JPH11316895A - Running support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a function to safely run plural vehicle ranks with respect to a running support device which controls running of vehicles which collectively run in ranks. SOLUTION: When ranks of vehicles which collectively run in ranks on a main lane 40 enter plural set close sections on a track, a check-in signal is transmitted from the leading vehicle of ranks of vehicles to ground elements 48 to 59, and a check-out signal is transmitted from the trailing vehicle of ranks of vehicles to them. When receiving the check-in signal and the check-out signal of the rank of vehicles leading in the going direction together, ground elements 48 to 59 discriminates that the leading rank of vehicles has entered the close sections, and they transmit a signal for running which inhibits entrance of following vehicles into the close areas. If acquiring a switching command signal for switching of the signal for running from ground elements of two ground elements ahead, ground elements 48 to 59 transmit the signal for running to permit entrance of following vehicles into the close sections. Running of vehicles is controlled in accordance with the signal for running.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving support device, and more particularly to a driving support device suitable as a device for controlling the driving of a vehicle when a plurality of vehicles travels together in a row.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Patent Laid-Open No.
As disclosed in Japanese Patent No. 67, there is known an apparatus that detects a train for each of a plurality of closed sections continuously set on a track and controls the running of a vehicle following the train. In the above-mentioned conventional device, the train emits an approach signal from the front and emits an exit signal from the rear. Further, a communication unit that enables communication with the train is provided at a predetermined position in the closed section. The above-described conventional apparatus determines that the train has entered the closed section when the communication means receives a train entry signal, and the communication means disposed on the end point side of the closed section transmits the train entry signal. When the train is received, it is determined that the train has advanced into the closed section.

[0003] Therefore, if the conventional device is used, a plurality of trains do not coexist in a single closed section based on an approach signal to the closed section of the train and an exit signal from the closed section, Information can be provided from the communication means to the subsequent trains so that the train following the first train stops in the closed section adjacent to the closed section. For this reason, according to the above-described conventional device, it is possible to prevent a plurality of trains from entering a single closed section, and to ensure safe running of the train.

[0004]

The above-mentioned conventional system receives the entry signal issued when the train enters one blockage section, and transmits the information indicating that the train is not permitted to enter the one blockage section. By receiving an advance signal issued when the vehicle has advanced from one blockage section, it is possible to provide entry permission information to the one blockage section to a subsequent train from communication means. A train is generally configured by a plurality of vehicles that are mechanically connected. For this reason, in the above-mentioned conventional system, when the leading vehicle of the trains constituting the train enters the closed section, the communication means provides the entry disapproval information so that the subsequent train does not enter the closed section. Even if this is done, vehicles other than the leading vehicle that constitutes the train can always enter the closed section together with the leading vehicle except when the train stops in an emergency.

[0005] In a train in which a plurality of vehicles are mechanically connected, it takes a lot of time and a lot of labor to appropriately increase or decrease the number of vehicles according to the increase or decrease of the number of passengers. In addition, in laying a track capable of running such a train, restrictions are increased. Specifically, since the total length of the train is long, it is necessary to lay a track with a large radius of curvature. In order to solve such a problem, a vehicle group in which a plurality of vehicles are electronically connected without being mechanically connected has been proposed. According to the above-described vehicle group, the number of vehicles can be easily increased and decreased in a short time, and the restriction on laying the track can be suppressed to a small value.

However, when a group of vehicles in which a plurality of vehicles are electronically connected is used in the above-described conventional system, an inconvenience occurs. Specifically, immediately after the leading vehicle constituting the vehicle group enters the closed section, if the communication means provides the entry non-permission information, vehicles other than the leading vehicle in the vehicle group enter the closed section. Can not do it. Therefore, in the above-described conventional system, when a vehicle group in which a plurality of vehicles are electronically connected is used, there is a disadvantage that the vehicles in the vehicle group are separated from the vehicles. For this reason, in the above-mentioned conventional system, a plurality of vehicles that are not mechanically connected but are electronically connected cannot be appropriately moved on a track.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and has been made in view of the above circumstances. It is an object of the present invention to provide a driving support device that can drive safely.

[0008]

The above object is achieved by the present invention.
As described in the above, in a travel support device for assisting the traveling of vehicles of a group of vehicles traveling on a plurality of predetermined trajectories divided into a plurality of closed sections, the vehicle is arranged at a predetermined position on the track for each of the closed sections. Vehicle transmitting means for transmitting identification information for distinguishing the vehicle from a vehicle other than the vehicle when the vehicle passes through the predetermined position, to the spot communication device provided; Vehicle group entry determining means for determining whether all vehicles in the vehicle group have entered one closed section based on the identification information of the vehicles of the vehicle group received by the vehicle group, and traveling in front of the vehicle group. If it is determined that all the vehicles in the preceding vehicle group have entered the first block section, the vehicle is prevented from entering the first block section, and Vehicle is predetermined from the first closed section Entry signal control means for controlling an entry signal of the first block section so that the vehicle can enter the first block section when it is determined that the vehicle has entered a second block section ahead of the distance; A vehicle receiving unit that receives the approach signal from the spot communication device when the vehicle passes through the predetermined position, and controls traveling of the vehicle based on the approach signal received by the vehicle receiving unit. And a travel control device.

In the present invention, each vehicle in a vehicle group in which a plurality of vehicles travel in a row has predetermined identification information. Based on the predetermined identification information, the infrastructure facility determines whether or not all vehicles in the preceding vehicle group traveling ahead of the vehicle group have entered one closed section on the track.
When the infrastructure facility determines that all vehicles in the preceding vehicle group have entered the first closed section, the infrastructure facility transmits a command signal so that vehicles in the rear group of vehicles do not enter the first closed section. Also, when the infrastructure facility determines that all vehicles in the preceding vehicle group have entered the second closed section ahead of the first closed section, the vehicles in the rear group of vehicles enter the first closed section. A command signal is sent to allow entry. The running of the vehicles in the rear group of vehicles is controlled based on this command signal. Therefore, according to the present invention, all the vehicle groups can be safely driven while preventing two or more vehicle platoons from entering one closed section.

According to a second aspect of the present invention, the identification information includes information for distinguishing a leading vehicle of the vehicle group from vehicles of the vehicle group other than the leading vehicle, and a last vehicle of the vehicle group. The driving assistance device according to claim 1, wherein the information is information for distinguishing a vehicle in the vehicle group other than the last vehicle from the vehicle group. This is effective in determining whether or not the operation has been performed.

In the present invention, the vehicles in the vehicle group have identification information for distinguishing from the leading vehicle in the vehicle group and identification information for distinguishing from the last vehicle in the vehicle group. . The infrastructure facility is a vehicle configured as a first vehicle and a last vehicle when the first vehicle enters one closed section and the last vehicle enters the one closed section based on the identification information. It is determined that all the vehicles in the group have entered the one closed section. Thus, according to the present invention,
By regarding a group of vehicles as one vehicle, two
An entry signal in one closed section can be controlled so that the above-mentioned vehicle group does not enter. Therefore, according to the present invention, all the vehicle groups can be safely driven.

According to a third aspect of the present invention, in the driving support device according to the first aspect, the identification information is ID information of the vehicle and information on a group of vehicles to which the vehicle belongs. This is effective in accurately grasping vehicles traveling on the track. In the present invention, the information on the vehicle group to which the vehicle belongs includes the ID of the vehicle group.
Information and information on the number of vehicles belonging to the vehicle group are included. For this reason, the infrastructure facility can accurately determine whether or not all the vehicles in the front vehicle group traveling on the track have entered one closed section. Therefore, according to the present invention, all the vehicle groups can be safely driven.

According to a fourth aspect of the present invention, the approach signal control means further includes a third blockage section between the first blockage section and the second blockage section, and Three
When it is determined that all vehicles in the preceding vehicle group have entered the closed section, the approach signal is controlled such that the vehicle entering the first closed section is decelerated. The driving assistance device according to any one of claims 1 to 3,
This is effective for appropriately driving the vehicle group according to the traveling position of the vehicle group on the track.

[0014] In the present invention, when the front vehicle group enters the third closed section between the first closed section and the second closed section, the rear vehicle group moves to the first closed section. A command signal is transmitted to decelerate in the closed section. The vehicles in the rear group of vehicles that receive the command signal are subjected to deceleration control. Therefore, in the vehicles in the rear group of vehicles, three-stage traveling control of control of prohibition of entry into the first block section, control of entry into the first block section, and control of deceleration are performed. For this reason, according to the present invention, the vehicles of the rear group of vehicles can be appropriately driven according to the running position of the front group of vehicles on the track.

According to a fifth aspect of the present invention, when there are a plurality of the third closed sections, the approach signal control means, according to a distance between the third closed section and the first closed section, The travel support device according to claim 4, wherein the control unit controls the approach signal so that a deceleration of the vehicle entering the first block section changes. Accordingly, it is effective to drive the vehicle group more appropriately.

In the present invention, when there are a plurality of third closed sections, a difference is provided in the deceleration command to the vehicle according to the distance between the closed section and the first closed section. When the front vehicle group enters a closed section where the distance from the first closed section is small, the deceleration of the vehicles in the rear group is controlled to be large. On the other hand, when the front vehicle group enters the closed section where the distance from the first closed section is large, the vehicles in the rear group of vehicles are controlled so that the deceleration becomes small. Therefore, according to the present invention, the vehicles of the rear group of vehicles can be more appropriately driven according to the running positions of the front group of vehicles on the track.

According to a sixth aspect of the present invention, there is provided a driving support device mounted on a vehicle of a group of vehicles traveling on a plurality of predetermined tracks divided into a plurality of closed sections. Group storage means for storing the vehicle information of the vehicle when the vehicle passes the predetermined position with respect to a spot communication device disposed at a predetermined position on the track for each of the closed sections. Vehicle transmitting means for transmitting the vehicle information of a preceding vehicle traveling ahead of the vehicle within a predetermined distance from the spot communication device from the spot communication device when the vehicle passes the predetermined position. Vehicle receiving means for receiving information on the closed section where the preceding vehicle is located, and vehicle information on the preceding vehicle received by the vehicle receiving means. Forward vehicle determining means for determining whether or not the vehicle belongs to the vehicle group; and running of the vehicle based on the determination result of the front vehicle determining means and information on the closed section received by the vehicle receiving means. And a travel control means for controlling the vehicle is effective in making the vehicle know vehicle information of another vehicle on the track.

In the present invention, when a vehicle passes through the spot communication device, the vehicle transmits its own vehicle information to the infrastructure facility and the vehicle traveling ahead of the vehicle within a predetermined distance from the spot communication device. The vehicle information and the information on the closed section where the vehicle traveling ahead is located are received from the infrastructure facility. The vehicle stores information on a vehicle group to which the vehicle belongs, and determines whether the received vehicle information is information of a vehicle in the vehicle group to which the vehicle belongs. When it is determined that the received vehicle information is not the information of the vehicle in the vehicle group to which the vehicle belongs, the traveling of the vehicle is controlled according to the closed section where the vehicle is located. For this reason, according to the present invention, the vehicle can safely run by processing the information of the preceding vehicle from the infrastructure facility by the vehicle itself without following the command signal from the infrastructure facility.

According to a seventh aspect of the present invention, the information related to the vehicle group is ID information of each vehicle belonging to the vehicle group. This is effective in accurately obtaining vehicle information of another vehicle. In the present invention, a vehicle can accurately grasp the position of another vehicle traveling within a predetermined distance and easily determine whether or not the other vehicle is a vehicle in a vehicle group to which the own vehicle belongs. Can be determined. The traveling of the vehicle is controlled based on the determination result and the position where the other vehicle travels. Therefore, according to the present invention, the vehicle can be safely driven irrespective of instructions from the infrastructure facility.

According to an eighth aspect of the present invention, there are provided a map storage means for storing at least map information relating to a location of the spot communication device on the track, and a position detection means for detecting a running position of the vehicle. The said travel control means performs control which stops the said vehicle, when the said vehicle does not acquire predetermined | prescribed information from the said spot communicator in the predetermined | prescribed area | region from the said spot communicator. The traveling support device is effective in letting the vehicle grasp the situation where the spot communication device disposed on the track for each closed section does not operate effectively.

In the present invention, the vehicle stores the location of the spot communication device provided on the track. Also,
The vehicle detects a traveling position where the vehicle travels. Therefore, according to the above configuration, it can be determined whether or not the vehicle is traveling in the predetermined area from the position where the spot communication device is provided. If the vehicle does not acquire an approach signal to the closed section within a predetermined area from the position where the spot communication device is provided, a braking operation is performed on the vehicle. Therefore, according to the present invention, it is possible to accurately detect an abnormality in the communication between the infrastructure facility and the vehicle, and to drive the vehicle more safely.

[0022]

FIG. 1 is a diagram schematically showing an infrastructure facility of a vehicle traffic system according to a first embodiment of the present invention. The infrastructure facility has a main line 40. The main line 40 is a lane on which an autonomous driving vehicle (hereinafter simply referred to as a vehicle) described later travels to transport passengers. On the main line 40, a first station 44 and a second station 46 are sequentially provided at a predetermined interval. In this embodiment, the vehicle travels on the main line 40 integrally with a plurality of vehicles in a row. Hereinafter, this platoon is referred to as a vehicle platoon. The vehicle platoon travels on the main line 40 from left to right in FIG. The vehicle platoon transports passengers boarding at the first station 44 to the second station 46.

Along the main line 40, magnetic nails 42 are laid at predetermined intervals. As described later, the vehicle has a function of detecting the traveling distance based on the wheel speed. The magnetic nail 42 is used to correct the traveling distance. Specifically, the magnetic nail 42 causes the vehicle to detect the absolute position on the track each time the vehicle passes through the magnetic nail 42. The vehicle is driven based on a predetermined operation program based on the detected absolute position.

Main line 40 between first station 44 and second station 46
Are divided into closed sections n to n + 6. One closed section has a distance longer than the entire length of one vehicle platoon.
The closed sections n to n + 6 are set so that the above-described magnetic nail 42 is disposed at the boundary. Closed section nn
At the +6 boundary, ground children 48 to 59 are arranged. Each of the ground members 48 to 59 is designed to monitor an obstruction section on the traveling direction side of the vehicle as viewed from its own ground member side. The ground terminals 48 to 59 are connected via a communication line 59. The ground pieces 48 to 59 are provided for providing information on whether or not the vehicle can enter the closed section to the individual vehicles when the vehicle passes through the boundary of the closed section, that is, the position at which the own ground piece is provided. Device.

FIG. 2 is a block diagram showing the electrical structure of the vehicle traffic system according to this embodiment. Hereinafter, the configuration and operation of this embodiment will be described with reference to FIG. The vehicle system 60 is mounted on the vehicle side.
The vehicle system 60 includes a vehicle traveling electronic control unit (hereinafter, referred to as a vehicle ECU) 62. Vehicle ECU
62 includes a position recognition unit 64. Position recognition unit 64
Is the map information of the track on which the vehicle runs, ie, each station,
The position of each ground element, the position of each magnetic nail 42, and the distance between them are stored in advance.

A wheel speed sensor 66 is connected to the position recognition section 64. The wheel speed sensor 66 generates a pulse signal at a cycle corresponding to the wheel speed of the vehicle. Position recognition unit 64
Detects the wheel speed V based on the cycle of the pulse signal supplied from the wheel speed sensor 66. The position recognition unit 64 detects the traveling distance of the vehicle based on the wheel speed V. The position detection sensor 68 is connected to the position recognition unit 64. The position detection sensor 68 detects a magnetic field generated by the magnetic nail 42 described above. The position recognition unit 64 includes the position detection sensor 6
When the vehicle detects the magnetic nail 42,
2 is judged to have passed. The position recognition unit 64 detects an accurate traveling distance of the vehicle based on the detection position of the magnetic nail 42 and the traveling distance. Then, the position recognition unit 64
Accurately recognizes the absolute position of the vehicle based on the map information and the accurate travel distance.

The vehicle ECU 62 also includes a vehicle control unit 70
It has. The vehicle control unit 70 is connected to the position recognition unit 64 described above. The vehicle control unit 70 includes the position recognition unit 6
Based on the absolute position of the vehicle supplied from 4, a traveling command signal such as an acceleration request signal and a deceleration request signal necessary for the vehicle to travel according to a predetermined operation program is output.

The vehicle system 60 has a drive motor 72. The drive motor 72 is a mechanism used as a drive source of the vehicle. The drive motor 72 is connected to the vehicle ECU 62
Is connected to the vehicle control unit 70. Drive motor 72
Generates a driving torque according to the motor instruction value supplied from the vehicle ECU 62. Further, the vehicle system 60 includes:
A brake actuator 74 is provided. The brake actuator 74 is a mechanism used to brake the vehicle. The brake actuator 74 is connected to the vehicle control unit 70. Brake actuator 7
4 generates a braking force according to a brake instruction value supplied from the vehicle ECU 62.

