JPS59123401A - Monitoring device for train - Google Patents
Monitoring device for trainInfo
- Publication number
- JPS59123401A JPS59123401A JP22727582A JP22727582A JPS59123401A JP S59123401 A JPS59123401 A JP S59123401A JP 22727582 A JP22727582 A JP 22727582A JP 22727582 A JP22727582 A JP 22727582A JP S59123401 A JPS59123401 A JP S59123401A
- Authority
- JP
- Japan
- Prior art keywords
- master station
- station
- train
- processing device
- processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
く技術分野の説明〉
本発明は列車のモニタ装置の改良に関し、符に複数台の
列車にそれぞれ搭載した処理装置間のモニタ情報の伝送
技術に関する。DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to an improvement in a train monitoring device, and more particularly to a technique for transmitting monitor information between processing devices mounted on a plurality of trains.
〈発明の技術的背景とその問題点〉
近年、車両機器の半導体化が急速に進み、高性能化した
が非常に複雑となシ、運転中の各機器の動作状態の把握
、あるいは機器故障や事故発生の際の内容把握や復旧処
置、故障原因の追求など非常に困難となってきている。<Technical background of the invention and its problems> In recent years, the use of semiconductors in vehicle equipment has progressed rapidly, and although the performance has improved, it has become extremely complex. It has become extremely difficult to understand the details of an accident, take recovery measures, and investigate the cause of the failure.
これらの問題を解決して乗務員の業務軽減や仕業検査な
ど検修の容易化を計るため、列車のモニタ装置が提案さ
れている。Train monitoring devices have been proposed in order to solve these problems and reduce the workload of train crew members and facilitate inspections and repairs such as work inspections.
従来列車のモニタ゛装置は、各車両機器の動作状態や故
障等の情報を収集し記憶する各車両毎に設けた処理装置
２列車の各運転室に設は乗務員が操作する操作部とよ記
情報を表示する表示部とからなる表示器、および上記情
報を伝送する伝送路からなシ、表示器への情報の表示は
、上記各車両毎に設けた処理装置の内の一つを情報伝送
の親局として選定若しくは当初よシ設け、この親局の指
令により各車両の処理装置からの情報を収集し編集して
表示情報として行なっていた。Conventional train monitor devices consist of a processing device installed in each vehicle that collects and stores information such as the operating status and failures of each vehicle device, and an operating section installed in each cab of the train that is operated by the crew. The information is displayed on the display by using one of the processing devices installed in each vehicle for information transmission. It was selected or initially set up as a master station, and according to instructions from this master station, information from the processing devices of each vehicle was collected and edited and displayed as information.
第１図に従来の列車のモニタ装置をブロック図で示した
。FIG. 1 shows a block diagram of a conventional train monitoring device.
第１図は前後の先頭車Ｔ、及びＴ、と中間車Ｔ２乃至Ｔ
４からなる５両編成の場合を例に示し、各車両には各々
処理装置１ａ＝”ｌｅ、これ等缶処理装置間の情報を伝
送する伝送路２、前記各処理装置の内の一つを情報伝送
の親局として選定し他を子局として動作させるための各
車両毎に設けた親局指定スイッチ３、これ等各車両毎に
設けた親局指定スイッチ３から各車両に設けた処理装置
１３〜ｌｅに対し共通的に親局指定指令を伝送する親局
指定指令伝送線４、各車両毎に設けた表示器５、及び各
処理装置１８〜１ｅよりそれぞれ前記表示器５に表示情
報を出力する表示出力麿６により構成されている。Figure 1 shows front and rear leading cars T and T, and intermediate cars T2 to T.
As an example, the case of a 5-car train consisting of 4 can processing devices is shown as an example. A master station designation switch 3 provided in each vehicle is used to select the master station for information transmission and operate other stations as slave stations, and a processing device provided in each vehicle is connected to the master station designation switch 3 provided in each vehicle. A master station designation command transmission line 4 that commonly transmits master station designation commands to 13 to 1e, a display 5 provided for each vehicle, and display information on the display 5 from each processing device 18 to 1e, respectively. It is composed of a display output panel 6 to be output.
しかしこのようなモニタ装置では、各処理装置１ａ〜１
ｅの内から親局の選定は、前記した通シ外部から親局指
定スイッチ３によシ行なう必要があシ、例へば万一親局
に指定された処理装置の動、作になんらかの異常が生じ
た場合には、運転手の一判断によシ手動で新らたに別の
処理装置を親局として指定するまでは、親局の切り替わ
シがなく、モニタ機能が全車両分について停止する欠点
があった。However, in such a monitor device, each processing device 1a to 1
The selection of the master station from among the master stations must be made by using the master station designation switch 3 from outside the above-mentioned communication system. In this case, the master station will not be switched and the monitoring function will stop for all vehicles until the driver manually specifies another processing device as the master station. There were drawbacks.
