JPS5858881B2 - Vehicle automatic driving device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic driving system for a vehicle, and more particularly to an automatic driving system equipped with means for automatically correcting fluctuations in the diameter of wheels such as rubber tires while the vehicle is running.

Conventionally, a speed detector is attached to a wheel such as a rubber tire of a vehicle or a main motor shaft that drives the wheel, and is designed to generate a number of pulses proportional to the rotation speed.

This pulse is then input to the vehicle controller as a train speed or train travel distance pulse to perform speed comparison or travel distance calculation.

However, the diameter of wheels such as rubber tires fluctuates significantly due to the influence of load or frictional heat during running.

Therefore, if the train speed or train travel distance is directly determined from the output of the speed detector, an error will occur.

Therefore, in control that requires high precision, it is necessary to correct the wheel diameter according to speed and load.

FIG. 1 is a block diagram of an automatic driving device equipped with a conventional wheel diameter correction circuit.

Reference numeral 1 denotes a speed detector attached to the shaft of the rubber tire wheel 2, which generates a pulse having a frequency equal to the rotational speed of the wheel 1.

The output of the speed detector 2 is corrected for the wheel diameter by a wheel diameter correction circuit 3 in the automatic driving device 13 under the conditions of the wheel diameter correction switch 4 which is set according to the amount of wear of the wheel diameter.

In this way, the correction circuit 3 only corrects the change in the wheel diameter due to the amount of wear during maintenance and inspection, but does not correct the change in the wheel diameter due to frictional heat during running under load.

The output of the speed detector 2 corrected by the wheel diameter correction circuit 3 is inputted as a train speed signal to the speed deviation detection circuit 6 which is a speed limit command input from the ATC receiver 5. compares the train speed signal with the target speed at which the train should run based on the speed limit command, detects the speed deviation (±JV), and outputs this speed deviation ±
AV is input to the first proportional controller 7, where ±J
A brake output or brake output is calculated according to V, and this output is input to the output logic circuit 12.

The output logic circuit 12 receives the speed limit command from the ATC receiver 5 and the train speed signal from the wheel diameter correction circuit 3, and receives the output of the speed comparator 8, the output of the ATO receiver 9, and the wheel diameter. The train speed signal from the correction circuit 3 is input, and the output of the stop pattern generator 10 is input together with the train speed signal from the wheel diameter correction circuit 3, and the output of the second proportional controller 11 is input. Yes, output logic circuit 1
2) Based on these signals, a brake priority logical judgment is made, and a ``flight'' command or a brake command is transmitted to the vehicle controller 15 of each vehicle via the sacrifice line 14, and the train is operated automatically. do.

Note that the ATO receiver 9 is an ATO receiver installed on the ground.
The stop pattern generator 10 receives the output from the ATO receiver 9 and generates a stop pattern, but this stop pattern is generated by the train speed signal from the wheel diameter correction circuit 3. The distance traveled is calculated by , and a distance-speed pattern is generated.

Then, the proportional controller 11 generates a brake output corresponding to (V) on the speed deviation between the distance-speed pattern output and the train speed signal.

In other words, this system has a function of automatically stopping trains at a stop position on a predetermined station platform.

Also, the speed comparator 8 compares the speed limit command and the train speed signal, and when the former is larger than the latter, it does not output a brake command, and when the latter is thicker than the former, it outputs a brake command that exceeds the speed limit value. This system outputs a brake command, which has the highest priority over all other commands, and has the function of automatically decelerating the train to below the speed limit.

By the way, conventionally, as described above, when the wheel diameter is corrected in the wheel diameter correction circuit 3 from the output of the speed detector 2 to obtain a train speed signal, only the wheel diameter is corrected for the amount of tire wear. When automatically stopping a train at a predetermined position, the output of the stop pattern generator 10 does not change even if the wheel diameter changes due to speed and load fluctuations, so it is difficult to ensure the accuracy of the predetermined stopping position, which poses a problem. There is.

The present invention has been made in view of the above, and an object of the present invention is to provide an automatic driving device for a vehicle that is equipped with means that can accurately correct the diameter of wheels such as rubber tires. be.

A feature of the present invention is that when correcting the wheel diameter of the wheel, the AT
Each time the speed limit signal from the C receiver changes, the speed pulse from the speed detector and the point pulse generated at predetermined intervals from the data transmission line laid along the track are counted, and the point pulse is The present invention is characterized in that the diameter of the wheel is corrected using the number of speed pulses counted during the predetermined number of counts and the predetermined number of counts of the point pulses.

The embodiment of the present invention shown in FIG. 3 and FIGS. 2 and 4 are as follows.
This will be explained in detail using figures.

First, before giving a detailed explanation of the present invention, the mobility of rubber tire wheels will be explained using FIG. 2.