The system of the present embodiment is characterized in that the vehicles in the vehicle platoon run integrally and electronically connected, not mechanically connected. The preceding vehicle recognition sensor 76 is connected to the vehicle control unit 70. The preceding vehicle recognition sensor 76 is configured by a laser radar. The laser radar scans a predetermined area in front of the vehicle. The preceding vehicle recognition sensor 76 generates a signal corresponding to the distance from another vehicle in the vehicle platoon existing in front of the vehicle. Vehicle control unit 70 detects the distance and the relative speed to the vehicle ahead in response to the signal. The vehicle control unit 70 includes:
A signal is supplied to the drive motor 72 and the brake actuator 74 so that the host vehicle follows the preceding vehicle.

The vehicle control unit 70 includes an identification information memory 78
Is connected. The identification information memory 78 is used to identify whether the vehicle is a leading vehicle, a trailing vehicle, or a vehicle therebetween (hereinafter, this vehicle is referred to as an intermediate vehicle) in the vehicle platoon. Information is stored. This information can easily be changed externally, as the formation within the vehicle platoon may change. The vehicle control unit 70 detects information on the vehicles in the vehicle platoon based on the output signal of the identification information memory 78.

A vehicle transmitter 80 and a vehicle receiver 82 are connected to the vehicle control unit 70. Vehicle transmitter 80
Has a role of transmitting information of the vehicle detected by the vehicle control unit 70 to the ground member disposed at the boundary of the closed section. The vehicle receiver 82 has a role of receiving a predetermined signal transmitted from the ground terminal. Vehicle receiver 82
Supplies the received signal to the vehicle control unit 70. The vehicle control unit 70 controls the drive motor 72 and the brake actuator 74 based on the signal received by the vehicle receiver 82.
Output a control signal to the controller.

The grounding element 48 constituting the system of the present embodiment
59 are provided with a ground child system 84. In the system of this embodiment, there is no difference in the contents of the ground child system 84 of the ground children 48 to 59. Therefore, in the following description, only the configuration and control of the ground child system 84 of the ground child 54 will be described. The ground child system 84 is configured to control a vehicle platoon following the one vehicle platoon (hereinafter referred to as a front vehicle platoon) in a predetermined closed section (blocked section n + 3 in FIG. 1). Hereinafter, referred to as a following vehicle platoon). Ground child system 84
Is equipped with a ground receiver 86. Terrestrial child receiver 86
Has a role of receiving predetermined vehicle information transmitted from the vehicle system 60.

The ground terminal system 84 includes a ground terminal electronic control unit (hereinafter referred to as a ground terminal ECU) 90. The ground receiver 86 is connected to the ground ECU 90. The ground child ECU 90 detects the progress of the vehicle platoon in the closed section n + 3 based on the vehicle information received by the ground receiver 86. The ground child ECU 90 determines whether or not the following vehicle platoon can enter the blockage section n + 3 based on the detection result.

The ground child ECU 90 includes a ground child transmitter 88.
Is connected. The ground child transmitter 88 is provided with a ground child ECU.
It has a role of transmitting a predetermined signal based on the result of the determination at 90. Specifically, when all the vehicles in the front vehicle platoon enter the closed section n + 3, the ground child transmitter 88 transmits an entry prohibition signal so that the following vehicle platoon does not enter the closed section n + 3.

All vehicles in the front vehicle platoon are in the closed section n + 3
, The preceding vehicle platoon is in the closed section n + 3
It has already passed through the blockage sections n, n + 1, n + 2 that exist earlier. Therefore, each of the ground-based transmitters in the closed section n, n + 1, n + 2 existing before the closed section n + 3 transmits an entry prohibition signal by passing through the preceding vehicle platoon. In this case, the following vehicle platoon is closed block n,
A situation is formed in which it is not possible to enter n + 1, n + 2.

An output port 92 and an input port 94 are connected to the ground ECU 90. The ground child system 84 outputs a predetermined command signal from the output port 92 based on the determination result of the ground child ECU 90. In particular,
When all vehicles in the front vehicle platoon enter the closed section n + 3, the ground child system 84 outputs a switching command signal for the closed section n + 1 to switch the traveling signal of the closed section n + 1 to an entry permission signal.

The output port 92 is connected to the ground child system 8 of the ground child 52 located immediately before the vehicle in the traveling direction.
The input port 94a of 4a is connected via the communication line 59. The ground child system 84a includes the ground child system 8
4 is input. The output port 92a of the ground child system 84a also has an input to the ground child system 84b of the ground child 50 that is located immediately before the traveling direction of the vehicle, that is, two before the ground child 54 including the ground child system 84. The port 94b is connected via the communication line 59. A command signal (S84a) output from the ground child system 84a and a command signal (S84) output from the ground child system 84 are sent to the ground child system 84b.
Is entered.

In the present embodiment, the ground child system 84b
When the command signal S84 is input from the ground child system 84 to the ground child system 84b, the ground child ECU 90b of the ground child system 84b determines that the following vehicle platoon can enter the closed section n + 1.
Then, the ground child transmitter 88b of the ground child system 84b
Transmits an entry permission signal so that the following vehicle platoon can enter the closed section n + 1. The signal transmitted from the ground child transmitter 88b is received by the vehicle receiver 82 of the vehicle system 60 as a traveling signal for controlling traveling of the vehicle passing through the ground child 50. As a result, the following vehicle platoon
It is possible to enter the closed section n + 1.

When the front vehicle platoon has entered the closed section n + 3, it has already entered the closed section n + 2. Therefore, as described above, the following vehicle platoon can also enter the closed section n. Therefore, according to the above configuration,
When all the vehicles in the preceding vehicle platoon enter one closed section, the following vehicle platoon following the preceding vehicle platoon can enter the closed section two before the one closed section.

The input port 94 is connected to the ground child system 84 of the ground child 56 which is located one ahead of the traveling direction of the vehicle.
The output port 92c of d is connected via the communication line 59. In the input port 94c of the ground child system 84d,
The output port 92 e of the ground child system 84 e of the ground child 57 that is one point ahead of the traveling direction of the vehicle, that is, two places ahead of the ground child system 84, is connected via the communication line 59. The command signal (S84d) output from the ground child system 84d and the command signal (S84e) output from the ground child system 84e are input to the ground child system 84.

After the front vehicle platoon has advanced from the blockage section n + 3 and all vehicles in the front vehicle platoon have passed the blockage section n + 4 and entered the blockage section n + 5, the ground child system 8
4e outputs a switching command signal. In the present embodiment, when the command signal S84e is input from the ground child system 84e to the ground child system 84, the ground child ECU 90 of the ground child system 84 determines that the following vehicle platoon can enter the closed section n + 3. Then, the ground child transmitter 88 of the ground child system 84 transmits an entry permission signal so that the following vehicle platoon can enter the closed section n + 3. The signal transmitted from the ground slave transmitter 88 is received by the vehicle receiver 82 of the vehicle system 60 as a traveling signal for controlling traveling of the passing vehicle. As a result, the following vehicle platoon can enter the closed section n + 3.

When the front vehicle platoon has entered the closed section n + 5, it has already entered the closed section n + 4. Therefore, the following vehicle platoon, as in the case above,
It is possible to enter the closed section n + 2. Therefore, according to the above configuration, when all vehicles in the front vehicle platoon enter one closed section, the following vehicle platoon following the front vehicle platoon does not enter the one closed section, and the front vehicle platoon is not moved. When all the vehicles in the vehicle enter the closed section two ahead of the one closed section, the subsequent vehicle platoon can enter the one closed section for the first time. For this reason, according to the device of the present embodiment, it is possible to safely drive a vehicle platoon that travels in a platoon with a plurality of vehicles on a predetermined track.

FIG. 3 shows a flowchart of an example of a control routine executed by the ground child ECU 90 which is a component of this embodiment. The routine shown in FIG. 3 is a routine that is repeatedly started each time the processing is completed. When the routine shown in FIG. 3 is started, first, the process of step 100 is executed. In step 100, it is determined whether or not the system abnormality is recognized in the ground child 54. The process of step 100 is always executed while this routine is repeatedly started. As a result, when it is determined that a system abnormality is recognized in the ground child 54, the process of step 102 is executed.

In step 102, the traveling signal transmitted to the vehicle passing through the ground arm 54 is switched from the entry permission signal to the entry inhibition signal. When the process of step 102 is executed, and
If it is determined in step that no system abnormality is found, the process of step 104 is executed next. In step 104, it is determined whether or not the information transmitted by the vehicle system 60 of the vehicle passing through the ground arm 54 has been received. The information transmitted by the vehicle system 60 is a check-in signal from the first vehicle in the vehicle platoon, a check-out signal from the last vehicle in the vehicle platoon, and an intermediate signal from the intermediate vehicle. Therefore, as the vehicle platoon progresses,
The ground system 84 includes a check-in signal, an intermediate signal,
Receive signals in the order of checkout signals.

The processing when a signal is received in this order will be described below. If it is determined in step 104 that the information has been received, the process of step 106 is performed next. In step 106, the ground child receiver 8
It is determined whether the received signal is a check-in signal. Generally, when a vehicle platoon newly enters the closed section n + 3, first, the leading vehicle enters the closed section n + 3. At this time, the ground child system 84 receives a check-in signal issued by the leading vehicle. Therefore, in this case, the process of step 108 is executed next, and the check-in flag is set.

In step 110, it is determined whether or not the checkout flag has been set. Generally, with all flags cleared, the vehicle platoon enters blockage section n + 3. Therefore, when the process of step 110 is performed after the process of step 108 is performed, generally, the checkout flag is not set. Therefore, the process of step 112 is executed next.

In step 112, a traveling signal for executing the processing in step 112 is transmitted to the vehicle system 60 of the vehicle passing through the ground child 54 via the ground child transmitter 88. When all the flags are cleared, the traveling signal is an entry permission signal. Therefore, in a routine that is processed after the check-in flag is set, the entry permission signal is transmitted to the vehicle system 60 of the vehicle that passes through the ground child 54. Then, this routine ends, and the next routine is started.

After the leading vehicle has entered the closed section n + 3,
Before the intermediate vehicle enters, the ground child system 84 does not receive any of the check-in signal, the check-out signal, and the intermediate signal. In this case, step 1
After the processing of step 04 is performed, the processing of step 110 and the processing of step 112 are sequentially performed. Until the intermediate vehicle enters blockage section n + 3, the above processing is repeated except for the case of a system abnormality (YES in step 100). In the case of a system abnormality, an entry prohibition signal is transmitted as a traveling signal to the vehicle system 60 of the vehicle passing through the ground arm 54 in step 112.

When the intermediate vehicle starts to enter after the leading vehicle has entered the blockage section n + 3, the traveling signal in the blockage section n + 3 is an entry permission signal except in the case of a system abnormality. Therefore, in this case, the intermediate vehicle can enter the closed section n + 3. Intermediate vehicle is ground child 5
4, the ground child system 84 receives an intermediate signal emitted by an intermediate vehicle. Therefore, step 104
In step 10, after it is determined whether the information transmitted by the vehicle system 60 of the intermediate vehicle has been received,
6 is executed. In this case, since the intermediate signal has been received, the process of step 106 is executed, and then the process of step 114 is executed.

At step 114, the ground child system 84
It is determined whether the received signal is an intermediate signal.
In the above case, since the intermediate signal has been received, the process of step 116 is executed next. In step 116,
It is determined whether the check-in flag has been set. When the intermediate vehicle enters the closed section n + 3, generally, the leading vehicle traveling in front of the intermediate vehicle has already entered the closed section n + 3. Therefore, the check-in flag has already been set (step 108). Therefore, in this step, it is determined that the check-in flag is set, and then the process of step 110 is executed.

In step 110, under the situation where the last vehicle has not entered the closed section n + 3, the checkout flag has not been set yet. Therefore, the process of step 112 is executed next. in this case,
The same signal as the previously processed traveling signal, that is, the vehicle system 6 of the vehicle whose entry permission signal passes
Sent to 0. Then, this routine ends, and the next routine starts. When a plurality of intermediate vehicles are connected, the above process is repeatedly performed in the same procedure.

After the intermediate vehicle enters the closed section n + 3,
Before the last vehicle enters, the ground child system 84
No check-in signal, check-out signal, or intermediate signal is received. Therefore, step 10
After the processing of step 4 is performed, the processing of step 110 and the processing of step 112 are subsequently performed. These processes are repeated until the last vehicle enters the closed section n + 3.

When the last vehicle starts entering after the leading vehicle and the intermediate vehicle have entered the closed section n + 3, the traveling signal at the ground child 54 is an entry permission signal, except in the case of a system abnormality. Therefore, the last vehicle can enter the closed section n + 3. The last vehicle has issued a checkout signal from the vehicle system 60.
As the last vehicle passes the ground child 54, the ground child system 84 receives a checkout signal emitted by the last vehicle. Therefore, after it is determined in step 104 that the information transmitted from the vehicle system 60 of the vehicles in the vehicle platoon has been received, the processes in step 106 and step 114 are executed. in this case,
Since the checkout signal has been received, the process of step 114 is executed, and then the process of step 118 is executed.

At step 118, it is determined whether the received signal is a checkout signal. In the above case, since the checkout signal has been received, the process of step 120 is executed next. In step 120, it is determined whether or not the check-in flag has been set. When the last vehicle enters the closed section n + 3, the leading vehicle and the intermediate vehicle traveling in front of it enter the closed section n + 3.
3 has already entered. Therefore, generally, the check-in flag is already set. Therefore, in this step, it is determined that the check-in flag is set, and then the process of step 122 is executed.

At step 122, a checkout flag is set. In this case, a state is established in which both the check-in flag and the check-out flag are set. In step 124, the traveling signal of the ground arm 54 is switched from the entry permission signal to the entry inhibition signal. In a situation where both the check-in flag and the check-out flag are set, the vehicle platoon is in the closed section n + 3.
Is formed. For this reason, the traveling signal is switched to the entry prohibition signal in order to prevent entry of a vehicle platoon following the above vehicle platoon.

At step 126, a switching command signal is issued to the ground child system 84b of the ground child 50 two positions before the ground child 54 that the vehicle platoon has passed in order to switch the traveling signal of the ground child 50 to the entry permission signal. . Ground child 4
8 to 59 are disposed at predetermined positions for each closed section as described above. Further, the ground elements 48 to 59 are connected to each other by a communication line 59. Therefore, the ground child system 84b to which the switching command has been issued switches the traveling signal in the closed section n + 1 from the entry prohibition signal to the entry permission signal. After the switching instruction is issued to the ground child system 84b, the process of step 110 is executed.

After the processing in step 126 is performed, the checkout flag is set in step 122. Therefore, after the processing of step 110,
Step 128 is executed. In step 128, the ground child 57 that is two points ahead is switched so that the traveling signal of the own ground child 54 is switched from the entry prohibition signal to the entry permission signal.
It is determined whether or not the switching command signal output from is obtained. When a vehicle platoon enters blockage section n + 3,
The ground unit 54 does not acquire a command signal for switching the traveling signal of the ground unit 54 from the entry prohibition signal to the entry permission signal until the vehicle platoon enters the closed section n + 5 two blocks ahead of the closed section n + 3. Therefore, immediately after the last vehicle in the vehicle platoon enters the closed section n + 3, if the process of step 128 is executed, then the process of step 112 is executed.

Until the vehicle platoon enters the closed section n + 5 two blocks ahead of the closed section n + 3, the ground child system 84
Does not receive check-in, check-out, or intermediate signals. Therefore, after the process of step 104 is performed, the processes of step 110, step 128, and step 112 are repeatedly performed in order.

When the vehicle platoon enters the closed section n + 5, a command signal for switching the traveling signal in the closed section n + 3 from the entry prohibition signal to the entry permission signal is issued from the ground child system 84e of the ground child 57. In this case, after the processing of step 128 is performed, the processing of step 130 is performed next. In step 130, the set check-in flag and check-out flag are cleared.

In step 132, the traveling signal in the closed section n + 3 switches from the entry prohibition signal to the entry permission signal. Then, when the process of step 132 is performed, after that, the process of step 112 is performed.
The processing of this routine ends. Although the intermediate signal or the checkout signal is received in the above step 104 (step 114 or step 118)
If YES in step 116 or step 120, the process proceeds to step 134 if the check-in flag is not set.

At step 134, the traveling signal in the closed section n + 3 switches from the entry permission signal to the entry inhibition signal. In the present step 134, it is determined that it is abnormal that the first vehicle in the vehicle platoon has not passed, even though the intermediate vehicle or the last vehicle in the vehicle platoon has passed. As a result, in the intermediate vehicle and the rearmost vehicle, the braking operation is performed after the vehicle passes through the ground child 54.

According to the above-described processing, the check-in signal is received from the first vehicle in the vehicle platoon and the check-out signal is received from the last vehicle in the vehicle platoon. It can be easily determined whether or not the vehicle has entered. Further, according to the above-described processing, when all vehicles in the vehicle platoon enter the closed section n + 3, the traveling signal in the closed section n + 3 can be switched from the entry permission signal to the entry inhibition signal. That is, in a situation where some vehicles in the vehicle platoon have not yet entered the closed section n + 3, the traveling signal in the closed section n + 3 is still maintained as the entry permission signal. Therefore, according to the infrastructure facility of the present embodiment, the following vehicles in the vehicle platoon that have not yet entered the closed section n + 3 can enter the closed section n + 3, and the vehicles in the vehicle platoon following the vehicle platoon can be moved. It is possible to reliably prevent entry into the closed section n + 3.