〈発明の目的〉
本発明は上記の点に鑑みなされたもので、列車編成の分
割・併合等の編成替を行なった場合、成るいは親局の異
常発生時でも何等人手の介入をすることなく、正常な機
能を果す列車のモニタ装置を提供する。<Purpose of the Invention> The present invention has been made in view of the above points, and eliminates the need for any human intervention when reorganizing train formations such as splitting or merging train formations, or even when an abnormality occurs at the master station. To provide a train monitoring device that functions normally without any problems.
〈発明の概要〉
複数の車両を編成してなる列車の各車両に設は搭載した
機器の動作や故障の情報を収集し演算して機器情報とし
て記憶する処理装置と、これら複数の処理装置を相互に
接続する伝送路と、前記機器情報を表示する表示器とか
らなｐ、前記複数の処理装置の内の一つを情報伝送の親
局として選定する列車のモニタ装置において、各車両に
前記処理装置に号車′番号を入力する号車番号設定スイ
ッチと、前記各処理装置に前記号車番号の序列に応じて
親局を優先選択する機能と前記親局からの情報伝送要求
を受ける時間間隔を検定する機能とこの時間間隔が所定
の値以上にしたとき親局な再選択する機能とを設けるこ
とによシ、各車両に搭載した処理装置のなかからの親局
の選択を号車番号に応じて自動的になし、またこの選択
した親局に異常を生じた場合は他の処理装置を新らたな
親局として自動的に再選択する。<Summary of the Invention> A processing device that collects and calculates information on the operation and failure of equipment installed in each car of a train consisting of a plurality of cars, calculates it, and stores it as equipment information, and a processing device that collects and calculates information on the operation and failure of equipment installed in each car of a train consisting of a plurality of cars, and stores the information as equipment information. In a train monitoring device that selects one of the plurality of processing devices as a master station for information transmission, the device information is displayed on each vehicle. A car number setting switch for inputting a car number into the processing device, a function for preferentially selecting a master station according to the order of the preceding symbol car numbers in each processing device, and a time interval for receiving information transmission requests from the master station. By providing a verification function and a function to reselect the master station when the time interval exceeds a predetermined value, the master station can be selected from the processing equipment installed in each vehicle according to the car number. If an abnormality occurs in the selected master station, another processing device is automatically reselected as the new master station.
〈発明の実施例〉
以下本発明の一実施例について図面を参照しながら説明
する。<Embodiment of the Invention> An embodiment of the present invention will be described below with reference to the drawings.
第２図に本発明の列車のモニタ装置をブロック図で示し
た。FIG. 2 shows a block diagram of the train monitoring device of the present invention.
第２図は第１図同様前後の先頭車Ｔ１及びＴ、と中間車
Ｔ２乃至Ｔ４から成る５両編成の場合を例に示し、各車
両Ｔ、−Ｔ、には各々処理装置９８〜９ｅ、これ等缶処
理装置間の情報を伝送する伝送路２で結ばれている。ま
た５はモニタ機能を監視するための表示器で各処理装置
９ａ〜９ｅへ表示出力線６によって接続されている。７
は各車両に設は前記処理装置のそれぞれに車両の号車番
号を入力する号車番号設定スイッチで、号車番号設定入
力線８を通じて各処理装置９８〜９ｅに号車番号を入力
する。FIG. 2 shows an example of a five-car train consisting of front and rear leading cars T1 and T, and intermediate cars T2 to T4, as in FIG. These can processing devices are connected by a transmission path 2 that transmits information between them. Reference numeral 5 denotes a display for monitoring the monitor function, and is connected to each of the processing devices 9a to 9e by a display output line 6. 7
is a car number setting switch provided in each vehicle for inputting the car number of the vehicle to each of the processing devices, and inputs the car number to each of the processing devices 98 to 9e through the car number setting input line 8.
また、各処理装置のプログラム構成は、第３図（ａ）に
示すように、電源投入により起動され親局としての処理
部・子局としての処ｈＵ ｆ１５及び親局・子局共通の
処理部よシ構成される主ルーチン部と、第３図（ｂ）に
示した伝送処理の必要に応じて起動される伝送割込処理
部及び一定時間毎に、起動される第３図（ｃ）に示した
タイマー割込処理部とから構成されている。In addition, the program configuration of each processing device is as shown in FIG. The main routine section, which is configured as shown in FIG. The timer interrupt processing section shown in FIG.
