JPS5881861A - Controller for operation of car - 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 device for controlling the operation of each vehicle in a system in which a plurality of vehicles are run as a unit.

Systems are being developed in which vehicles are operated unmanned to transport people or cargo from station to station along predetermined guideways. In such a transportation system, the operation of vehicles is centrally controlled by a control center, and all vehicles run based on instructions from the center. In order to increase the transportation efficiency of the system, it is necessary to operate a large number of vehicles simultaneously and to reduce the distance between the vehicles. However, if the distance between vehicles is shortened and the number of vehicles running is increased, a huge amount of data must be processed in a short period of time, which means that the control equipment installed at the center becomes huge, making it less economical in terms of equipment and maintenance costs. management becomes difficult.

In this invention, a large number of vehicles are run as a single formation without being physically connected, and only the leading car of each formation is controlled by a control center, and the following cars are kept at a constant distance from the preceding car. The objective is to reduce the control burden at the center by controlling the running of each vehicle independently while maintaining the control system.

Another object of the present invention is to provide an operation control system in which the order of vehicles to be assembled can be set arbitrarily, which enables free vehicle organization, and which allows even one vehicle to travel independently.

Embodiments of the present invention will be described in detail below with reference to the drawings. - Figure 1 shows an overview of the entire operation system for multiple vehicles. An organized vehicle group consisting of a leading vehicle (1) and a plurality of vehicles following it (2) and a vehicle traveling alone (3) are shown.0 - Leading vehicle (1)
) and the following vehicle (2) are not physically connected.

These vehicles +11 to (3) travel along a predetermined guideway. Leading vehicle i1 among the assembled vehicles
1 and the solo vehicle (3) are controlled to run at a constant speed instructed by a control center (7), as will be described later. The following vehicle (2) is controlled to maintain a constant distance from the preceding vehicle. However, the cruise control devices installed in all vehicles have exactly the same configuration. The center (7) is provided with a central control unit (5). An antenna (4) for communication between the vehicle (3) and the center (7) is installed on the guideway.

FIG. 2 shows the configuration of a vehicle travel control device. The travel control device includes an inter-vehicle distance measuring device that uses ultrasonic waves to measure the distance between vehicles in front and behind, and a center (7) of an acceleration/deceleration drive circuit that controls the traveling speed of the vehicle according to acceleration/deceleration commands.
), a vehicle speed detector (goods) that detects the speed of the vehicle and outputs a series of pulses proportional to the speed of the vehicle; It consists of a main controller that controls the system.

The inter-vehicle distance measuring device is an ultrasonic wave transmitter W (II) (+41 and receiver H) installed at the front and rear of the vehicle body.
(+5), and a transmitter/receiver circuit 11(1) to +13) for controlling these transducers. The main control device is
There are two central processing units (called CPUs) (Iη), and a ROM (+9) that stores the execution programs of these CPUs.
), and R A M (+81
Consisting of

A microprocessor is preferable as the CPU.

The CPU (17+) controls the transmission and reception of ultrasonic waves, calculates the distance between vehicles, and determines whether the vehicle is the leading vehicle or the following vehicle.

CPU (20j performs communication control and acceleration/deceleration control processing. Transmission/reception circuit (+01 (+3), acceleration/deceleration drive circuit ■, communication device power) and speed detector (product) interface (16) (21+) CP respectively through
U (Iη connected to Tsuru.

The transmission/reception circuit (lO) drives the transmission wave 1ff (II), and the ultrasonic wave having a frequency (fl) (-for example, 250 Kz) is transmitted forward. When there is a preceding vehicle ahead and this ultrasonic wave is received by the receiver (15), the transmitter/receiver circuit (13) immediately changes the frequency (I2).
Ultrasonic waves (for example, 20 KHz) are transmitted backward from the transmitter (14). When this ultrasonic wave of frequency (I2) is received by the receiver (12) of the following vehicle, the ultrasonic wave of frequency (fl) is directed forward from the transmitter (11) by the transmitter/receiver circuit (10) again. waves are transmitted. In this way, ultrasonic waves of frequency (n)' (F2) reciprocate between successive vehicles. This method of repeatedly transmitting and receiving ultrasonic waves between vehicles is called the sing-around method.

The reason why ultrasound waves of different frequencies (fi) (I2) are used is to prevent mutual interference.

Ignoring the time delay from receiving ultrasonic waves to transmitting them by the transmitting/receiving circuit (lO), the transmitting period 1 (g) of the ultrasonic waves by the transmitting/receiving circuit (10) is the time when the ultrasonic waves travel back and forth between vehicles in succession. equal to the time it takes to Therefore, the inter-vehicle distance L) from the following vehicle to the preceding vehicle is expressed as L - □ · W using the wave transmission period ff). Here, the inside is in confusion. CPUθno is
Using the transmitted and received signals from the transmitter/receiver circuit (lO), the inter-vehicle distance to the preceding vehicle is calculated as shown later.

