KR102039565B1 - Train control system - Google Patents

Train control system Download PDF

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Publication number
KR102039565B1
KR102039565B1 KR1020167006077A KR20167006077A KR102039565B1 KR 102039565 B1 KR102039565 B1 KR 102039565B1 KR 1020167006077 A KR1020167006077 A KR 1020167006077A KR 20167006077 A KR20167006077 A KR 20167006077A KR 102039565 B1 KR102039565 B1 KR 102039565B1
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South Korea
Prior art keywords
modulated wave
amplitude modulated
train control
phase
waveform
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KR1020167006077A
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Korean (ko)
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KR20160042956A (en
Inventor
아키오 이와가미
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닛뽄신고가부시기가이샤
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    • 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
    • B60L15/40—Adaptation of control equipment on vehicle for remote actuation from a stationary place
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
    • B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
    • B61L23/16—Track circuits specially adapted for section blocking
    • B61L23/168—Track circuits specially adapted for section blocking using coded current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L3/00—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
    • B61L3/16—Continuous control along the route
    • B61L3/22—Continuous control along the route using magnetic or electrostatic induction; using electromagnetic radiation
    • B61L3/221—Continuous control along the route using magnetic or electrostatic induction; using electromagnetic radiation using track circuits
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L27/00—Modulated-carrier systems
    • H04L27/02—Amplitude-modulated carrier systems, e.g. using on-off keying; Single sideband or vestigial sideband modulation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L27/00—Modulated-carrier systems
    • H04L27/18—Phase-modulated carrier systems, i.e. using phase-shift keying
    • H04L27/22—Demodulator circuits; Receiver circuits
    • H04L27/233—Demodulator circuits; Receiver circuits using non-coherent demodulation
    • H04L27/2331—Demodulator circuits; Receiver circuits using non-coherent demodulation wherein the received signal is demodulated using one or more delayed versions of itself
    • 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
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Digital Transmission Methods That Use Modulated Carrier Waves (AREA)

Abstract

Provided is a train control system capable of correctly detecting the phase difference of an amplitude modulated wave without increasing the sampling frequency. The train control system includes a ground apparatus 1 for transmitting a predetermined train control signal, and a vehicle apparatus 3 for receiving a train control signal transmitted from the ground apparatus 1 and controlling the train 2. . Moreover, the ground apparatus 1 phase-modulates the amplitude modulation wave which comprises the said train control signal by predetermined time interval, and transmits it to the onboard apparatus 3.

Description

Train Control System {TRAIN CONTROL SYSTEM}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a train control system, and more particularly, to a train control system that makes it possible to correctly detect a phase difference of an amplitude modulated wave without increasing a sampling frequency.

Conventionally, a train control system related to ATC (Automatic Train Control) is composed of a ground apparatus installed on the ground side and a vehicle-mounted apparatus mounted on the train side, and transmits and transmits a predetermined train control signal from the ground apparatus toward the train. The train control signal is received by the on-vehicle device and configured to perform predetermined train control such as speed control.

Recently, an ATC system called e-ATC has been developed in which phase modulation is applied to an analog ATC signal (amplitude modulated wave) to increase the amount of information while maintaining compatibility with a conventional ATC signal. In this e-ATC, since the phase difference between each signal portion of the amplitude modulated wave is sent as information, it is necessary to correctly discriminate the signal portion and the no signal portion when demodulating the phase difference of the signal in the ATC receiving portion.

Patent Document 1 discloses a technique for suppressing an undesired signal in a received signal. This technique does not discriminate between the signal part and the no-signal part, but corrects the undesired signal included in the signal in the frequency domain by using the measured amplitude variation or phase error, and includes the corrected undesired signal in the received signal. The undesired signal to be suppressed is suppressed and the received signal whose undesired signal is suppressed is amplified.

Patent Document 1: Japanese Unexamined Patent Publication No. 2011-205411

However, in the e-ATC, in order to increase the accuracy of the phase detection result, the sampling frequency must be increased, and when the sampling frequency is decreased, the error of phase detection of the amplitude modulated wave becomes large. Therefore, only by applying the technique of suppressing the above-mentioned undesired signal, there is a possibility that the phase difference of the amplitude modulated wave in the e-ATC cannot be detected correctly, especially when the sampling frequency is low. .