FIG. 4 shows a vehicle E which is a component of this embodiment.
4 shows a flowchart of an example of a control routine executed by the CU 62. The vehicle ECU 62 is mounted on each vehicle in the vehicle platoon. The routine shown in FIG. 4 is a routine that is repeatedly started each time the processing is completed. When the routine shown in FIG.
Is performed.

In step 140, the position where the vehicle is traveling is detected based on the output signals of the wheel speed sensor 66 and the position detection sensor 68. The vehicle ECU 62 includes:
The map information of the track on which the vehicle travels, that is, the position of each closed section and the distance therebetween are stored in advance. In step 142, a closed section on the track on which the vehicle is traveling is set based on the vehicle position detected in step 140 and the map information (blocked section i).

In step 144, it is determined whether the operation section I set in the previous routine is the same as the closed section i set in step 142, that is, whether the vehicle has entered a new closed section. It is determined whether or not it is. If the vehicle enters a new block, then step 1
Step 46 is executed. In step 146, the closed section i set in step 142, that is, the closed section i in which the vehicle is currently running, the closed section i immediately before the closed section i
It is determined whether the reception completion flag in -1 is set. The reception completion flag in the closed section i-1 indicates that the vehicle system 60 receives a traveling signal (an entry permission signal or an entry prohibition signal) from the ground child system of the ground child disposed on the approach side of the closed section i-1. By being set. Therefore, in the blockage section i-1 immediately before,
If it is determined that the reception completion flag is set, the process of step 148 is performed next.

At step 148, the reception completion flag in the closed section i-1 is cleared. The reception completion flag in the closed section i-1 is set by the vehicle system 60 receiving the traveling signal transmitted by the ground child system of the ground child disposed on the entrance side of the closed section i-1. Is cleared when the vehicle advances from the advance side of the closed section i-1, that is, when the vehicle enters the next closed section i.

In step 150, the above-mentioned step 148 is executed.
By clearing the reception completion flag in the closed section i-1, the calculation section I is switched from the closed section i-1 to the current closed section i. Then, the processing of this routine ends. When the next routine is started, it is determined in step 144 that the calculation section I switched in the previous routine matches the current blockage section i set in step 142. In this case, step 15
2 is executed.

In step 152, the identification information memory 78
Check-in signal, intermediate signal,
Alternatively, a checkout signal is issued to the ground child. A check-in signal indicates that the vehicle equipped with this vehicle system is the first vehicle in the vehicle platoon, an intermediate signal indicates that the vehicle is an intermediate vehicle in the vehicle platoon, and a check-out signal indicates that the vehicle is the last vehicle in the vehicle platoon. A signal is emitted.

In step 154, it is determined whether or not the traveling signal transmitted by the ground child system has been received. When the vehicle enters a new closed section i, a traveling signal is transmitted from the ground member disposed at the boundary of the closed section i to the vehicle. Therefore, the vehicle system 60 can receive the traveling signal from the ground child. This step 154
If it is determined that the traveling signal has been received, the process of step 156 is executed.

In step 156, the reception completion flag in the current block section i is set. Step 154 above
It has been determined that the traveling signal in the closed section i has been received at step, and the reception completion flag relating to the traveling signal is set. In step 158, it is determined whether or not the traveling signal received in step 154 is an entry permission signal. As a result, when it is determined that the traveling signal is an entry permission signal, the present routine is terminated, and the entry of the vehicle into the closed section i is recognized. Thereby, the vehicle can perform the same traveling as before entering the closed section i without receiving the braking command.

On the other hand, if it is determined in step 158 that the traveling signal received in step 154 is not an entry permission signal, that is, if the traveling signal is determined to be an entry inhibition signal, Vehicles are not allowed to travel. In this case, the process of step 159 is executed next. In step 159, since the traveling of the vehicle is not recognized, a braking operation is commanded to stop the vehicle.
The brake actuator 74 is connected to the vehicle ECU 62 as described above. Therefore, specifically, a signal for commanding a deceleration request is output to the brake actuator 74. Thereby, the vehicle can be stopped.

In step 146, when the vehicle has entered the new blockage section i, the reception completion flag in the blockage section i-1 existing immediately before the blockage section i is not set. That is, the process of step 159 is also performed when the vehicle does not receive the traveling signal from the ground child system of the ground child disposed on the entrance side of the closed section i-1. This allows the vehicle to stop irrespective of the traveling signal by detecting an abnormality in communication with the ground child.

According to the above-described processing, when the traveling signal received from the ground child system of the ground children 48 to 59 when the vehicle enters the closed section is the entry permission signal, the vehicle travels as it is. On the other hand, when the traveling signal is an entry prohibition signal, the vehicle can be stopped. For this reason, according to the vehicle system of the present embodiment, the vehicle can be caused to travel in accordance with the traveling signal emitted from the ground child. Therefore, according to the invention of this embodiment, it is possible to prevent two or more vehicle platoons from entering the closed section.
Thus, according to the invention of the present embodiment, by preventing two or more vehicle trains from entering the closed section, vehicles in the vehicle train running integrally and electronically connected without being mechanically connected are connected. It can run properly.

FIG. 5 is a diagram for explaining the basic operation rules used in the vehicle traffic system of this embodiment.
FIGS. 5 (A) to 5 (E) show an arbitrary block section n at first.
The figure which arranged the situation which the vehicle platoon 160 which exists in +1 runs is arranged in chronological order. In the present embodiment, when receiving the check-in signal emitted by the leading vehicle 160a of the vehicle platoon 160, the ground child receiver 86 notifies that the leading vehicle 160a has checked in to the next closed section. Further, the ground child receiver 86 is connected to the last vehicle 160 of the vehicle platoon 160.
When the check-out signal issued by c is received, it is determined that the vehicle platoon 160 has been checked out from the previous closed section.

The state shown in FIG. 5A corresponds to the closed section n + 2
Terrestrial receiver 86a of terrestrial child 52 disposed on the entry side of
Receives the check-in signal of the first vehicle 160a of the vehicle platoon 160 and the last vehicle 160 of the vehicle platoon 160
This is realized under the condition that the checkout signal of c is not received. Under such circumstances, the ground child ECU of the ground child 52
90a does not issue a command signal for requesting the following vehicle to stop to the ground slave transmitter 88a disposed on the approach side of the closed section n + 2.

The state shown in FIG.
This is realized when 6a receives the check-in signal of the last vehicle 160c together with the check-in signal of the first vehicle 160a of the vehicle platoon 160. In such a case, the ground child E
The CU 90a issues a command signal to the ground-based transmitter 88a to request that the vehicle be stopped so that the following vehicle platoon 162 does not enter the closed section n + 2.

The state shown in FIG. 5C is similar to the state shown in FIG. 5B in that the ground child receiver 86 of the ground child 54 disposed on the entrance side of the blockage section n + 3 is in the position of the leading vehicle 160a. This is realized under the condition that the check-in signal is received and the ground child receiver 86 receives the check-out signal of the last vehicle 160c. In the present embodiment, when both the check-in signal and the check-out signal are received from the vehicles in the vehicle platoon 160, the ground child system 84 of the ground child 54 , A command signal for permitting entry of the following vehicle platoon 162 is issued. In this case, the following vehicle platoon 162 receives the approach permission signal (the green signal in the drawing of the first embodiment) from the ground child system 84b of the ground child 50, and thereby the closed section n +
You are allowed to enter 1. After entering the closed section n + 1, the vehicle platoon 162 receives an entry prohibition signal (in the drawing of the first embodiment) from the grounded child transmitter 88a when passing through the grounded child 52 disposed on the approach side of the blocked area n + 2. (Red signal), the deceleration process starts immediately.

In order to restart the running of the vehicle platoon 162 when the vehicle platoon 162 is stopped, it is necessary to issue a command to the vehicle platoon 162 to restart running when the cause of the stop has disappeared. is there. In the system of the present embodiment, communication between the vehicle platoon 162 and the ground children 48 to 59 is performed discretely at positions where the ground children 48 to 59 are arranged. For this reason, when stopping the vehicle platoon 162, it is important to stop within the communication range of any of the ground children so that instructions from the ground children 48 to 59 can be obtained.

While the vehicle platoon 162 is running, the closed section n +
Ground child system 8 of ground child 52 arranged on the entry side of
When an entry prohibition signal is transmitted from 4a to the vehicle platoon 162, it is impossible to stop the vehicle within the communication range of the ground child 52. In the present embodiment, when the vehicle ECU 62 mounted on the vehicle in the vehicle platoon 162 detects the entry prohibition signal from the ground child transmitter 88a of the ground child 52 disposed on the approach side of the closed section n + 2, The brake actuator 74 is operated so as to stop within the communication range of the ground child transmitter 88 of the ground child 54, that is, within the communication range of the ground child transmitter 88 disposed on the exit side of the closed section n + 2.

Therefore, according to the present embodiment, the following vehicle platoon 162 can be reliably stopped without entering the closed section n + 3. FIG. 5 (D) and FIG.
As shown in (E), even when the vehicle platoon 160 enters the closed section n + 4 and the closed section n + 5, the closed section n +
In the same manner as when approaching No. 3, traveling of the following vehicle platoon 162 is controlled. In the system of this embodiment, an operation rule that satisfies such a request is used. For this reason, according to this embodiment, a plurality of vehicle platoons can be safely driven on the same track.

FIG. 6 is a diagram for explaining an operation rule when an abnormality is recognized in the leading vehicle of the preceding vehicle platoon 160 in the vehicle traffic system of this embodiment. FIG.
(A) to FIG. 6 (C) show diagrams in which the situations after the vehicle platoon 160 stops in an arbitrary block section n + 3 are arranged in chronological order. The state shown in FIG. 6A is such that after all vehicles in the vehicle platoon 160 have entered the closed section n + 3, the vehicle platoon 160
Is stopped under the condition that the leading vehicle 160a stops abnormally in the closed section n + 3. Under the condition that all vehicles in the vehicle platoon 160 enter the closed section n + 3, the ground child system 84 of the ground child 54 is connected to the ground child system 84b of the ground child 50 disposed on the approach side of the closed section n + 1. On the other hand, a command signal for permitting the following vehicle platoon 162 to enter the closed section n + 1 is issued. In this case, the vehicle platoon 162 can enter the closed section n + 1 without receiving the entry prohibition signal from the ground-based transmitter 88b.

When the leading vehicle 160a of the vehicle platoon 160 is abnormally stopped in the closed section n + 3, the vehicle platoon 160
Does not enter the blockage section n + 4 that exists immediately before. For this reason, as shown in FIG. 6B, the ground child system 84a of the ground child 52 continues to issue an entry prohibition signal to the following vehicle platoon 162. In this case, the vehicle platoon 162
Starts the deceleration process promptly upon receiving the entry prohibition signal from the ground child transmitter 88a, and as shown in FIG. It stops within the communication area of the transmitter 88.

The vehicle platoon 162 entering the closed section n + 2 without receiving the entry prohibition signal under the condition that the vehicle platoon 162 is running on the track according to the operation rule shown in FIG. 5 is the vehicle platoon preceding the blocked section n + 2. Only when 160 does not exist. Therefore, the vehicle platoon 162 is located in the closed section n + 2.
According to the stop of the vehicle platoon 162 after the vehicle has entered, the vehicle platoon 162 does not enter the closed section n + 3 where all the vehicles in the preceding vehicle platoon 160 have entered, and the vehicle enters the closed section n + 2. It can be stopped within the communication range of the ground terminal 54 disposed on the side. For this reason, according to the present embodiment, even if an abnormality is recognized in the leading vehicle of the vehicle platoon 160 and all the vehicles in the vehicle platoon 160 are stopped in one closed section, the plurality of vehicle platoons are connected to the same track. It can be safely run on.

FIG. 7 is a diagram for explaining an operation rule when an abnormality is found in the leading vehicle 160a of the preceding vehicle platoon 160 in the vehicle traffic system of this embodiment. FIGS. 7A and 7B show an arbitrary block section n
The figure shows the situation after the vehicle platoon 160 stops at +2 and n + 3 in chronological order. The state shown in FIG. 7 (A) is a situation where after the leading vehicle 160a of the vehicle platoon 160 enters the closed section n + 3, the last vehicle 160c of the vehicle platoon 160 stops at the closed section n + 2 without entering the closed section n + 3. Implemented below. Vehicle platoon 160
In the situation where the last vehicle 160c does not enter the blockage section n + 3, the ground child system 84 of the ground child 54 is different from the ground child system 84b of the ground child 50 disposed on the approach side of the blockage section n + 1. , Does not issue a command signal for permitting the following vehicle platoon 162 to enter the closed section n + 1. For this reason, the traveling signal in the closed section n + 1 remains the entry prohibition signal.

In this case, the vehicle platoon 162 starts the deceleration process immediately upon receiving the entry prohibition signal from the ground child transmitter 88b, and as shown in FIG.
Ground child transmitter 88a of ground child 52 arranged on the exit side of
Stop within the communication area of. As described above, vehicle platoon 160
Of the rearmost vehicle 160c is stopped in the closed section n + 2. Therefore, according to the present embodiment, the vehicle platoon 16
Even when an abnormality is recognized in the leading vehicle 160a of No. 0 and the vehicle platoon 160 stops by straddling two closed sections, a plurality of vehicle platoons can be safely run on the same track.

FIG. 8 is a diagram for explaining an operation rule when an abnormality is found in a vehicle other than the leading vehicle in the preceding vehicle platoon 160 in the vehicle traffic system of this embodiment. FIGS. 8A to 8C show an arbitrary block section n +
FIG. 3 shows a state in which the states after the vehicles other than the leading vehicle in the vehicle train 160 have stopped are arranged in chronological order. The state shown in FIG. 8A is realized in a situation where all the vehicles in the vehicle platoon 160 enter the closed section n + 3, and then vehicles other than the leading vehicle 160a of the vehicle platoon 160 stop abnormally in the closed section n + 3. You. In a situation where all vehicles in the vehicle platoon 160 are entering the closed section n + 3, the ground child system 84
As in the case shown in (A), a command signal is issued to the ground child system 84b to allow the following vehicle platoon 162 to enter the closed section n + 1. In this case, the following vehicle platoon 162 can enter the closed section n + 1 without receiving the entry prohibition signal from the ground-based transmitter 88b.

The vehicle platoon 160 is configured so that the vehicles in the platoon follow the vehicles ahead as described above. Therefore, the intermediate vehicle 160b of the vehicle platoon 160 is closed n
In the case of abnormal stop at +3, as shown in FIG.
The leading vehicle 160a continues to travel as it is, and the intermediate vehicle 160b and the trailing vehicle 160c are in the closed section n
A situation of stopping at +3 is formed. Lead vehicle 160a
As shown in FIG. 8 (C), after entering the closed section n + 4, traveling continues until the vehicle stops at the next stop station. After the leading vehicle 160a enters the closed section n + 4, the ground vehicle 5 remains until the last vehicle 160c enters the closed section n + 4.
The grounding child system 84d of No. 6 issues a command signal to the grounding child system 84a of the grounding child 52 disposed on the approach side of the blockage section n + 2 to permit the following vehicle platoon 162 to enter the blockage section n + 1. do not do. Therefore, in such a case,
The traveling signal in the closed section n + 1 is maintained at the entry prohibition signal.

In this case, the vehicle platoon 162 starts the deceleration process immediately upon receiving the entry prohibition signal from the ground child transmitter 88a, and as shown in FIG.
The ground child transmitter 8 of the ground child 54 disposed on the +2 approach side
8 stops in the communication area. As described above, the vehicle platoon 16
The zero intermediate vehicle 160b and the last vehicle 160c are stopped in the closed section n + 3. Therefore, according to the present embodiment, even when an abnormality is recognized in a vehicle other than the leading vehicle 160a of the vehicle platoon 160, a plurality of vehicle platoons can be safely driven on the same track.

In the above embodiment, the vehicle platoon 1
60 and 162 correspond to the "vehicle group" according to the first aspect, a boundary between the closed sections is located at a "predetermined position" according to the first aspect, and ground elements 48 to 59 correspond to the first aspect. 1, the distance between the two closed sections is set to the “predetermined distance” according to claim 1, and the vehicle transmitter 80 is set to the “vehicle transmitting unit” according to claim 1. Machine 8
2 corresponds to the "vehicle receiving means" of the first aspect.

In the above embodiment, the ground child E
The CU 84 determines whether the check-in flag and the check-out flag are both set, so that the "vehicle group entry determining means" according to claim 1 executes the processing of steps 124 and 132. Accordingly, the "entry signal control means" according to the first embodiment is realized, and the "travel control means" according to the first embodiment is realized by the vehicle ECU 62 executing the process of step 159.

