KR101244038B1 - Apparatus and Method for Calculating Radius of Curvature of Rail Road - Google Patents

Abstract

An apparatus for calculating a radius of curvature of a train line according to an aspect of the present invention capable of calculating a radius of curvature of a train line to be used for a speed pattern of a train includes: a position value of a grounder detected in a train and a position of the train after the grounder is detected; A current location calculator configured to calculate a current location of a train based on a moving distance; A stop position determiner configured to determine a stop position of the train based on a movement authority of the train and a current position of the train; A radius of curvature calculating unit configured to determine a radius of curvature of the radiuses of curvature for each section included between the current position and the stop position as the radius of curvature between the current position and the stop position; And a speed limit determining unit configured to determine a speed limit of the train according to the calculated radius of curvature.

Description

Apparatus and Method for Calculating Radius of Curvature of Rail Road}

The present invention relates to the speed control of a train, and more particularly to the calculation of the radius of curvature of a train route for controlling the speed of a train.

As a representative means of public transportation, trains are a very useful means of transportation to the destination quickly and accurately without any traffic delay or congestion.

In particular, due to the emergence of high-speed trains, the use of the trains has become more frequent, and in recent years, various types of new trains, such as AGT (Automatic Guided Transit), have been studied and introduced. have.

In these trains, the on-board signaling device that operates the train using the Automatic Train Protection (ATP) function or the Automatic Train Operation (ATO) function is transmitted from the ground signal device installed on the ground. The speed pattern of the train is generated in consideration of the permissive movement area and the speed limit, and the train is operated using the speed pattern.

In this case, the movement authority of the train means a moving distance in which the corresponding train can move to the maximum in consideration of the position of the preceding train. That is, when considering the position of the preceding train means the distance to the stop point that the train must stop.

However, in the conventional case, the speed limit of the train is calculated without considering the radius of curvature of the train route on which the train is running, and the speed pattern of the train is created according to the speed limit, so the train stops exactly at the target stop position. There is a problem that may not be, and this may cause a safety accident.

Therefore, in order to reflect the radius of curvature of the train line when creating the speed pattern of the train, a technique for calculating the radius of curvature of the train line is required. In particular, the radius of curvature of the train line may cause an error depending on the length of the train. Therefore, a technique is needed to calculate the radius of curvature of a train route in consideration of the length of the train.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an apparatus and a method for calculating a radius of curvature of a train route to be used for a velocity pattern of a train.

Another object of the present invention is to provide an apparatus and a method for calculating a radius of curvature of a train route in consideration of the length of a train.

Device for calculating the radius of curvature of a train route according to an aspect of the present invention for achieving the above object, the current position of the train based on the position value of the ground detected by the train and the moving distance of the train after the ground is detected. A current position calculating unit for calculating; A stop position determiner configured to determine a stop position of the train based on a movement authority of the train and a current position of the train; A radius of curvature calculating unit configured to determine a radius of curvature of the radiuses of curvature for each section included between the current position and the stop position as the radius of curvature between the current position and the stop position; And a speed limit determining unit configured to determine a speed limit of the train according to the calculated radius of curvature.

In another aspect of the present invention for achieving the above object, the radius of curvature of a train route, the current position of the train by adding the position value of the ground detected by the vehicle mounted on the train and the moving distance of the train Calculating; Determining a stop position of the train by adding a safety buffer value preset for the train and a movement authority of the train to the current position; Calculating a radius of curvature of at least one of a front radius of curvature and a rear radius of curvature for each section included between the current position and the stop position: and the radius of curvature of the train according to the largest radius of curvature of the respective sections. Determining the speed limit.

According to the present invention, since the speed limit of the train is determined on the basis of the maximum radius of curvature of each section included between the current position of the train and the stop position of the train on the train line, the train can be operated more safely. There is.

In addition, the present invention calculates the radius of curvature of the train line by using the front average radius of curvature and the rear average radius of curvature based on the length of the train, and determines the speed limit of the train based on the calculated radius of curvature. This has the effect of improving accuracy and safety.