This invention is made | formed in view of the above, Comprising: It aims at providing the train control system which can detect the phase difference of an amplitude modulation wave correctly, without raising a sampling frequency.

In order to achieve the above object, a train control system according to the invention of claim 1 includes a ground apparatus and a vehicle control apparatus for receiving a train control signal transmitted from the ground apparatus, wherein the ground apparatus constitutes the train control signal. The amplitude modulated wave is phase-modulated at a phase modulation timing of an interval shorter than an interval of a signal portion of the amplitude modulated wave irrespective of the modulation frequency, and transmitted to the onboard apparatus.
The invention according to claim 2 is characterized in that the on-vehicle device obtains a phase change amount of the amplitude modulated wave by a signal delaying the amplitude modulated wave and the amplitude modulated wave from the ground apparatus.

The invention according to claim 3 is a delay circuit for delaying an amplitude modulated wave sent by phase modulation from the terrestrial device by a predetermined phase, the phase difference device sent by phase modulation from the terrestrial device, and the delay circuit according to claim 2. And a multiplication circuit for multiplying the delayed signal to obtain a phase change amount of the amplitude modulated wave.

The invention according to claim 4, wherein the on-vehicle device further includes a filter circuit for obtaining a phase change amount of the amplitude modulated wave by removing a modulated wave frequency component from a waveform by the multiplication circuit and extracting a direct current component. It features.

The invention according to claim 5 is the waveform according to claim 3 or 4, wherein the on-vehicle device further includes another delay circuit for delaying an amplitude modulated wave sent by phase modulation from the terrestrial device by one sample. And the amount of phase change of the amplitude modulated wave based on the waveform by the other delay circuit.

The invention according to claim 6, wherein the in-vehicle device generates a waveform obtained by Hilbert transforming and delaying an amplitude modulated wave sent by phase modulation from the terrestrial device, and the waveform of the original amplitude modulated wave and the delay. The amount of phase change of the amplitude modulated wave is obtained based on the waveform.

According to the invention according to claim 1, the ground apparatus modulates an amplitude modulated wave constituting a train control signal at a phase modulation timing of an interval shorter than an interval of a signal portion of the amplitude modulated wave, regardless of the modulation frequency, and transmits it to the next-order apparatus. The on-vehicle device can accurately detect the phase difference of the amplitude modulated wave without increasing the sampling frequency of the amplitude modulated wave, and can obtain train control information based on the phase difference of the amplitude modulated wave.

According to the invention of claim 3, there is provided a delay circuit for delaying an amplitude modulated wave sent by phase modulation from the terrestrial device by a predetermined phase to the in-vehicle device, an amplitude modulated wave sent by phase modulation from the ground device, and the delay circuit. Since a multiplication circuit for multiplying the delayed signal to obtain the phase change amount of the amplitude modulated wave is provided, the multiplier circuit multiplies the amplitude modulated wave delayed by the delay modulated wave so that the phase change amount of the amplitude modulated wave ( A waveform having a DC component corresponding to the phase difference) can be obtained, and the amount of phase change (phase difference) of the amplitude modulated wave can be determined from the obtained waveform. For this reason, the phase difference of an amplitude modulation wave can be detected correctly, without raising the sampling frequency of an amplitude modulation wave, and train control information can be obtained based on the phase difference of this amplitude modulation wave.

According to the invention according to claim 4, the on-vehicle device has a filter circuit that removes a modulated wave frequency component from an output waveform of the multiplication circuit and extracts a direct current component. The amplitude is based on the direct current component extracted by the filter circuit. Find the amount of phase change (phase difference) of the modulated wave. For this reason, the phase difference of an amplitude modulation wave can be detected correctly, without raising the sampling frequency of an amplitude modulation wave, and train control information can be obtained based on the phase difference of this amplitude modulation wave.

According to the invention of claim 5, the on-vehicle apparatus further includes another delay circuit for delaying the amplitude modulated wave sent by the phase modulation from the terrestrial apparatus by one sample, and the waveform by the delay circuit and the waveform by the other delay circuit. Based on this, the amount of phase change of the amplitude modulated wave is calculated. For this reason, two kinds of phase components of the waveform by the delay circuit and the waveform by the other delay circuit can be extracted, and the cos component and the sin component of the phase change amount are obtained from these values, and the inverse tan function is used. It is possible to obtain the amount of phase change (phase difference) of the amplitude modulated wave.