Next, a second embodiment of the present invention will be described with reference to FIGS. 9 to 11 together with FIGS. The system of this embodiment is realized by causing the vehicle ECU 62 to execute the routine shown in FIG. 10 in the vehicle traffic system shown in FIG. In the first embodiment described above, when a vehicle in the vehicle platoon enters one blockage section and does not receive a traveling signal from a ground carrier disposed at the boundary of the vehicle block, it enters the next blockage section. Only when the communication is abnormal is braked. For this reason, according to the method of the first embodiment, when the traveling signal in one closed section is an entry prohibition signal, the vehicle platoon cannot travel properly in accordance with the traveling signal to be transmitted by the ground child.

[0092] Communication between the vehicles in the vehicle platoon and the ground child is limited to a predetermined area. In vehicles,
The own traveling position is always detected using the map information. Therefore, by including the area in which the vehicle and the ground child can communicate in the map information mounted on the vehicle, it is possible to determine whether the vehicle is traveling within the communication range. According to such a method, when the vehicle advances from the inside of the communication range to the outside of the communication range, if a traveling signal in the closed section is not received, a communication abnormality can be immediately grasped. The system according to the present embodiment is characterized in that the use of the above method causes the vehicle platoon to immediately stop running when a communication error occurs.

FIG. 9 is a diagram schematically showing an infrastructure facility of a vehicle traffic system according to a second embodiment of the present invention.
In FIG. 9, portions having the same configuration as the configuration shown in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted. Further, in the infrastructure facility of the vehicle traffic system of this embodiment, that is, in the ground child system, the ground child system similar to that of the first embodiment is used. For this reason, the description of the control of the ground child system of this embodiment is omitted.

In the present embodiment, in the closed sections n to n + 6, a region where communication between the ground terminals 48 to 59 and the vehicle is possible (com = 1 in FIG. 9) and a region where communication is not possible (com = 1 in FIG. 9). In FIG. 9, com = 0) is set. The communicable area is set on the entrance side of the closed section, while the uncommunicable area is set on the exit side of the closed section. The communicable area and the non-communicable area are stored in the position recognition unit 64 of the vehicle ECU 62 together with the track information of the track. As described above, the position recognition unit 64 accurately recognizes the absolute position where the vehicle exists. Therefore, according to the above configuration, it is possible to easily determine whether the vehicle is traveling in an area where communication is possible, or whether the vehicle is traveling in an area where communication is not possible. Therefore, according to the present embodiment, it is possible to easily determine whether or not the vehicle has appropriately acquired the traveling signal to the closed section in the communicable area.

In this embodiment, when the vehicle receiver 82 of the vehicle system 60 or the ground transmitter of the ground system fails, the vehicle sends a traveling signal to the closed section within the communication range of the ground. If not, rapid braking is performed so that the vehicle stops within the communication range of the next ground child. Therefore, according to the present embodiment, the vehicle can be stopped earlier by the distance of one closed section than in the case of the first embodiment. For this reason, according to the present embodiment, when the vehicle does not acquire the traveling signal to the closed section within the communication range of the ground child, the abnormality is immediately detected, so that the vehicle can travel more safely.

FIG. 10 shows a flowchart of an example of a control routine executed by the vehicle ECU 62 which is a component of this embodiment. The routine shown in FIG. 10 is a routine that is repeatedly started each time the processing ends. In FIG. 10, steps that execute the same processing as the steps shown in FIG. 4 are denoted by the same reference numerals, and description thereof will be omitted or simplified. In the routine shown in FIG. 10, after the vehicle traveling position is detected in step 140, the process of step 172 is executed.

In step 172, the above-described step 140
Based on the map information including the vehicle position and the communicable area of the ground child detected in, the closed section and the communication area on the track on which the vehicle is traveling are set (blocked section i,
Communication area com). After the process of step 172 is performed, the process of step 144 is performed next. After that, the process of step 176 is executed.

At step 176, the reception completion flag in the closed section i-1 is cleared. The reception completion flag in the closed section i-1 is set by the vehicle system 60 receiving the traveling signal transmitted by the ground child system of the ground child disposed on the entrance side of the closed section i-1, The vehicle is cleared from the advancing side of the closed section i-1, that is, cleared by the vehicle entering the next closed section i.

In step 178, the operation section I is switched from the block section i-1 to the current block section i. This step 1
When the process at 78 is completed, the process at step 180 is executed next. In step 180, it is determined whether or not the communication area where the vehicle is traveling is a communicable area.
As described above, a communicable area is set on the entrance side of the closed section, and a non-communicable area is set on the exit side of the closed section. Therefore, when the vehicle enters the closed section, the vehicle first passes through the communicable area. As a result of the processing in step 180, if it is determined that the communication area in which the vehicle is traveling is the communicable area, the processing in step 152 and subsequent steps is executed as appropriate, and the processing in this routine ends.

After the processing of the above routine is executed, the vehicle travels in the communicable area (com = 1) of the closed section i. In this case, if it is determined in step 144 that the vehicle has not entered the new blockage section, the processing in step 152 and subsequent steps is executed after step 180. The vehicle moves out of the communicable area of the closed section i,
When the vehicle starts traveling in the communication impossible area, the above-described step 180 is performed.
In, it is determined that the communication area in which the vehicle is traveling is a communication impossible area. In this case, then step 184
Is performed.

In step 184, step 172 is executed.
It is determined whether or not the reception completion flag in the closed section i set in the above is set. The reception completion flag in the closed section i is set by the process of step 156, that is, by the vehicle system 60 receiving a traveling signal from the ground child system. As a result of the processing in step 184, if it is determined that the reception completion flag in the closed section i has been set, the processing of this routine ends.

On the other hand, if it is determined in step 180 that the vehicle has advanced from the communicable area in the closed section i, but the vehicle system 60 has not received a traveling signal from the ground child system, It is necessary to stop the vehicle. Therefore, in step 184, if the reception completion flag in the closed section i is not set, the process of step 186 is executed next.

At step 186, an emergency braking operation is instructed so that the vehicle stops suddenly. When the vehicle ECU 62 determines that the traveling signal has not been received from the ground child system, the vehicle has entered the closed section i by the distance of the communicable area. Therefore, an emergency braking operation of the vehicle is necessary in order for the vehicle to reliably stop on the advance side of the closed section i. When the process of step 186 is performed, the vehicle stops on the advancing side of the closed section i.

According to the above processing, a signal such as a check-in signal is transmitted from the vehicle side to the ground child side only when the vehicle travels in an area where the vehicle can communicate with the ground child. Therefore, unlike the case of the first embodiment, the vehicle system 60 of the present embodiment does not need to always emit a signal. For this reason, according to the present embodiment, it is possible to appropriately provide a signal to the ground child without the vehicle emitting an unnecessary signal. According to the above processing, when the vehicle does not receive a traveling signal transmitted from the ground child in the communicable area between the vehicle and the ground child, the situation is regarded as a communication abnormality and the vehicle is rapidly braked. be able to. Therefore, according to the present embodiment, the vehicle can be driven more safely.

The basic operation rules used in the vehicle traffic system of this embodiment are the same as those of the first embodiment. Hereinafter, a case different from the first embodiment will be described. FIG. 11 shows an operation rule in the case where the ground child system 84 does not transmit or the vehicle system 60 does not transmit a traveling signal to be transmitted by the ground child system 84 of the ground child 54 in the vehicle traffic system of the present embodiment. FIG.

The state shown in FIG.
If all vehicles in 0 are entering blockage section n + 3,
An abnormality is detected in the ground child system 84 of the ground child 54 and the ground child system 84 does not transmit a traveling signal to the vehicle, or an abnormality is recognized in the vehicle system 60 of the vehicle, and the vehicle system 60 This is realized in a situation where no signal is received. Under such circumstances, the ground child system 84
Issues an entry permission signal to the ground child system 84b to permit entry into the closed section n + 1 of the subsequent vehicle platoon 162. In this case, the following vehicle platoon 162 can enter the closed section n + 1 without receiving the entry prohibition signal from the ground-based transmitter 88b.

In the present embodiment, the vehicle system 60 mounted on the vehicle determines whether or not a traveling signal has been properly transmitted and received between the ground child and the vehicle in the communication area of the ground child. As a result, when it is determined that the traveling signal is not properly transmitted and received within the communication area of the ground child, the vehicle system 60 transmits the signal to the ground-side transmitter 88 on the infrastructure side or the vehicle receiver 82 on the vehicle side. It is determined that an abnormality has occurred.
Then, the vehicle system 60 operates the brake actuator 74 so as to perform emergency braking of the running of the vehicle.

[0108] When the emergency braking process is started, the vehicle platoon 160 moves to the grounding element 5 disposed on the approach side of the closed section n + 3.
The operation stops in the communication area of the sixth child transmitter 88c. For this reason, the ground child system 84d of the ground child 56
2 for the ground vehicle system 84a and the following vehicle platoon 1
No command signal for permitting entry into the closed section n + 2 of 62 is not issued. Therefore, the traveling signal in the closed section n + 2 is maintained as the entry prohibition signal.

In this case, the vehicle platoon 162
As shown in (B), the deceleration process is started immediately by receiving the entry prohibition signal from the ground-based transmitter 88a disposed on the entry side of the closed section n + 2. And vehicle platoon 1
As shown in FIG. 11 (C), the stop 62 stops in the communication area of the ground transmitter 88 of the ground 54 disposed on the exit side of the closed section n + 2. As described above, all the vehicles in the vehicle platoon 160 are stopped in the closed section n + 3. Therefore, according to this embodiment, even when an abnormality is recognized in the ground transmitters 88 of the ground units 48 to 59 or the vehicle receiver 82 of the vehicle, it is possible to safely drive a plurality of vehicle platoons on the same track. it can.

In the above-described embodiment, the area in which communication between the ground child and the vehicle is possible corresponds to the "predetermined area" according to the eighth aspect, and the vehicle ECU 62 determines whether or not the above-mentioned step 159 is performed. And executing the processing in step 186 so that the "travel control means" according to claim 1 stores the arrangement position of the ground child on the orbit and thereby the "map storage means" according to claim 8. Detects the running position of the vehicle based on the output signal of the wheel speed sensor 66 and the output signal of the position detecting sensor 68, thereby realizing the "position detecting means" according to claim 8.

Next, a third embodiment of the present invention will be described with reference to FIGS. 12 to 19 together with FIGS. In the system of the present embodiment, in the vehicle traffic system shown in FIG. 2, the identification information memory 78 is changed to the identification information memory 190, the routine shown in FIGS.
Is realized by executing the routine shown in FIG.

In the first and second embodiments described above, a check-in signal is transmitted from the first vehicle in the vehicle platoon, an intermediate signal is transmitted from the intermediate vehicle, and a check-out signal is transmitted from the last vehicle to the ground vehicle. . The ground child switches its own driving signal based on those signals,
A command signal is transmitted from another ground terminal. The ground child switches the traveling signal according to the command signal.

However, there is a case where a ground child receives an erroneous command signal from another ground child, or a ground child erroneously detects the command signal. In this case, a situation occurs in which the ground child switches the traveling signal in accordance with the erroneous signal. The system according to the present embodiment is characterized in that a ground child receives ID information transmitted by a vehicle and formation information of a vehicle platoon to which the vehicle belongs, and information of the vehicle is transmitted from another ground child. doing.

In this embodiment, the traveling signals transmitted by the ground-based transmitter 88 include an entry prohibition signal for inhibiting entry of the vehicle into the closed section, an entry permission signal for allowing entry of the vehicle into the closed section, and And a deceleration request signal for requesting deceleration of the vehicle. In the present embodiment, the identification information memory 190 of the vehicle system 60 stores ID information of the own vehicle and formation information of the vehicle formation to which the own vehicle belongs. Vehicle control unit 70 detects information about the vehicle based on the output signal of identification information memory 190. The vehicle transmitter 80 transmits ID information of the vehicle and formation information of the vehicle formation to which the vehicle belongs.

When the vehicle system receives the ID and platoon information of the vehicle transmitted by the vehicle system, it switches the signal for running the vehicle on the ground based on the information, and also switches the running signal of the vehicle on the ground before the vehicle. The information is transmitted to the earth child system of the earth child. The ground child system is configured to transmit the vehicle I
When D and platoon information are transmitted, the traveling signal is switched after collating the information with the ID and platoon information received when the vehicle passes through its own ground child. For this reason, in the system of the present embodiment, a situation in which the driving signal is inadvertently switched does not occur. Therefore, according to the system of this embodiment, the vehicle can be driven more safely than the systems of the first and second embodiments.

FIGS. 12 and 13 show a flowchart of an example of a control routine executed by the ground ECU 90 which is a component of the present embodiment. The ground child ECU 90 is provided in the ground child 54 shown in FIG.
It is configured to monitor +3. The routine shown in FIGS. 12 and 13 is a routine that is repeatedly started each time the processing is completed. 12 and 13.
, Steps that execute the same processing as the steps shown in FIG. 3 are given the same reference numerals, and descriptions thereof are omitted or simplified. 12 and 13
In the routine shown in FIG. 7, after the processing at the time of the system abnormality is executed in steps 100 and 102, the routine proceeds to step 200.
Is performed.

In step 200, it is determined whether or not the information transmitted by the vehicle system 60 of the vehicles in the vehicle platoon has been received. The information transmitted by the vehicle system 60 includes a unique platoon number (X1) of the vehicle platoon in which the vehicle is configured.
), The unique number (Y1) which is the ID of the vehicle, and the number of vehicles (Z1) in the vehicle platoon. If it is determined that the information has been received as a result of the processing of step 200, the processing of step 202 is next performed.

In step 202, the vehicle information transmitted from the vehicle system 60 of the vehicle passing through the ground child 54, that is, the above-mentioned unique platoon number X1 and ID number Y
1. The number of vehicles Z1 is detected. Thereby, the ground child system 84 can acquire information on vehicles in the vehicle platoon passing through the ground child 54. In step 204,
It is determined whether the check-in flag has already been set. When a vehicle platoon newly enters the closed section n + 3, generally, the check-in flag is not set. Therefore, in this case, it is determined in step 204 that the check-in flag has not been set.
Then, the process of step 206 is executed.

In step 206, the check-in flag is set when the leading vehicle in the vehicle platoon enters blockage section n + 3. Specifically, when the check-in flag is not set, the check-in flag is set by newly detecting the unique platoon number X1, the ID number Y1, and the number of vehicles Z1 of the vehicle platoon.

In step 208, the number (C) of vehicles passing when one vehicle platoon passes through the ground child 54 is set. In step 202, the number of vehicles Z1 in the vehicle platoon is detected. Therefore, the leading vehicle is excluded from the passing vehicle counter C, and (Z
1 -1) units are set (C = Z1 -1). In step 209, a table for storing the ID number Y1 of each vehicle when one vehicle platoon passes the ground child 54 is created. In this step 209, first, the ID number of the leading vehicle is stored in the table.

In step 210, the passing platoon number (X) of the vehicle platoon passing through the ground child 54 is set.
In step 202, the unique platoon number X1 of the vehicle platoon is detected. Therefore, the unique row number X1 is set as the passing row number X (X = X
1). In step 212, the ground child system 84 b provided in the ground child 50 two positions before the ground child 54 and the ground child system 84 b provided in the ground child 52 one position ahead of the ground child 54 are added to the specific information of the own ground child 54. The terrestrial number (T) and the unique platoon number X1 and ID number Y1 detected in step 202 are transmitted.

At step 214, the watchdog timer is started. The watchdog timer calculates the time from the time when one vehicle in the vehicle platoon passes through the ground child 54 to the time when a vehicle immediately following the one vehicle passes through the ground child 54. The vehicles in the vehicle platoon travel on a track in a state of being mechanically disconnected and electronically connected. When each vehicle stops due to an abnormality, the vehicle preceding the vehicle does not detect the abnormality of the following vehicle,
Keep running. Therefore, a watchdog timer is used to detect the abnormality at an early stage.

In step 216, it is determined whether or not the data of the unique platoon number and the ID number of the vehicle platoon passing through the ground child 56 have been transmitted from the ground child system 84d of the ground child 56 one point ahead of the ground child 54. Is determined. The process of step 216 determines whether or not the unique ground number of the ground child 56 has been transmitted. When the unique ground number is transmitted, it is determined that the data has been transmitted from the ground system 84d. On the other hand, if the unique ground terminal number is not transmitted, it is determined that the data is not transmitted from the ground terminal system 84d.

The above data is not transmitted to the ground child system 84 of the ground child 54 unless the vehicle that has entered the closed section n + 3 enters the closed section n + 4. Therefore, immediately after the leading vehicle of the vehicle platoon enters the closed section n + 3,
Normally, data is not transmitted from the ground child system 84d of the ground child 56. In this case, after the process of step 216, the process of step 218 is executed next.