1 is a block diagram schematically showing the configuration of a device for calculating the radius of curvature of a train route according to an embodiment of the present invention.
FIG. 2 is a block diagram schematically illustrating a configuration of a radius of curvature calculating unit illustrated in FIG. 1.
3 shows an example of calculating the front average radius of curvature and the rear average radius of curvature.
4 is a view showing a table in which the speed limit is matched for each class to which each radius of curvature belongs.
FIG. 5 is a diagram schematically illustrating a configuration of a train driving system to which a ground signal device including the radius of curvature calculation device illustrated in FIG. 1 is applied.
6 is a graph showing a speed pattern of a train according to a speed limit.
7 is a flowchart illustrating a method of calculating a radius of curvature of a train line according to an embodiment of the present invention.
8 is a flowchart specifically showing a method of calculating a radius of curvature illustrated in FIG. 7.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a schematic configuration of an apparatus for calculating a radius of curvature of a train line according to an embodiment of the present invention.

As shown in FIG. 1, the apparatus for calculating a radius of curvature of a train line 100 according to an embodiment of the present invention calculates a radius of curvature of a line of a train while a train is running. The radius of curvature calculating device 100 may be included in a ground signal device that transmits various information for driving control of a train to a vehicle signal device (not shown) mounted on a train for driving a train.

According to an embodiment, the ground signaling device may transmit information such as curvature information of a line, a permissive movement area of a train, a speed limit of a train, and the like to the onboard signal device.

As shown in FIG. 1, the curvature radius calculating device 100 of the train line includes a current position calculating unit 110, a stop position determining unit 120, and a curvature radius calculating unit 130. And a speed limit determining unit 140.

First, the current position calculator 110 calculates a current position of a train by using information transmitted from a vehicle onboard signal device (not shown) mounted on a train (for example, identification information of a ground person, a moving distance of a train, etc.). .

In one embodiment, the current position calculation unit 110, the current information of the train using the identification information of the ground detected by the vehicle box (not shown) mounted on the train and the moving distance of the train after the ground is detected The position can be calculated. That is, the current position calculation unit 110 checks the position value where the ground person is installed using the identification information of the ground person, and calculates the current position of the train by summing the position value where the ground person is installed and the moving distance value of the train. Calculate.

In this way, since the current position calculation unit 110 calculates the current position of the train by using the identification information of the ground person detected by the vehicle box, the current position of the train may be a reference to the position where the vehicle box is mounted on the train. have.

Next, the stop position determiner 120 determines the stop position at which the train should stop in consideration of the position of the preceding train, calculates a movement right indicating the distance from the current position of the train to the stop position of the train, and will be described later. Through the speed limit determining unit 140 to be provided to the onboard signal device mounted on the train. The onboard signal device controls the speed of the train by using the movement right. At this time, the stop position of the train is a reference to the position of the car box mounted on the train.

In an embodiment, the stop position determiner 120 may newly calculate a stop position of the train according to a predetermined time interval, event information generated from the outside, or a predetermined driving schedule of the train.

As such, the reason why the stop position determiner 120 according to the present invention recalculates the stop position of the train whenever a predetermined time interval or event information is received from the outside is caused by an accident on the track or by a distance with a preceding train. This is because the train needs to determine where the train can move as much as possible.

In one embodiment, the stop position determiner 120 may set the tail portion of the preceding train preceding the train to the stop position.

In another embodiment, the stop position determiner 120 may determine the stop position by summing the safety buffer value preset for the train and the movement authority of the train to the current position value of the train.

At this time, the safety buffer value for the train can be calculated by summing the error value of the taco generator mounted on the train and the response range value of the grounder detected by the train.

Here, the error value of the taco generator may be at least one of a calculation error value of the taco generator generated when the train travels a predetermined distance (for example, 1000m) and a position resolution value predetermined by the hardware accuracy reference of the taco generator. The ground motion range may be defined as the distance from the center of the ground to the tip and twice the sum of the RFID recognizable area beyond the ground.

