JPS5838347B2 - Vehicle speed control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a speed control system for vehicles running on tracks.

Conventional speed control methods for automatic driving control of vehicles running on orbit track the vehicle on the ground in sections for vehicle position detection, while also ensuring that the vehicle passes through preset control points. Based on the information on the destination that the vehicle has, speed commands such as deceleration and stopping are determined and given to the vehicle.

For this reason, the process of determining the speed command after detecting passage of the image forming point and then transmitting it to the vehicle increases the overall processing time, and as the number of vehicles increases, control delays may occur. This has the disadvantage of interfering with smooth automated driving.

The present invention has been made in view of the above, and an object of the present invention is to provide a vehicle speed control system that can eliminate delays in transmitting speed commands.

A feature of the present invention is that the signal trolley wire installed parallel to the track is divided into multiple sections, each section is given a consistent number with directionality, and each section reaches its own section at an arbitrary period. (The first speed level is determined by comparing the destination section number of the first vehicle among the vehicles that have not reached 1 and the own section number, and also the section number where the vehicle ahead of the own section is located and the own section number. The second speed level is determined by comparison with the second speed level, and the smaller speed level of the first speed level and the second speed level is set as the speed command for the own section.

The present invention will be explained in detail below using actual cases shown in FIGS. 1 to 3.

FIG. 1 is an explanatory diagram showing an actual example of dividing the signal trolley wire to realize the speed control system of the present invention, and shows the case of a loop trajectory.

In Figure 1, 1 is a signal trolley wire installed parallel to the track, and the trolley wire 1 is divided into multiple sections. is numbered.

Vehicles 3a and 3b are each given a destination section number, and when they reach that destination section, they are rewritten to a new destination section and start again.

FIG. 2 is a block diagram showing an example of an arithmetic processing unit for realizing the speed control method of the present invention. In FIG. By relay, vehicles 3a, 3 in Fig. 1
The position b is given to section relay 4.

Also, the destination section of each vehicle is 1:1 with each section.
The destination is registered in the destination shift register 6 corresponding to the destination shift register 6, and the destination is shifted by the shift circuit 5 which detects the change in the section relay 4 which changes as the vehicle moves.

Furthermore, when the shift circuit 5 detects a change in the position of the vehicle, it checks the positional relationship of each vehicle with respect to the vehicle traveling direction for each section, and assigns a section number indicating the position of the vehicle closest to the corresponding section to each section. Section and 1
It is registered in the front vehicle section register 7 corresponding to =1.

As described above, the destination shift register 6 corresponding to the section where the vehicle is located has the destination section number of the vehicle in question, and the forward vehicle section register 7 has the following information:
The section number located in front of each section and where the closest vehicle is located is registered.

The speed level determination for each section is triggered by setting the section number in the counter 8.

When the section number set in the counter 8 is registered in the own section register 9, the leading vehicle destination detection circuit 1
0 and the interval planning circuit 11 operate.

The leading vehicle destination detection circuit 10 has its own section register 9
The destination shift register 6 is checked while the section number is updated in the opposite vehicle traveling direction from the section number of , and the destination section number of the leading vehicle is searched and registered in the leading vehicle destination register 12.

This registration causes the comparator 13 to operate, calculates the difference between the contents of the own section register 9 and the leading vehicle destination register 9, and sets a predetermined first speed level A, which will be described later, in the comparator 14 according to this difference. do.

In addition, the interval planning circuit 11 calculates the difference between the section number corresponding to the section number registered in the own section register 9 in the section register 7 of the vehicle ahead and the section number registered in the own section register 9. , a second speed level B, which will be described later and is predetermined in accordance with this difference, is set in the comparator 14.

The comparator 14 operates when both speed level A and speed level B are set, and compares the two speed levels. Then, the smaller speed level is registered in the speed command register 15 corresponding to the own section register 9 as the speed level in the section registered in the own section register 9 as a speed command to the vehicle.

When the above processing is completed, 1 is added to the section number set in the counter 8, which is registered in the own section register 9, and the next processing is performed.

Now, assuming that the section number registered in the own section register is No.1, the destination section number of the leading vehicle for the own section is BNQ, and the contents of the front vehicle section register 12 corresponding to the own section are FNO, the speed level A1 is the speed level B. , decide in advance as follows.

Speed level A (a) Stop when N = B N... (b) N
Deceleration when Q=BNQ-1... (c) No≦BNQ
-2 or when NO>BNQ, high speed level B (d) When NQ=FNo-1-..., stop (e)
When N = F N - 2", decelerate (f) NQ≦
FNQ-3... is high speed, and the magnitude relationship of speed levels is: stop < deceleration < high speed.

FIG. 3 is an explanatory diagram showing a specific example of the above. In FIG. 2, the own section number "■", the own section "■"
The destination section of the leading vehicle 2a viewed from the front is indicated by "■", and the section where the preceding vehicle 3b is located closest to its own section is indicated by "■".

In this case, speed level A is ("■"="■"-1), which applies to (b) above, so speed level A is decelerated, and speed level B is ("■"=" ■′”-3
), which applies to (f) above, so speed level B is high speed, and the smaller speed level is deceleration, so the speed command in the own section "■" is deceleration,
This is registered in the speed command register 15 as a speed command to the vehicle in the own section ゜゛■''.

The same applies to other sections.

As described above, according to the embodiment of the present invention, the speed command in each section is determined based on the positional relationship between the destination section of the leading vehicle and the own section as seen from the own section, and the positional relationship between the preceding vehicle and the own section as seen from the own section. Since the determination is made from both sides of the positional relationship, the speed command can be preset well in advance of the time when the vehicle arrives at its own section, making it possible to achieve high-response speed control with no transmission delay.

And reliable vehicle spacing control can be achieved.

As explained above, according to the present invention, there is a remarkable effect that delay in transmitting speed commands can be eliminated.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is an explanatory diagram showing an embodiment of the separation of the signal trolley wire according to the present invention, and FIG. 2 is a block diagram showing an actual case of the arithmetic processing device according to the present invention. FIG. 3 is an explanatory diagram showing a specific example when determining the speed level. 1... Signal trolley wire, 2... Base point, 3a, 3b... Vehicle, 4... Section relay, 5... Shift circuit, 6...
・Destination shift register, 7...Front vehicle section register, 8...Counter, 9...
- Own section register, 10... Leading vehicle destination detection circuit, 11... Interval monitoring circuit, 12...
...First vehicle destination register, 13, 14...
・Comparator, 15...Speed command register.

Claims (1)

[Claims] 1 In a device that detects the position of a vehicle and transmits speed commands to the vehicle via a signal trolley wire that is divided into multiple sections parallel to the track, the speed level in each section is As a reference, a first speed level determined by the destination of the first vehicle among the vehicles that have not reached the own section, and a second speed level determined by the distance between the own section and the vehicle ahead of the own section. A vehicle speed control method characterized by setting the speed to the smaller of the speed levels.