JPH0880852A - Movable body speed control system and method - Google Patents

Abstract

PURPOSE: To provide a movable body speed control system which can reduce the communication quantity supplied from an on-ground control device to each movable body, as far as possible. CONSTITUTION: Since the information related to the speed restriction division which is transmitted to a shiftable body speed control individual device 300 mounted on a shiftable body 310 from a shiftable body speed control central device 200 mounted on an ground controller 210 exists only in the shiftable division nipped between the position at present of each shiftable body 310 and the target stop position, the communication quantity supplied from the on-ground controller 21 to each movable body cen be reduced as little as possible.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving body speed control system for preventing rear-end collisions between moving bodies of a system such as a railway having a plurality of moving bodies such as trains.

[0002]

2. Description of the Related Art In a system such as a railway in which a plurality of moving bodies such as trains travel on a single path, a moving body that follows a moving body according to the current position of the preceding moving body in order to prevent an accident due to a rear-end collision. The signaling system that limits the speed of is important. The railway signaling system is almost complete in terms of safety. However, urban railways, which are responsible for commuting and commuting to school in large cities, are chronically lacking in transportation capacity, and there is a strong demand to further reduce the distance between mobile units. As a technique for shortening the distance between moving bodies without lowering the safety currently possessed by the railway system, for example, a mobile block system using the mobile block automatic train control method disclosed in Japanese Patent Laid-Open No. 2-109770 is available. Are known.

In this moving block system, as shown in FIG. 15, a succeeding moving body 312, a preceding moving body 314, and another moving body 3 are provided.
, 16 and so on can communicate with the ground control device 210 at all times by a method such as wireless communication. Each mobile body 312 ... Sends information 2000 about the current position of itself to the ground control device 210. The ground control device 210 grasps the current position of each moving body 312 ... From the received information on the current position, and stops the moving body 312 ... Determined by the state of the preceding moving body, the branching device, the end of the line, etc. The security control information 3000 indicating the target position is transmitted. Subsequent moving body 31
2 knows where to start control from the received security control information 3000. By repeating the above processing, the succeeding moving body 312 travels so as not to collide with the preceding moving body 314, enter a branching device that is not open, or break through the end of the line.

At this time, the moving body detects the current position on the side of the moving body, transmits information 2000 about the current position of the moving body, obtains speed control information from the received security control information 3000, and controls the speed control device. Speed control individual device 30
0. Further, it is the mobile unit speed control central unit 200 that receives the information 2000 on the current position on the side of the ground control unit 210 and obtains and transmits the security control information 3000 for each mobile unit 312.

The basis of this mobile block system is the information 2000 about the current position of the preceding moving body 314 as described above.
Is transmitted to the succeeding moving body 312 at a higher speed than the discrete method of the fixed occlusion system currently used, when the moving distance between both moving bodies is the same. To make it accessible to the mobile 314,
The aim is to reduce the distance between mobile units. FIG. 16 shows an example in which the stop target position 2010 is determined by the current position of the preceding moving body 314. As shown in the figure, the moving body speed control individual device 300 of the succeeding moving body 312 knows the stop target position 2010 from the security control information 3000,
An allowable speed curve 3010 representing the maximum speed allowed for this stop target position is generated, and the speed control device is controlled to travel so as not to collide with the preceding moving body 314. In addition,
Regarding the allowable speed curve, see “Railway Research Institute Report VO”.
L. 7 No. 5 (May 1993) ", JP-A-58-
It is disclosed in Japanese Patent Laid-Open No. 199291 and Japanese Patent Laid-Open No. 3-295760.

However, on an actual route, the speed of the following moving body is not limited only by the current position of the preceding moving body, but a fixed speed limiting section determined by the line conditions (curve, slope, etc.), and further a branching device. It is also limited by the temporary speed limit section that is determined by the existence / opening direction, track maintenance work, and weather conditions. FIG. 17 shows a situation where there is a fixed speed limit section 2030 based on the curved section 2020 and a temporary speed limit section 2050 based on the track maintenance work section 2040. Looking at the fixed speed limit section 2030, this limits the speed of the section from the start point 2060 to the end point 2070 to the speed limit value 3060. In such a case, the succeeding moving body 312 has an allowable speed curve 3020 by the stop target position for stopping by the stop target position 2010, a fixed speed limit section 2030, and an allowable speed curve by the speed limit for protecting the temporary speed limit section 2050. 3030 is obtained, and these lower allowable speed curves 3010 are generated, and the speed control device is controlled to travel.

