JPS6323721B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to improvements in fixed position stopping systems for vehicles. More specifically, a distance-speed pattern for stopping is generated on the vehicle, and the vehicle is decelerated to follow the stopping pattern according to the distance the vehicle travels to stop the vehicle at a fixed position. This paper relates to improvements in position stopping methods.

A conventional fixed-position stopping method using an on-vehicle pattern will be explained with reference to FIG. FIG. 1 is a diagram showing a distance (S)-velocity (V) stop pattern. When the SV stop pattern Po is generated at point _A , which is a distance lA before the target stop point D, the speed of a vehicle traveling at a speed _{of V1} is controlled so as to follow the stop pattern Po. In other words, a vehicle traveling at a speed of _V1 is A
Start measuring the distance traveled from the point, read the target speed corresponding to the distance traveled from the stop pattern Po,
Deceleration control is performed so that the traveling speed reaches the target speed.
The dotted line trajectory in FIG. ₁ shows how a vehicle approaching at a speed V1 follows the stop pattern Po and stops at the target stop point D.

If the standard running speed of a vehicle is V ₁ , the speed may vary due to road restrictions such as junctions and curves.
There are places where you cannot drive at V ₁ and are restricted to a slower speed of V ₂ , and places where you have to drive short distances at low speed and then stop when changing vehicles. The state in which a vehicle traveling at a low speed _V2 stops at a fixed position is shown by the dot-dashed line trajectory in FIG. Even when approaching at a speed of _V2 , it is necessary to generate a stopping pattern Po at a point A located at a distance of l _A from the target stopping point D. However, if the vehicle is traveling on a complicated route that includes branches, it may not be possible to set the point A uniquely, or if the vehicle is traveling a shorter distance than l _A , it may be completely impossible. For example, if there are target stopping points D ₁ and D ₂ at the end of each of two branch roads, and the corresponding A points are located before the branch and do not match, the two A points are selected depending on which direction to branch. need to use.

The purpose of the present invention is to specify the starting point of the stop pattern Po in accordance with the speed of travel in the relevant section when there is a speed limit, so that the vehicle can be stopped at a fixed point by following the stop pattern Po under any driving conditions. It's about letting people know.

That is, the present invention is a system for stopping a vehicle at a fixed position based on an on-vehicle pattern, in which the starting point of the SV stop pattern is designated in accordance with the traveling speed of the vehicle, and pattern follow-up control is started.

FIG. 2 is a diagram illustrating pattern following control according to the present invention. In order to stop a vehicle traveling in a section where the speed is limited to V ₂ , which is lower than the standard traveling speed V ₁ , at the target stopping point D, it is necessary to stop the vehicle at the target stopping point D at a distance l _B from point B, which is S. - Generate a V stop pattern and start pattern follow-up control.
This S-V stop pattern P ₀₁ is the standard running speed.
This is a part of the SV stop pattern Po when traveling at _V1 , and only the position where the pattern is generated and the corresponding speed are different. S-V stop pattern
Similarly to the pattern speed V A at point A, the pattern speed V _B at the starting point _B of P ₀₁ is selected to be slightly larger than the traveling speed V ₂ of the vehicle in the section. The reason is,
This is because it is asymptotically approached to the stop pattern and easy to follow.

Next, embodiments of the present invention will be described in detail.
In FIG. 3, 1 is a guide line formed by two parallel lines intersecting at a constant interval d along the vehicle running path, 2 is a loop antenna arranged symmetrically at one or more intersections of the guide line 1, 3 is a cross-receiving antenna that is installed on the vehicle and connects the guide wire 1 and detects the intersection of the guide wires by looking at a change in the coupling level or a change in phase; 4 is a cross-receiving antenna that is installed on the vehicle and receives the signal f of the loop antenna 2; ₂ , a point receiving antenna for receiving the signal _f1 ;
is a point detector connected to the point receiving antenna 4,
7 each indicate an SV stop pattern generator.

Loop antenna 2 is installed at a distance from the target stopping point that provides a pattern speed slightly higher than the traveling speed of the section in terms of the S-V stopping pattern, and pattern speed or distance information that specifies the pattern starting point corresponding to the installation position is provided. is transmitting a signal containing f ₂ .
The vehicle passing over the loop antenna 2 receives the signal f ₂ with the point receiving antenna 4 and point detector 6,
Input to SV stop pattern generator 7. S-V
The stop pattern generator 7 generates an SV stop pattern from the pattern speed and distance specified by the signal _f2 , starts follow-up control, and specifies a brake notch or a power running notch for the drive system of the vehicle.

On the other hand, the cross receiving antenna 3 and the cross detector 5 input position pulses at regular intervals to the S-V stop pattern generator 7 every time the guide line 1 passes an intersection. -V S after the time when the signal f ₂ is input to the stop pattern generator 7
-V Stop pattern generator 7 starts counting position pulses. The count output is used as distance information for the SV stop pattern, a target speed corresponding to the distance is read from the SV stop pattern, and a brake notch or a running notch is designated so that the vehicle's running speed approaches the target speed.