In addition, the movement authority of the train is calculated by subtracting the safety buffer value for the train, the safety buffer value for the preceding train, and the predetermined safety distance value from the distance between the train and the preceding train preceding the train. can do.

Next, the radius of curvature calculating unit 130 calculates the radius of curvature of the train line in the section between the current position of the train and the stop position of the train.

In one embodiment, the curvature radius calculation unit 130, the curvature radius of the curvature radii for each section existing between the current position and the stop position of the train to the interval between the current position of the train and the stop position of the train It can be calculated from the radius of curvature at.

Specifically, the radius of curvature calculating unit 130 calculates the front average curvature radius and the rear average curvature radius of the train from the current position of the train to the stop position, and among the calculated front average curvature radius and rear average curvature radius of the train. Using either one to calculate the radius of curvature of the train line in the section between the current position and the stop position of the train.

In this embodiment, the curvature radius calculation unit 130 calculates the radius of curvature of the train line in consideration of both the front and rear average radius of curvature of the train is the radius of curvature of the train line according to the length of the train If the radius of curvature of the train line is different, the speed limit of the train determined based on the radius of curvature of the train may be different.

The curvature radius calculator 130 according to this embodiment will be described in more detail with reference to FIG. 2.

2 is a block diagram schematically illustrating a configuration of a radius of curvature calculating unit according to a second exemplary embodiment of the present invention.

As shown in FIG. 2, the curvature radius calculator 130 according to the second embodiment of the present invention may include a front average curvature radius calculator 200, a rear average curvature radius calculator 210, and a determination unit ( 220).

The forward average curvature radius calculating unit 200 calculates a forward average curvature radius, which is an average curvature radius of a section between the front end of the train at the current position and the front end of the train at the stop position.

In one embodiment, the forward average curvature radius calculation unit 200, the distance between the first point where the front end of the train at the current position and the second point where the front end of the train at the stop position of the train and at the first point A forward average curvature radius may be calculated using the change in curvature radius of the train line up to the second point.

In detail, the front mean radius of curvature calculating unit 200 calculates the forward mean radius of curvature of the train by dividing the change in the radius of curvature of the train line from the first point to the second point by the distance between the first point and the second point. can do.

To this end, the front average radius of curvature calculation unit 200 first obtains the value of the first point where the train front end is located at the current position and the value of the second point at which the train front end is located at the stop position.

In one embodiment, the front average radius of curvature calculation unit 200, the position value of the ground detected by the vehicle mounted on the train, the moving distance of the train after the ground is detected, and the front end of the train from the vehicle By summing all distance values up to, it is possible to obtain a value of a first point at which a train front end is located at a current position.

At this time, the front average radius of curvature calculation unit 200 in order to more safely control the train in obtaining the value of the first point, the distance from the car box to the front end of the train is a predetermined safety distance value from the actual value It can be determined by the added value.

Meanwhile, the front average curvature radius calculator 200 adds the stop position value determined by the stop position determiner 120 and the distance value from the vehicle box to the front end of the train, where the second point at which the front end of the train is to be positioned at the stop position. Can be obtained.

Next, the forward average curvature radius calculation unit 200, the distance between the first and second points and the curvature of the train line from the first point to the second point using the obtained values of the first and second points of the train Calculate the radius change amount. At this time, the curvature radius for each section from the first point to the second point can be obtained from a table in which the curvature radius of each section included in the entire line is recorded.

In one embodiment, the forward average curvature radius calculation unit 200, at the first point by summing up the product of the curvature radius for each section existing between the first point and the second point and the distance the respective curvature radius is maintained The amount of change in the radius of curvature of the train line up to the second point can be calculated.

An example in which the front mean radius of curvature calculating unit 200 calculates the front mean radius of curvature of the train will be described in detail with reference to FIG. 3.