In step 218, the grounding child system 84e of the grounding child 57 two places ahead of the grounding child 54 obtains the unique grounding child number of the grounding child 57, the specific platoon number of the vehicle platoon passing through the grounding child 57, and ID of the vehicle
It is determined whether or not the data of the number has been transmitted. Also in this case, after the vehicle platoon that has entered the closed section n + 3 has entered, no data is transmitted to the ground child system 84 of the ground child 54 unless vehicles in the vehicle platoon enter the closed section n + 5. Therefore, immediately after the leading vehicle of the vehicle platoon enters the closed section n + 3, data is not normally transmitted from the ground child system 84e of the ground child 57.
In this case, after the process of step 218, the process of step 220 is executed next.

In step 220, the above-mentioned step 214
It is determined whether or not the watchdog timer started in the step has passed a predetermined time. When the leading vehicle in the vehicle platoon enters the closed section n + 3, generally, the watchdog timer has not passed the predetermined time. Therefore, in this case, the process of step 222 is executed next.

In step 222, a traveling signal for executing the processing in step 222 is transmitted to the vehicle passing through the grounding element 54. After the leading vehicle in the vehicle platoon passes through the ground child 54, the traveling signal is maintained at the entry permission signal until the last vehicle passes through the ground child 54. Therefore, an entry permission signal is transmitted to the vehicle following the leading vehicle. Then, when the process of step 222 is executed, the process of this routine ends.

After the leading vehicle enters blockage section n + 3,
The ground child system 84 does not receive the vehicle information from the vehicle system 60 until the intermediate vehicle enters. For this reason,
In this case, after the processing of step 200 is executed, the processing of step 216 and thereafter is executed next.
In the course of this processing, if it is determined in step 220 that the watchdog timer has passed the predetermined time, the processing of step 224 is executed next.

At step 224, the traveling signal transmitted to the vehicle system 60 is switched from the entry permission signal to the entry inhibition signal. In step 222, an entry prohibition signal is transmitted to the vehicle system 60 as a traveling signal. When the intermediate vehicle starts to enter after the leading vehicle has entered the closed section n + 3, except when the ground child system 84 is abnormal and when the watchdog timer has passed the predetermined time, The traveling signal in the closed section n + 3 is an entry permission signal. Therefore, in this case, the intermediate vehicle can enter the closed section n + 3.

[0130] When the intermediate vehicle passes the ground child 54, the ground child system 84 receives the vehicle information generated by the intermediate vehicle. Therefore, after it is determined in step 200 that the information transmitted by the vehicle system 60 of the intermediate vehicle has been received, the processes of step 202 and step 204 are executed. In this case, since the leading vehicle has already passed the ground child 54, the check-in flag is set. Therefore, after the process of step 204 is performed, the process of step 226 is performed next.

In step 226, it is determined whether or not the platoon specific number X1 of the intermediate vehicle detected in step 202 in this routine matches the passing platoon number X set in step 210. The platoon-specific number of the intermediate vehicle generally matches the platoon-specific number of the leading vehicle. Therefore, when X = X1, the process of step 228 is executed next.

At step 228, step 208 is performed.
Is performed to reduce the passing number counter C set by 1. Then, the value is newly set as the remaining passing number counter C (C = C-1). Step 2
In 29, the table created in step 209 is updated. Specifically, in step 229, the ID number Y1 detected in step 202 of this routine is stored next to the ID number of the leading vehicle on the table.

In step 230, the ground child system 84b provided in the ground child 50 two positions before the ground child 54 and the ground child system 84b provided in the ground child 52 one position ahead of the ground child 54 are added to the ground child system 84b. The unique ground number (T) of 54, the unique platoon number X1 and the ID number Y1 detected in step 202 are transmitted.

At step 232, the passing number counter C
Is "0". The passing number counter C is set to 1 each time a vehicle in the vehicle platoon passes the ground child 54.
It becomes “0” when the last vehicle passes through the ground child 54 while decreasing. Therefore, when the intermediate vehicle passes, the passing counter C is not normally “0”. In this case, the process of step 234 is executed next.

At step 234, the watchdog timer is stopped. Thereafter, the watchdog timer is started again in step 214, and
Steps 6 and after are executed. When a plurality of intermediate vehicles exist in the vehicle platoon, the above-described routine is repeatedly executed. In step 228, the passing number counter C is decreased. In step 229, the table is updated so that the vehicles in the vehicle platoon are arranged in the order of detection. In step 230, information is transmitted to another ground child. The above-described routine is also executed when the last vehicle in the vehicle platoon passes through the ground child 54, and the passing number counter C becomes "0" in step 228. Then, in step 232, the passing number counter C is set to "0".
Is determined, the process of step 236 is performed.

At step 236, the watchdog timer is stopped. In step 238, the above step 2
The check-in flag set at 06 is cleared. In step 240, the traveling signal transmitted to the vehicle passing through the ground arm 54 is switched from the entry permission signal to the entry inhibition signal. In this case, a state is formed in which all vehicles in the vehicle platoon enter the closed section n + 3.

If X is not equal to X1 in step 226, the process proceeds to step 242. In step 242, the traveling signal transmitted to the vehicle passing through the ground arm 54 is switched from the entry permission signal to the entry inhibition signal. If X = X1 is not satisfied, another vehicle platoon different from the vehicle platoon to which the leading vehicle belongs is in the closed section n + even though the leading vehicle of the vehicle platoon has entered the blocked section n + 3.
The situation of entering 3 is formed. For this reason, it is necessary to stop the other vehicle platoon.
2 is executed.

Step 240 and Step 2
After the processing at 42 is completed, the processing at and after step 216 is executed, and at step 222, the traveling signal switched to the entry prohibition signal is transmitted to the vehicle passing through the grounding element 54. Thereby, it is possible to prevent the vehicle platoon following the above-mentioned vehicle platoon from entering the closed section n + 3.

After the last vehicle has passed the ground child 54, when the vehicle platoon passes the next ground child 56, the ground child 56
The same processing as in the above routine is executed in the above-mentioned ground child system 84d. That is, in the above-mentioned step 212 and the above-mentioned step 230, the specific platoon number and ID number of the vehicle passing through the ground child 56 with respect to the ground child 54 immediately before the ground child 56, and the specific ground child of the ground child 56 The number is transmitted. Therefore, the ground child 5
In the above step 216 executed by the ground child ECU 90 of No. 4, it is determined that the data of the vehicle passing through the ground child 56 has been transmitted. Then, in this case, step 24
4 is executed.

In step 244, the unique platoon number (X2) and ID number (Y2) transmitted from the ground child system 84d of the ground child 56 are detected. In step 246, it is determined whether or not the unique row number X2 detected in step 244 matches the passing row number X set in step 210. The vehicle platoon that has passed the grounding child 54 needs to pass through the grounding child 56 as soon as possible. If X = X2 as a result of the execution of step 246, then the processing of step 248 is executed.

At step 248, step 244 is performed.
And the ID number Y2 detected at step 209
It is determined whether or not the ID number Y1 stored in the table created in step 229 and updated in step 229 matches the order. If the above condition is satisfied, the process of step 250 is executed next. In step 250, it is determined whether or not the verification of all vehicles in the vehicle platoon has been completed. The matching of all vehicles is not completed until the last vehicle in the vehicle platoon passes through the ground child 56.
In this case, the processing after step 220 is executed. On the other hand, when the last vehicle in the vehicle platoon passes through the ground child 56, the verification of all vehicles is completed. In this case, the process of step 252 is executed next.

At step 252, the traveling signal at the ground arm 54 is switched to a deceleration signal. Then, the processing after step 220 is executed. Step 24 above
At 6 the unique row number X2 and the passing row number X
If it is determined that does not match, and if it is determined in step 248 that the ID number Y2 does not match the ID number Y1 stored in the table, then the processing of step 254 is executed. You.

In step 254, the traveling signal of the ground arm 54 is switched to an entry prohibition signal. When any abnormality occurs in the vehicle or the ground child, a situation is formed in which the vehicle platoon passing through the ground child 54 and the vehicle platoon passing through the ground child 56 are different. Therefore, in step 254, the traveling signal is switched to the entry prohibition signal. After that, the processing of step 220 and thereafter is executed.

After the last vehicle has passed the ground child 56, when the vehicle platoon passes the next ground child 57, the ground child 57
In the ground child system 84e, the same processing as the above routine is executed, and the same processing as in the above step 212 and step 230 is started. In this case, a unique platoon number, an ID number, and a unique ground child number of the ground child 57 are transmitted to the ground child 54 two places before the ground child 57. For this reason, in the above-mentioned step 218 executed by the ground child system 84 of the ground child 54, it is determined that the data has been transmitted. Then, in this case, the process of step 256 is executed next.

In step 256, the unique platoon number (X3) and ID number (Y3) transmitted from the ground child system 84e of the ground child 57 are detected. In step 258, it is determined whether or not the unique row number X3 detected in step 256 matches the passing row number X set in step 210. The vehicle platoon that has passed the ground child 54 needs to pass through the ground child 56 as quickly as possible and pass through the ground child 57 as quickly as possible. Therefore, if X = X2 as a result of the execution of the processing of step 258, then step 2
The process of 60 is executed.

In step 260, the above-mentioned step 256
And the ID number Y3 detected in step 209
It is determined whether or not the ID number Y1 stored in the table created in step 229 and updated in step 229 matches the order. As a result, when the above condition is satisfied, the process of step 262 is executed next.

In step 262, it is determined whether or not all the vehicles in the vehicle platoon have been verified. Until the last vehicle in the vehicle platoon passes through the ground child 57, verification of all vehicles is not completed. In this case, the processing after step 220 is executed. On the other hand, when the last vehicle in the vehicle platoon passes through the ground child 57, the verification of all vehicles is completed. In this case, the process of step 264 is executed next.

At step 264, the traveling signal of the ground arm 54 is switched to an entry permission signal. Then, the processing after step 220 is executed. When it is determined in step 258 that the unique row number X3 does not match the passing row number X, and in step 260, it is determined that the ID number Y3 does not match the ID number Y1 stored in the table. In such a case, the processing after step 254 is executed thereafter. Then, the processing of this routine ends.

According to the above-described processing, when all vehicles in the vehicle platoon enter the closed section n + 3, the running signal in the closed section n + 3 is switched to the no-go signal, and when the vehicle enters the closed section n + 4, the running signal is changed. The traveling signal at n + 3 can be switched to a deceleration signal, and when entering the closed section n + 5, the traveling signal at the closed section n + 3 can be switched to an entry permission signal. For this reason, according to the infrastructure facility of the present embodiment, the following vehicles in the vehicle platoon that have not yet entered the closed section n + 3 can enter the closed section n + 3, and the vehicles in the vehicle platoon following the vehicle platoon. Can be reliably prevented from entering the closed section n + 3.

Further, according to the above-described processing, the traveling signal transmitted to the vehicle system 60 can be switched to three types of signals: an entry permission signal, a deceleration signal, and an entry inhibition signal. For this reason, according to the present embodiment, the following vehicle platoon is appropriately driven in accordance with the traveling state of the vehicle platoon traveling ahead on the track, as compared with the first and second embodiments. be able to.

In this embodiment, as described above, the ID number of a vehicle passing through one ground child is detected. Then, the ID number is transmitted to another ground child. For this reason, according to the present embodiment, the traveling state of the vehicles in the vehicle platoon can always be accurately grasped. FIG. 14 is a flowchart illustrating an example of a control routine executed by the vehicle ECU 62 that is a component of the present embodiment. The routine shown in FIG. 14 is a routine that is repeatedly started each time the processing is completed. In FIG. 14, the steps for executing the same processing as the steps shown in FIG.
The same reference numerals are given and the description is omitted or simplified. In the routine shown in FIG. 14, if it is determined in step 144 that the calculation section I matches the currently closed block section i, the process of step 270 is executed next.

In step 270, the identification information memory 19
Based on the output signal of 0, the vehicle information is transmitted to the ground child. The vehicle information includes the unique row number of the vehicle row to which the vehicle belongs, the ID number of the vehicle, and the number of vehicles in the vehicle row to which the vehicle belongs. And this step 2
When the processing in step 70 is completed, the processing in step 154 and thereafter is executed.

During the execution of the above routine, step 15
In step 6, when the reception completion flag is set by receiving the traveling signal in the closed section i, the process of step 271 is executed. In step 271, it is determined whether or not the traveling signal received by executing the processing in step 154 is an entry permission signal. When it is determined that the traveling necessity signal is the entry permission signal, the processing of this routine is ended. in this case,
The vehicle enters the closed section i without decelerating or stopping. On the other hand, when it is determined that the traveling signal is not the entry permission signal, the process of step 272 is executed next.

At step 272, step 154 is performed.
It is determined whether or not the received traveling signal is a deceleration signal by executing the processing of (1). If it is determined that the traveling signal is not a deceleration signal, that is, if it is determined that the traveling signal is an entry prohibition signal, then the process of step 274 is performed. On the other hand, if it is determined that the traveling signal is a deceleration signal, the process of step 276 is executed next.

At step 274, an emergency stop operation is instructed so that the vehicle stops suddenly. As a result, the vehicle is decelerated at the maximum deceleration and stopped. When the process of step 274 is completed, this routine ends. Step 2
At 76, a slow deceleration operation is commanded so that the vehicle stops within the communication range of the next ground child. As a result, the vehicle is decelerated at a small deceleration and stopped. When the process of step 276 is completed, the process of this routine is completed.

According to the above-described processing, the vehicle is allowed to travel as it is when the traveling signal generated by the ground child system included in the ground child is an entry permission signal, and the vehicle is slowly decelerated when the traveling signal is a deceleration signal. The vehicle can be immediately stopped when the traveling signal is an entry prohibition signal.
Therefore, according to the vehicle system of the present embodiment, the vehicle is
The vehicle can be appropriately driven in accordance with the traveling signal emitted from the ground child. Therefore, according to the invention of this embodiment, by not allowing two or more vehicle platoons to enter one closed section, a vehicle platoon that travels integrally by being mechanically disconnected and electronically connected is configured. The vehicle can be driven appropriately.

FIG. 15 is a diagram for explaining basic operation rules used in the vehicle traffic system of this embodiment. FIGS. 15A to 15D show diagrams in which the states in which the vehicle platoon 278 existing in the closed section n + 1 first travels are arranged in chronological order. In the state shown in FIG. 15A, the ground child receiver 86a of the ground child 52 disposed on the approach side of the closed section n + 2 receives the information transmitted by the leading vehicle 278a of the vehicle fleet 278, and This is realized in a situation where the information transmitted by the last vehicle 278c of the platoon 278 has not been received. Under such circumstances, the ground child system 84a of the ground child 52 issues a command signal for permitting the vehicle to enter so that the following vehicle can enter the closed section n + 2 ("2" in the drawing of the third embodiment). signal).

The state shown in FIG. 15B is realized under the condition that the ground child receiver 86a receives the information transmitted by the leading vehicle 278a of the vehicle fleet 278 and then receives the information transmitted by the last vehicle 278c. Is done. Under such circumstances, the ground child system 84a sets the following vehicle platoon 2 in the closed section n + 2.
A command signal for requesting the stop of the vehicle is issued so that 80 does not enter ("0" signal in the drawing of the third embodiment).

The state shown in FIG. 15C corresponds to the state shown in FIG.
As in the case shown in FIG. 7, the ground child receiver 86 of the ground child 54 disposed on the entrance side of the closed section n + 3 is
This is realized under the condition that the information transmitted by a and the information transmitted by the last vehicle 278c are received. In this embodiment, every time the information transmitted by each vehicle is received, the ground child system 84 transmits the ID of the vehicle to the ground child 52 immediately before the ground child 54 and the ground child 50 two immediately before. The number, the unique platoon number, and the ground child number of the ground child 54 are transmitted.

The ground child system 84a of the ground child 52 determines whether or not the vehicle has passed the ground child 54 in order based on the information. And the ground child system 84a
Sends a deceleration signal to decelerate the following vehicle platoon 280 when it is determined that all vehicles in the vehicle platoon 278 have passed the ground child 54 in order ("1" signal in the drawing of the third embodiment).

The ground child system 84b of the ground child 50 also determines whether the vehicle has passed the ground child 54 in order based on the above information. And the ground child system 84b
Generates an entry permission signal signal to permit entry of the following vehicle platoon 280 when it is determined that all the vehicles in the vehicle platoon 278 have passed the ground child 54 in order (“2” in the diagram of the third embodiment). "signal).

When the following vehicle fleet 280 receives the entry permission signal from the ground child system 84b while passing through the ground child 50, it enters the closed section n + 1. Further, when the following vehicle platoon 280 receives the deceleration signal from the ground child system 84a when passing through the ground child 52, the following vehicle block 280 becomes the closed section n + 2.
Stop on the exit side of. The state shown in FIG.
Similarly to the case shown in FIG. 5 (B), the ground child receiver 86d of the ground child 56 disposed on the entrance side of the blockage section n + 4 transmits the information transmitted by the leading vehicle 278a and the tail vehicle 278c.
Is realized under the condition that the information to be transmitted is received. In this embodiment, every time the information transmitted by each vehicle is received, the ground child system 84d transmits the ID of the vehicle to the ground child 54 just before the ground child 56 and the ground child 52 two before this. The number, the unique platoon number, and the unique ground child number of the ground child 56 are transmitted.