In this way, the vehicle stops at a fixed position. In the case of a standard running speed, pattern following control is started from the stop pattern starting point A and the stop is made at the target stop point D. For example, as shown in FIG. If there are points D ₁ and D ₂ and the starting points A ₁ and A ₂ of the corresponding stop pattern are before a branch and they do not match, then A ₁ or A ₂ is selected depending on which direction the vehicle branches. must be selected, requiring complex control.

On the other hand, in a section including a branch road, the vehicle is driven at low speed for safety reasons, so the stopping distance may be short, and by providing the stopping pattern starting points B ₁ and B ₂ for low speed driving, it is easy to reach the target stopping point D ₁ , or the vehicle can be stopped at D ₂ .

In addition, as shown in Fig. 4b, the target stopping point D ₁
If D 2 and D ₂ are on the same vehicle road, and the distance between them is shorter than l _A , it will be impossible to start from D ₁ and stop at D ₂ , but when driving at low speed, By providing the stop pattern start points B ₁ and B ₂ , the target stop point D ₁ can be easily reached.
and can be stopped at D ₂ .

Although it is conceivable to use the vehicle wheel rotation speed as the distance information, there is a drawback that it is necessary to take into account that errors occur depending on the wheel diameter.
If the intersection of the guide line 1 is used as an error correction signal for the wheel rotation speed, errors will not accumulate, and detailed distance information can be obtained to perform detailed control.
Fixed-position stopping control is performed based on accurate positional information on the ground, such as the intersection information of guide line 1, so even if the vehicle is unable to follow the S-V stopping pattern and stops at the wrong spot. Since accurate position information remains in the vehicle, correction control of the stopping position is performed later. Furthermore, since the SV stop pattern is ideally set in consideration of riding comfort, it can be used for stopping the vehicle other than when stopping at a fixed position. That is, instead of the loop antenna 2, the central control device specifies the vehicle through a data transmission line (not shown) between the vehicle and the ground using the guide wire 1, and generates the S-V stop pattern generator 7. If a stop pattern start signal, which changes to signal _f2 , is given to the stop pattern start signal, the vehicle starts counting position pulses and starts pattern following control from that point on.

As explained above, according to the present invention, (i) Specifying the pattern start point corresponding to the traveling speed and target stopping point of the section from the ground side and calculating the distance -
Since a speed stop pattern can be generated and pattern follow-up control can be started, it is possible to easily stop at a fixed point even when driving on a complicated road or short distance.

(ii) Since the intersection of two parallel lines intersecting at regular intervals along the running route is used as a distance detection means, it is possible to stop at an accurate position regardless of changes in wheel diameter.

(iii) Pattern tracking control can be activated via the data transmission line even at locations other than the designated locations;
You can always stop with a comfortable ride.

etc. effects are significant.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of a conventional distance-velocity stop pattern, FIG. 2 is an explanatory diagram of pattern follow-up control according to the present invention, and FIG. 3 is a block diagram showing an embodiment of the present invention. In Fig. 3, 1...guiding line, 2...loop antenna, 3...crossing receiving antenna, 4...point receiving antenna, 5...crossing detector, 6...point detector, 7...S- Figure 3 shows a V stop pattern generator, respectively. FIG. 4a is an explanatory diagram of pattern following control according to the present invention when there is a target stopping point at the end of each of two branch roads, and _{FIG .} When vehicles are close to each other and on the same road,
FIG. 3 is an explanatory diagram of pattern following control according to the present invention.
In FIG. 4a and FIG. 4b, A ₁ and A ₂ are the start points of the stop pattern follow-up control,
B ₁ and B ₂ are the start point of follow-up control of the stop pattern during low-speed driving, D ₁ and D ₂ are the target stopping point, l _A is the distance from the start point of follow-up control of the stop pattern to the target stop point,
l _B is the distance from the start point of follow-up control of the stopping pattern during low-speed driving to the target stopping point.

Claims (1)

[Claims] 1 The vehicle has means for detecting distance and speed, and a distance-speed stopping pattern for stopping at a fixed position,
means for controlling the stop of the vehicle based on the distance and speed information obtained from the distance and speed detecting means and comparing it with the distance-speed stop pattern; and a ground control device for specifying the starting point of the distance-speed stop pattern. In fixed position stop control in a section of road where the traveling speed is high, the distance from the high speed area corresponding to the traveling speed is -
In order to generate a speed stop pattern, the point detecting means receives a signal specifying a high speed pattern start point, and in fixed position stop control on a road section where the speed is limited and the speed is low, the speed stop pattern is set at a low speed corresponding to the speed. 1. A method for stopping a vehicle at a fixed position, characterized in that the point detecting means receives a signal specifying a starting point of a pattern at a low speed in order to generate a distance-speed stopping pattern from an area.