以下第３図に示したフローチャートに基づいて、第２図
に示した本発明の列車のモニタ装置の作用について説明
する。第３図（ａ）で、゛電源投入にょシ起動された主
ルーチン部は、その動作を開始する前に処理部ａで一定
時間匠延する。この遅延時間は、各車両に設けた処理装
置により異なるように構成されてあり、本実施例におい
ては、各処理装置に号車番号設定スイッチ７により個別
に割り当てられる号車番号に比例して遅延時間を決定し
ている。この遅延時間の差異が電源投入時−め−親局を
選定する序列の優先権となる。この遅延時間の間は、伝
送割込およびタイマー割込の機能は動作するが、主ルー
チン部の機能は動作しない。次に処理部すにより、各処
理装置９３〜９Ｃは、親局として動作するか、子局とし
て動作するかの判断をする。この判断方法は、他の処理
装置の中に親局として動作している処理装置があるかど
うかのチェックであり、もし、他の処理装置の中に親局
がある旨のフラグ（以下フラ、グａとする）がセットさ
れていれば、子局としての動作を、リセットされていれ
ば（他の処理装置の中に親局が存在していなかった場合
。）、親局としての動作をする。フラグａは、第３図（
ｂ）に示した如く、伝送割込部により以下に述べる条件
によってセット・リセットされる。本発明によるモニタ
装置では、親局となった処理装置が主局となって主導権
を握シ、他の処理装置（従局となる）に対しての機器情
報の伝送手続きを開始するという伝送手順を使用してい
る。そこで、ある処理装置か他の処理装置より機器情報
の伝送手続きの起動を受けた場合、その処理装置は、そ
の処理装置に対して機器情報の伝送手順の起動をかけた
処理装置が親局であるとの判断をして、フラグａをセッ
トする。このフラグａがセットされ続りでいる限り、そ
の処理装置は、子局としての動作を続けることになる。The operation of the train monitoring device of the present invention shown in FIG. 2 will be explained below based on the flowchart shown in FIG. 3. In FIG. 3(a), the main routine section started upon power-on runs for a certain period of time in the processing section a before starting its operation. This delay time is configured to differ depending on the processing device installed in each vehicle, and in this embodiment, the delay time is set in proportion to the car number individually assigned to each processing device by the car number setting switch 7. It has been decided. This difference in delay time becomes the priority in the order of selecting the master station when the power is turned on. During this delay time, the transmission interrupt and timer interrupt functions operate, but the main routine section functions do not operate. Next, the processing unit determines whether each of the processing devices 93 to 9C operates as a master station or a slave station. This judgment method is to check whether there is a processing device operating as a master station among other processing devices. If it is set (a), it will operate as a slave station, and if it has been reset (if there is no master station among other processing devices), it will operate as a master station. do. Flag a is shown in Figure 3 (
As shown in b), it is set and reset by the transmission interrupt section according to the conditions described below. In the monitoring device according to the present invention, the transmission procedure is such that the processing device that becomes the master station takes the initiative and starts the procedure for transmitting device information to other processing devices (which become slave stations). are using. Therefore, when a device information transmission procedure is activated from a certain processing device or another processing device, the processing device that initiated the device information transmission procedure for that processing device is the master station. It is determined that there is, and flag a is set. As long as this flag a remains set, the processing device will continue to operate as a slave station.
その処理装置は、上記の判断によ如フラグａをセットし
たあと、第３図（Ｃ）の処理部ｆに示した通り定時間連
続”して他の処理装置より伝送手続きの起動を受けるこ
とがなかった場普には、以前にその処理装置に対して伝
送手紐キの起動を与えた親局の処理装置が、親局として
の機能を失なったものと判断して、フラグａをリセット
する。これによりその処理装置は、親局として動作する
ことになる。なお、主ルーチンぼ、別途用意されたＯＳ
の機能により、一定周期毎に処理部すの判断を行ない、
処理部Ｃおよびｅまだは処理部ｄおよびＣの処理を行な
う、。After setting the yes flag a based on the above judgment, the processing device receives the activation of the transmission procedure from another processing device continuously for a fixed period of time as shown in the processing section f in FIG. 3(C). If this is not the case, it is usually determined that the master station processing device that previously activated the transmission hand string key has lost its function as a master station, and flag a is set. Reset.This causes the processing device to operate as a master station.The main routine also uses a separately prepared OS.
With this function, the processing section makes judgments at regular intervals,
Processing units C and e still perform the processing of processing units d and C.