3 is an example showing a method of calculating the front and rear average radius of curvature of the train when the length of the train is 80m. In FIG. 3, for convenience of description, it is assumed that the value of the first point is a value obtained by adding a predetermined safety distance value.

Referring to FIG. 3, the front average curvature radius calculator 200 may first calculate S1, which is a distance from a first point of a train to a second point, as shown in Equation 1 below.

Next, the front average curvature radius calculation unit 200, the first b section of the section from the first point to the second point is maintained at the radius of curvature R1, and then in the c section is maintained at the radius of curvature R2, The section d maintains the radius of curvature at R3, the sections e and f then maintain the radius of curvature at R4, and the section g then maintains the radius of curvature at R5, so that the radius of curvature from the first point to the second point is The change amount A1 may be calculated as in Equation 2 below.

Next, the forward average curvature radius calculation unit 200 may calculate a forward average curvature radius that is the average radius of curvature from the first point to the second point using Equation 3 below.

In one embodiment, the rear average radius of curvature calculation unit 210, the distance between the third point where the rear end of the train at the current position and the fourth point where the rear end of the train at the stop position of the train and at the third point The rear average radius of curvature may be calculated using the amount of change in the radius of curvature of the route to the fourth point.

In detail, the rear average radius of curvature calculating unit 210 may calculate the rear average radius of curvature of the train by dividing the change in the radius of curvature of the route from the third point to the fourth point by the distance between the third point and the fourth point. have.

To this end, the rear average radius of curvature calculation unit 210 first obtains the value of the third point where the rear end of the train is located at the current position and the value of the fourth point at which the rear end of the train is to be positioned at the stop position.

In one embodiment, the rear average radius of curvature calculation unit 210, the vehicle box from the sum of the position value of the ground detected by the vehicle mounted on the train and the distance value of the train after the ground is detected By subtracting the distance value from the train to the rear end of the train it is possible to obtain the value of the third point where the rear end of the train at the current position.

At this time, the rear average radius of curvature calculation unit 210 in order to more safely control the train in obtaining the value of the third point, the distance from the car box to the rear end of the train is a predetermined safety distance value from the actual value It can be determined by the added value.

Meanwhile, the rear average curvature radius calculator 210 subtracts the distance value from the vehicle box to the rear end of the train from the stop position value determined by the stop position determiner 120, so that the rear end of the train at the stop position is located. Can be obtained.

Next, the rear average radius of curvature calculation unit 210, using the obtained values of the third and fourth points of the train, the distance between the third and fourth points and the curvature of the train line from the third point to the fourth point Calculate the amount of change in the radius. In this case, the curvature radius of each section from the third point to the fourth point may be obtained from a table in which the curvature radius of each section included in the entire line is recorded.

In an exemplary embodiment, the rear average radius of curvature calculation unit 210 may add up a product of a radius of curvature for each section existing between a third point and a fourth point and a distance at which the respective radius of curvature is maintained at the third point. The amount of change in the radius of curvature of the train line up to the fourth point can be calculated.

An example in which the rear average radius of curvature calculating unit 210 calculates the rear average radius of curvature of the train will be described in detail with reference to FIG. 3. In FIG. 3, for convenience of description, the value of the third point is assumed to be a value obtained by subtracting a predetermined safety distance value.

Referring to FIG. 3, the rear average radius of curvature calculating unit 210 may first calculate S2, which is a distance from a third point to a fourth point of the train, as shown in Equation 4 below.

Next, the rear average radius of curvature calculation unit 210, the first a and b section of the section from the third point to the fourth point is maintained at the radius of curvature R1, the C section is then maintained at the radius of curvature R2, Since the section d is maintained at the radius of curvature R3, and the interval e is then maintained at the radius of curvature R4, the change amount A2 of the radius of curvature of the route from the third point to the fourth point can be calculated as shown in Equation 5 below. .

