JPS5952606B2 - How to stop an electric car in a fixed position - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for stopping an electric vehicle running on a dedicated track, such as a railway, a new transportation system, a mole rail, etc., at a fixed position.

A conventional method for stopping an electric vehicle in a fixed position will be explained with reference to FIGS. 1 and 2.

FIG. 1 shows a configuration diagram, and FIG. 2 shows a fixed position sequence diagram.

In Figures 1 and 2, 1 is a speed generator attached to the axle of an electric car and generates pulses proportional to the speed of the electric car, and 2 is a speed generator installed S (m) before the stopping point 3.
K as shown in FIG. 2 by receiving the signal of the first ground coil 2 and the pulse input of the speed generator 1.

, KA-Kc, a pattern generator 5 which generates a distance-velocity pattern or deceleration pattern Z, compares the pulses of the speed generator 1 with the deceleration pattern of the pattern generator 4.

, 71 to Z4, a speed zone detector that detects which zone the electric vehicle is in; 6 is a brake device that decelerates and stops the electric vehicle; C is coasting; B1. B2. B4. B6. B7 corresponds to deceleration at each brake step, and the magnitude of deceleration is B1
There is a relationship of <B2<B4<B6<B7.

Zo, Zl, Z2. Z3. Z4 is deceleration pattern KO,
It shows the zone band between KA, KB, and KC.

Next, the operation will be explained.

In FIGS. 1 and 2, when the electric car receives a signal from the first ground element 2, the deceleration pattern generator 4
K as input pulse.

, KA-KC deceleration pattern is generated.

The deceleration pattern is compared with the frequency of the speed generator 1, and the electric car is Z.

, 71 to Z4, the speed zone detector 5 detects which zone zone you are in.
, and instructs the brake device 6 to perform a predetermined brake step according to the zone, causing the electric vehicle to follow the standard deceleration pattern (KB) as shown in the traveling trajectory 7, and changing the stopping position of the electric vehicle to the stopping point 3. A continuous frequency comparison method is used to converge on the frequency.

However, in this method of stopping an electric vehicle at a fixed position, there is a large stopping error due to variations in the response or performance of the brake device, resulting in poor riding comfort and poor accuracy.

This invention was made to eliminate the above drawbacks.
By receiving ground signals, it calculates according to the program, commands deceleration corresponding to the deceleration pattern for each predetermined distance, and shortens the predetermined distance for which deceleration is commanded each time a ground signal is received. It is an object of the present invention to provide a method for stopping an electric vehicle in a fixed position, which allows the electric vehicle to be stopped at a stopping point with high precision, and which can be made smaller and lighter.

An embodiment of the present invention will be described below with reference to FIGS. 3 and 4.

In Fig. 3 and Fig. 4, the same reference numerals as in Fig. 1 and Fig. 2 indicate corresponding parts, and 2a to 2C are the first to third ground elements, which are connected to the virtual stopping point 8 described later. They are placed in the front at positions Sl(m), S2(m), and S3(m), respectively.

8 is 2-3 points before the stopping point 3 where the electric car actually stops.
A virtual stopping point is set at the position of (m), 9 is a virtual stopping zone, and 10 is L (m) when the electric car receives the ground wire 2a.
), when the signal from the ground element 2b is received, 1/2L (
m), and upon receiving the signal of ground element 2C, 17
A frequency divider is set to generate a pulse every 4L (m) by a command from a microprocessor 13 (to be described later), and 11 is a counter that counts how many pulses are received from the speed generator 1 within a certain period of time. Detect car speed.

12 is an interrupt input circuit that requests an interrupt to a microprocessor 13 (described later) when there is a signal from the frequency divider 10 or the ground elements 2a to 2C; 14 is a memory circuit for storing commands and data for program control; 15 is an output amplification device that holds each brake step command based on the calculation result of the program, amplifies it, and outputs it to the brake device 6; 16 is an address and data bus.

Next, the operation will be explained.

Deceleration β (km/h/sec) required to stop a generally running electric car within a stopping distance D (m)
is shown by equation (1).

However, ■ is the speed (km/h) of the electric car.

Hereinafter, in FIGS. 3 and 4, first, the distance S1 (m) between the first ground transducer 2a and the virtual stopping point 8 is stored in the memory 14.
(m), the distance S2 (m) between the second beacon 2b and the virtual stopping point 8 is 172L (m), the distance S3 (m) between the third beacon 2c and the virtual stopping point 8 The distance S (m) between the virtual stopping point 8 and the true stopping point 3, each expressed in units of 1/4 L (m), is stored in binary numbers.

In this state, when the traveling electric car receives a signal from the first ground element 2a, the CPU
13, an interrupt request is issued.

When the CPU 13 receives the interrupt, the first ground wire 2a
It is detected that an interrupt has occurred, and in a corresponding response routine, the frequency divider 10 is set to generate point pulses in units of L (m) via the address/data bus 16.

When the frequency divider 10 is set, an interrupt request is issued to the CPU 13 from the interrupt input circuit 12 every time the electric car moves by L (m).