By the way, such a fixed speed limit section 2
The ground control device 210 stores in advance information about the speed limit sections such as 030 and the temporary speed limit section 2050, and the ground control apparatus 210 stores the information from each mobile unit 3.
It is possible to send to 12 ...

However, in this case, there is a fundamental problem that the interval between the mobile units 312 cannot be shortened as the communication amount increases. That is, when wireless communication is performed between the ground control device 210 and each mobile body 312, the frequency band is severely limited. Furthermore, since the system is responsible for the safety of mobile units, the error rate of the system is 10 ^{-1 1}
It should be as follows, and communication must be performed with the redundancy required for this. Therefore, the ground control device 21
If the amount of communication between 0 and each mobile body 312 increases, the communication time increases and the communication repetition period also increases. That is, it takes a certain amount of time for the ground control device 210 to receive the current position from each mobile body 312 and to transmit the security control information including the information regarding the speed limit section, and each mobile body 3 is required.
The security control information received by 12 is based on the current position of the moving body in the past, which ultimately limits the purpose of the mobile blocking system to reduce the distance between the moving bodies. Therefore, conventionally, a mobile block system has been proposed in which the information about the temporary speed limit section is included in the security control information and transmitted from the ground control device to the moving body, but the information about the fixed speed limit section is held by each moving body. FIG. 18 shows a moving body speed control individual device 30 in this moving blocking system.
It is a figure which shows the structure of 0. In the moving body speed control individual device 300 shown in FIG.
Stores in advance information 9010 regarding the fixed speed limit section, and the speed control information calculation means 340 stores this information 901.
0, the security control information 3000 from the security control information receiving means 320 and the information about the current position 2000 from the position / speed input means 330 are input, and the speed control information 3040 is output to the speed control information output means 350.

However, such a system has the following problems.

First, if the information about the temporary speed limit section increases, the communication amount increases, and it may not be possible to shorten the interval between the mobile units.

Secondly, the temporary speed limit section is changed at high frequency, but the fixed speed limit section may be changed due to line improvement or the like. Therefore, in such a case, it is necessary to rewrite the information on the fixed speed limit section held by the individual mobile speed control device. Third, since the processing method is different between the fixed speed limit section and the temporary speed limit section even though they are the same speed limit section, the processing means on the moving body side becomes complicated.

[0012] Fourth, when the route network is large and the traveling section of the moving body extends over a wide range, all fixed speed limit sections must be stored in the moving body in advance, and when the traveling route changes. There is a possibility that the fixed speed limit section of the route will have to be stored in the moving body.

[0013]

SUMMARY OF THE INVENTION A first object of the present invention is to provide a mobile speed control system capable of reducing the amount of communication from the central control unit to the mobiles as much as possible and further shortening the interval between the mobiles. To provide.

A second object of the present invention is that it is not necessary to previously store information on the speed limit section on the moving body side,
An object of the present invention is to provide a mobile body speed control system that does not require rewriting or replacement of information on the speed limit section on the mobile body side.

A third object of the present invention is to control the speed of a moving body, which can handle the information about the fixed speed limiting section and the information about the temporary speed limiting section as the same type of information, and can simplify the structure on the moving body side. To provide a system.

[0016]

In order to solve the above problems, a mobile body speed control system of the present invention is a mobile body speed control system for controlling the speeds of a plurality of mobile bodies moving on a track having a speed limit section. A first means for receiving the information about the current position of each moving body from each moving body, the storage device storing in advance information about the speed limit section,
Based on the receiving means and the received information about the current position of each moving body, the information about the speed limit section existing in the movable section sandwiched between the current position of each moving body and the target stop position is stored from the storage means. Extraction means for extracting each movable section, and information about the extracted speed limit section for each movable section, which is transmitted together with the information about the target stop position, to the moving body corresponding to each movable section. A second transmitting means for transmitting information about the current position to the central device; and information about the speed limit section of the own moving device and information about the target stop position from the central device. And second control means for controlling the moving speed based on the received information about the speed limit section and the received information about the target stop position.

