JPS58190204A - Stopping method for vehicle at prescribed position - Google Patents

Abstract

PURPOSE:To reduce the variation of a notch in an allowable range of stopping accuracy by comparing the stopping position accuracy of the case that the present notch is held with that of the case that the notch is varied in the prescribed amount and selecting the notch. CONSTITUTION:A brake control start instruction arithmetic unit 11 outputs a brake control start instruction according to a stopping error L2 calculated by a vehicle speed VT, a distance L1 to a destination point and a deceleration betaP corresponding to a notch, and the speed VT. Stopping accuracy ambiguity arithmetic units 12Z, 12P, 12N inputs a distance L1 to a destination point, a vehicle speed VT and an acceleration alphaT, and respectively calculates the ambiguity amount of the stopping accuracy of the cases that the notch selected in advance at the present time is held, a notch is added and a notch is subtracted. A control notch arithmetic unit 14 compares the ambiguities of the respective stopping accuracies and outputs a notch instruction N(t).

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention The present invention relates to a method for stopping a vehicle in a fixed position, and in particular to a method for stopping a vehicle driven by discrete control inputs such as a nozzle, etc., to a stopping target point with high accuracy and with a minimum of nozzle firing. We will fight for a fixed-position parking method that allows vehicles to stop.

Prior art 1pi1 is a block diagram showing an example of a conventional automatic train stopping method in a fixed position, and the second view is an operation explanatory diagram showing one turn of the speed. In Fig. 1, 1 is a speed generator, 2 is a speed calculation circuit, 3 is a distance integration circuit, number is a ground element, 5 is a point detector, 6 is a pattern generator, 7 is a comparator, and 8 is a brake control device. 9 indicates the brake equipment swift.

In this method, the vehicle uses an on-vehicle point detector 5 to detect a ground point 4 provided at a point P (point P) a predetermined distance l from the target stop point 0 (point 0). . The distance integration circuit 3 counts the pulses from the speed generator 1 based on the point detection signal from the point detection M5, and outputs the distance S that the vehicle has traveled from the point P. Further, the pattern generator 6 selects the distance l to the target stop point from its own memory based on the point detection signal from the point detector 5, and selects a predetermined deceleration! using y, ,
Jq, g p, (j S)...
- The speed calculation circuit 2 outputs the target series pattern ■ according to the formula (1), and calculates the actual speed ■1 of the vehicle from the pulses of the speed generator 1. A comparator 7 compares the actual speed va with the target speed nogturna outputted from the <tan generator 6. Based on the output signal (VT-VP) of the comparator 7, the brake device 9 is controlled by a ratio of 94 via the brake control device 8, so that the actual speed v7 of the vehicle follows the target speed pattern vP, and the vehicle reaches the stop target. The vehicle is controlled to stop near point O.

However, in the above method, the brake device Q
The above target speed due to fluctuations in the braking force and fluctuations in external force due to the slope of the trajectory! A steady-state follow-up error occurs at the end of each turn, which may deteriorate stopping accuracy. Furthermore, if integral control is performed in addition to the proportional control of the brake device 0 in order to prevent the occurrence of the steady-state follow-up error, another problem arises in that the number of notch changes increases and the ride comfort of the vehicle deteriorates.

Purpose of the Invention The present invention has been made in view of the above circumstances, and its purpose is to solve the above-mentioned problems in the conventional fixed-position stopping method. ■7. Final stopping accuracy! ? ! The object of the present invention is to provide a method for keeping the number of notch changes within the range 1 and the number of times the notch is changed.

The gist of the present invention is to detect the distance between the current location of the vehicle and the target stop location, the speed and acceleration of the vehicle, select a brake control notch based on this, control the brake, and stop the vehicle. In the stop position method, the stopping position accuracy when holding the current 7 Sochi ships and the stopping position when changing the notch by a predetermined amount lol! The fixed fare stop method is characterized in that the notch is selected by determining the notch and the notch as ambiguous quantities and comparing the two.