Next, the rear average radius of curvature calculation unit 210 may calculate the rear average radius of curvature, which is the average radius of curvature from the third point to the fourth point, using Equation 6 below.

Referring back to FIG. 2, the determination unit 220 includes a front mean radius of curvature calculated by the front mean radius of curvature calculation unit 200 and a rear mean radius of curvature calculated by the rear mean radius of curvature calculation unit 210. The larger radius of curvature is determined by the radius of curvature of the train line.

For example, in FIG. 3, section a is 90m, section b is 10m, section c is 60m, section d is 200m, section e is 30m, section f is 40m, section g is 40m, and R1 is 930, R2 and R4. Is 0, R3 is 650, and R5 is 200, the front average radius of curvature calculated by the front average radius of curvature 200 is 388 by Equation 3, the rear average radius of curvature calculation 210 Since the rear average radius of curvature calculated by Equation 6 is 581, the determination unit 220 determines the rear average radius of curvature of the front average radius of curvature and the rear average radius of curvature as the radius of curvature of the train line.

Next, the speed limit determining unit 140 determines the speed limit of the train in the section between the current position and the stop position of the train in consideration of the radius of curvature of the train line.

Specifically, the speed limit determiner 140 determines the maximum speed that is set in advance when the radius of curvature is smaller than the threshold in the section between the current position of the train and the stop position.

However, when the curvature is greater than or equal to the threshold in the section between the current position and the stop position of the train, the curvature radius calculation unit 130 is calculated by the curvature radius calculation unit 130 on the speed limit table 150 where the speed limits are matched for each class of the radius of curvature of the line. The speed limit where the radius of curvature matches the class is determined as the speed limit of the train.

For example, as shown in FIG. 4, the speed limit table 150 is classified as a first class line when the radius of curvature is 600 or more, and the speed limit at that time is 20 km / h, and is classified as a second class line when the radius of curvature is 400 or more. The speed limit of is 30km / h, and if the radius of curvature is more than 300, it is classified as class 3 ship. At that time, the speed limit is 50km / h. If the radius of curvature is more than 250, it is classified as class 4 ship, and the speed limit is 60km / h. Assume that it is defined.

In the example as shown in FIG. 3, the radius of curvature calculated by the radius of curvature calculation unit 130 is 581, and curvature exists in a corresponding section, and the radius of curvature is classified as a second class line on the table. Since the speed limit is 30km / h, the speed limit determining unit 140 determines the speed limit of the train to 30km / h.

Subsequently, the speed limit determining unit 140 passes through the ground signal 510 connected to the ground signal device 500 wirelessly or wired to the ground signal device 500 and the vehicle signal signal 520, as shown in FIG. 5. To the on-board signal device 540 mounted on the train 530, and the on-board signal device 540 creates a speed pattern in a section from the current position to the stop position for the right to move and the speed limit of the train. .

In this case, the speed limit determining unit 140 may transmit the movement authority of the train together with the speed limit of the train.

In this case, in the case of the speed pattern generated by the on-vehicle signal device 540, as shown in FIG. 6, the larger the radius of curvature of the train line, the lower the speed limit, the speed pattern A at that time is the radius of curvature of the train line. It forms so that it may become a gentle form compared with the speed pattern B in this small case.

Hereinafter, a method of calculating a radius of curvature of a train line according to the present invention will be described with reference to FIGS. 7 and 8.

7 is a flowchart illustrating a method of calculating a radius of curvature of a train line according to an embodiment of the present invention.

As shown in FIG. 7, first, a first position and a second position of a train are determined (S700).

In one embodiment, the first location may be the current location of the train and the second location may be the stop location of the train. At this time, the current position of the train can be calculated using the identification information of the ground detected by the car box mounted on the train and the moving distance of the train after the ground is detected.

Specifically, the current position of the train may be calculated by summing the position value of the ground detected by the vehicle box and the moving distance value of the train after the ground has been detected.

In addition, the stop position of the train may be updated every predetermined time interval, or may be updated whenever event information is received from the outside.

