JPS58125200A - Operation control system for vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for automatically controlling the operation of a vehicle, and in particular to a vehicle operation control method that has been improved in recent years to enable efficient operation of a large number of vehicles along a predetermined path. BACKGROUND OF THE INVENTION Combiator-based vehicle operation control systems have been developed to enable unmanned operation of mass transit vehicles such as buses and trains.

This system provides a path (road, railroad) from a specific point to another specific point, and automatically drives a vehicle between these points.

On the other hand, in recent years, systems are being developed that allow vehicles to freely get on and off the road within the armpit passageway (hereinafter referred to as road), and also automatically drive the vehicle to a desired point along Road IIK.

FIG. 1 is a conceptual diagram of such a conventional automatic driving system, in which a road is composed of a closed loop of 10 irises, 10 main lines 11, and a second line @2. From the first main line 1 to the second book #2 r! branch j
lll, 12.13kLrj14KX, 20th [2
From there to the 10th booklet is the branch road 21゜22.23 and 24.
30.3 Interchanges for vehicles to get on and off for each line where vehicles can move.
Each of the interchanges 1, 32, 33, 40, 41, 42, and 43 is provided with a boarding road and an obstacle road (not shown).

K, who uses this system, can drive his vehicle manually to the desired interchange, and from that interchange to his destination, the lll0 interchange, he can automatically drive his vehicle on the main line using the Combi Island system, which will be described later. Figure 2 is a schematic diagram of a combination control system for automatic driving.

The road is divided into zones around each interchange, and each zone is controlled by equipment in the equipment room of the corresponding interchange.

A central command center 5 equipped with a combiator generates vehicle driving control information based on position information obtained by detecting a vehicle 8 on a road 7, and generates vehicle driving control information in an equipment room of an interchange corresponding to a zone where a vehicle to be controlled exists. 6, the driving control information is transmitted from the equipment room 6 to the vehicle 8 via the road 7, and the vehicle 8 is controlled.

Therefore, at every predetermined interval on the road, guidance@71. An ATC (automatic driving control) loop 74 for transmitting speed commands to the vehicle and a TD (vehicle detection) loop 75 for detecting signals emitted by the vehicle and detecting the position of the vehicle are provided. Fixed position stop loops 72 are provided at predetermined stop positions, branch loops 76 are provided at road junctions, and deceleration loops 73 are provided at points where deceleration is required, such as in front of branch points and stop positions. It is being

On the other hand, the vehicle has a data transmission device 81 for transmitting information and bib to the collar conductor 71. A point signal receiving device 82 for receiving transmission commands from the fixed position stop loop 72 and the deceleration loop 73, a transmitting/receiving device 85 for exchanging signals with the ATC loop 74 and the TD loop 75, and a branching loop 7.
Branch signal transmitting/receiving device 8 for receiving branch commands from 6
6 is provided to receive automatic operation commands from the outside.

Furthermore, the vehicle includes an automatic driving command device 83 which is connected to the data transmission device 1181 and the point signal receiving device 82 and gives driving commands to the main control device of the vehicle, and an automatic driving command device 83 which is connected to the transmitting/receiving device 85 and which is connected to the vehicle's main control device. An automatic driving control device that controls the braking device r and controls the speed of the vehicle is provided, and a branching device (for example, a steering wheel) of the vehicle is controlled by a signal received from a branching signal transmitting/receiving device 86.

The exchange of information between these loops, lines, and vehicles is
It is done by radio.

The central command center 5 includes a combination controller 51 for operation management,
Six equipment rooms are provided at each mode interchange, consisting of an interface device 52, an emotion transmission solid device 53, a command console 54, and an operation status display panel 55. A small information transmission device 61 connected to the transmission line, an interchange control device 62 connected to the small information transmission device 61, a data transmission device 63 connected to the guidance 4I 71, and a point connected to the fixed position stop loop 72. Signal transmitting device 64, ATC loop 74 and T
An ATC/TD device 66 connected to the D loop 75 and an interlocking device 67 connected to the branch loop 76Vc are provided, and a deceleration signal transmitting device 65 connected to the deceleration loop 173 and independently generating a deceleration signal is also provided. In order to automatically drive the vehicle, the zero converter 51 is equipped with a memory that stores a table of the designated position of each vehicle at the relevant time, and uses this memory to determine the vehicle speed # etc. by a moving slot method. Control.

In the moving slot method, the road is divided into a large number of slots according to the allowable vehicle spacing, only one vehicle is assigned to this slot, and this slot is virtually moved, This makes it appear as if the slot is moving on a road. Then, the vehicle is controlled so that the movement of this slot becomes appropriate.