Further, the moving body speed control method of the present invention is a method for controlling the speeds of a plurality of moving bodies moving on a track having a speed limiting section, wherein information on the current position is transmitted from each moving body to a central unit. The step of transmitting to the mobile device and the central device, based on the received information on the current position of each mobile object, insert the information between the current position of each mobile object and the target stop position from the information on the speed limit section stored in advance. The information about the speed limit section existing in the movable section is extracted for each movable section, and the extracted information about the speed limit section for each movable section along with the information about the target stop position is moved corresponding to each movable section. Each mobile unit receives information about the speed limit section of its own mobile unit and information about the target stop position from the central device. And a step of controlling the moving speed based on the information about the information and the target stop position with respect to the received speed limit zone.

[0018]

In the present invention, since the information about the speed limit section transmitted from the central unit to each moving body exists only in the movable section sandwiched between the current position and the target stop position of each moving body, If the distance between mobile units is shortened, the amount of communication can be reduced proportionally. Therefore, the amount of communication from the central unit to each mobile unit can be reduced as much as possible. In addition, since each mobile body is configured to obtain the information regarding the speed limit section from the central device, it is not necessary to store the information regarding the speed limit section in advance on the side of the mobile body. It is not necessary to rewrite or replace the information regarding. Furthermore, since the information about the fixed speed limit section and the information about the temporary speed limit section can be handled as the same type of information, that is, both can be handled as the information about the speed limit section, the configuration on the moving body side can be simplified.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a diagram showing the configuration of a moving body traveling system according to an embodiment of the present invention. The system shown in the figure is, for example, a system such as a railway in which moving bodies such as a plurality of trains travel on a single route, and the ground control device 210
And a moving body 310. The moving body 310 is
The vehicle travels on a runway having a speed limit section, and there are actually a plurality of moving bodies on the runway. The speed limit section includes the fixed speed limit section and the temporary speed limit section as described above. The speed control system 100 according to the present invention is
It is composed of a moving body speed control central device 200 mounted on the ground control device 210 and a moving body speed control individual device 300 mounted on a moving body 310.

In this speed control system 100, the following processing is performed every communication cycle. First, the moving body 310
The position / speed detection device 9020 detects the current position of the own mobile body and transmits the information 2000 to the mobile body speed control central device 200. The mobile unit speed control central device 200 receives information regarding the current position from each mobile unit 310, obtains security control information 3000 for all mobile units, and transmits the information to all mobile units. The moving body speed control individual device 300 receives these pieces of information, extracts only the security control information 3000 for the own moving body, obtains the speed control information 3040, and outputs it to the speed control device 9030. The speed control device 9030 has the speed control information 30.
40, the braking device 9040 and the prime mover 9050 are controlled to control the speed of the moving body so that the speed limit section is protected and the stop target position is not exceeded.

FIG. 2 is a diagram showing the configuration of the moving body speed control central unit 200.

Speed limit section storage means 220 shown in FIG.
Stores in advance information 3050 regarding the speed limit section. For example, the speed limit section storage means 220 stores the start position, end position, and speed limit value in each speed limit section in association with each other, as shown in FIG. The mobile body position input means 230 receives the information 2000 about the current position transmitted by the position / speed detection device 9020 of each mobile body 310. The security control information calculation unit 240 includes information 305 on the speed limit section from the speed limit section storage unit 220.
0 and information 2000 about the current position from the moving body position input means 230, and information about a stop target position and a speed limit section determined by the state of the preceding moving body or the branching device, the end of the line, etc. for each moving body 310. Information regarding the above is obtained, and these two pieces of information are combined and output as security control information 3000 to the security control information transmitting means 250. The security control information transmitting means 250 transmits the security control information to all mobile units 310.

FIG. 3 is a diagram showing the contents of the security control information 3000 transmitted by the security control information transmitting means 250.

As shown in the figure, the security control information 3000
Is information about the number of speed limit sections, the stop target position, and the speed limit section of the moving body in the movable section sandwiched between the current position of each moving body and the target stop position for each moving body ID. (Start position and speed limit of speed limit section)
It corresponds to.

Depending on how many speed limit sections exist between the information about the current position of the moving body and the information about the stop target position, even one piece of information about the speed limiting section is included in the security control information for one moving body. If not, 1
There may be one or more. The information about a plurality of speed limit sections may be sent because even if the information about the speed limit section is exactly the same, the security control information (information about the speed limit section or This is because the information regarding the target stop position) may be different.

