JPH0729606B2 - Automatic train control device by radio - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is one of the signal security control devices that are indispensable for ensuring the safety of running when a plurality of trains are operating on a track. The present invention relates to an automatic train control device.

[Prior Art] In a conventional track transportation system, a track circuit using rails and an induction loop coil laid on the track or on the side of the track are used to detect the position of the train, and speed control information determined by a control device on the ground side is obtained. A method of transmitting the speed control to the driver of the train via the ground signal and entrusting the speed control to the driver's manual control, and the speed control information of the car via the track circuit, the induction loop coil, or the ground terminal installed at a specific point. It is a general method to transmit to the upper side and inform the driver by the display of the in-vehicle signal device or an alarm sound and automatically control the brake when the speed is exceeded.

[Problems to be solved by the invention] In recent years, there is a strong demand for improvement of transportation services such as congestion reduction and shortening of arrival time in railways. Efforts to shorten the time (shortening the gap) are being continued.

In line sections where speed improvement and time reduction have already reached their limits, it is necessary to perform detailed train spacing control in addition to the current signal security equipment. In order to improve the detection accuracy, the track circuit is divided into short sections, the induction loop coils are finely crossed and the number of phase inversions is counted, or a grounding element or axle detection device with a train passage detection function is used as the detection accuracy unit. Methods such as installing or have been tried. However, it is said that any of the above methods is not realistic because the cost of the ground equipment becomes high, or the maintainability of the orbit and ground equipment deteriorates.

That is, in the fixed blockage method based on the basic principle of train position detection by ground equipment, it is necessary to change the blockage section length according to the maximum speed or deceleration performance in response to the above request for speed improvement and time gap reduction. Each time, enormous construction costs were required, and it was not possible to satisfy the user's needs.

On the other hand, as another method for solving these problems, the possibility of a train interval control method using a moving block method, which had been theoretically clarified, has been sought, but train position detection is continuously performed by equipment on the ground side. In addition to the above-mentioned problems in performing it accurately and accurately, the safe running speed (hereinafter referred to as security speed) pattern that has a considerable amount of information similarly requested by the equipment on the ground side is used as control information on the upper side of the vehicle. Since there are many technical difficulties in continuing to output continuously without error and without transmission delay, there are almost no invention examples of realization means, and a concrete invention of a feasible control device is desired. It was rare.

[Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention relates to a train automatic train control device (7), and a train on-board control device (1) as a control device constituting the same. And an on-vehicle device (8) consisting of an on-board wireless transmission device (3) and a ground-side device (9) consisting of a ground control device (2) and a ground wireless transmission device (4) on the ground. The control device (1) includes an on-vehicle control logic processing unit (1a), a ground input / output control unit (1b), a fixed limit storage unit (1c), a traveling position speed detection unit (1d), and a security speed pattern storage unit (1e). ), A speed control output section (1f), and the ground control device (2) is a ground control logic processing section (2a),
On-vehicle input / output control unit (2b), route setting state storage unit (2
c), temporary speed limit storage (2d), running position storage (2
e), and in the execution of automatic train control logic,
On-board control device (1) for train is on-board control logic processing unit (1a)
The train position and speed detection unit (1d) detect the position of the train, and the position information is transmitted via the on-ground input / output control unit (1b) to the on-board wireless transmission device (3) and the ground wireless transmission device (4). The position information transmitted to the ground control device (2) by the ground control device (2) and received from the train by the on-vehicle input / output control unit (2b) and stored in the traveling position storage unit (2e), and the interlocking device. The ground control logic processing unit (2a) based on the route opening state information stored in the receiving route setting state storage unit (2c) from (6) and the temporary speed limit information stored in the temporary speed limit storage unit (2d). ) To obtain security control position information consisting of the train stop target position and temporary speed limit, and the security control position information is transmitted via the on-vehicle input / output control unit (2b) to the ground wireless transmission device (4) and the on-board device. Each by wireless transmission device (3) It is transmitted to the onboard control device (1) of the train, and the onboard control device (1) of the train detects the security control position information transmitted from the ground control device (2) and the onboard control logic processing unit (1a). Alternatively, a safe traveling speed pattern is calculated based on the captured travel position, speed, deceleration performance, and fixed speed limit and track gradient conditions stored in the fixed limit storage unit (1c) to maintain the safe speed. The actual traveling speed and the safe traveling speed pattern are stored in the pattern storage unit (1e), and the on-vehicle control logic processing unit (1a) is provided.
By comparing and checking by the above, the traveling speed is controlled via the speed control output section (1f) so as not to exceed the safe traveling speed pattern.