Embodiment 11 of the Invention FIG. 11I3 is a block diagram of a method for stopping a vehicle in a fixed position showing an embodiment of the present invention, and the same components as shown in FIG. 1 are designated by the same reference numerals. Also, 2' is I! magic generator 1
The vehicle speed (actual speed) is determined by pulses from the past 1 second.■1
．． A speed acceleration calculation device 5' calculates the acceleration 6ET, and 5' is a remaining distance III! that calculates the distance L between the vehicle's current position (xl) and the target stop point 0. The arithmetic unit 10 uses the current vehicle speed 7, the distance 11L1 to the target stop point 0, and the predetermined deceleration /P corresponding to the preselected notch to calculate L! -Ll-V,”/(7,2・/,)
... A predetermined notch stop error calculating device that calculates the stopping error when the brake is applied by the notch selected in advance at the present time using the formula (2);
11 is the brake control start margin time Δd when traveling at the current speed based on the above-mentioned stopping error and the current speed Va, Δ'l'-3,6・L, /excuse...
- This is a brake control start command calculation device which is calculated by the formula (■) and outputs a signal to start brake control for stopping at a fixed position when T to the margin time becomes less than a certain time (for example, 1 second).

12Z, 12P, and 12N are stop accuracy ambiguous quantity calculation devices that calculate the difference in stop accuracy when a preselected notch is maintained at the present time, when one notch is added, and when one notch is decreased, respectively; Notsuchi change &!
Notch change suppression snowmaking that generates No. 11 M that suppresses notch change for only 1 second, 14 is II + arrangement stop accuracy ambiguous wrinkle calculation vague inference is made from the output of the limb lid, and if notch change is not suppressed, notch command N A control notch calculation device 15 calculates the control notch calculation #7! based on the output of the brake control start command calculation device 11. !
This is a brake command calculation device that performs lIFTM on the output of 11 brakes.

Hereinafter, the operation of this embodiment will be explained using Figures 4 and 5. Figure 4 is a diagram for explaining the operation of determining the brake control start time for fixed position stop control, The vehicle is a predetermined distance from Jojo target point O! Point p placed in front of you by 1)
It shows a situation where t- has passed and is at Xs. The above-mentioned predetermined notch stop correct error calculation device 10 calculates the stop error L2, and from this and the current speed V7, the brake control start command calculation device 11 calculates the brake start margin time ΔT, and calculates the brake start margin. When time ΔT is constant 1s11
(for example, 1 second) or less, a brake control start command is output.

FIG. 5 is a diagram for explaining the operation of selecting the brake/on for stopping at a fixed position. The stopping accuracy ambiguous quantity calculating devices fl12Z, 12P, and 12N calculate the distance 11L to the stopping target point O obtained by the remaining distance calculating device 3'.
, and the current speed calculated by the speed acceleration calculation device 2'■71
．． Acceleration g7□ and sliding acceleration Δm per notch
(for example, 0.5 K-A/sec), the scalar measurement of stopping accuracy is given by the following formula, L□L.

Calculate.

On the other hand, it is assumed that the ambiguous amount of stopping accuracy consists of two ambiguous sets: (1) Able to stop within the allowable error (#1); ■ Able to stop accurately at the stopping target position (μ,). A membership function representing this ambiguous platform set is defined, for example, as follows. If summer is the stopping error (→, and the tolerance is 0.511), then the membership battle voice 1 ((turn) of the ambiguous platform set that can be stopped within the tolerance is The membership function (((trans)) of the ambiguous platform set that can be stopped is defined as. Then, the stopping accuracy is determined by the above two membership l1l
llk Town (4), voice, (→) is represented by a heavy weight consisting of a pair of pith. That is, from the scalar quantities Lz, L,, L, of the stopping accuracy, if the current notch is held, the notch is The ambiguous amount of stopping accuracy when changing ±1 notch (', , c, , cNtp is expressed as follows.

