, track circuits, and TAGs on all of the branch lines 11 to 13, resulting in high costs.

  In this regard, by installing a passive position information receiver such as a GPS receiver of the Global Positioning System (GPS) on the vehicle 3, it is possible to calculate the on-line position of the host vehicle 3. Seems also. However, there is a problem that GPS radio waves cannot be received depending on geographical conditions such as in tunnels, station buildings, between high-rise buildings, and in mountainous areas. Also, there is a limit to the GPS position detection accuracy. For example, in the route information acquired on the side of the vehicle 3, the branch line 11 should be entered, but in the actual progress situation, if the branch line 12 is entered, it is possible to accurately detect an error of about several meters. Inability to do so eventually results in a driving obstruction accident.

  The vehicle control device 2 in FIG. 2 is characterized in that it has a vehicle position recognition device in order to solve the problems of the above-mentioned driving obstruction accident and the high equipment cost on the ground side. The vehicle position recognition apparatus according to the embodiment of the present invention is used for controlling the vehicle 3 on which the onboard database system onboard apparatus 30 is mounted, and typically includes a ground unit, a wireless IC tag, and the like. This is a point detection radio. This will be specifically described below.

  The vehicle position recognition device in FIG. 2 includes a first ground element 41 and a second ground element 42. The first ground element 41 is arranged at a branching position in the traveling direction F of the vehicle 3 on the track 1 and preferably at a position (P1 before the branching position) that secures a predetermined braking distance from the branching position. ing. Similarly, the second ground element 42 is a joining point after the branching point P1 in the traveling direction F of the vehicle 3, and is preferably a back position (a joining point back P2 where a predetermined braking distance is secured from the joining point). Is arranged in).

  The first and second ground elements 41 and 42 include route information of the vehicle 3 after branching such as branch lines 11 to 13 according to the branching direction of the branching unit and the number of incoming lines in the arrival station in addition to the position information. Control information is generated, and the generated control information is transmitted as a message to the vehicle upper piece 33. In other words, the first and second ground pieces 41 and 42 are defined as one detection area A from the branch point front P1 to the merge point back P2 with the branch point as a reference, and the first ground piece 41 detects the detection area. While detecting the approach of the vehicle 3 with respect to A, the telegram concerning control information is supplied to the on-board device 30. As a result, the on-board device 30 performs vehicle control based on the received telegram control information. Similarly, the second ground element 42 detects the advance of the vehicle 3 from the detection area A and transmits a message of the advance information to the on-board device 30.

  Next, the vehicle control method by the vehicle control apparatus 2 of FIG.1 and FIG.2 is demonstrated. As already described, first, the signal processing unit 32 checks the calculated travel distance information with the basic information stored in the database unit 31 to continue the position of the vehicle 3 on the track 1. To grasp. Here, when the vehicle 3 arrives at the first ground element 41, the fact that the vehicle 3 has entered the detection area A due to the communication between the first ground element 41 and the vehicle upper element 33 is on the ground device 40 side. Detected. Further, if the detection area A is in the station premises, the first ground element 41 is directed to the on-board device 30 in addition to the position information, the branch direction of the branching device at the branch point P1, and the branch line to be entered at the arrival station ( For example, control information including route information such as the branch line 11) is transmitted by telegram, and the on-vehicle device 30 side controls the route of the host vehicle 3 after the branch based on the control information.

  Thereafter, when the vehicle 3 leaves the arrival station and reaches the second ground element 42, it is detected on the ground side that the second ground element 42 and the vehicle upper element 33 communicate with each other to advance the detection area A. Is done. Further, the position information is transmitted as a control message from the second ground element 42 toward the on-board device 30, so that the vehicle 3 side can also grasp that the detection area A has been advanced.

  According to the configuration of the vehicle position recognition device of FIGS. 1 and 2 described above, the first ground element 41 is arranged on the track 1 at the front P1 of the branching point as seen in the traveling direction F of the vehicle 3, so that the vehicle 3 is Even when the route information of the vehicle 3 after the branch cannot be obtained from the ground side or when there is a discrepancy between the route information obtained from the ground side and the actual progress state, the first ground element 41 It is possible to recognize whether or not the vehicle 3 has entered the detection area A and to grasp that the vehicle 3 is present in the detection area A on the vehicle upper side and the ground side. Therefore, it is possible to avoid a driving obstruction accident.