[Operation] The on-vehicle control device detects the traveling position of the own train, and transmits the position information to the ground control device via the wireless transmission device that performs data transmission between the ground and on-board control devices.

In the ground control device, the position information received from each train,
Based on the route opening status information received from the interlocking device and the temporary speed limit information grasped by the ground control device itself, security control position information including the stop target position of each train and the temporary speed limit of the section is obtained, and the security The control position information is transmitted to the onboard control device of each train via the wireless transmission device.

In the on-board control device of each train, the safety control position information transmitted from the ground control device and the traveling position, speed, deceleration performance of the own train detected or taken in by the on-board control device, fixed speed limits, track gradient conditions, etc. A security speed pattern is calculated based on the above, the actual traveling speed and the security speed are compared and checked, and the train is controlled so that the traveling speed does not exceed the security speed.

Note that when using an axle tachometer to detect train position, ground-side auxiliary equipment such as position correction markers is required, but when using leaky coaxial radio for the wireless transmission device, The controller corrects the position detection by utilizing the strength change of the reception level of the radio wave caused by the fixed installation condition of the leaky coaxial cable.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is an explanatory diagram showing the basic configuration of the device of the present invention, FIG. 2 is an explanatory diagram showing the basic functional configuration of the on-vehicle control device of the present invention, and FIG. 3 is the present invention. 4 is an explanatory diagram showing a basic functional configuration of the ground control device of FIG. 4, FIG. 4 is an explanatory diagram showing a basic control flow between the devices of the present invention, and FIG. 5 is a security speed pattern in the present invention. FIG. 6 is an explanatory diagram showing an example, and FIG. 6 is an explanatory diagram showing a positional change characteristic of the on-vehicle radio reception level in the leaky coaxial radio which is a premise of the second claim of the present invention.

First, the basic configuration of the device of the present invention will be described with reference to FIG. (7) is a whole device of an automatic train control device for railroad, (8) is an in-vehicle device, (9) is a ground side device, and an automatic train control device for railroad (7) is an in-vehicle device (8) ) And a ground side device (9). (1) is an on-board control device mounted on the car of each train, and is a main constituent device of the on-vehicle device (8). (2) is a ground control device that controls a plurality of trains, and is a main component device of the ground device (9). (3) and (4) are wireless transmission devices that perform data transmission between each on-board control device and the ground control device, and (3) is a constituent device of the vehicle-mounted device (8),
(4) is a constituent device of the ground side device (9). The on-board control device (1) and the on-board wireless transmission device (3) can be fixedly installed on the cab of each train, or can be brought to the cab each time it is operated as a portable portable type. The ground control device (2) and the wireless transmission device (4) on the ground are concentrated in one place according to the control processing capacity of each device, the transmission processing capacity, the length of the controlled line section, the number of operating trains, etc. It can be installed or divided into successive zones such as stations. When divided into zones, security control position information in the adjacent zones is required at the zone boundaries, so a transmission device for connecting adjacent ground control devices is installed. Wireless transmission device (3), (4)
May be directly connected to the on-vehicle control device (1) and the ground control device (2) or may be connected via a relay device on the ground or an artificial satellite.