FIG. 4 is a diagram showing the configuration of the moving body speed control individual device 300.

Security control information receiving means 320 shown in FIG.
Receives the security control information 3000 transmitted from the mobile unit speed control central device 200, and extracts the security control information 3000 corresponding to the own mobile unit. The position / speed input means 330 detects the current position 20 of the moving body from the position / speed detection device 9020.
Receive 00 and speed. Speed control information calculation means 340
Receives the security control information 3000 corresponding to its own moving body from the security control information receiving means 320 and the current position 2000 from the position / speed input means 330, and receives the speed control information 304.
Ask for 0. The speed control information output means 350 outputs the speed control information 3040 to the speed control device 9030.

Next, the operation of the system thus configured will be described.

First, the operation of the moving body speed control central unit 200 will be described with reference to the flow chart shown in FIG. The flowchart of FIG. 6 shows the security control information calculation means 24.
It is a figure which shows operation | movement for one communication cycle of 0.

When the information 2000 about the current position of each moving body is input from the moving body position inputting means 230, the security control information calculating means 240 arranges the moving bodies in the order of the current position (step 1000) and for each moving body. The following operations from step 1010 to step 1100 are repeated (step 1010). A moving object to be focused on repeatedly is represented by t. First, the head position of the mobile t is set to x (step 1020). Next, the position of the tail of the moving body (preceding moving body) immediately before the moving body t, the state of the branching device, and the line end are examined, and the closest one of them is set as the stop target position y (step 1030). . Next, as a process of initializing the variables for output, the list list is emptied (step 104).
0). Then, the operations of the following steps 1050 to 1080 are repeated for all the speed limit sections (step 1050). First, the speed limit section to be focused on repeatedly is represented by i. The start point of the speed limit section i is bi, the end point is ei, and the speed limit value is vi (step 106).
0). Next, when the section from bi to ei and the section from x to y overlap, a pair of bi and vi is added to the list list (step 1070). When this iteration i ends (step 1080), the list contains the start points and speed limit values of all speed limit sections to be sent to the mobile t. Next, the ID specified for the mobile t, the target stop position, and a list list of speed limit sections that the mobile t must consider, that is, security control information are output (step 1090). At the time when the above-mentioned repetition is completed (step 1100), the security control information for all the mobile bodies is output. Then, the security control information transmitting means 250 transmits this security control information 3000 to all mobile units 310.

Next, the operation of the moving body speed control individual device 300 will be described with reference to the flowchart shown in FIG.
The flowchart of FIG. 7 is a diagram showing the operation for one communication cycle of the speed control information calculation means 340.

The security control information receiving means 320 receives the security control information 3000, and extracts from the security control information 3000 a mobile unit ID (see FIG. 4) that matches the own mobile unit. The position / speed input means 330 receives the current position and speed of the mobile unit from the position / speed detection device 9020.
Then, the speed control information calculation means 340 first sets the speed of the mobile unit as v, and sets the head position as x (step 15).
00). Next, an allowable speed curve d0 according to the stop target position for stopping at the stop target position is obtained (step 151)
0). Then, for all speed limit sections included in the security control information, the following steps 1520 to 1
The operation of 570 is repeated. The speed limit section to be focused on repeatedly is represented by i. First, the start point of the speed limit section i is bi,
The speed limit value is set to vi (step 1530). And
The process branches depending on whether the head position x of the mobile unit has passed bi (step 1540). If x has not passed bi, an allowable speed curve di is obtained by speed restriction to reach speed vi by bi (step 155).
0). On the other hand, when x passes bi, the velocity vi
The constant speed curve that keeps running and continues traveling is set to di (step 1560). Here, the constant speed curve is a special example of the allowable speed curve, and shows a constant speed regardless of the position. Then, d0 obtained in step 1510 and d1, d2 obtained in step 1550 or step 1560
Of the positions in the section from x to y, the one having the lowest speed is combined and output as an allowable speed curve (step 158).
0). Then, the speed control information output means 350 outputs the speed control information as the allowable speed curve.

In this way, the moving speed control central unit 200 transmits to the moving speed control individual unit 300 by transmitting only the position of the start point 2060 and the speed limit value 3060 as the information 3050 regarding the speed limit section. The body speed control individual device 300 can generate speed control information 3040 necessary for controlling the moving body and output the speed control information 3040 to the speed control device 9030.