According to the invention of claim 6, the in-vehicle device generates a waveform by delaying the phase by Hilbert transforming the amplitude modulated wave sent by the phase modulation from the terrestrial device, and converting the waveform to the waveform of the original amplitude modulated wave and the delayed waveform. On the basis of this, the amount of phase change of the amplitude modulated wave is obtained. By using the Hilbert transform process, a signal obtained by delaying the phase of the input signal by? / 2 can be generated. For this reason, it is possible to determine the phase change amount (phase difference) of the amplitude modulated wave by using the amplitude modulated wave as the cos component and the signal generated by the Hilbert transform process as the sin component, and using the inverse tan function.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram which shows embodiment of the train control system which concerns on this invention.
It is a schematic block diagram which shows the phase detection process part of the onboard apparatus in embodiment of the train control system which concerns on this invention.
3 is an explanatory diagram showing an example of an amplitude modulated wave in an embodiment of a train control system according to the present invention.
4 is an explanatory diagram showing an example of an amplitude modulated wave and a delayed amplitude modulated wave in an embodiment of a train control system according to the present invention.
5 is an explanatory diagram showing an example of a result of multiplication by a multiplication circuit in an embodiment of a train control system according to the present invention.
It is explanatory drawing which shows the example of the result processed by the low pass filter in embodiment of the train control system which concerns on this invention.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described with reference to drawings.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram which shows embodiment of the train control system which concerns on this invention. In FIG. 1, the train control system of this embodiment includes the ground apparatus 1 installed in the ground side, and the vehicle-mounted apparatus 3 mounted in the train 2. As shown in FIG. Moreover, the ground apparatus 1 of the track circuit T which retrains the train control signal corresponding to train control information, such as allowable speed information of the train 2, to the right direction in a figure, is re-wired. In the drawing of a rail, when it transmits from the right end side and the onboard device 3 receives this transmitted train control signal, it extracts train control information from the received train control signal, and trains 2 based on the extracted train control information. Control the running). The track circuit T is formed of a rail, and is electrically insulated from the rails forming the front and rear track circuits T ′ and T ″ with respect to an AC signal.

In addition, the ground apparatus 1 is configured to generate a modulated wave by amplitude-modulating a basic carrier having a predetermined frequency and to form a train control signal indicating predetermined train control information. In addition, such a train control signal (amplitude modulated train control signal) is amplified and supplied to a rail forming the track circuit T. FIG. In addition, although the ground apparatus 1 is provided also in adjacent track circuit T 'and T ", it is abbreviate | omitted in FIG.

Next, the on-vehicle device 3 will be described.

The train control signal transmitted from the ground apparatus 1 to the rail is received by the power receiver 4 installed opposite the rail in all of the trains, and the train control signal received by the power receiver 4 is the onboard device. Is sent to (3). The onboard device 3 includes various devices such as a receiver for receiving a signal sent from the power receiver 4, a logic unit, a monitor (not shown), and the receiver includes a phase detection processor. . 2 shows details of this phase detection processing unit. As shown in FIG. 2, in the present embodiment, the phase detection processing section includes a band pass filter 5, a multiplication circuit 6, a delay circuit 7, a low pass filter 8 as a filter circuit, And a phase change amount calculating circuit 9, respectively.

At this time, the train control signal is an amplitude modulation pulse having a periodicity in amplitude, and is composed of a signal portion and a no signal portion as shown in FIG. In addition, the train control signal is transmitted by shifting the phase between the signal portion of the amplitude modulated wave and the next signal portion, for example, by 90 °, so that the phase difference between the signal portions (hereinafter referred to as the phase difference or the amount of phase change of the amplitude modulated wave). May be referred to as information). In the present embodiment, the ground apparatus 1 is configured to phase-modulate an amplitude modulated wave at a constant time regardless of the modulated wave frequency, and transmit the phase modulated amplitude modulated wave to the on-vehicle apparatus 3. have. In addition, the said predetermined time which phase-modulates can be set arbitrarily.