Stopping accuracy ambiguous quantity calculation device f12Z, 12F, 12N
From the above outputs δ, , C, , C, the control notch calculation device 14 selects a notch based on, for example, the following fuzzy reasoning.

■If the current notch can be used to stop within the allowable range, hold the current notch.

■If it is possible to stop accurately at the stop target position with +1 notch, increase by one notch.

(5) If it is possible to accurately stop at the target stop position with -1 notch, reduce by one notch.

A specific notch is selected by the above fuzzy inference by selecting the notch for which the membership function corresponding to ω~(5) has the maximum value (C8, +Cyg+C11, respectively). Note that this control is performed when there is no notch change inhibiting signal M from the notch change inhibiting device 13.

According to this embodiment, the first consideration is to be able to stop within the tolerance with respect to the target stopping point, and by changing this by ±17, the notch is changed only when it is possible to stop with higher precision. Therefore, it is possible to realize a method of stopping at a fixed position that is safe, requires few notch changes, and provides a comfortable ride.

In the above embodiment, an example was shown in which the various calculation devices 10 to 15 were configured with hardware, but a microcomputer may also be used for the calculations. An example of the processing flow in this case is shown in FIG. This program is based on vehicle speed ■
A. It has a function of determining the notch command N (t) based on the acceleration gr + the distance L1 to the target stop point.

Furthermore, in the above embodiment, the membership functions of the ambiguous platform set that define the ambiguous member of the stopping accuracy are defined as in equations (3) and (6), but the present invention is not limited to this. . For example, as shown in Fig. 7, when the vehicle speed is higher than a predetermined speed ■c (for example, 10 KMV'kL), the target point is Q point, which is a distance of 1III' (for example, 2 feet) before the final stop point 0. , it may be changed stepwise so that the target is 0 point when the speed becomes equal to or less than the vc.

In the fuzzy inference in the above embodiment, the range of notches is increased by ±1 notch, but it goes without saying that more notches may be added to the selection range.

Effects of the Invention As described above, according to the present invention, the distance between the current position of the vehicle and the target stopping point, the speed and acceleration of the vehicle are detected, and the brake control notch is selected based on this to control the brake. In the fixed position stopping method for stopping the vehicle, the stopping position accuracy when the current notch is held and the stopping position accuracy when changing the 7 notches by a predetermined amount are determined as an ambiguity bag, and the two are compared. Since the notch is selected based on the notch, it is possible to realize a fixed position stopping method that is safe within the permissible range of stopping accuracy, reduces notch fluctuations, and provides a comfortable ride.

[Brief explanation of the drawing]

Fig. 1 is a plotter diagram showing an example of a conventional fixed-position stopping method, Fig. 2 is an operation explanatory diagram showing its speed pattern, and Fig. 5 is a plotter diagram showing an embodiment of the present invention. FIG. 5 is a diagram for explaining its operation, FIG. 6 is a diagram showing another embodiment of the present invention, and FIG. 7 is an i! l! It is a figure showing a degree pattern. 1: Speed generator, 2': Speed acceleration calculation device, 3': Remaining distance calculation device, 4: Ground element, 5: Point detector, 9. Brake device, 10.2 Stop error calculation device, 11. Brake start command device. , 12Z, 12F, 12N: Ambiguous amount calculation device, 13: Notch change suppression device, 14: Control notch calculation device, 15; Brake command calculation device ilt. Figure 2 Figure 4 Figure δ

Claims (1)

[Claims] The distance between the current location of the vehicle and the target stopping point, the speed and acceleration of the vehicle are detected, and based on this, the brake control notch is selected using z to control the brakes and the vehicle is stopped at a fixed position. In this method, the stopping position accuracy when the current notch is held and the stopping position accuracy when changing the notch by a predetermined amount are obtained as ambiguous quantities, and the notch is selected by comparing the two. How to stop at a fixed position.