Next, with respect to this embodiment, the succeeding moving body 31
When the vehicle 2 passes through this speed limit section from before a certain speed limit section, the information 3000 received by the mobile unit speed control individual apparatus 300 and the change in the speed control information 3040 output by the mobile unit speed control individual apparatus 300 8 to FIG.
Will be explained in due time.

FIG. 8 shows an example in which an allowable speed curve by speed restriction is an allowable speed curve that decelerates to the speed limit value at the start point of the speed restriction section and continues to decelerate until it stops at the deceleration. Further, FIG. 9 shows an example in which an allowable speed curve that maintains the speed limit value as it is after decelerating to the speed limit value at the start point of the speed restriction section is used as the speed limit allowable speed curve. 8 and 9 both show the state at the same time point. In these figures, the trailing end of the preceding moving body 314 is at the position y, and the beginning of the following moving body 312 is at the position x. Fixed speed limit section 20 between x and y
There are 30 and temporary speed limit sections 2050, the starting points are b1 and b2, and the speed limit values are v1 and v2. The information of FIG. 10 is sent from the ground control device 210 to the succeeding moving body 312 according to the format of FIG. However, in these figures, "312" is used as the moving body ID of the succeeding moving body. At this time, neither the section length nor the end point information is sent for the speed limited section. The moving body speed control individual device 300 on the succeeding moving body 312 uses d0 as the allowable speed curve depending on the target stop position and d1, d2 as the allowable speed curve depending on the speed limit.
Occurs. The moving body speed control individual device 300 obtains the allowable speed curve 3010 from these and calculates the speed control information 304.
0 is sent to the speed control device 9030. In the example shown in FIG. 8, the allowable speed curve 3030 due to speed limitation shows deceleration until stopping, and in the example shown in FIG. After that, it becomes a constant speed curve that can run while maintaining the speed v2. FIG. 11 shows that the head of the succeeding moving body 312 has advanced beyond b2. The preceding moving body 3 as well as the succeeding moving body
Since 14 is also moving forward, y is moving forward from FIG. A velocity locus 3080, which represents the locus of the leading velocity with respect to the position so far, is indicated by a dashed line. Since the fixed speed limit section 2030 is x> e1, processing 1070 for determining whether the speed limit section in FIG. 6 needs to be sent to the mobile t.
Cannot be added to the list with. Therefore, the information of FIG. 12 is sent from the ground control device to the succeeding moving body 312. The moving body speed control individual device 300 on the succeeding moving body 312 generates d0 as the allowable speed curve depending on the stop target position.
7 does not satisfy the condition of the determination process 1540 for determining whether the vehicle enters the speed limit section of FIG. An allowable speed curve 3010 is obtained from d1 and d0 and sent as speed control information 3040 to the speed control device 9030, and the succeeding moving body 312 continues to travel at the speed v2 at the speed v2.

8 and 9, there is a difference in the allowable speed curve 3030 due to the speed restriction after passing the starting point, but when the succeeding moving body 312 passes b2, the allowable speed curve 3030 is allowed by the speed restriction according to 1540 in FIG. Since the method of generating the velocity curve changes,
Here, both the allowable speed curves due to speed limitation are constant speed curves.

FIG. 13 shows that the head of the following moving body 312 has advanced beyond both the fixed speed limit section 2030 and the temporary speed limit section 2050. Again, speed trajectory 3
080 is indicated by a dashed line. Since the preceding moving body 314 is moving in the same manner as the following moving body 312, the section ahead of FIG. 11 is displayed in this figure. Ground control device 2
The information of FIG. 14 is sent from 10 to the succeeding moving body 312. That is, at this point in time, no information regarding the speed limit section is sent to the succeeding moving body 312. The moving body speed control individual device 300 on the succeeding moving body 312 generates d0 as the allowable speed curve according to the stop target position, and does not generate the allowable speed curve due to the speed limit. Therefore, this is sent to the speed control device 9030 as an allowable speed curve 3010, that is, speed control information 3040. Since the speed of the following moving body 312 is lower than the speed of the allowable speed curve at the position of x, the speed control device 9030 controls the braking device 9040 and the prime mover 9.
050 is controlled to accelerate the succeeding moving body 312.

In the above embodiment, it is possible to provide the moving body speed control system which realizes the operation in which the speed limit section is protected in addition to the target stop position. Then, the present invention produces the following effects.