In Figure 2, the horizontal axis is the train speed (Km/hr) and the vertical axis is the wheel diameter (chestnut).The rubber tire wheel diameter varies depending on the load fluctuation due to the number of passengers and the temperature rise of the rubber tires during running. If the vehicle is full, the characteristics will be as shown by the 3 curves in FIG. 2, and if the vehicle is full, the characteristics will be as shown by the 6 curves.

JD is the variation in wheel diameter due to the rise in temperature of rubber tires during running, and is proportional to the train speed.

Therefore, when correcting the wheel diameter, it is necessary to take into account the fluctuations in the wheel diameter due to these factors.

FIG. 3 is a block diagram showing an embodiment of the automatic driving device of the present invention. In FIG. 3, the same parts as in FIG.

In FIG. 3, a speed pulse counter 20 counts a number of speed pulses proportional to the output of the speed detector 2, that is, the number of rotations of the rubber tire wheel 1 (or the main motor). Point pulses generated at regular intervals (for example, pulses generated from approximately every 501 twisting points of the transmission line) are sent from the installed ground-onboard data transmission line via the data transmission device 21. In addition, the counter 20.22 starts counting pulses at the time when the ATC signal (speed limit signal) from the ATC receiver 5 changes, and the counter 22 counts the point pulses by a fixed number N8. While counting the speed pulses, the number Ny of speed pulses counted by the counter 20 is determined, and these pulse numbers N8 and Nv are input to the verification device 23.

The verification device 23 determines the actual wheel diameter DV using the following formula.

Here, K is a constant determined by the point pulse interval, etc. Based on the wheel diameter DV obtained in this way, the wheel diameter correction circuit 3 corrects the cycle of the speed pulse, etc. to correct the wheel diameter. did.

The subsequent operations are the same as those shown in FIG. 1, so the explanation will be omitted.

FIG. 4 is an explanatory diagram when determining the wheel diameter Dv for each speed stage.

As shown in the figure, each time the ATC signal C changes, point pulses from the data transmission line d are counted for a fixed distance of 18 minutes.

At this time, if the point pulse interval (m) is 81 and the point pulse count number is N8, then ls25P-Ns ・・・・・・・・・・・・・・・・・・
...(2).

On the other hand, while the train travels this fixed distance 18, wheel 1 (second
(see figure) rotates and the speed detector 2 counts the number of speed pulses e generated, and it is assumed that the number is NV.

At this time, if the number of speed pulses generated during one rotation of the wheel 1 is P1 and the wheel diameter is Dv, it is expressed as follows.

In this way, by calculating DV every time the ATC signal a changes, the wheel diameter DV at each speed stage can be accurately and automatically determined.

According to the embodiment of the present invention described above, when the wheel diameter fluctuates greatly, such as the rubber tire wheel 1, the accurate wheel diameter can be determined every time the ATC signal changes. , the speed pulse from the speed detector 2 is corrected, and the following control can be performed using this correction value, and control accuracy can be improved.

Note that when determining the wheel diameter DV, the wheel diameter difference JDV may be determined and the set value D8 of the wheel diameter correction switch 4 may be corrected by ±Dv, but the effect will not change.

As described above, according to the present invention, the diameter of a wheel such as a rubber tire wheel can be accurately corrected, and control accuracy can be improved, which is a remarkable effect.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of an automatic driving device equipped with a conventional wheel diameter correction circuit, Fig. 2 is a diagram showing the dynamic stability of changes in wheel diameter of rubber tire wheels, and Fig. 3 is an automatic driving device of the present invention. FIG. 4, a block diagram showing one embodiment, is an explanatory diagram when the wheel diameter Dv is determined for each speed stage. 1...Rubber tire wheel, 2...Speed detector, 3...Wheel diameter correction circuit, 5...
ATC receiver, 6...speed deviation detection circuit, 7,
11... Proportional controller, 8... Speed comparator, 9... ATO receiver, 10... Stop pattern generator, 12... ...Output logic circuit, 2
0... Speed pulse counter, 21...
Data transmission device, 22...point pulse counter, 23...verification device, C...ATC signal, d...data transmission line.

Claims (1)

[Claims] 1. A speed detector that is attached to a wheel or main motor shaft and generates a speed pulse with a frequency proportional to the number of revolutions, and a wheel diameter correction means that performs wheel diameter correction on the speed pulse from the speed detector to produce a speed signal. , a means for controlling the speed of the train by a deviation signal between the speed signal and the speed limit signal from the ATC receiver, and determining a distance-speed pattern from the speed signal and point information from the ATO receiver. In the automatic driving device, the wheel diameter correction means includes a means for transmitting a brake output by comparing the speed signal with the speed signal.
a pulse counter that counts speed pulses from the speed detector and point pulses generated at predetermined intervals from a data transmission line laid along the track each time the speed limit signal from the ATC receiver changes; established,
The wheel diameter of the wheel is corrected using a count number of the speed pulses counted while a predetermined number of point pulses are counted and a predetermined count number of the point pulses. Automatic driving equipment for vehicles.