上記の機能を各処理装置に与えたことによシ、モニタ装
置として以下の作用を成し得る。By providing the above functions to each processing device, the following functions can be achieved as a monitor device.
まず、モニタ装置に電源を投入した場合には、電源投入
後の動作開始に序列付の優先権を与えたため、最も優先
権の高い処理装置（例へば第２図に示した９ａ）が最も
早く動作を開始し、その時点ではこの処理装置のフラグ
ａはリセットされているため親局として作動し、他の処
理装置（例へは第２図に示した９ｂ〜９ｅ）に対して機
器情報の伝送の起動をかけ、この他の処理装置（９ｂ〜
９ｅ）は、フラグａが、前記親局からの機器情報の伝送
手続きの起動を受けたことによシ、セットされるため子
局として動作する。これによシ、従来のように外部から
親局の指定をすることなしに、モニタ装置内の複数の処
理装置の内から一つだけを親局、他を全て子局として動
作させることができる。また何等かの障害によシ上記し
た親局となった処理装置の動作に異常を来たした場合、
前記序列によシ次に優先権の高い処理装置のフラグａが
、第８図（ｃ）に示したタイマ割込処理部の動作によシ
リセットされ、新らたな親局として再選択され、以前の
親局に替って動作し、他の処理装置に対して機器情報の
伝送の起動をかけるため、他の処理装置はフラグａがセ
ットされたままの状態を保ち、子局としての動作を継続
する。これによシ親局の動作に異常が生じた場合でも、
他の処理装置からこれに代る親局を自動的に再選択しモ
ニタ装置としての機能を果すことができる。First, when the power is turned on to the monitor device, the processing device with the highest priority (for example, 9a shown in Fig. 2) starts the operation the earliest because a prioritized priority is given to the start of operation after the power is turned on. At that point, flag a of this processing device is reset, so it operates as a master station and transmits device information to other processing devices (for example, 9b to 9e shown in Figure 2). Start up the other processing devices (9b~
9e) operates as a slave station because flag a is set upon receipt of activation of the device information transmission procedure from the master station. With this, it is possible to operate only one of the multiple processing units in the monitor device as the master station and all the others as slave stations, without having to specify the master station from the outside as in the past. . In addition, if the operation of the above-mentioned master processing device becomes abnormal due to some kind of failure,
The flag a of the processing device with the next highest priority in the order is reset by the operation of the timer interrupt processing unit shown in FIG. 8(c), and is reselected as a new master station, In order to operate in place of the previous master station and start transmitting device information to other processing devices, the other processing devices keep flag a set and operate as slave stations. Continue. As a result, even if an abnormality occurs in the operation of the master station,
It is possible to automatically reselect a replacement master station from other processing devices and function as a monitor device.
第４図に主ルーチン部の他の実施例を示した。FIG. 4 shows another embodiment of the main routine section.
第４図における処理部ａは、第３図（ａ）の処理部ａに
相当する部分であシ、第８図（ａ）においては一定時間
遅延していたところを、フラグａのセットにおきかえた
ものである。これによシ、電源投入後、直ちに全処理装
置は子局としての動作を開始し、一定時間経過後第３図
（ｃ）の処理部ｆによって最も高い優先権を与えられた
局だけが親局としての動作を開始することになる。Processing section a in FIG. 4 corresponds to processing section a in FIG. 3(a), and the fixed time delay in FIG. 8(a) is replaced by setting flag a. It is something that As a result, all the processing units immediately start operating as slave stations after the power is turned on, and after a certain period of time, only the station given the highest priority by the processing unit f in FIG. 3(c) becomes the master station. It will begin operating as a station.
〈発明の効果〉
以上説明した通υ本発明の列車のモニタ装置によれば各
処理装置は外部からなんら指令を与えられることなくし
て、親局又は子局のいずれかの動作を行なうことができ
る。<Effects of the Invention> As explained above, according to the train monitoring device of the present invention, each processing device can operate as either a master station or a slave station without receiving any command from the outside. .
これによシ、親局が故障した際にも他の処理装置が、何
ら外部からの指令を受けることなく、すみやかに親局の
機能の代行を行なうことを可能とする。This makes it possible for another processing device to quickly take over the functions of the master station even if the master station fails, without receiving any commands from the outside.