In one embodiment, the stop position may be set to the tail of the preceding train preceding the train.

In another exemplary embodiment, the stop position may be determined as a value obtained by adding a safety buffer value preset for the train and a movement authority of the train to the current position value of the train.

At this time, the safety buffer value for the train can be calculated by summing the error value of the taco generator mounted on the train and the response range value of the grounder detected by the train.

Next, the largest radius of curvature of the radius of curvature of each section included between the first position and the second position is determined as the radius of curvature of the train line between the first position and the second position (S710).

Hereinafter, a method of calculating the radius of curvature of the train line between the first and second positions will be described with reference to FIG. 8.

First, the distance S1 from the first position of the train at the first position of the train to the second position at which the front end of the train is located, the third point at which the rear end of the train is located at the first position, The distance S2 from the second position to the fourth point at which the rear end of the train is to be located is calculated (S800).

In one embodiment, the value of the first point is summed up by summing up the ground value detected by the vehicle box, the travel distance value of the train after the ground is detected, and the distance value from the vehicle box to the front end of the train. Can be calculated.

Further, the value of the third point may be calculated by subtracting the distance value from the car box to the rear end of the train from the sum of the position value of the grounder detected by the vehicle box and the moving distance value of the train after the grounder is detected. Can be.

In this case, the distance value from the car box to the front end of the train and the distance value from the car box to the rear end of the train may be a value obtained by adding a predetermined safety distance from an actual value for safety.

On the other hand, the value of the second point can be calculated by summing the distance value from the car box to the front end of the train at the second position value determined in S700, the value of the fourth point the car box at the second position value determined in S700 It can calculate by subtracting the distance value to the rear end of a train.

Next, the amount of change A1 of the radius of curvature of the train line from the first point to the second point and the amount of change of radius of curvature A2 of the train line from the third point to the fourth point are calculated (S810).

At this time, the radius of curvature change A1 of the train line from the first point to the second point sums up the product of the radius of curvature for each section existing between the first point and the second point and the distance at which the respective radius of curvature is maintained. The curvature radius change amount A2 of the train line from the third point to the fourth point may be calculated by a distance between the curvature radius of each section existing between the third point and the fourth point and the distance at which the respective radius of curvature is maintained. It can be calculated by summing all the products of.

Next, a forward average curvature radius is calculated using the distance S1 from the first point to the second point and the amount of change in the radius of curvature A1 of the train line from the first point to the second point, A rear average curvature radius is calculated using the distance S2 to four points and the amount A2 of curvature radius change of the train line from the third point to the fourth point (S820).

In this case, the front average radius of curvature may be calculated by dividing the change in radius of curvature A1 of the train line from the first point to the second point by the distance S1 from the first point to the second point, and the rear average radius of curvature. Can be calculated by dividing the curvature radius change A2 of the train line from the third point to the fourth point by the distance S2 from the third point to the fourth point.

Next, by comparing the front average radius of curvature and the rear average radius of curvature, a larger radius of curvature is determined as the radius of curvature of the train line (S830).

In the above-described embodiment, the radius of curvature of the train line is determined as the radius of curvature of the front average radius of curvature and the rear mean radius of curvature. The value may be determined by the radius of curvature of the train line.

Referring back to FIG. 7, the speed limit between the first position and the second position is determined according to the radius of curvature determined in S710 (S720).

In one embodiment, when the radius of curvature determined in S710 is smaller than the threshold, for example, if there is no curvature, the predetermined maximum speed is determined as the speed limit. If the radius of curvature is greater than or equal to the threshold, that is, the curvature is present, the train corresponding to the speed limit in which the radius of curvature calculated in S710 matches the corresponding class on the speed limit table in which the speed limit is matched according to the radius of curvature of the line is matched. Determined by the speed limit.

Next, the speed limit of the train determined in S720 is transmitted to the onboard signal device mounted on the train (S730). At this time, the movement authority of the train may be transmitted together.