Next, the basic functional configuration of the on-vehicle control device of the present invention will be described with reference to FIG.

(1a) to (1f) are the functional components of the on-board controller (1). (1a) is an on-vehicle control logic processing unit, and (1a)
b) is a ground input / output control unit that inputs and outputs information to and from the ground control device, (1c) is a fixed limit storage unit for fixed speed limits and slope conditions of the driving track, and (1d) is A traveling position / speed detection and capturing unit that detects or captures the traveling position, traveling speed, deceleration performance, etc. of the own train, (1e) is a security speed pattern storage unit, and (1f) is a speed control output unit. . (3a) to (3c) are functional components that constitute the on-vehicle wireless transmission device (3). (3a) is a wireless transmission control unit, (3b) is a wireless transmission / reception unit, and (3c) is an antenna unit. In the on-board control device (1), the on-board control logic processing unit (1a) takes in the traveling position of the own train from the traveling position / speed detection capturing unit (1d) and through the ground input / output control unit (1b). Output to the wireless transmission device (3) on the vehicle.
In the on-vehicle wireless transmission device (3), the wireless transmission control unit (3a) creates a transmission message in which an error control code on transmission is added to the information (positional information) passed from the on-vehicle control device (1), The data is transmitted to the terrestrial wireless transmission device via the wireless transmission / reception unit (3b) and the antenna unit (3c). After that, in the on-vehicle wireless transmission device (3), the wireless transmission control unit (3a) takes in a received message from the terrestrial wireless transmission device via the antenna unit (3c) and the wireless transmission / reception unit (3b), and transmits it. Error test of
The reception information (security control position information) obtained by removing the error control code from the passed reception message is passed to the onboard controller (1). In the on-vehicle control device (1), the on-vehicle control logic processing unit (1
a) receives the safety control position information including the stop target position and the temporary speed limit from the on-vehicle wireless transmission device (3) through the ground input / output control unit (1b), and the traveling position speed detection and acquisition unit. The safety speed pattern is calculated based on the position, speed, deceleration, etc. of the own train imported from (1d), the fixed speed limit up to the stop target position imported from the fixed limit storage unit (1c), and the slope condition, and the safety is calculated. Speed pattern memory (1
In e), the actual traveling speed and the security speed pattern are compared and stored. If the traveling speed exceeds the security speed pattern, the speed control output unit (1f)
The brake control information is output to the brake control unit (5).
In the data communication with the ground side, in addition to the error control of the message level between the wireless transmission devices, the error control of the information level between the on-board control device and the ground control device is also performed.

Next, the basic functional configuration of the ground control device of the present invention will be described with reference to FIG.

These are functional components of the ground control device (2) from (2a) to (2e). (2a) is a ground control logic processing unit, and (2a)
b) is an on-vehicle input / output control unit that inputs / outputs information to / from the on-board control device, and (2c) is the setting of the route and inter-station driving direction taken from the interlocking device (6), inter-station blocking device, etc. A route setting state storage unit for storing states, etc., (2d) is a temporary speed limit storage unit, and (2e) is a traveling position information storage unit for each train. (4a) to (4c) are the respective functional components that make up the wireless transmission device (4) on the ground, and correspond to (3a) to (3c) of the wireless transmission device on the upper side of the vehicle, but they appear to be multiple at the same time. Since communication processing with the train must be performed, a somewhat complicated function is required compared to the upper side of the car. In the ground control device (2), the ground control logic processing unit (2
a) receives the traveling position of each train from the ground wireless transmission device (4) via the on-vehicle input / output control unit (2b) and stores it in the traveling position storage unit (2e). Furthermore, the end position of the route where the point conversion locking and driving direction setting locking are completed is taken in from the route setting state storage unit (2c), and the stop target position of each train is set to the route setting state or the running of the preceding train. Obtained from the position etc., the temporary speed limit in that section is taken from the temporary speed limit storage unit (2d), the safety control position information consisting of the stop target position of each train and the temporary speed limit is determined, and the on-vehicle input / output control It is output to the wireless transmission device (4) on the ground via the section (2b). The error control at the time of data communication on the vehicle upper side is almost the same as the control on the vehicle upper side.