また、処理装置自身が親局又は子局のいずれかの動作を
みずから選択して行なう為、どのような車両編成（分割
・併合）を行なっても、その、際にモニタ装置の親局・
子局を外部から気にすることなく、正常なモニタ装装置
の動作を得ることができ、車両運用の柔軟性を増す。In addition, since the processing device itself selects and performs the operation of either the master station or the slave station, no matter what kind of vehicle formation (division/merging) is performed, the monitoring device's master station or
To obtain normal operation of a monitor equipment without worrying about a slave station from the outside, and to increase the flexibility of vehicle operation.
第１図は従来の列車のモニタ装置のブロック図、第２図
は本発明の列車のモニタ装置のブロック図、第８図（ａ
）〜（ｃ）は本発明の列車のモニタ装置のプログラム構
成の一実施例を示した図、第４図は本発明のプログラム
構成の他の実施例を示した図である。
１．９・・・処理装置
２・・・伝送路
３・・・親局指′定スイッチ
４・・・親局指定指令伝送線
５・・・表示器
６・・・表示出力線
７・・・号車番号設定スイッチ
＆・・・号車番号設定入力線
（７３１７）代理人 弁理士 則 近 憲 佑 （ほか
１名）第 ３ 図（幻
第３図
（ｅＦ） ＜ｃ）FIG. 1 is a block diagram of a conventional train monitoring device, FIG. 2 is a block diagram of a train monitoring device of the present invention, and FIG.
) to (c) are diagrams showing one embodiment of the program structure of the train monitoring device of the present invention, and FIG. 4 is a diagram showing another embodiment of the program structure of the present invention. 1.9... Processing device 2... Transmission line 3... Master station designation switch 4... Master station designation command transmission line 5... Display device 6... Display output line 7...・Car number setting switch &... Car number setting input line (7317) Agent: Kensuke Chika, patent attorney (and 1 other person) Fig. 3 (Phantom Fig. 3 (eF) <c)
Claims (1)
機器の動作や故障の情報を収集し演算して機器情報とし
て記憶する処理装置と、これら複数の処理装置を相互に
接続する伝送路と、前記機器情報を表示する表示器とか
らなシ、前記複数の処理装置の内の一つを情報伝送の親
局として選定する列車のモニタ装置において、各車両に
前記処理装置に号車番号を入力する号車番号設定スイッ
チと、前記各処理装置に前記号車番号の序列に応じて親
局を優先選択する機能と前記親局からの情報伝送要求を
受ける時間間隔を検定する機能とこの時間間隔が所定の
値以上に達したとき親局を再選択する機能とを設けたこ
とを特徴とする列車のモニタ装置。A processing device that collects and calculates information on the operation and failure of equipment installed in each car of a train consisting of multiple cars and stores it as equipment information, and a transmission system that interconnects these multiple processing devices. In a train monitoring device that selects one of the plurality of processing devices as a master station for information transmission, the processing device is configured to transmit a car number to each vehicle. a car number setting switch for inputting a car number, a function for each processing device to select a master station with priority according to the order of the preceding symbol car number, a function for verifying a time interval for receiving information transmission requests from the master station, and a function for verifying the time interval for receiving information transmission requests from the master station. A train monitoring device characterized by having a function of reselecting a master station when the interval reaches a predetermined value or more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22727582A JPS59123401A (en) | 1982-12-28 | 1982-12-28 | Monitoring device for train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22727582A JPS59123401A (en) | 1982-12-28 | 1982-12-28 | Monitoring device for train |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59123401A true JPS59123401A (en) | 1984-07-17 |
Family
ID=16858262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22727582A Pending JPS59123401A (en) | 1982-12-28 | 1982-12-28 | Monitoring device for train |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59123401A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991001231A1 (en) * | 1989-07-17 | 1991-02-07 | Utdc Inc. | On-board integrated vehicle control and communication system |
| EP1847416A1 (en) * | 2006-04-22 | 2007-10-24 | ZF Friedrichshafen AG | Device and method for steering a vehicle with several axle modules |
| US8260855B2 (en) | 2007-12-13 | 2012-09-04 | Mitsubishi Electric Corporation | Train communication system, communication device and relay device |
-
1982
- 1982-12-28 JP JP22727582A patent/JPS59123401A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991001231A1 (en) * | 1989-07-17 | 1991-02-07 | Utdc Inc. | On-board integrated vehicle control and communication system |
| US5053964A (en) * | 1989-07-17 | 1991-10-01 | Utdc, Inc. | On-board integrated vehicle control and communication system |
| EP1847416A1 (en) * | 2006-04-22 | 2007-10-24 | ZF Friedrichshafen AG | Device and method for steering a vehicle with several axle modules |
| US8260855B2 (en) | 2007-12-13 | 2012-09-04 | Mitsubishi Electric Corporation | Train communication system, communication device and relay device |
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