Therefore, the memory table is 1 as shown in Figure 3.
Slot number area 1, Occupied/unoccupied area b indicating whether the slot is occupied by a vehicle, Transit area area c1 indicating the waypoint of the occupied vehicle, Destination area d1 indicating the destination of the occupied vehicle. The point value of this point value area e indicates the position of the slot on the road, and the point value of each slot is determined by the slot interval as shown in FIG. The point value of each slot is periodically added (for example, every 001 seconds) by a constant value (7) to virtually move that slot. This corresponds to the distance 1Il11 that the vehicle should move.

The '1' D roots 75 mentioned by Yu Ichiriki corresponds to the distance from JklNI's Liangqi (7, a predetermined point value is given, and each time a vehicle is detected at 1' D Rugua 5, Speed control is performed based on the comparison result with the point value of the slot assigned to the vehicle.

In such a system, it is necessary to perform slot assignment processing to allocate a desired vacant slot closest to the interchange to a vehicle that wishes to enter the interchange.

For this reason, slot allocation processing based on demand processing as shown in FIG. 4 has been conventionally used.

The vehicle you wish to enter makes a usage request to the interchange control cover 62 of the interchange, and inputs vehicle information (way point, destination, vehicle number, user number). This information Q is transmitted to the combinator 51 via the information transmission small device 61, the information transmission solid device 53, and the interface device 52.

The combiator 51iJ searches for a slot with a point value closest to the point value of the interchange for which entry is requested, using the above-mentioned Nochiri table. Next, the occupied/unoccupied area of the nine searched slots is checked to see if the slot is occupied. If that slot is occupied, the next closest slot is searched using the aforementioned memory table. (9! Slot search step) If the slot is not occupied, check whether a branch is required at the destination pigeon neck from the vehicle information mentioned above. If a 0 branch is required, a separate branch is prepared. Search the road table and find the corresponding slot when the vehicle reaches a branch road. Then, it is determined whether the corresponding slot is occupied or not by checking the occupied/unoccupied area of the branch table mentioned above, and if it is occupied, the slot closest to the above and 11th order is stored in the memory table mentioned above. Search using 〇 (Diversion road vehicle inspection step) If the corresponding slot is not occupied or if the aforementioned branch 1 is not required, there will be no search from other books between the aforementioned vehicle information and the destination. Check the presence of combination #l. If merging is required, KF-J searches a separately prepared merging road table [7. Find the corresponding slot when the vehicle reaches the merging road. Then, check whether the corresponding slot is occupied or not by checking the occupied/unoccupied area of the table of the above-mentioned merging path, and if it is occupied, the next closest slot is checked in the table of the above-mentioned memory as before. Use 2 to search.

(Merging route search step) If the corresponding slot is not occupied or if the above-mentioned merging is not required, the arrival interval of vehicles at the destination is
The destinations of the slots before and after the table are checked to determine whether the arrival interval is longer than the allowable arrival interval required for outbound processing at the interchange. (Step for determining whether or not departure processing is possible) If the arrival interval of vehicles at the destination is less than or equal to the allowable arrival interval,
It is impossible to process the exit line at the destination interchange [,te,
Similar to the above, the next closest slot is searched using the table in the memory mentioned above.

If the arrival interval of the vehicles at the destination is equal to or greater than the allowable arrival interval, the empty slot is reassigned to the vehicle requesting use, and the occupied/unoccupied area b1 corresponding to the empty slot number in the memory table is used as the transit point, as shown in Figure 3. The vehicle number, transit point, and destination are written in each of the areas C1 and Destination Area dK, and the assignment is completed.

After the assignment is completed, the slot reaches the interchange requesting use and the vehicle requesting use is controlled to enter the main line, and then the speed of the vehicle is controlled based on the point value of the slot and the vehicle detection signal as described above. ', and compares the destination point value in the destination area d with the point value in the point value area C, monitors the vehicle's arrival at the destination interchange, controls the vehicle to diverge from the main line, and controls the departure of the vehicle. Command II.

In this way, the slot allocation process by demand processing is
The final 9 to enter! In addition to searching for slots on branching roads, merging roads, and slots on other main lines, when a vehicle reaches a branching road, merging road, or another main line, 1.
It is necessary to perform slot allocation processing so that the vehicle can be driven without stopping. Since such processing is performed by the combiator 51 in parallel with the aforementioned vehicle speed control processing, the amount of processing is actually large. Therefore, even if the convenience store 151 is structured in a hierarchical manner with a plurality of combinators, there is a fear that it will be impossible to perform the processing.

Therefore, due to processing congestion, slots that should be reassigned pass through interchanges that are requested to be used, resulting in a significant drop in usage efficiency.