The ground child system 84 of the ground child 54 determines whether or not the vehicle is running in order based on the information. Then, when it is determined that all the vehicles in the vehicle platoon 278 are running in order, the ground child system 84 issues a deceleration signal for decelerating the subsequent vehicle platoon 280. The ground child system 84a of the ground child 52 also determines whether or not the vehicle is running in order based on the above information. Then, the ground child system 84a is connected to the vehicle platoon 278.
When it is determined that all the vehicles are traveling in order, a command signal for permitting entry of the following vehicle platoon 280 is issued.

In this embodiment, the following vehicle platoon 280
Receives the entry permission signal from the ground child system 84a when passing through the ground child 52, and enters the closed section n + 2. Further, when the following vehicle platoon 280 receives the deceleration signal from the ground child system 84 when passing through the ground child 54, it stops on the advance side of the closed section n + 3. If a vehicle platoon is in one block, the following vehicle platoon is
It is appropriate to stop by the ground child located on the approach side of one closed section. In the system of this embodiment, an operation rule that satisfies such a request is used. For this reason,
According to the vehicle traffic system of this embodiment, a plurality of vehicle platoons can be safely driven on the same track.

FIG. 16 is a diagram for explaining an operation rule when an abnormality is recognized in the leading vehicle of the preceding vehicle platoon 278 in the vehicle traffic system of this embodiment. FIG.
FIGS. 6 (A) to 16 (C) show diagrams in which the conditions after the vehicle platoon 278 stops in an arbitrary block section n + 3 are arranged in chronological order. The state shown in FIG.
This is realized under the condition that the leading vehicle 278a of the vehicle platoon 278 stops abnormally in the blockage section n + 3 after all the vehicles in the block have entered the blockage section n + 3. In a situation where all vehicles in the vehicle platoon 278 enter the closed section n + 3, the ground child 5
The ground terminal system 84 transmits information transmitted from all vehicles in the vehicle platoon 278 to the ground terminal system 84b of the ground terminal 50 and the ground terminal system 84a of the ground terminal 52.

For this reason, the ground child system 84b determines the closed section n of the following vehicle platoon 280 based on the information.
An entry permission signal that permits entry into +1 can be issued. The ground child system 84a can also issue a deceleration signal for decelerating the following vehicle platoon 280 based on the information. If the ground child system 84b is issuing an entry permission signal, the vehicle platoon 280 can enter the blockage section n + 1 without receiving an entry prohibition signal or a deceleration signal from the ground child system 84b.

When the leading vehicle 278a of the vehicle fleet 278 is abnormally stopped in the closed section n + 3, the vehicle fleet 278
Does not enter the blockage section n + 4 that exists immediately before. Thus, the ground child system 84a of the ground child 52 continues to emit a deceleration signal to the following vehicle platoon 280. In this case, the vehicle platoon 280 is, as shown in FIG.
Upon receiving the deceleration signal when passing through the grounding element 52, the deceleration process is started immediately. And vehicle platoon 2
As shown in FIG. 16C, 80 stops within the communication area of the ground transmitter 48 of the ground 54 following the ground 52.

Therefore, by decelerating the vehicle platoon 280 on the approach side of the closed section n + 2 and surely stopping the vehicle platoon 280 on the approach side of the closed section n + 2, The vehicle can be stopped within the communication range of the ground member 54 disposed on the exit side of the closed section n + 2 without entering the closed section n + 3 where all the vehicles in the vehicle platoon 278 enter. For this reason, according to the present embodiment, the abnormality is recognized in the leading vehicle of the vehicle platoon 278,
In addition, even when all vehicles in the vehicle platoon 278 stop in one closed section, a plurality of vehicle platoons can be safely driven on the same track.

FIG. 17 is a diagram for explaining an operation rule when an abnormality is found in the leading vehicle 278a of the preceding vehicle platoon 278 in the vehicle traffic system of this embodiment. FIG. 17A and FIG. 17B show diagrams in which the states after the vehicle platoon 278 stops at any of the closed sections n + 2 and n + 3 are arranged in chronological order. FIG.
The state shown in (A) is the leading vehicle 278 of the vehicle platoon 278.
This is realized in a situation where the last vehicle 278c of the vehicle platoon 278 stops at the closed section n + 2 without entering the closed section n + 3 after a enters the closed section n + 3. In the situation where the last vehicle 278c of the vehicle platoon 278 has not entered the closed section n + 3, the ground child system 84 of the ground child 54 and the ground child system 84b of the ground child 52 and the ground child system 84a of the ground child 52 And vehicle platoon 27
ID number of some vehicles in 8
Only the unique ground child number of the ground child 54 is transmitted.

The ground child system 84b can issue an entry permission signal for permitting the entry into the closed section n + 1 only when information on all the vehicles in the vehicle platoon 278 is transmitted from the ground child system 84. Therefore, the ground child system 8
4b does not issue a command signal to permit entry of the following vehicle fleet 280 into the closed section n + 1 when only information of some vehicles in the vehicle fleet 278 is transmitted from the ground child system 84. Therefore, the traveling signal in the closed section n + 1 generated by the ground child system 84b is maintained as the deceleration signal.

In this case, the vehicle platoon 280 starts the deceleration process immediately upon receiving the deceleration signal from the ground child system 84b.
As shown in (B), it stops in the communication area of the ground terminal transmitter 88a of the ground terminal 52 disposed on the advancing side of the blockage section n + 1. As described above, the last vehicle 278 of the vehicle platoon 278
c has stopped at blockage section n + 2. Therefore, according to the present embodiment, even when an abnormality is recognized in the leading vehicle 278a of the vehicle platoon 278 and the vehicle platoon 278 stops by straddling two closed sections, the plurality of vehicle platoons are connected to the same track. It can be safely run on.

FIG. 18 is a diagram for explaining an operation rule when an abnormality is found in a vehicle other than the leading vehicle in the preceding vehicle platoon 278 in the vehicle traffic system of this embodiment. FIGS. 18A to 18C show diagrams in which the states after vehicles other than the leading vehicle of the vehicle platoon 278 stop in an arbitrary block section n + 3 are arranged in chronological order. FIG.
The state shown in (A) is realized in a situation where all the vehicles in the vehicle platoon 278 enter the closed section n + 3, and then vehicles other than the leading vehicle 278a of the vehicle platoon 278 stop abnormally in the closed section n + 3. In a situation where all the vehicles in the vehicle platoon 278 have entered the closed section n + 3, the ground child system 84 operates similarly to the case shown in FIG.
The information of all the vehicles in the vehicle platoon 278 is transmitted to the ground child system 84b of the vehicle and the ground child system 84a of the ground child 52.

For this reason, the ground child system 84b determines the closing section n of the following vehicle platoon 280 based on the information.
An entry permission signal for permitting entry into +1 is issued. Also,
The ground vehicle system 84a issues a deceleration signal for decelerating the following vehicle platoon 280 based on the information. When the ground child system 84b emits an entry permission signal, the following vehicle platoon 280 does not receive the approach prohibition signal or the deceleration signal from the ground child system 84b, and the block n
You can enter +1.

When the intermediate vehicle 278b of the vehicle platoon 278 is abnormally stopped in the closed section n + 3, as shown in FIG. 18B, the leading vehicle 278a keeps traveling to the next stop station as it is, and abnormally stops. Intermediate vehicle 278
b, and a situation is formed in which the intermediate vehicle 278b and the last vehicle 278c following the intermediate vehicle 278b stop in the closed section n + 3. Under such circumstances, the ground child system 84d of the ground child 56 is connected to the ground child system 8 of the ground child 52.
4a and the ground child system 84 of the ground child 54,
The information of the vehicle entering the closed section n + 4 is transmitted.

The ground child system 84a can issue an entry permission signal for permitting the entry into the closed section n + 2 only when information on all vehicles in the vehicle platoon 278 is transmitted from the ground child system 84d. Therefore, after the leading vehicle 278a enters the closed section n + 4, the ground child system 84a allows the subsequent vehicle fleet 280 to enter the closed section n + 1 until the last vehicle 278c enters the closed section n + 4. Does not emit a signal. Therefore, the traveling signal in the closed section n + 2 emitted from the grounding element 84a is maintained as the deceleration signal.

In this case, upon receiving the deceleration signal from the ground child system 84a, the vehicle platoon 280 starts the deceleration process immediately. And the vehicle platoon 280 is shown in FIG.
As shown in (C), the operation is stopped in the communication area of the ground child transmitter 88 of the ground child 54 disposed on the advancing side of the closed section n + 2. As described above, the intermediate vehicle 278b and the last vehicle 278c of the vehicle platoon 278 are stopped in the closed section n + 3. Therefore, according to the present embodiment, even when a vehicle other than the leading vehicle 278a of the vehicle platoon 278 has an abnormality, a plurality of vehicle platoons can be safely driven on the same track.

FIG. 19 shows information to be transmitted by the vehicle system 60 of the vehicle in the vehicle traffic system of this embodiment.
The figure for demonstrating the driving | operation rule when the vehicle system 62 does not transmit or the ground child system 84 does not receive is shown. The state shown in FIG. 19A is realized in a situation where all the vehicles in the vehicle platoon 278 have entered the closed section n + 2. Under such circumstances, the ground child system 84a transmits information on all vehicles in the vehicle platoon 278 to the ground child system 84b. For this reason, the ground child system 84b
Based on this information, a deceleration signal for decelerating the following vehicle platoon 280 is issued.

The state shown in FIG.
8 has entered the closed section n + 3,
This is realized in a situation where an abnormality is recognized in the vehicle system 60 of the vehicle and the vehicle system 60 does not transmit information, or in a situation where an abnormality is recognized in the ground child system 84 and the ground child system 84 does not receive information. Under such circumstances, the ground child system 84 issues an entry permission signal to the vehicle as a traveling signal. Further, the ground child system 84 does not transmit information on each vehicle in the vehicle platoon 278 to the ground child system 84b. Therefore, the signal generated by the ground child system 84b is maintained as a deceleration signal.

In this case, the vehicle platoon 280 starts the deceleration process immediately upon receiving the deceleration signal from the ground child system 84b. And the vehicle platoon 280 is shown in FIG.
As shown in (C), the operation stops within the communication range of the ground transmitter 48 of the ground 54 arranged on the exit side of the closed section n + 2. As described above, the intermediate vehicle 278b and the last vehicle 278c of the vehicle platoon 278 are stopped in the closed section n + 3. Therefore, according to the present embodiment, even when the vehicle system 62 does not transmit the information to be transmitted by the vehicle system 60 of the vehicle or when the ground child system 84 does not receive the information, a plurality of vehicle platoons can be safely placed on the same track. You can run.

In the above embodiment, the ground child EC
U90 is the step 240, the step 252,
The "entry signal control means" according to claim 4 by executing the processing of step 264 and the "travel control means" according to claim 1 by executing the processing of step 274 and step 276. Have been realized respectively.

By the way, in the above embodiment, the data of the vehicle platoon that passed through the ground child 54 is transmitted to the ground child 52 immediately before and the ground child 50 two immediately before. The transmission is not limited to this, and may be transmitted to many ground terminals. When transmitting data to a large number of ground terminals, the deceleration signal in the ground terminal 54 may be a plurality of types instead of one type. When there are a plurality of types of deceleration signals in the ground child 54, the deceleration may be changed according to the distance between the ground child that transmits data to the ground child 54 and the ground child 54.

Next, a fourth embodiment of the present invention will be described with reference to FIGS. 20 and 21 together with FIGS. 2, 3, 9, 12, and 13. The system of this embodiment is different from the vehicle traffic system shown in FIG.
This is realized by causing the CU 62 to execute the routine shown in FIG. The system of the present embodiment is also characterized in that, similarly to the case of the second embodiment, the vehicle platoon is immediately stopped running when a communication error occurs.

In this embodiment, in the closed sections n to n + 6, as described above, an area where communication is possible between the ground terminals 48 to 59 and the vehicle and an area where communication is not possible are set. . These areas are the vehicles EC of the vehicle system 60
The position recognition unit 64 of U62 stores map information of the track on which the vehicle travels, that is, each station, each closed section, and each magnetic nail 42.
And the distance between them are stored. Therefore, according to the above configuration, it is possible to easily determine whether the vehicle is traveling in an area where communication is possible, or whether the vehicle is traveling in an area where communication is not possible.

In this embodiment, when the vehicle receiver 82 of the vehicle system 60 or the ground transmitter of the ground system fails, the vehicle transmits a traveling signal to the closed section within the communication range of the ground. If not, rapid braking is performed so that the vehicle stops within the communication range of the next ground child. Therefore, according to the present embodiment, the vehicle can be stopped earlier by the distance of one closed section than in the case of the third embodiment. For this reason, according to the present embodiment, when the vehicle does not acquire the traveling signal to the closed section within the communication range of the ground child, the abnormality is immediately detected, so that the vehicle can travel more safely.

FIG. 20 is a flowchart showing an example of a control routine executed by the vehicle ECU 62 which is a component of this embodiment. The routine shown in FIG. 20 is a routine that is repeatedly started each time the processing ends. 20, FIG. 4, FIG. 10, and FIG.
Steps that execute the same processing as the steps shown in FIG. 4 are denoted by the same reference numerals, and description thereof will be omitted or simplified. In the routine shown in FIG. 20, if the traveling signal is a deceleration signal in step 272, the process of step 284 is executed next.

At step 284, a slow deceleration operation is commanded to decelerate the vehicle. Thereby, the vehicle can be stopped within the communication range of the next ground child. If it is determined in step 272 that the traveling signal received by executing the processing in step 154 is not a deceleration signal, that is, if it is determined that it is an entry prohibition signal, then in step 286 The processing is executed.

At step 286, a sudden braking operation is commanded to stop the vehicle urgently. Thereby, the vehicle can be stopped immediately. Note that, even if it is determined in step 184 that the reception completion flag in the closed section i has been set, the next step 2
86 is executed. As a result, the vehicle stops immediately and an abnormal situation can be avoided.

According to the above-described processing, when the vehicle does not receive the traveling signal transmitted from the ground child in the communicable area between the vehicle and the ground child, or when the traveling signal transmitted from the ground child is not transmitted. When the signal is the entry prohibition signal, the vehicle can be emergency braked. Therefore, according to the present embodiment, the vehicle can be driven more safely than in the case of the third embodiment.

The basic operation rules used in the vehicle traffic system of this embodiment are the same as those of the third embodiment. Hereinafter, a case different from the third embodiment will be described. FIG. 21 shows an operation rule when the ground child system 84 does not transmit or the vehicle system 60 does not transmit a traveling signal to be transmitted by the ground child system 84 of the ground child 54 in the vehicle traffic system of the present embodiment. FIG.

The state shown in FIG.
8 has entered the closed section n + 3,
An abnormality is detected in the ground child system 84 of the ground child 54 and the ground child system 84 does not transmit a traveling signal to the vehicle, or an abnormality is recognized in the vehicle system 60 of the vehicle, and the vehicle system 60 This is realized in a situation where no signal is received. Under such circumstances, the ground child system 84
Are the ground child system 84b and the ground child system 84a
, The information of all the vehicles in the vehicle platoon 278 is transmitted.
Based on this information, the ground child system 84b issues an entry permission signal that permits entry into the closed section n + 1 of the subsequent vehicle platoon 280. In this case, the following vehicle platoon 280
Can enter the closed section n + 1 without receiving the entry prohibition signal and the deceleration signal from the ground child system 84b.

The ground child system 84a issues a deceleration command for decelerating the following vehicle platoon 280 based on the above information. In this case, the following vehicle platoon 280
As shown in (B), the deceleration process is started by receiving the deceleration signal from the ground child system 84a. Then, as shown in FIG. 21C, the vehicle platoon 280 has a closed section n +
The ground child transmitter 88 of the ground child 54 arranged on the exit side of the second
Stop within the communication area of. As described above, the vehicle platoon 278
Are stopped in the closed section n + 3. Therefore, according to the present embodiment, even when an abnormality is recognized in the ground transmitters of the ground elements 48 to 59 or the vehicle receiver of the vehicle, a plurality of vehicle platoons can be safely driven on the same track.

In the above embodiment, the vehicle ECU
The “running control means” according to claim 1 is realized by executing the processing of step 284 and step 286 in step 62. Next, a fifth embodiment of the present invention will be described with reference to FIGS. 22 to 24 together with FIGS. The system of this embodiment is
In the vehicle traffic system shown in FIG. 2, the identification information memory 78 is the identification information memory 290, the vehicle ECU 62 is the vehicle ECU 292, and the ground ECU 90 is the ground ECU.
294 is realized.