The following FIG. 4 illustrates the control flow among the on-vehicle control device, the ground control device and the wireless transmission device of the present invention in an easy-to-understand manner. Each on-vehicle control device performs this control cycle several times per second. Train speed control is performed by repeating the above. If this control cycle is interrupted for a certain time or longer due to some reason, the on-board control device immediately performs emergency stop control of the own train to maintain fail-safety and ensure train operation safety. .

Next, an example of a security speed pattern in the present invention will be described with reference to FIG. Fig. 5 is an example of the security speed pattern of each train at a certain point in time, and the security speed pattern (SVb) of train (B) is a fixed speed limit section (L
This is an example of the case where c) is included, and the security speed pattern (SVc) of the train (C) is an example of a route (RS) in which the stop target position is in the stopped state. The stop target position and speed limit of each train are continuously updated at every communication cycle of control information between the on-ground and on-ground as the preceding train progresses or the opening state of the route changes, and the latest security speed pattern is determined each time. To be done.

Next, the positional change characteristic of the on-vehicle radio reception level in the leaky coaxial radio which is the premise of the second aspect of the present invention will be described with reference to FIG. In the leaky coaxial radio for train radio, a repeater (RP) is used for each unit of leaky coaxial cable length that is almost constant.
Is inserted, it is possible to recognize a significant change in the reception level at each location.By utilizing this phenomenon, the on-board control device can be identified by referring to the reception level singular point position information table stored in advance. The absolute position of the point can be detected. For leaky coaxial radio on Shinkansen, etc., a grading configuration is used for laying leaky coaxial cables, and similar phenomena are observed at cable connection points with different coupling losses. It is also possible to detect the position.

[Effects of the Invention] As described above, according to the method device of the present invention, the on-vehicle control device performs the detection of the traveling position and the calculation of the security speed pattern, so that the ground side, which has been an obstacle until now, is All of the problems such as the fixed blockage division position in the signal security device and the restriction of the number of signal display stages and the problem of consistency with vehicle performance have been resolved, and it is possible to improve the speed and shorten the time interval to the full performance limit of ready-made vehicles, Furthermore, new design and modification of the vehicle can be done more freely than before, and the restrictions on reaching the braking distance when increasing the maximum speed performance are alleviated.

In addition, the need for ground facilities along track lines such as track circuits for directly detecting train positions, which occupy a high cost, becomes almost unnecessary, and due to the recent remarkable development of microelectronics technology, the car of the present invention Since the manufacturing cost of the upper control device, ground control device and wireless transmission device can be suppressed to about the same level or less as the conventional on-board and ground control device, the overall construction and maintenance cost can be reduced by the conventional automatic train control. It is possible to significantly lower it compared to the device.

[Brief description of drawings]

FIG. 1 is an explanatory view showing the configuration of a basic device of the present invention, FIG. 2 is an explanatory diagram showing the basic functional configuration of an on-vehicle control device of the present invention, and FIG. 3 is a ground control device of the present invention. 4 is an explanatory view showing a basic functional configuration of the present invention, FIG. 4 is an explanatory view showing a basic control flow between the devices of the present invention, FIG. 5 is an explanatory view showing an example of a security speed pattern in the present invention, and FIG. The figure is an explanatory view showing the positional change characteristic of the on-vehicle radio reception level in the leaky coaxial radio which is the premise of the second aspect of the present invention. DESCRIPTION OF SYMBOLS 1 ... On-vehicle control device, 1a ... On-vehicle control logic processing unit, 1b ... Ground input / output control unit, 1c ... Fixed limit storage unit, 1d ... Travel position speed detection capture unit, 1e ... Security speed pattern storage unit, 1f ... speed control output unit, 2 ... ground control device, 2a ... ground control logic processing unit, 2b ... on-vehicle input / output control unit, 2c ... path setting state storage unit, 2d ... temporary speed limit storage unit, 2e ... running Position storage unit, 3,
4 ... Wireless transmission device, 3a, 4a ... Wireless transmission control unit, 3b, 4b ... Wireless transmission / reception unit, 3c, 4c ... Antenna unit, 5 ... Brake control unit, 6 ... Interlocking device, 7 ... Railway automatic train control device, 8 ...
In-vehicle device, 9 ... Ground device, A, B, C ... Train, SVa, SVb, SVc
… Security speed pattern, RVa, RVb, RVc… Travel speed, RS… Course, L1… Fixed speed limit section, V1… Fixed speed limit, RP… Leaky coaxial repeater, rp… Radio reception level singular point