Then, the onboard signal device creates a speed pattern between the first position and the second position using the movement authority and the speed limit of the train.

Those skilled in the art to which the present invention pertains will understand that the above-described present invention can be implemented in other specific forms without changing the technical spirit or essential features.

Therefore, it is to be understood that the embodiments described above are exemplary in all respects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: curvature radius calculation device 110: current position calculation unit
120: stop position determining unit 130: curvature radius calculation unit
140: speed limit determining unit 150: speed limit table
200: forward average curvature radius calculation unit 210: rear average curvature radius calculation unit
220:

Claims (14)

delete A current position calculator for calculating a current position of a train based on a position value of a ground person detected in a train and a moving distance of the train after the ground person is detected;
A stop position determiner configured to determine a stop position of the train based on a movement authority of the train and a current position of the train;
A radius of curvature calculating unit configured to determine a radius of curvature of the radiuses of curvature for each section included between the current position and the stop position as the radius of curvature between the current position and the stop position; And
A speed limit determining unit configured to determine a speed limit of the train according to the calculated radius of curvature,
The radius of curvature calculating unit may include a front radius of curvature between a first point at which the front end of the train is located at the current position and a second point at which the front end of the train is located at the determined stop position and a third rear end of the train at the current position. And a radius of curvature between the current position and the stop position is calculated using at least one of a rearward radius of curvature between the point and the fourth point at which the rear end of the train is located at the stop position. The method of claim 2, wherein the radius of curvature calculating unit,
A front curvature radius calculating unit configured to calculate the front curvature radius by dividing a change in curvature radius of a train route from the first point to a second point by the distance between the first point and the second point;
A rear radius of curvature calculating unit configured to calculate the rear average radius of curvature by dividing a change in radius of curvature of the train line from the third point to a fourth point by the distance between the third point and the fourth point; And
And a determining unit configured to determine any one of the front curvature radius and the rear curvature radius as the radius of curvature of the train line. The method of claim 3,
The front curvature radiator may be configured to add up a product of each radius of curvature and a distance at which each radius of curvature is maintained for each radius of curvature existing between the first point and the second point to the first point to the second point. Calculate the radius of curvature of the train line,
The rear radius of curvature calculating unit may add up a product of each radius of curvature and a distance at which each radius of curvature is maintained for each radius of curvature existing between the third point and the fourth point, and thus the third point to the fourth point. A radius of curvature calculating device for a train line, characterized in that the amount of change in the radius of curvature of the train line is calculated. The method of claim 2,
The first point is determined by summing the position value of the ground person, the moving distance of the train, the distance from the car box to the front end of the train, and a predetermined safety distance, and the second point is located at the stop position. Is determined by summing the distance from the car box to the front end of the train,
The third point is determined by subtracting a distance from the car box to the rear end of the train and a predetermined safety distance from the sum of the position value of the ground person and the moving distance of the train, and the fourth point is the stop. The radius of curvature of the train line, characterized in that determined by subtracting the distance from the car box to the rear end of the train at the position. A current position calculator for calculating a current position of a train based on a position value of a ground person detected in a train and a moving distance of the train after the ground person is detected;
A stop position determiner configured to determine a stop position of the train based on a movement authority of the train and a current position of the train;
A radius of curvature calculating unit configured to determine a radius of curvature of the radiuses of curvature for each section included between the current position and the stop position as the radius of curvature between the current position and the stop position; And
A speed limit determining unit configured to determine a speed limit of the train according to the calculated radius of curvature,
And the stop position determiner updates the stop position at predetermined time intervals or whenever an event is generated from the outside. A current position calculator for calculating a current position of a train based on a position value of a ground person detected in a train and a moving distance of the train after the ground person is detected;
A stop position determiner configured to determine a stop position of the train based on a movement authority of the train and a current position of the train;
A radius of curvature calculating unit configured to determine a radius of curvature of the radiuses of curvature for each section included between the current position and the stop position as the radius of curvature between the current position and the stop position; And