In the above-described first to fourth embodiments, the propriety of entry of the vehicle traveling on the track into the closed section is determined according to the traveling signal transmitted from the ground child. On the other hand, the system according to the present embodiment is characterized in that the vehicle itself determines whether or not it is appropriate to enter the closed section. In this embodiment, the vehicle system 60 mounted on the vehicle includes an identification information memory 290. Identification information memory 29
0 is the I of all vehicles traveling on the track including the own vehicle.
D information and formation information of the vehicle formation to which those vehicles belong are stored. Vehicle control unit 70 detects information on all vehicles based on the output signal of identification information memory 290. Vehicle transmitter 80 transmits only the ID information of its own vehicle.

In this embodiment, the ground child system includes a ground child ECU 294. Ground child ECU
294 stores ground child information for discriminating the ground child of itself from other ground children. The ground system is
After receiving the ID information of the own vehicle transmitted by the vehicle system, and transmitting the information and the closed section number based on the ground child information of the ground child to the vehicle passing through the ground child, The information and the terrestrial child information of the own terrestrial child are transmitted to the terrestrial child system of the terrestrial child one to three before the own terrestrial child.

When the ID information of the vehicle and the terrestrial information of the terrestrial child are transmitted from the terrestrial child located within a predetermined range from the terrestrial child of the self, the terrestrial child system determines that the vehicle should be on the ground. Change child information. In addition, when the ground information of the vehicle and the ground information of the ground child are transmitted from a ground child that is not within a predetermined range from its own ground child, the ground child system transmits all of the vehicles. Delete information. Thus, the vehicle receives the ID information of the vehicle traveling within a predetermined range from the ground child and the ground child information of the ground child.

Each vehicle has an ID of all vehicles traveling on the track.
Know the information and platoon information of all vehicles. Therefore,
According to the above configuration, each vehicle acquires the ID of a vehicle traveling within a predetermined range from its own vehicle, and the ID is acquired.
It can be easily determined whether or not the vehicle having the vehicle in the vehicle platoon to which the own vehicle belongs. Further, according to the above configuration, by acquiring the ground child information, when it is determined that the vehicle having the acquired ID is not a vehicle in the vehicle platoon to which the own vehicle belongs, the closed section in which the vehicle travels Can be easily determined. In this embodiment, the vehicle is decelerated or stopped when a vehicle belonging to a vehicle platoon different from the vehicle platoon of the own vehicle exists within a predetermined range. Therefore, according to the system of the present embodiment, it is possible to safely drive a vehicle platoon in which a plurality of vehicles travel in a platoon.

FIG. 22 shows a flowchart of an example of a control routine executed by the ground child ECU 90 which is a component of this embodiment. The routine shown in FIG. 22 is a routine that is repeatedly started each time the processing ends. FIG.
When the routine shown in FIG.
Is performed. In step 300, the ground child 54
It is determined whether or not an abnormality in the system is recognized. The process of step 300 is always executed while this routine is repeatedly started. As a result, when it is determined that a system abnormality is found in the ground child 54, the process of step 302 is executed.

In step 302, the ground child system 84
The error flag (E) of the system is set. When the process of step 302 is executed, and when it is determined in step 300 that no system abnormality is found in the ground unit 54, the process of step 304 is executed next. In step 304, it is determined whether or not information transmitted by the vehicle system 60 of the vehicle passing through the ground arm 54 has been received. The information transmitted by the vehicle system 60 is the vehicle ID number (Y4). If it is determined that the information of the ID number Y4 has been received, the process of step 306 is performed.

In step 306, information transmitted from the vehicle system 60 of the vehicle passing through the grounding element 54, that is, the ID number Y4 is detected. Thereby, the ground child system 84 can acquire the ID of the vehicle passing through the ground child 54. In step 308, the ground child 5
The ID number Y4 of the vehicle passing through the vehicle 4 is stored, and the number of the existing closed section (I4
Is created. The existence block section number I4 in which the vehicle passing through the own ground child should exist is set based on the unique number of the own ground child. Specifically, when the ground child 54 disposed at the boundary between the closed section n + 2 and the closed section n + 3 receives the vehicle information, the existing blocked section number I4 is n + 2, n
+3 is set.

In step 310, the ground child system 84c provided in the ground child 48 three before the ground child 54, the ground child system 84b provided in the ground child 50 two before the ground child 54, and one Ground child 5 just before
The data of the own ground child number (T4) of the own ground child and the data of the ID number Y4 detected in the above-mentioned step 306 are transmitted to the ground child system 84b provided in 2.

In step 312, it is determined whether or not the unique ground number of the ground child 56 and the ID number of the vehicle passing through the ground child 56 have been transmitted from the ground child system 84d of the ground child 56 one point ahead of the ground child 54. Is determined. The processing in step 312 is determined depending on whether or not the unique ground number of the ground child 56 has been transmitted. In other words, if the unique ground number is transmitted, it is determined that the ID number is also transmitted from the ground system 84d. On the other hand, if the unique ground number is not transmitted, it is determined that the ID number is not transmitted from the ground system 84d.

As long as the vehicle that has entered the closed section n + 3 does not enter the closed section n + 4, the above data is not transmitted to the ground child system 84 of the ground child 54. Therefore, immediately after the leading vehicle of the vehicle platoon enters the closed section n + 3, data is not normally transmitted from the ground child system 84d of the ground child 56. In this case, after the process of step 312, the process of step 314 is executed next.

In step 314, it is determined whether or not the unique grounding child number of the grounding child 57 and the ID number of the vehicle passing through the grounding child 57 have been transmitted from the grounding child system 84e of the grounding child 57 two places ahead of the grounding child 54. Is determined. The process of step 314 determines whether or not the unique ground number of the ground child 57 has been transmitted. That is, when the unique ground child number is transmitted, it is determined that the ID number has been transmitted from the ground child system 84e. On the other hand, if the unique ground number is not transmitted, it is determined that the ID number is not transmitted from the ground system 84e.

As long as the vehicle that has entered the closed section n + 3 does not enter the closed section n + 5, the above data is not transmitted to the ground child system 84 of the ground child 54. Therefore, immediately after the leading vehicle of the vehicle platoon enters the closed section n + 3, data is not normally transmitted from the ground child system 84e of the ground child 57. In this case, after the process of step 314, the process of step 316 is executed next.

In step 316, it is determined whether or not the unique ground child number of the ground child 58 and the ID number of the vehicle passing through the ground child 58 have been transmitted from the ground child system 84f provided in the ground child 58 three places ahead of the ground child 54. Is determined. The process of step 316 determines whether or not the unique ground number of the ground child 58 has been transmitted. That is, when the unique ground number is transmitted, it is determined that the ID number has been transmitted from the ground terminal system 84f. On the other hand, when the unique ground terminal number is not transmitted, it is determined that the ID number is not transmitted from the ground terminal system 84f.

The above data is not transmitted to the ground child system 84 of the ground child 54 unless the vehicle that has entered the closed section n + 3 enters the closed section n + 6. Therefore, immediately after the leading vehicle of the vehicle platoon enters the closed section n + 3, data is not normally transmitted from the ground child system 84f of the ground child 58. In this case, after the process of step 316, the process of step 318 is executed next.

In step 318, the ID number Y4 of the vehicle that has passed through the ground child 54 and the closed section I4 where the vehicle should exist are transmitted to the vehicle that passes through the ground child 54. When the process of step 318 is completed, the process of this routine is completed. After the leading vehicle enters the closed section n + 3, the ground child system 84 does not receive the vehicle information from the vehicle system 60 until the intermediate vehicle enters. Therefore, in this case, step 304
After the processing of (3) is performed, the processing of step 312 and subsequent steps is then performed. The first vehicle in the vehicle platoon is the ground child 54
After passing through, the above-described routine is repeatedly started for each vehicle until the last vehicle passes through the ground child 54.

After the last vehicle in the vehicle platoon has passed the ground child 54, when the leading vehicle of the vehicle platoon passes the next ground child 56, the ground child system 84d of the ground child 56 performs the same processing as the above routine. The processing is executed. That is, the above step 310 in the ground child system 84d.
, The ID number of the vehicle that has passed through the ground child 56 and the unique ground child number of the ground child 56 are transmitted to the ground child 54 immediately before the ground child 56. For this reason, in this case, it is determined that the ID number of the vehicle passing through the ground child 56 has been transmitted in step 312 executed by the ground child ECU 294 of the ground child 54.
Then, in this case, the process of step 320 is executed next.

In step 320, the ID number (Y) transmitted from the ground child system 84d of the ground child 56 is transmitted.
5) is detected. In step 320,
Based on the unique ground number of the ground child 56 transmitted by the ground child system 84d, the existence block section number (I5) of the block section where the vehicle should exist is set. In this case, n + 3 and n + 4 are set in the existence block section number I5.

At step 322, the table storing the ID number Y4 and the existing block section number I4 of the block section where the vehicle should exist is updated. Specifically, the ID number Y5 detected in step 320
Vehicle having an ID number Y4 that matches
+3, n + 4, the blockage section number I4 of the blockage section where the vehicle should exist is n + 2,
The value is changed from n + 3 to n + 3 and n + 4, which are the values of the closed section I5. Then, in the above step 318, the ID
The updated existence block section number I4 is transmitted together with the number Y4.

After the last vehicle in the vehicle platoon has passed the ground child 56, when the leading vehicle of the vehicle platoon passes the next ground child 57, the ground child system 84e of the ground child 57 performs the same processing as the above routine. The processing is executed. That is, the above step 310 in the ground child system 84e.
In, the ID number of the vehicle that has passed through the ground child 57 and the unique ground child number of the ground child 57 are transmitted to the ground child 54 two positions before the ground child 57. Therefore, in this case, it is determined in step 314 executed by the ground child ECU 294 of the ground child 54 that the ID number of the vehicle passing through the ground child 57 has been transmitted.
Then, in this case, the process of step 324 is executed next.

At step 324, the ID number (Y) transmitted from the ground child system 84e of the ground child 57 is transmitted.
6) is detected. Also, in this step 324,
Based on the specific ground number of the ground child 57 transmitted by the ground child system 84e, the existence block number (I6) of the block section where the vehicle should exist is set. In this case, n + 4 and n + 5 are set as the existence block section number I6.

At step 326, the table storing the ID number Y4 and the existing block section number I4 of the block section where the vehicle should exist is updated. Specifically, the ID number Y6 detected in step 324 is used.
Vehicle having an ID number Y4 that matches
+4, n + 5, the blockage section number I4 of the blockage section where the vehicle should exist is n + 3,
The value of the closed section I6 is changed from n + 4 to n + 4, n + 5. Then, in the above step 318, the ID
The updated existence block section number I4 is transmitted together with the number Y4.

After the last vehicle in the vehicle platoon has passed the ground child 57, when the leading vehicle of the vehicle platoon passes the next ground child 58, the ground child system 84f of the ground child 58 performs the same processing as the above routine. The processing is executed. That is, the above step 310 in the ground child system 84f.
, The ID number of the vehicle passing through the ground child 58 and the unique ground child number of the ground child 58 are transmitted to the ground child 54 three places before the ground child 58. For this reason, in this case, it is determined in step 314 executed by the ground child ECU 294 of the ground child 54 that the ID number of the vehicle passing through the ground child 58 has been transmitted.
Then, in this case, the process of step 328 is executed next.

At step 328, the ID number (Y) transmitted from the ground child system 84f of the ground child 58 is transmitted.
7) is detected. In this step 328,
Based on the unique ground number of the ground child 58 transmitted by the ground child system 84f, an existing blockage section number (I7) of the blockage section where the vehicle should exist is set. In this case, n + 5 and n + 6 are set in the existence block section number I7.

At step 330, the table which stores the ID number Y4 and the blockage section number I4 of the blockage section where the vehicle is to be located is stored in the above-mentioned step 32.
The information of the vehicle having the ID number detected in step 8 is deleted. More specifically, a vehicle having an ID number Y4 that matches the ID number Y7 detected in step 328 is present in the closed section n + 5, n + 6.
The ID number Y4 of the vehicle and the existing block section number I4 of the block section where the vehicle should exist are deleted. Then, in step 318, the IDs of the remaining vehicles
Along with the number Y4, the existence block section number I4 of the block section in which the remaining vehicle should exist is transmitted.

According to the above processing, the ID number of the vehicle that has passed through its own ground child and has not passed through the ground child 54 that is three points ahead of the ground child, and the closed section where the vehicle exists Can be transmitted to vehicles passing through their own ground child. Therefore, according to the infrastructure facility of the present embodiment, it is possible to provide a vehicle passing through a ground child with a closed section in which a vehicle preceding the vehicle exists.

FIG. 23 is a flowchart showing an example of a control routine executed by the vehicle ECU 292 which is a component of this embodiment. 23, steps that execute the same processing as the steps shown in FIGS. 4 and 14 are denoted by the same reference numerals, and description thereof will be omitted or simplified. In the routine shown in FIG. 23, after the closed section i on the track on which the vehicle is traveling is set in step 142, the process of step 332 is executed next.

At step 332, it is determined whether or not the communication area where the vehicle is traveling is a communicable area. As a result, if it is determined that the communication area in which the vehicle is traveling is the communicable area, the process of step 332 is executed next. In step 334, the identification information memory 2
Based on the output signal of 90, vehicle information is transmitted to the ground child. The vehicle information includes an ID number of the vehicle. After the process of step 334 is performed, the process of step 335 is performed next.

At step 335, it is determined whether or not the information transmitted by the terrestrial child system has been received. As a result, when it is determined that the information from the ground child system has been received, the process of step 336 is executed next.
On the other hand, when it is determined that the information from the ground child system has not been received, the processing of this routine is ended. In step 336, in the information received from the ground child system, a vehicle platoon different from the vehicle platoon to which the vehicle equipped with the vehicle ECU 292 belongs (hereinafter, referred to as another vehicle platoon).
It is determined whether or not the information of the vehicle belonging to is included. As described above, the vehicle ECU 292 detects at least the ID information of the vehicles in the vehicle platoon running ahead of the vehicle platoon to which the own vehicle belongs. Therefore, vehicle E
The CU 292 can determine whether the information received from the ground child system includes information on vehicles belonging to another vehicle platoon. As a result, if it is determined that the above condition is not satisfied, the processing of this routine is terminated. And
The vehicle travels according to a predetermined operation programming.
On the other hand, if it is determined that the above condition is satisfied, the process proceeds to step 338.

At step 338, it is determined whether or not a vehicle belonging to another vehicle platoon exists in the closed section i set at step 142. As described above, the ground child system transmits the vehicle ID number Y4 and the closed section I4 where the vehicle should exist. Therefore, specifically, in this step 338, the closed section i and the closed section I
By comparing with 4, the above condition is determined. As a result, when it is determined that the above condition is satisfied,
A situation is formed in which a vehicle of another vehicle platoon is present in the closed section where the own vehicle should exist. Therefore, in this case, the process of step 274 is executed next. On the other hand, if it is determined that the above condition is not satisfied, then step 3
40 processing is executed.

In step 340, it is determined whether or not a vehicle belonging to another vehicle platoon exists in the closed section i + 1 one block ahead of the closed section i set in step 142, that is, whether the closed section i and the closed section I4 are present. It is determined whether or not. As a result, when it is determined that the above condition is satisfied, a situation is formed in which a vehicle of another vehicle platoon is present in the closed section one block ahead of the closed section in which the own vehicle should exist. Therefore, in this case, the next step 27
6 is executed. Thereby, the own vehicle stops in the communication area of the ground child existing on the entrance side of the closed section i + 1. On the other hand, when it is determined that the above condition is not satisfied, a situation is formed in which no vehicle of another vehicle platoon exists in the closed section up to one block ahead of the closed section in which the own vehicle should exist. Therefore, in this case, the processing of this routine is terminated, and the vehicle travels according to the predetermined operation programming.

According to the above-described processing, the ID information of the vehicle existing within a predetermined distance from the own vehicle and the closed section in which the vehicle should exist are obtained, whereby the vehicle platoon to which the own vehicle belongs is obtained. It is possible to easily determine whether or not information on vehicles in another vehicle platoon different from the above is included. Further, according to the above-described processing, the own vehicle can be decelerated or stopped in accordance with the closed section in which vehicles of another vehicle platoon exist. For this reason, according to the invention of this embodiment, by not allowing two or more vehicle platoons to enter one closed section, a vehicle platoon that travels integrally and electrically connected without being mechanically connected is configured. Vehicle can be driven appropriately.

FIG. 24 is a diagram for explaining basic operation rules used in the vehicle traffic system of this embodiment. FIG. 24A to FIG. 24D are diagrams showing, in chronological order, situations in which the vehicle platoon 296 that has started entering the closed section n + 2 first travels. The state shown in FIG. 24A is such that the ground child receiver 86a of the ground child 52 disposed on the approach side of the blockage section n + 2 has the leading vehicle 29 of the vehicle fleet 296.
This is realized in a situation where the information transmitted by 6a is received and the information transmitted by the last vehicle 296c of the vehicle platoon 296 is not received. In such a situation, the ground child system 84a of the ground child 52 transmits the ID number of the leading vehicle 296a and the unique ground child number (in this case, n
+1, n + 2). In addition, the ground child system 84
a indicates that the leading vehicle 2
The ID number 96a and the existing closed section number of the closed section where the leading vehicle 296a is present are transmitted.