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle driving control system that increases road utilization efficiency without increasing the load on a combination vehicle.

In order to achieve this objective, the driving control method of the vehicle of the present invention is as follows:
A memory for storing control information for a plurality of slots, corresponding to each slot, and storing at least occupancy/unoccupancy information indicating that the slot is occupied by a vehicle and destination information for the vehicle; a detector for detecting a vehicle; an input means for inputting at least destination information as a request for use of a vehicle to use the passage; 6. A processing unit that allocates a vacant slot by examining the vehicle information of the detector and virtually moves the slot of the memory corresponding to the reference driving speed g[K, In the vehicle driving control method, in which the vehicle is given a command to control the driving of the vehicle, the memory is provided with identification information for diamond driving, and the memory is filled with information about the slot. a slot for timetable driving in which a predetermined destination is written in the destination information; and a demand driving slot in which a predetermined destination is not written in the destination information of the slot, and The processing unit is characterized in that it compares the input destination information with the destination information of an empty slot and determines whether the am of the timetable operation slot is possible.

That is, in the present invention, many vehicles entering from an interchange have a common destination, and for these vehicles, a slot with a predetermined destination is prepared in advance, and a timetable is operated to meet demand. It eliminates the complicated processing associated with driving, and performs demand driving for other tasks (by reducing the computer load and preventing processing delays, thereby improving road usage efficiency. be.

Hereinafter, it will be explained in detail using Kinoi Ij1f-Example.

FIG. 5 is a slot allocation processing flow diagram according to an embodiment of the present invention, FIG. 6 is a management table diagram according to an embodiment of the present invention, and FIG. 7 is a block diagram for the processing according to the embodiment of FIG. It is.

As shown in FIG. 7, one computer 51 is comprised of a memory 51b that stores the management table shown in FIG. 6, and a processing unit 51m that is connected to the memory 51b and the interface device 152 via a bus 12.

In the management table of memo IJ5lb, as in the conventional example shown in Fig. 3, slot number area a1 indicates whether the slot is occupied by a vehicle or not; occupied/unoccupied area b1 indicates the transit point of the occupied vehicle. The point value area e indicates the position of 11 slots in the destination area d1 indicating the destination of the vehicle occupying the route area C1.

When the occupied/unoccupied area bK is occupied by a vehicle, its vehicle number is written therein, unlike in the past. However, if the rudder is not occupied, "O" is set for the slot for ton demand operation, and for the slot for scheduled operation,
``1'' is written in the empty slot so that it can be identified whether it is for idle slot operation or for demand operation.

In this example, the occupied/unoccupied area bVr is used to identify the 20 slots for demand operation and the 20 slots for timetable operation, but it is also possible to separately provide a demand/diagram operation identification area in the management table of the memory 51b. good.

Also, the slot for diamond operation (Figure 6 slot book number 3) K
For that destination area dKt! , the point value of a predetermined destination (14000 in Figure 6) is written. In addition, processing such as branching to the destination is done,
If there are transit points, the point values of ten transit points are written in the transit area cK.

This will be explained according to FIG.

A vehicle that wishes to enter the interchange inputs vehicle information (way point, destination, vehicle number, user number) as a usage request to the interchange control device 62 of the interchange. This information is transmitted to the combiator 51 through the information transmission small f61 and the information transmission middle snowmaking 53, and the interface device 52f L7. The slot with the closest point value to is searched for using the management table in the memory 51b described above. Next, the occupied/unoccupied area bf of the searched slot is checked to see if the slot is fully occupied. If that slot is occupied (if the vehicle number is written, slot number 2%4 in FIG. 6), the next closest slot is searched using the management table in the memory 51b mentioned above. (Empty slot search step) If the slot is not occupied (slot number 1.3 in Figure 6)
), the identification information (“0” or “1”) of the occupied/unoccupied area yb identifies whether the slot is a demand operation slot or a timetable operation slot.

If the slot is a demand operation slot (slot number 1 in FIG. 6), the demand processing (branch route search step and merging route search step) within the point of the 4th WJ is executed.

If the slot is a diamond-operated slot (LLE6@Sushitkogo3), compare the input destination information with the destination point value written in advance in the destination area d of that slot. If the input destination information is after the destination in destination area d, the timetable operation is not allowed and the demand processing (branch road inspection step and merging road search step) shown in the dotted line in FIG. 4 is performed. On the other hand, if the input destination information is before the destination in destination area d, and if the pigeon loft does not merge in the above-mentioned demand processing, the arrival interval of vehicles at the destination will be shorter than the interchange. It is determined whether the destination arrival interval flII41 of the slot before and after the table is equal to or greater than the allowable arrival interval required for outgoing line processing. (
Step for determining whether or not the departure process is possible) If the arrival interval of vehicles at the destination is less than the allowable arrival interval, it is determined that the departure process at the destination interchange is not possible. Then, similar to the above, the next closest slot match is searched using the table in the memory mentioned above.