Similarly, the inter-vehicle distance to the following vehicle can also be calculated using the transmitted and received signals from the transmitting/receiving circuit (13).

When an ultrasonic wave is received by the receiver (I2), the ultrasonic wave is not immediately transmitted from the transmitter (11), but the ultrasonic wave is transmitted by the transmitter/receiver circuit (+01') at a constant cycle. Alternatively, the transmitted ultrasonic waves from the transmitter (11) may be reflected at the rear of the preceding vehicle, and the reflected waves may be transmitted to the receiver (12).
) may be used to receive the waves. However, in the sing-around method, the transmission cycle of ultrasonic waves changes depending on the distance between vehicles, and when the distance between vehicles becomes smaller, the transmission cycle becomes shorter and more distance information can be obtained.
It's advantageous.

The central control device '+51 of the control center (7) sends travel control commands to the CPU, input/output devices necessary for this CPU (all not shown), and vehicles f1j~(3), and also sends out travel control commands from the vehicle. and a communication device (6) for receiving the required data.

FIG. 3 shows part of the contents of RA M Qs).

RAM (inside +8j, the measured vehicle speed M and the inter-vehicle distance L to the preceding vehicle) are respectively stored;
An area for storing predetermined allowable maximum and minimum distances (L max ) (L m1n) in constant inter-vehicle distance control, an area for storing constant speed parameters (VO) commanded from the center in constant speed control, and the leading vehicle. Flag (Fl) and following vehicle flag (F2
) are provided.

FIG. 4 shows the procedure of ultrasonic wave transmission/reception control by the CPU (17), calculation of inter-vehicle distance ma, >, and processing for determining whether the vehicle is the leading vehicle or the following vehicle. First, an ultrasonic wave of frequency (fl) is transmitted from the transmitter (11) (step 3m), and a timer in the CPUQη is preset for a time corresponding to a measurable distance (step Gl). socite, receiver (
12+ Ka frequency lol! 1 (I2) is received (step ■), and if so, calculate the inter-vehicle distance (L) to the preceding vehicle according to the above-mentioned principle,
RAM Qs) (step gloss). Inter-vehicle distance 11. ) is proportional to the time from ultrasound transmission to reception, so this time may be stored in RAM (+s) as distance (L). The ultrasonic wave of frequency (f2) is sent to the delivery device (1
Since the reception of 2) means that there is a preceding vehicle, this vehicle is the following vehicle, and the following vehicle flag (F2) is turned on (step cliil).
).

The frequency (
f2) If you do not receive the ultrasonic wave (step (support)
(NO1 step (to) is YES), which basically means that there is no preceding vehicle within the measurable distance, so this vehicle is the leading vehicle and the leading vehicle flag (Fl) is is turned on (step C141). After the processing of steps (goods) and (to), return to step (2) and repeat the ultrasonic wave transmission.

When the receiver receives an ultrasonic wave of frequency (fl) from the following vehicle, this received signal becomes an interrupt signal for the CPU0η, and the CPU (17) executes an interrupt process.

When the ultrasonic wave is received (step @), the ultrasonic wave of frequency (f2) is transmitted from the transmitter (14) (step (3)
8I), ends the interrupt processing.

After transmitting ultrasonic waves from the transmitter (14), within a certain period of time, the receiver (by inspecting whether the country has received the ultrasonic waves (steps ① to 134)), It is possible to determine whether there is a following vehicle.

If there is neither a preceding vehicle nor a following vehicle, this vehicle is traveling alone.

The procedure for measuring the vehicle speed is not shown in the drawings, but the speed detector (2ω) counts the time interval of pulses input from 2ω or the number of pulses input within a certain period of time (760). This speed M is RAM
(It is stored in lljl. The vehicle speed measurement process is performed at regular intervals.

FIG. 5 shows the procedure of acceleration/deceleration control processing by CPt1l). First, it is sequentially checked whether the leading vehicle flag (Fl) is on (step 1 (1')) and whether the following vehicle flag (F2) is on (step (44)). This vehicle is the leading vehicle.The travel control command from the center (7) is transmitted to the communication device (2).
) has been received (step +411)
. If it has been received, the constant speed parameter (VO) included in the command is stored in the t-RAM (18), and in step (4Z), the constant speed parameter (VO) is set so that the vehicle travels at the constant speed represented by the constant speed parameter (VO). Perform speed control (step +43)).