That is, in the above-described embodiment, the information regarding the speed limit section transmitted from the ground control device 210 to each moving body exists in the movable section sandwiched between the current position and the target stop position of each moving body. For example, the information about the speed limit section transmitted to the succeeding moving body 312 exists in the movable section sandwiched between the current position of the succeeding moving body 312 and the target stop position (position of the preceding moving body 314). Since there is only one, the amount of communication from the ground control device 210 to each mobile can be reduced as much as possible. Moreover,
As in the above-described embodiment, by using only the information regarding the start point and the speed limit value as the information regarding the speed limit section, the communication amount can be further suppressed. Numerical examples showing this effect will be given. In other words, it is necessary to send information about the start point and the end point of the speed limit section to one succeeding moving body by 17bi each.
t, 7bit is required for speed limit value. On the other hand, the current position of the preceding moving object is 17 bits, and 3b is used to express the number of speed limit sections.
A mobile ID for identifying it and the following mobile is 12 bits. Assuming that there is an average of one speed limit section per moving body, the information for defining the start point of the speed limiting section, the information for defining the end point, and the method of transmitting the speed limit value are used for each moving body from the ground control device. Information to be sent to 73bit
Is. On the other hand, if the information about the end point is not transmitted as in the above-described embodiment, the information transmitted from the ground control device to each mobile can be 56 bits. That is, the transmission amount can be reduced by about 23%.

Further, in the above-mentioned embodiment, each mobile body is configured to obtain the information on the speed limit section from the ground control device 210, and it is unnecessary to store the information on the speed limit section in advance on the side of the mobile body. Therefore, it is not necessary to rewrite or replace the information regarding the speed limit section on the mobile body side.

Further, in the above-described embodiment, the information on the fixed speed limit section and the information on the temporary speed limit section can be treated as the same type of information, that is, both of them can be treated as the information on the speed limit section. It can be simplified. That is, since the processing of the fixed speed limit section can be unified with the temporary speed limit section, the mobile unit speed control individual device 300 causes the fixed speed limit section storage unit 9 to perform the processing.
It is possible to provide the mobile body speed control device 100 that has a simple structure without 000, is inexpensive, and has high reliability.

The present invention is not limited to the above embodiment.

For example, in the above-described embodiment, the start point bi is added to the list as information regarding the start point of the speed limit section i in the processing 1070 for determining whether the speed limit section of FIG. In other words, the absolute position of the start point is used as the information that defines the start point of the speed limit section, but the distance from the current position x of the mobile t to the bi is used instead of bi.
Di = bi−x may be used, that is, the distance from the current position of the moving body to the start point may be used as the information defining the start point of the speed limit section.

Further, in the above-described embodiment, the target stop position y is output as the information regarding the target stop position in the output processing 1090 of the information transmitted to the mobile unit in FIG. 6, but instead of this, the current position of the mobile unit t. Distance from x to y d = y−x
May be used.

Further, in the above-described embodiment, the start point bi is listed as the information defining the start point of the speed limit section i in the processing 1070 of determining whether the speed limit section of FIG. In addition, in the output processing 1090 of the information transmitted to the mobile body, the stop target position y is output as the information defining the stop target position.
A distance di = bi−x from the current position x to bi and a distance d = y−x from x to y may be used.

[0047]

As described above, according to the present invention, the amount of communication from the central unit to each mobile unit can be reduced as much as possible. Further, it is not necessary to rewrite or replace the information regarding the speed limit section on the mobile body side. Further, the configuration on the moving body side can be simplified.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a mobile body traveling system according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a moving body speed control central device shown in FIG.

FIG. 3 is a diagram showing a format of security control information transmitted by the security control information transmitting means shown in FIG.

FIG. 4 is a diagram showing a configuration of a moving body speed control individual device shown in FIG.

5 is a diagram showing a format of a speed limit section stored in a speed limit section storage unit shown in FIG.

FIG. 6 is a diagram showing a flow of operations of a moving body speed control central device according to one embodiment of the present invention.

FIG. 7 is a diagram showing a flow of operations of the moving body speed control individual device according to one embodiment of the present invention.

FIG. 8 is a diagram showing information sent to an individual mobile body speed control device and speed control information generated by the individual mobile body speed control device according to an embodiment of the present invention.

FIG. 9 is a diagram showing information sent to an individual mobile body speed control device and speed control information generated by the individual mobile body speed control device according to an embodiment of the present invention.