 ─────────────────────────────────────────────────── --Continued from the front page (56) References JP-A-52-66214 (JP, A) JP-A-55-15361 (JP, A) JP-A-54-49706 (JP, A)

Claims (2)

[Claims] 1. A wireless automatic train control device having an on-vehicle device (8) and a ground device (9), wherein a train runs on a track having a leaky coaxial cable laid on its side surface, (8) is composed of an on-vehicle control device (1) and an on-vehicle wireless transmission device (3), and the on-vehicle control device (1) includes an on-vehicle control logic processing unit (1a) and a ground input / output control unit ( 1b), a fixed limit storage unit (1c), a traveling position speed detection unit (1d), a security speed pattern storage unit (1e) and a speed control output unit (1f), and an on-board control logic processing unit (1a). Is the traveling position speed detector (1
The train position is determined by the output of d), and the train position information is ground-controlled by the ground input / output control unit (1b) via the on-board wireless transmission device (3) and the ground wireless transmission device (4). Security control position information transmitted to the device (2) and transmitted from the ground control device (2), own train position, speed, deceleration performance, and fixed storage stored in the fixed limit storage unit (1c). Safe speed pattern storage unit (1e) that calculates a safe running speed pattern based on various speed limits and track gradient conditions
In order to prevent the safe traveling speed pattern from being exceeded by comparing the actual traveling speed with the safe traveling speed pattern, a signal for controlling the traveling speed is output via the speed control output section (1f). The ground side device (9) consists of the ground control device (2) and the ground wireless transmission device (4), and the ground control device (2) controls the ground control logic processing unit (2a) and the on-vehicle input / output control. Section (2b), route setting state storage section (2c), temporary speed limit storage section (2d) and running position storage section (2e). Ground control logic processing section (2a) Control unit (2
Enter the position information of each train from b) and enter the running position storage (2
e), the opening information is input from the interlocking device (6) and stored in the route setting state storage unit (2c), the temporary speed limit information is stored in the temporary speed limit storage unit (2d), and the train position information is stored. From the opening information and the temporary speed limit information, security control position information including the stop target position of each train and the temporary speed limit is obtained, and the security control position information is transmitted to the ground wireless transmission device by the on-vehicle input / output control unit (2b). (4) and on-board wireless transmission device (3)
To the on-board control device (1) of each train via the, and the position information of the trains moving continuously and the security control position information to each other by wireless transmission, thereby automatically transmitting each position. A wireless automatic train control device that controls the speed of trains. 2. An on-vehicle control device (1) and a ground control device (2)
A leaky coaxial wireless transmission device is used between the on-vehicle wireless transmission device (3) and the terrestrial wireless transmission device (4), and the on-vehicle control logic processing unit (1a) of the on-vehicle control device (1) is used. Via the ground input / output control unit (1b), it detects the strength change (rp) of the radio wave reception level caused by the fixed laying condition of the leaky coaxial cable, and detects the absolute position of the own train. A wireless automatic train control device according to claim 1, wherein the automatic train control device detects and corrects a traveling position detection error.