If no command is sent from the center, constant speed control is performed using the constant speed parameter (VO) stored in RAM0. This constant speed control is also performed for the solo vehicle (3) since the answer is YES at step (4ω).

If the flag (F2) is on, this vehicle is the following vehicle, so acceleration/deceleration control is performed so that the distance between the vehicle and the preceding vehicle is constant. Measured inter-vehicle distance ([,) and allowable maximum and minimum distances ([,) stored in RAM Qsl
Step (a) of reading Lmax)(Lmin)
) and compare these distances.

If L>Lmax (YES in step (46)),
Since the vehicle is too far away from the preceding vehicle, an acceleration command is output to the drive circuit (support) to accelerate it (step (4η)).

L (if Lmin (YES in step (48))
), the vehicle is getting too close to the preceding vehicle, so a deceleration command is output to decelerate (step (491).L max''≧L
If ≧Lmin (step 1ift and (481
(NO to either of these), the distance between vehicles is within the allowable range, so the vehicle is allowed to travel at the same speed. In this way, the following vehicle has an inter-vehicle distance of (Lmax) to (
Lmin). The process shown in FIG.
This is repeated at regular intervals. In the acceleration/deceleration control of the following vehicle, if the running speed M of the vehicle is taken into account and the acceleration/deceleration is performed in multiple stages, more accurate constant inter-vehicle distance control becomes possible.

FIG. 6 shows the travel command control processing procedure of the central processing unit (5) of the center (7). First, a step (501) of calculating the optimal speed of a required vehicle or a group of vehicles on a guideway, a constant speed representing this optimal speed,
<Edit the traveling control command message including the parameter (vO),
Transmit from communication device (6) (step (51+'))
. This traveling control command is received by the vehicle as described above, and is set at a constant speed, < rammeter (vO) is RAM (18
1 is stored. During transmission and reception between the center and a vehicle, the vehicle that should communicate with the center is specified in the message by the transmission destination.

In step (41) in FIG. 5, it is also checked whether the vehicle address in the message matches the own military address.

In communication between a vehicle and the center, it is preferable that the vehicle transmits data regarding the vehicle to the center, such as vehicle position and speed. Then, at the center, the guide
It is possible to know all the vehicles on the way, and based on this information, the optimal speed can be calculated. In addition, not only the traveling speed but also the two stopping positions may be added to the traveling control command from the central vehicle to the vehicle.

As described above, in this invention, all vehicles have a function to determine whether they are the leading vehicle or the following vehicle, and constant speed control is performed for the leading vehicle, and constant inter-vehicle distance control is performed for the following vehicle. . Also, speed commands can be sent from the center. Therefore, it is possible to operate multiple vehicles as a single formation without physically linking them; in this case, the leading vehicle travels at the speed commanded by the center, and the trailing vehicles follow the leading vehicle. Drive while maintaining a constant following distance. Since each vehicle determines its position in the formation order, it is possible to form the cars freely, and even one car can run alone.

[Brief explanation of drawings]

Fig. 1 is a diagram showing the operation status of multiple vehicles traveling along the guide own way, Fig. 2 is a block diagram showing the travel control device of each vehicle, and Fig. 3 is a diagram showing the contents of the vehicle's RAM. Figure 4 is a flowchart showing the procedure of inter-vehicle distance measurement and vehicle discrimination processing by the CPU of the vehicle.
The figure is a flowchart showing the communication control and acceleration/deceleration control processing procedure by the CPU of the vehicle, and FIG. 6 is a 70-chart showing the processing procedure of the travel control command at the center. +1) (21+31...Vehicle, (5)...Central control unit, (6) (To)...Communication device, (7)...Fist control center, Qol (Ia)...Transmission/reception circuit , C11) (+41... Ultrasonic transmitter, (12H1
S...Ultrasonic receiver, (1η(a)...CPU
, (18) #・@llRAM, (Incorporated)... Acceleration/deceleration drive circuit, (Incorporated)... Traveling speed detector. that's all

Claims (1)

[Claims] A travel control device mounted on a vehicle and a central control device provided in a control center are connected, and the vehicle travel control device includes: an inter-vehicle distance measuring device that measures an inter-vehicle distance to a preceding vehicle; A means for detecting the presence or absence of a preceding vehicle and determining whether it is a leading vehicle or a following vehicle; a vehicle speed detector for measuring the running speed of a vehicle; In this case, the central control device is equipped with an acceleration/deceleration control device that controls the traveling speed so that the distance between the vehicle and the preceding vehicle is constant, and a communication device that receives commands from a control center. A vehicle operation control device equipped with a communication device for transmitting data.