In this case, the leading vehicle 2 in the vehicle platoon 296
The vehicle running next to 96a receives the ID number of the leading vehicle 296a and the existing blockage section number (n + 1, n + 2) when passing through the ground child 52. As described above, the vehicle stores the ID information of all the vehicles traveling on the track and the formation information of the vehicle formation to which each of the vehicles belongs. The vehicle determines whether all the vehicles with the received ID numbers belong to the same vehicle platoon as the vehicle platoon to which the vehicle belongs. If all the vehicles having the received ID number are determined to belong to the same vehicle platoon as the vehicle to which the vehicle belongs, the vehicle enters the next closed section without decelerating or stopping. Therefore, the vehicle running after the leading vehicle 296a is:
When the ID number of the leading vehicle 296a and the existing blocked section number (n + 1, n + 2) are received when passing through the ground child 52, the blocked section n + is not decelerated or stopped.
Enter 2.

Similarly, the vehicles in the vehicle platoon 296 that run behind the vehicle that runs after the leading vehicle 296 also receive the I of the vehicle that runs in front of the vehicle when passing through the ground child 52.
The D number and the presence / absence section number are received. If it is determined that all vehicles having the received ID number belong to the same vehicle platoon as the vehicle 296 to which the vehicle belongs, the vehicle enters the closed section n + 2 without decelerating or stopping.

The state shown in FIG. 24 (B) is realized under the condition that the ground receiver 86a has received the information transmitted by all the vehicles in the vehicle platoon 296. In such a situation, the ground child system 84a outputs the I of all vehicles of the vehicle platoon 296 to the ground child system of the ground child one to three before the ground child 52.
D number and unique ground number (in this case, n +
1, n + 2). In addition, the ground child system 84a
From the ground child 52 to the following vehicle, the vehicle platoon 29
No. 6 transmits the ID numbers of all vehicles and the number of the existing closed section where each vehicle exists.

The state shown in FIG. 24C corresponds to the closed section n +
The ground child receiver 86 of the ground child 54 disposed on the approach side of the third
Is realized in a situation where information transmitted by all vehicles in the vehicle platoon 296 is received. Under such circumstances, the ground child system 84 transmits the ID numbers and the unique ground child numbers (in this case, n + 2, n + 3) of all the vehicles in the vehicle platoon 296 to the ground child systems 84a, 84b, 84c.

In the present embodiment, the ground child system 84c of the ground child 48 acquires the vehicle information of the vehicles in the vehicle row 296 when the vehicle row 296 passes through the ground child 48.
In addition, the ground child system 84c includes a vehicle ID number, a unique ground child number, and a vehicle transmitted from the ground child system 84b after the vehicles in the vehicle platoon 296 pass through the ground child 50.
Also, based on the vehicle ID number and the unique ground child number transmitted from the ground child system 84a after the vehicle of the vehicle row 296 has passed the ground child 52, the vehicle fleet 29
The closed section where the vehicle No. 6 exists is changed as appropriate.

In the present embodiment, the ground child system 84c
In addition, vehicle information is transmitted from the ground child system 84 of the ground child 54 three places ahead of the own ground child 48,
The vehicle information of the vehicle and the closed section where the vehicle exists are deleted. Accordingly, the ground child system 84c deletes information on all vehicles in the vehicle fleet 296 by acquiring the ID numbers and the unique ground child numbers (n + 2, n + 3) of all vehicles in the vehicle fleet 296 transmitted by the ground child system 84. I do. In this case, the ground child system 84c provides, for vehicles passing through the ground child 48 and following the vehicle platoon 296,
It does not transmit information about vehicles in vehicle platoon 296.

If the leading vehicle 298a of the vehicle platoon 298 does not receive any information from the ground child 48, the leading vehicle 298a of FIG.
As shown in FIG. Then, when the vehicle following the leading vehicle 298a in the vehicle platoon 298 passes through the ground child 48, the vehicle acquires information on the vehicle running ahead of itself in the vehicle platoon 298 from the ground child 48. If the vehicle following the leading vehicle 298a determines that all of the acquired information is information of vehicles in the vehicle platoon 298 to which the own vehicle belongs, the vehicle follows the leading vehicle 298a and the closed section n
To enter. In this way, the vehicle platoon 298 can enter the closed section n.

In a situation where the vehicle platoon 296 is stopped in the closed section n + 3, the ground child system 84b of the ground child 50
The ID number of the vehicle in the vehicle platoon 296 and the ground child 56
Is not transmitted. Therefore, in such a situation, the ground child system 84b does not delete the information regarding the vehicles in the vehicle platoon 296. In this case, the ground child system 84b transmits the ID number and the presence / absence section number (n + 2, n + 3) of the vehicles in the vehicle platoon 296 to the vehicles passing through the ground child 50. In this case, the leading vehicle 298 of the vehicle platoon 298 following the vehicle platoon 296
a is the ID number of the vehicle in the vehicle platoon 296 and the number of the existing blocked section (n + 2, n +
3) is received.

In a situation where the vehicle platoon 296 is stopped in the closed section n + 3, the vehicle platoon 298 following the vehicle platoon 296 is located within the communication area of the ground vehicle 52 disposed on the approach side of the closed section n + 2. It is desirable to stop. As described above, the vehicle stores the ID information of all the vehicles traveling on the track and the formation information of the vehicle formation to which each of the vehicles belongs. If the vehicle with the received ID number determines that one of the vehicles does not belong to the same vehicle platoon as the vehicle to which the vehicle belongs, the vehicle decelerates or stops according to the number of the existing blockage section where the one vehicle should exist. I do.

Specifically, if the number of the closed section in which one of the vehicles should exist is the number of the closed section in which the own vehicle runs, the vehicle is emergency stopped. If the number of the closed section in which one of the vehicles should exist is the number of the next closed section following the closed section in which the vehicle runs, the vehicle is slowly decelerated. Accordingly, when the leading vehicle 298a receives the ID number of the vehicle in the vehicle platoon 296 and the existing blockage section number (n + 2, n + 3) when passing through the ground child 50, the leading vehicle 298a is quickly and slowly decelerated. Then, the leading vehicle 298a stops in the communication area of the ground child 52.

When the vehicle platoon 296 stops in the closed section n + 3 and the leading vehicle 298a enters the closed section n + 1 while slowing down slowly, the ground child system 84 of the ground child 50
b indicates a vehicle platoon 2 with respect to a vehicle passing through the ground child 50.
Information on 96 vehicles and the leading vehicle 2 in vehicle platoon 298
98a. In this case, a vehicle following the leading vehicle 298a in the vehicle platoon 298 receives the information when passing the ground child 50. The information received by the vehicle includes information on vehicles in a vehicle platoon 296 different from the vehicle platoon 298.

For this reason, in this case, the vehicle following the leading vehicle 298a in the vehicle platoon 298 is the leading vehicle 298a.
As in the case of (1), the speed is slowly reduced. Then, the vehicle following the leading vehicle 298a stops so that the leading vehicle 298a stops in the communication area of the ground child 52 as shown in FIG. As described above, the vehicle platoon 296 preceding the vehicle platoon 298 is stopped in the closed section n + 3. Therefore, according to the vehicle traffic system of the present embodiment,
A plurality of vehicle platoons can be safely driven on the same track.

In the above embodiment, the identification information memory 290 is provided as the "vehicle group storage means".
The distance between the three closed sections respectively corresponds to the "predetermined distance" according to claim 6, and the vehicle ECU
The “front vehicle discriminating means” according to claim 6 is realized by the 292 executing the process of step 336.

By the way, in the above embodiment, the ground child systems of the ground children 48 to 59 directly exchange information,
Although an appropriate signal is transmitted to the vehicle passing through the grounding element, the present invention is not limited to this, and an appropriate signal may be transmitted to the vehicle via the central control device. Good.

[0239]

As described above, according to the first aspect of the present invention, it is determined whether or not all the vehicles in the front vehicle group traveling in the front have entered one closed section, so that a plurality of vehicles form a formation. The following vehicle group that travels with the vehicle can be safely driven. According to the invention described in claim 2, by acquiring the signal emitted by the first vehicle and the signal emitted by the last vehicle in the vehicle group, it is determined whether all the vehicles in the vehicle group have entered one closed section. Can be reliably determined. For this reason, according to the present invention, the vehicle group can be safely driven while reliably preventing two or more vehicle groups from entering one closed section.

According to the third aspect of the present invention, by acquiring information on a group of vehicles traveling ahead, it is possible to reliably prevent two or more groups of vehicles from entering one closed section, Can be safely driven. Claim 4
According to the inventions described in (5) and (5), the following vehicle group can be appropriately driven according to the traveling position of the vehicle group traveling ahead.

According to the invention of claim 6, it is possible to determine whether or not the vehicle itself can travel on the track without following the command signal from the infrastructure facility. For this reason,
ADVANTAGE OF THE INVENTION According to this invention, a vehicle can be run safely. According to the invention described in claim 7, whether or not the vehicle can travel on the track is obtained by acquiring ID information of all vehicles traveling ahead within a predetermined distance from the spot communication device through which the vehicle passes. Can be easily determined. Therefore, according to the present invention, the vehicle can be safely driven.

Further, according to the invention of claim 8, an abnormality in communication between the infrastructure facility and the vehicle can be promptly detected, and the vehicle can run more safely.

[Brief description of the drawings]

FIG. 1 is a diagram schematically illustrating an infrastructure facility of a vehicle traffic system according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing an electric structure of the vehicle traffic system according to the first embodiment of the present invention.

FIG. 3 shows a ground child E which is a component of the first embodiment of the present invention.
5 is a flowchart of an example of a control routine executed by the CU.

FIG. 4 shows a vehicle EC which is a component of the first embodiment of the present invention.
9 is a flowchart of an example of a control routine executed in U.

FIG. 5 is a diagram for explaining basic operation rules used in the vehicle traffic system according to the first embodiment of the present invention.

FIG. 6 illustrates an operation rule in a case where an abnormality is recognized in a leading vehicle of a vehicle platoon and all vehicles in the vehicle platoon are stopped in one closed section in the vehicle traffic system according to the first embodiment of the present invention. FIG.

FIG. 7 shows that the first vehicle in the vehicle platoon has an abnormality in the vehicle traffic system according to the first embodiment of the present invention,
It is a figure for explaining an operation rule at the time of stopping between two closed sections.

FIG. 8 is a diagram for explaining an operation rule when an abnormality is recognized in a vehicle other than the leading vehicle in the vehicle platoon in the vehicle traffic system according to the first embodiment of the present invention.

FIG. 9 is a diagram schematically illustrating an infrastructure facility of a vehicle traffic system according to a second embodiment of the present invention.

FIG. 10 shows a vehicle E as a component of the second embodiment of the present invention.
5 is a flowchart of an example of a control routine executed by the CU.

FIG. 11 is a diagram for explaining an operation rule when an abnormality is found in a ground child in the vehicle traffic system according to the second embodiment of the present invention.

FIG. 12 is a flowchart of an example of a control routine executed by a ground ECU which is a component of the third embodiment of the present invention.

FIG. 13 is a flowchart of an example of a control routine executed by a ground child ECU which is a component of the third embodiment of the present invention.

FIG. 14 shows a vehicle E as a component of the third embodiment of the present invention.
5 is a flowchart of an example of a control routine executed by the CU.

FIG. 15 is a diagram for explaining a basic operation rule used in the vehicle traffic system according to the third embodiment of the present invention.

FIG. 16 illustrates an operation rule in a case where an abnormality is recognized in the first vehicle of a vehicle platoon and all the vehicles in the vehicle platoon are stopped in one closed section in the vehicle traffic system according to the third embodiment of the present invention. FIG.

FIG. 17 illustrates an operation rule in a case where an abnormality is found in a leading vehicle of a vehicle platoon and the vehicle platoon is stopped with two legs caught between two closed sections in the vehicle traffic system according to the third embodiment of the present invention. FIG.

FIG. 18 is a diagram for explaining an operation rule when an abnormality is found in a vehicle other than the leading vehicle in a vehicle platoon in the vehicle traffic system according to the third embodiment of the present invention.

FIG. 19 is a diagram for explaining an operation rule when the vehicle does not transmit vehicle information or when the ground child does not receive vehicle information from the vehicle in the vehicle traffic system according to the third embodiment of the present invention. It is.

FIG. 20 shows a vehicle E which is a component of the fourth embodiment of the present invention.
5 is a flowchart of an example of a control routine executed by the CU.

FIG. 21 illustrates an operation rule in a case where a ground child does not transmit a driving signal or a vehicle does not receive a driving signal from a ground child in a vehicle traffic system according to a fourth embodiment of the present invention. FIG.

FIG. 22 is a flowchart of an example of a control routine executed by a ground child ECU which is a component of the fifth embodiment of the present invention.

FIG. 23 shows a vehicle E which is a component of the fifth embodiment of the present invention.
5 is a flowchart of an example of a control routine executed by the CU.

FIG. 24 is a diagram for explaining basic operation rules used in the vehicle traffic system according to the fifth embodiment of the present invention.

[Description of Signs] 40 Main Line 42 Magnetic Nail 44,46 Station 48-59 Ground Child 60 Vehicle System 62,292 Vehicle Electronic Control Unit (Vehicle ECU) 84 Ground Child System 86 Ground Child Receiver 88 Ground Child Transmitter 90,294 Ground electronic control unit (ground child EC
U) n ~ n + 6 Closed section

Claims (8)

[Claims] 1. A traveling support device for assisting the traveling of a group of vehicles traveling on a plurality of predetermined tracks divided into a plurality of closed sections, wherein each of the closed sections is arranged at a predetermined position on the track. Vehicle transmitting means for transmitting identification information for distinguishing the vehicle from a vehicle other than the vehicle when the vehicle passes through the predetermined position, to the spot communication device provided; Vehicle group entry determining means for determining whether or not all the vehicles in the vehicle group have entered one closed section based on the identification information of the vehicles of the vehicle group received by the vehicle group, and traveling in front of the vehicle group. If it is determined that all the vehicles in the preceding vehicle group have entered the first closed section, the vehicle is prevented from entering the first closed section, and all the vehicles in the preceding vehicle group are prevented from entering the first closed section. The vehicle is moved from the first closed section to a predetermined Entry signal control means for controlling an entry signal of the first block section so that the vehicle can enter the first block section when it is determined that the vehicle has entered a second block section ahead of the distance; A vehicle receiving unit that receives the approach signal from the spot communication device when the vehicle passes through the predetermined position; and controls the traveling of the vehicle based on the approach signal received by the vehicle receiving unit. A driving support device, comprising: driving control means. 2. The vehicle according to claim 1, wherein the identification information is information for distinguishing a leading vehicle of the vehicle group from a vehicle in the vehicle group other than the leading vehicle, and information other than the last vehicle and the last vehicle in the vehicle group. The travel support device according to claim 1, wherein the information is information for distinguishing the vehicle group from the vehicle group. 3. The driving support device according to claim 1, wherein the identification information is ID information of the vehicle and information on a vehicle group to which the vehicle belongs. 4. The approach signal control unit further includes a third block section between the first block section and the second block section, and the third block section includes the third block section. 2. The controller according to claim 1, wherein when it is determined that all vehicles in the preceding vehicle group have entered, the approach signal is controlled so that the vehicles entering the first closed section are decelerated. 3.
4. The driving support device according to any one of claims 3 to 3. 5. The approach signal control means, when there are a plurality of the third closed sections, the first closed section according to a distance between the third closed section and the first closed section. The driving support device according to claim 4, wherein the entry signal is controlled so that the deceleration of the vehicle entering the vehicle changes. 6. A driving support device mounted on a vehicle of a vehicle group traveling by a plurality of vehicles on a predetermined track divided into a plurality of closed sections, wherein a vehicle group storage for storing at least information on a vehicle group to which the vehicle belongs. Means for transmitting vehicle information of the vehicle to a spot communication device disposed at a predetermined position on the track for each of the closed sections when the vehicle passes the predetermined position. And when the vehicle passes through the predetermined position, from the spot communication device, vehicle information of a preceding vehicle traveling ahead of the vehicle within a predetermined distance from the spot communication device and the position of the preceding vehicle Vehicle receiving means for receiving information on the closed section to be performed, and the preceding vehicle belongs to the vehicle group based on the vehicle information of the preceding vehicle received by the vehicle receiving means. Forward vehicle determining means for determining whether the vehicle is both, and travel control for controlling travel of the vehicle based on the determination result of the forward vehicle determining means and information on the closed section received by the vehicle receiving means. A driving support device comprising: 7. The driving support device according to claim 6, wherein the information on the vehicle group is ID information of each vehicle belonging to the vehicle group. 8. A vehicle comprising: a map storage unit for storing at least map information on an arrangement position of the spot communication device on the track; a position detection unit for detecting a traveling position of the vehicle; The driving support device according to claim 1, wherein when the vehicle does not acquire predetermined information from the spot communication device within a predetermined area from the spot communication device, control is performed to stop the vehicle.