The band pass filter 5 removes noise outside the frequency band of the amplitude modulated wave of the train control signal. As shown in FIG. 4, the delay circuit 7 is configured to perform amplitude modulation waves output from the band pass filter 5 for a predetermined time (for example, when the ground apparatus 1 phase modulates the amplitude modulation waves). Delay time). The multiplication circuit 6 multiplies the amplitude modulated wave output from the band pass filter 5 with the amplitude modulated wave output from the delay circuit 7, whereby the phase change amount of the amplitude modulated wave constituting the train control signal. That is, it is configured to obtain a sine wave having a DC component according to the phase difference of the amplitude modulated wave (see FIG. 5).

The low pass filter 8 is configured to remove the carrier wave and modulated wave frequency components from the output waveform (the amplitude modulated wave after multiplication) of the multiplication circuit 6 to extract the direct current component (see FIG. 6). Since the extracted direct current component is proportional to the amount of phase change (phase difference) of the amplitude modulated wave, the phase change amount calculating circuit 9 can determine the phase difference of the amplitude modulated wave based on the extracted direct current component, Train control information is obtained from this phase difference. In addition, depending on the timing for performing phase modulation (the predetermined time), all sections may become a no-signal portion. However, train control information can be obtained without any problem by performing the above-described processing.

Next, operation | movement of this embodiment is demonstrated.

When the train control signal transmitted from the ground apparatus 1 to the rail is received by the power receiver 4, the received train control signal is sent to the onboard apparatus 3. Then, in the on-vehicle device 3, the band pass filter 5 removes noise outside the frequency band of the train control signal, and sends the train control signal after the noise removal to the multiplication circuit 6 and the delay circuit 7. .

The delay circuit 7 delays the train control signal (amplitude modulated wave) output from the band pass filter 5 by the predetermined time. The multiplication circuit 6 multiplies the amplitude modulated wave output from the band pass filter 5 with the amplitude modulated wave output from the delay circuit 7 to thereby form a waveform having a DC component corresponding to the amount of phase change (phase difference) of the amplitude modulated wave. (Sine wave)

The low pass filter 8 removes a carrier wave and a modulation wave frequency component from the waveform output from the multiplication circuit 6 (the amplitude modulated wave after multiplication by the multiplication circuit 6), and extracts a direct current component. The phase change amount calculating circuit 9 also determines the phase difference of the amplitude modulated wave constituting the train control signal based on the extracted direct current component, and obtains train control information from the phase difference.

As described above, in the present embodiment, the ground apparatus 1 transmits the amplitude modulated wave to the vehicle-mounted device 3 by phase-modulating the timing at a fixed time interval regardless of the modulated wave frequency. In the onboard apparatus 3, the multiplication circuit 6 multiplies the amplitude modulated wave transmitted from the ground apparatus 1 with the amplitude modulated wave delayed by the delay circuit 7. The low pass filter 8 extracts a direct current component from the waveform after multiplication by the multiplication circuit 6 (the amplitude modulated wave after multiplication), and the phase change amount calculating circuit 9 based on the extracted direct current component. Determine the phase difference of. For this reason, according to this embodiment, the onboard apparatus 3 can accurately detect the phase difference of an amplitude modulated wave, without raising the sampling frequency of an amplitude modulated wave, and is based on the phase difference of this amplitude modulated wave. Control information can be obtained.

As another means for obtaining the phase change amount (phase difference) of the amplitude modulated wave, another delay circuit (not shown) for delaying the amplitude modulated wave sent by the phase modulation from the terrestrial apparatus 1 by one sample is provided, and the delay circuit is provided. The amount of phase change (phase difference) of the amplitude modulated wave may be determined based on the waveform of the amplitude modulated wave according to (7) and the waveform of the amplitude modulated wave by another delay circuit. For example, when the delay amount by the delay circuit 7 is d, one sample is delayed by another delay circuit together with the multiplication process at the delay amount d and the processing result of the low pass filter 8. By using the multiplication process to the delay amount d-1 and the processing result of the path pass filter 8, two types of phase components can be extracted, and from these values, the cos component and sin component of the phase change amount are obtained, and inverse tan is obtained. By using the function, it is possible to obtain the amount of phase change.