When the CPU 13 receives the point interrupt, the CPU 13 uses the response routine to convert the distance in m) units stored in the memory 14 to the distance S1 from the first ground member 2a to the virtual stopping point 8.
(m) is subtracted by one, and the speed information of the counter 11 is further inputted via the address/data bus 16, and the following is calculated.

Based on the result, the CPU 13 determines which zone the electric vehicle is in, and outputs a predetermined brake step command to the output amplification circuit 15 through the address/data bus 16.

In this case, for example, as shown in traveling trajectory 7, the electric car
If the electric vehicle is in the zone, a deceleration command equivalent to brake step B4 is issued and the electric vehicle decelerates, but brake device 6
The response is delayed and cannot correspond to the deceleration pattern (KB), and the vehicle enters the Z3 zone.

Then, a deceleration corresponding to the brake step of B6, which is larger than B4, is applied and the vehicle is controlled to follow the deceleration pattern (KB).

Similarly, when the electric car receives a signal from the second ground element 2b, the CPU 13 sets the frequency divider 10 to generate a point pulse every 1/2L (m) according to a corresponding response routine.

As a result, the frequency divider 10 generates a point pulse every time the electric car moves by 172L (m), and issues an interrupt request to the CPU 13.

When the CPU 13 receives a point interrupt in units of 1/2L (m), the CPU 13 uses the response routine to calculate the distance in units of 1/2L (m) stored in the memory 14 from the second ground coil 2b to the virtual stopping point 8. Subtract one from the distance S2 (m), calculate it in the same way as when receiving the signal from the first ground element 2a, determine which zone the electric car is in, and send the result to the output amplification circuit. 15, 1/2 from the frequency divider circuit 10
Output every time there is a point pulse in units of L (m).

When the electric car receives the signal from the third ground element 2C, β is calculated every 174L (m) in the same way, and the zone is determined to bring the electric car to the virtual stop zone 9.

If the electric car enters the virtual stop zone 9, the CPU 13
In the case of an electric vehicle using steel wheels, coasting is performed, and in the case of a vehicle with rubber tires such as a new transportation system vehicle, the running resistance is large, so for example, a low-speed power running (5 km/h) command is output, and the remaining distance until the virtual stopping point 8 is output. Add the distance (S3 - distance traveled by the vehicle from the third ground transducer) and the distance S from the virtual stopping point 8 to the true stopping point 3 expressed in binary in units of 174L (m), and calculate the minutes. Every time there is a point pulse force in units of 1/4L (m) of the frequency generator 10, it is subtracted.

Then, just before the electric car reaches its true stopping point 3, for example at a distance of 1 meter, a constant braking force is applied to stop the electric car.

According to this invention, calculations are made according to a stored program by receiving a plurality of prepared ground signals from the start point to the stop point of the fixed position stop control, and the deceleration pattern is calculated for each predetermined distance. By commanding deceleration and shortening the predetermined distance over which deceleration is commanded each time a ground signal is received, the lower the speed, the smaller the distance interval for controlling driving, so the closer you get to the stopping point, the more precise the distance is. Since it can be controlled, it can be stopped at a fixed position with high precision.

In addition, since calculation control is performed by a program, the configuration of the device is simplified, and it is possible to reduce the size and weight of the device.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing the configuration of a conventional method for stopping an electric vehicle in a fixed position, Fig. 2 is a conventional fixed position stopping sequence diagram, Fig. 3 is a block diagram showing an embodiment of the present invention, and Fig. 4 FIG. 2 is a fixed position stop sequence diagram of an embodiment of the present invention. In the figure, 1 is a speed generator, 2a to 2C are first to third ground elements, 3 is a stopping point, 6 is a brake device, and 13 is a processor. It should be noted that the same reference numerals in each figure indicate gaps or corresponding parts, respectively.

Claims (1)

[Scope of Claims] 1. A fixed position stopping method for an electric car having an autopilot function that automatically performs fixed position stopping control to stop an electric car traveling on a dedicated track and entering a stopping station at a predetermined position. A plurality of ground signals are prepared between the start point and the stop point of the position stop control, and by receiving a predetermined ground signal, calculations are made according to a stored program, and the electric car is stopped at a predetermined distance. The deceleration required to stop the electric car at the stopping point is calculated, and the deceleration is compared with the stored deceleration pattern up to the stopping point, and a predetermined deceleration of the electric car is calculated to correspond to the deceleration pattern. commanding the speed, maintaining the driving operation within the predetermined distance, and repeating the calculation of the deceleration by sequentially subtracting the predetermined distance from the distance from the point where the ground signal was received to the stopping point; A method for stopping an electric vehicle in a fixed position, characterized in that the predetermined distance is sequentially shortened each time each of the terrestrial signals is received. 2. The method for stopping an electric vehicle in a fixed position according to claim 1, wherein the calculation of the program is performed by a processor. 3. The electricity according to claim 1 or 2, wherein the predetermined distance for which the driving operation is maintained is multiplied by 1/2n (n is a positive integer) each time a ground signal is received. How to stop a car in a fixed position.