FIG. 10 is a diagram showing information sent to a moving body speed control individual device according to an embodiment of the present invention.

FIG. 11 is a diagram showing information sent to a mobile body speed control individual device and speed control information generated by the mobile body speed control individual device according to an embodiment of the present invention.

FIG. 12 is a diagram showing information sent to a moving body speed control individual device according to an embodiment of the present invention.

FIG. 13 is a diagram showing information sent to the individual mobile speed control device and speed control information generated by the individual mobile speed control device according to an embodiment of the present invention.

FIG. 14 is a diagram showing information sent to a moving body speed control individual device according to an embodiment of the present invention.

FIG. 15 is a block diagram of a conventional mobile block system.

FIG. 16 is a diagram showing a process of a conventional mobile block system.

FIG. 17 is a diagram showing a process when there is speed control information in the conventional mobile blocking system.

FIG. 18 is a diagram showing a configuration of a moving body speed control individual device of a conventional moving block system.

[Explanation of Codes] 100 ... Mobile speed control device, 200 ... Mobile speed control central device, 210 ... Ground control device, 220 ... Speed limit section storage means, 230 ... Mobile position input means, 240 ... Security control information calculation Means, 250 ... Security control information transmitting means,
300 ... Moving body speed control individual device, 310 ... Moving body, 3
12 ... Subsequent moving body, 314 ... Leading moving body, 316 ... Other moving body, 320 ... Security control information receiving means, 330 ... Position / speed input means, 340 ... Speed control information calculating means, 35
0 ... Speed control information output means, 9000 ... Fixed speed limit section storage means, 9020 ... Position / speed detection device, 9030
... speed control device, 9040 ... braking device, 9050 ... prime mover.

Claims (4)

[Claims] 1. A mobile body speed control system for controlling the speeds of a plurality of mobile bodies moving on a track having a speed limit section, wherein a central unit stores in advance information about a speed limit section, and each mobile unit. Between the current position of each mobile body and the target stop position from the storage means based on the received first information about the current position of each mobile body, and the received information about the current position of each mobile body. Extraction means for extracting, for each movable section, information on the speed limited section existing in the sandwiched movable section, and information on the extracted speed limited section for each movable section, together with information on the target stop position, each movable section And a first transmitting means for transmitting to each of the mobile units corresponding to the mobile units, each mobile unit transmitting information about the current position to the central device.
And a second receiving means for receiving information on the speed limit section and the target stop position of the own moving body from the central device, and the moving speed based on the received information on the speed limit section and the received information on the target stop position. And a control means for controlling the moving body speed control system. 2. A central unit used in a mobile body speed control system for controlling the speeds of a plurality of mobile bodies moving on a track having a speed limit section, and a storage unit for storing information about the speed limit section in advance. Based on the receiving means for receiving information about the current position of the moving body from each moving body and the received information about the current position of each moving body, it is inserted between the current position of each moving body and the target stop position from the storage means. Extraction means for extracting information about the speed limit section existing in the movable section for each movable section, and the extracted information about the speed limit section for each movable section together with the information about the target stop position in each movable section. A central unit in a mobile body speed control system, comprising: a transmission unit that transmits to each corresponding mobile body. 3. A moving body that moves on a track having a speed limit section and whose moving speed is controlled by the control of the central device, and transmitting means for transmitting information about the current position to the central device, Receiving means for receiving from the central device information about the speed limit section existing in the movable section sandwiched between the current position and the target stop position and information about the target stop position, and the received information about the speed limit section and the target stop position. And a control means for controlling the moving speed on the basis of information about the moving body in the moving body speed control system. 4. A method for controlling the speed of a plurality of moving bodies moving on a track having a speed limiting section, the method comprising: transmitting information on the current position from each moving body to a central device; , Based on the received information about the current position of each moving body, based on the information about the speed limiting section stored in advance, the speed limiting section existing in the movable section sandwiched between the current position of each moving body and the target stop position Extracting information about each movable section for each movable section, and transmitting the extracted information about the speed limit section for each movable section together with the information about the target stop position to the moving body corresponding to each movable section, Each mobile unit receives the information about the speed limit section of the own mobile unit and the information about the target stop position from the central device, and the received information about the speed limit section. And a step of controlling the moving speed based on the information about the target stop position.