  In addition, since the first ground element 41 is arranged in front of the branch point P1, the first ground element 41 transmits control information to the vehicle upper side regardless of the number of branch lines (11 to 13) after branching. And the said vehicle 3 can calculate a standing line position based on the received control information. Therefore, the equipment cost on the ground side can be reduced. That is, different from the fact that this kind of ground element is usually installed at each block boundary BL of the branch lines 11 to 13, the first and second ground elements 41 and 42 are connected to the front of the branch point P1 and the back of the junction point. Since it is installed only at P2, the equipment cost can be reduced by the amount of installation of ground units.

  Further, since the first ground element 41 can detect the entry of the vehicle 3 into the detection area A, the on-board device 30 could not acquire the route information from the ground device 40 due to the occurrence of a communication failure or failure. Even if there is a discrepancy between the acquired route information and the actual progress situation due to the case where the switch of the branch point P1 is manually switched to deal with an accident occurring in the station premises, at least the vehicle 3 Can be confirmed in the detection area A. Therefore, it is possible to avoid a driving obstruction accident.

  Since the second ground element 42 is arranged at the junction P2 after branching, the second ground element 42 recognizes whether or not it has advanced from the detection area A, and on the vehicle upper side and the ground side, It becomes possible to grasp that the vehicle 3 has advanced from the detection area A. Therefore, it is possible to avoid a driving obstruction accident.

  As described above, the vehicle control device 2 shown in FIGS. 1 and 2 includes the first and second ground elements 41 and 42, so that when the branch direction at the branch point P1 becomes unclear, the vehicle control apparatus 2 from the branch point before P1. By recognizing up to the merge point back P2 as one block (detection area A), it is possible to grasp whether the current on-line position of the vehicle 3 is at least inside or outside the detection area A. Thereby, for example, in the exchange station of the single track section of the line section that does not use the track circuit or the like, the vehicle 3 traveling on the main line portion of the track 1, in other words, the vehicle 3 existing outside the detection area A There is no danger of collision. Specifically, in FIG. 1, if the vehicle 3 is normal while traveling on the track 1 before the branch point P <b> 1, which of the branch lines 11 to 13 of the detection area A will enter the on-board device 30. By receiving the route information from the first ground element 41, the position of the host vehicle 3 can be recognized. However, when it is unclear which of the branch lines 11 to 13 is to be entered, the on-board device 30 is detected in the detection area A. Recognize that you are in By performing such position recognition, it is ensured that at least a vehicle on the track 1 before the branch point P1 and a vehicle on the track 1 after the branch point P2 operate safely. , Driving hindrance is avoided.

  Although the contents of the present invention have been specifically described above with reference to the preferred embodiments, it is obvious that those skilled in the art can take various modifications based on the basic technical idea and teachings of the present invention. It is. For example, if the vehicle position recognition device according to the embodiment of the present invention has the first ground element 41 at least on the branch (P1) side, the advantages described with reference to FIGS. 1 and 2 can be achieved. Therefore, when the merge (P2) after the branch (P1) does not exist in the orbit 1, the second ground element 42 is not necessarily required.

  Furthermore, if the vehicle position recognition device according to the embodiment of the present invention has the first ground element 42 on the merge (P2) side, the advantages described with reference to FIGS. Therefore, it is not always necessary to have the first ground element 41.

1 Trajectory 41 First ground element 42 Second ground element A Detection area P1 Branch point P2 Junction point F Vehicle traveling direction

Claims (4)

A vehicle position recognition device used in an on-board database type vehicle control device,
In the track, a ground element is arranged in front of the branch point in the traveling direction of the vehicle and in the back of the junction point after the branch. and then the supplying control information after branch to the onboard apparatus, the vehicle position recognition device. A vehicle position recognition device for use in a vehicle database system vehicle controller according to claim 1, comprising a first ground element and a second ground element,
The first ground element is disposed in front of the branching point in the track in the traveling direction of the vehicle,
The second ground element is disposed at the back of the junction after the branching,
The vehicle position recognition device, wherein the first ground element and the second ground element define the area from the front of the branch point to the junction point as one area. The vehicle position recognition device according to claim 2,
The first ground element detects an approach of the vehicle to the area,
The second ground element detects advance of the vehicle from the area;
Vehicle position recognition device. The vehicle position recognition device according to claim 3,
The said area is a vehicle position recognition apparatus containing a stop, a signal field, or a railway station.

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