If the arrival interval of vehicles at the destination is equal to or greater than the allowable arrival interval, the empty slot is allocated to the vehicle requesting use, and the occupied/unoccupied area b1 corresponds to the empty slot number in the memory table as shown in Figure 6. Write the vehicle number, transit point, and destination in area 01 and destination area d, and finish the allocation.0 After the allocation is completed, just in case the slot reaches the interchange where the usage is requested, the vehicle requested to use it should enter the main line. Thereafter, as described above, the speed of the vehicle is controlled based on the slot point value and the vehicle detection signal.

In the above example, the input destination information is expanded so that the destination area can be used to expand the usage range of the timetable, but the input destination information is set to the destination ground pressure of the destination area d. If they do not match, it may be determined that the timetable operation is not possible and perform demand operation processing.

To set the timetable operation of a slot, a predetermined slot number is determined as the slot for the timetable operation, and as soon as that slot is free, the settings for the next timetable operation (occupied/
The processing unit 51a sets the timetable operation information for the unoccupied area and the waypoint area C1 and the destination area d). As described above, according to Kinoe WJ4, the memory stores the identification information for the timetable operation. slots for diamond operation in which a predetermined destination is written in the destination information of the slot, and slots for demand operation in which a predetermined destination is not written in the destination information of the slot. The processing unit compares the input destination information with the destination information of an empty slot and determines whether it is possible to win the diamond operation slot 0I11.
For processing demand driving! ! The load on the comviator can be reduced. This prevents delays in slot allocation.
Improved aisle usage efficiency and reduced waiting time for vehicles by 1m
Although the present invention has been described with reference to one embodiment, modifications of the practice are possible without departing from the spirit of the present invention, and these are not excluded from the scope of the present invention. Not in.

[Brief explanation of the drawing]

Figure 1 is a conceptual diagram of a conventional automated driving system, and Figure 2 is a conceptual diagram of a conventional automated driving system.
Fig. 3 is a block diagram of a computer control system for automatic driving, Fig. 3 is a conventional management table diagram, Fig. 4 is a flow diagram of slot allocation processing by conventional demand processing, and Fig. 5 is a block diagram of a computer control system for automatic driving. FIG. 6 is a slot allocation processing flow diagram of an embodiment of the present invention, and FIG. 6 is a management table diagram of an embodiment of the present invention.
FIG. 7 is a block diagram for the processing of the FIG. 5 embodiment. In the figure, l and 2 are main lines, 5 central control center, 6 if interchange equipment room, 7 is road, 8 is vehicle, 51 is 7
51bh memory, and a 75-digit TD (vehicle detection) loop. 5 Figure 8 6 Figure rate 7 Group

Claims (1)

[Claims] (I) For storing control information of a plurality of slots, occupancy/non-occupancy information indicating that the slot is occupied by a vehicle corresponds to each slot and information about the destination of the vehicle IIi
a detector for detecting a vehicle on the passage; an input means for inputting at least destination information as a request for use of a vehicle to use the passage; Occupancy of each slot/
a processing unit that checks unoccupied information to allocate empty slots, and also virtually moves the slots of the memory in accordance with the reference driving speed; In a vehicle driving control method that controls the driving of the vehicle by issuing a command to the vehicle by comparing virtual movement of the corresponding slot, the memory is provided with identification information for diamond driving. Also, a slot for diamond operation in which a predetermined destination is written in the destination information of the slot, and a slot for demand operation in which a predetermined destination is not written in the destination information of the slot. , the processing unit) compares the friend's destination information inputted with the Fi key input and the destination information of the 98-way);
A vehicle driving control method characterized by determining whether slots for diamond operation 1) llalli are possible. The processing unit identifies whether an empty slot is a timetable operation slot or a demand operation slot based on the difference in the unoccupied information.
Vehicle operation control system according to claim 1 (1) (3) The area of occupied/unoccupied information for each slot in the memory is @K when the slot is occupied by a vehicle. Claim aS (vehicle driving control method according to claim 11) characterized in that a vehicle number of the vehicle is written in. (4) The memory slot is set to a reference driving speed [K corresponding to 2. A point value area indicating the position of the slot is provided in the memory, and the processing unit periodically changes the point value. Range number (1)
Vehicle operation control method described in Section 2.