A speed limit determining unit configured to determine a speed limit of the train according to the calculated radius of curvature,
The current position calculator, the radius of curvature of the train line, characterized in that for calculating the current position of the train by summing the position value of the ground and the moving distance of the train after the ground is detected. A current position calculator for calculating a current position of a train based on a position value of a ground person detected in a train and a moving distance of the train after the ground person is detected;
A stop position determiner configured to determine a stop position of the train based on a movement authority of the train and a current position of the train;
A radius of curvature calculating unit configured to determine a radius of curvature of the radiuses of curvature for each section included between the current position and the stop position as the radius of curvature between the current position and the stop position; And
A speed limit determining unit configured to determine a speed limit of the train according to the calculated radius of curvature,
And the stop position determining unit determines a stop position of the train by adding a safety buffer value preset for the train and a movement authority of the train to the current position. A current position calculator for calculating a current position of a train based on a position value of a ground person detected in a train and a moving distance of the train after the ground person is detected;
A stop position determiner configured to determine a stop position of the train based on a movement authority of the train and a current position of the train;
A radius of curvature calculating unit configured to determine a radius of curvature of the radiuses of curvature for each section included between the current position and the stop position as the radius of curvature between the current position and the stop position; And
A speed limit determining unit configured to determine a speed limit of the train according to the calculated radius of curvature,
The speed limit determining unit,
When the radius of curvature calculated by the radius of curvature calculating unit is greater than or equal to a threshold value, the speed limit matching the class to which the calculated radius of curvature belongs is determined as the speed limit of the train on a table where the speed limit is matched for each curvature radius class. and,
The radius of curvature of the train line, characterized in that for determining the predetermined maximum speed as the speed limit of the train, if the radius of curvature calculated by the radius of curvature calculating unit is smaller than the threshold. delete Calculating a current position of the train by summing a position value of the ground person detected by a vehicle mounted on a train and a moving distance of the train;
Determining a stop position of the train by adding a safety buffer value preset for the train and a movement authority of the train to the current position;
Calculating a radius of curvature of at least one of a front curvature radius and a rear curvature radius for each section included between the current position and the stop position: And
Determining the speed limit of the train according to the largest radius of curvature of the radius of curvature for each section,
In the step of calculating the radius of curvature,
The forward radius of curvature is a forward mean radius of curvature from a current position of the train to a first point at which the front end of the train is located and from a stop position of the train to a second point at which the train front end is to be located, the first point and the second And calculating the radius of curvature of the train line by dividing the distance between points by the amount of change in the radius of curvature of the train line from the first point to the second point. The method of claim 11,
The curvature radius change amount of the train line from the first point to the second point sums the product of each radius of curvature and the distance at which each radius of curvature is maintained for each curvature radius existing between the first point and the second point. Method for calculating the radius of curvature of a train route, characterized in that the calculation. Calculating a current position of the train by summing a position value of the ground person detected by a vehicle mounted on a train and a moving distance of the train;
Determining a stop position of the train by adding a safety buffer value preset for the train and a movement authority of the train to the current position;
Calculating a radius of curvature of at least one of a front curvature radius and a rear curvature radius for each section included between the current position and the stop position: And
Determining the speed limit of the train according to the largest radius of curvature of the radius of curvature for each section,
In the step of calculating the radius of curvature,
The rearward radius of curvature is a rear mean radius of curvature from the current position to a third point at which the rear end of the train is located and a fourth point from the stop position to the rear end of the train, the distance between the third point and the fourth point. The radius of curvature of the train route is calculated by dividing by the amount of change in the radius of curvature of the train route from the third point to the fourth point. The method of claim 13,
The curvature radius change amount of the train line from the third point to the fourth point sums the product of each radius of curvature and the distance at which each radius of curvature is maintained for each curvature radius existing between the third point and the fourth point. Method for calculating the radius of curvature of a train route, characterized in that the calculation.

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