Further, as another means for calculating the amount of phase change, for example, the phase detection processing unit divides the amplitude modulated wave into a waveform passing through an FIR (finite impulse response) filter and a delayed waveform by Hilbert transform, and the FIR filter. The amount of phase change may be determined by the inverse tan function, using the sin component and the delayed waveform as the cos component. That is, by using the Hilbert transform process, it is possible to generate a signal obtained by delaying the phase of the input signal by? / 2, whereby the amount of phase change can be obtained.

In addition, this invention is not limited to the said embodiment, A various deformation | transformation is possible based on the meaning of this invention.

1 ground device
2 trains
Third-order device
4 hydrant
5 band pass filter
6 multiplication circuit
7 delay circuit
8 low pass filter
9 phase shift amount output circuit

Claims (6)

With ground gear,
And a vehicle-mounted device for receiving train control signals transmitted from the ground device.
The terrestrial apparatus modulates an amplitude modulated wave constituting the train control signal at a phase modulation timing of an interval shorter than an interval of a signal portion of the amplitude modulated wave, regardless of the modulation frequency, and transmits the modulated wave to the onboard apparatus. system. The train control system according to claim 1, wherein the onboard device obtains an amount of phase change of the amplitude modulated wave by a signal delaying the amplitude modulated wave and the amplitude modulated wave from the ground apparatus. 3. The on-vehicle device according to claim 2, wherein the on-vehicle device comprises a delay circuit for delaying an amplitude modulated wave sent by phase modulation from the terrestrial device by a predetermined phase, an amplitude modulated wave sent by phase modulation from the ground device, and a signal delayed by the delay circuit. And a multiplication circuit for multiplying to obtain a phase change amount of the amplitude modulated wave. 4. The train control according to claim 3, wherein the on-vehicle device further includes a filter circuit that obtains a phase change amount of an amplitude modulated wave by removing a modulated wave frequency component from a waveform by the multiplication circuit and extracting a direct current component. system. The said onboard device further comprises another delay circuit for delaying an amplitude modulated wave sent by phase-modulating from said terrestrial device by one sample, wherein the waveform is different from the waveform by said delay circuit. A train control system characterized by obtaining a phase change amount of an amplitude modulated wave based on a waveform by a delay circuit. The waveform control device according to claim 3 or 4, wherein the on-vehicle device generates a waveform obtained by Hilbert transforming and delaying the amplitude modulated wave sent by the phase modulation from the terrestrial device, and based on the waveform of the original amplitude modulated wave and the delayed waveform. And a phase change amount of the amplitude modulated wave.
KR1020167006077A 2013-08-09 2014-08-08 Train control system KR102039565B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JPJP-P-2013-167162 2013-08-09
JP2013167162A JP6157984B2 (en) 2013-08-09 2013-08-09 Train control system
PCT/JP2014/071100 WO2015020214A1 (en) 2013-08-09 2014-08-08 Train control system

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KR20160042956A KR20160042956A (en) 2016-04-20
KR102039565B1 true KR102039565B1 (en) 2019-11-01

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WO (1) WO2015020214A1 (en)

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Publication number Priority date Publication date Assignee Title
JP6877914B2 (en) * 2016-08-08 2021-05-26 日本信号株式会社 Train control
JP6967820B2 (en) * 2017-01-31 2021-11-17 日本信号株式会社 Control system
CN115208321B (en) * 2022-07-12 2023-04-11 固安信通信号技术股份有限公司 Phase modulation method, demodulation algorithm and application of track circuit characteristic signal

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JP2001114105A (en) 1999-10-18 2001-04-24 Nippon Signal Co Ltd:The Automatic train control and on-ground train detector
JP2008013043A (en) 2006-07-06 2008-01-24 Nippon Signal Co Ltd:The Train controller
US20100330875A1 (en) 2005-08-17 2010-12-30 Qs Industries, Inc. Signaling and remote control train operation

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JP3246947B2 (en) * 1992-04-23 2002-01-15 日本信号株式会社 Communication device for train control
JP3375884B2 (en) * 1998-04-10 2003-02-10 日本信号株式会社 Communication device for train control
JP3249465B2 (en) * 1998-04-10 2002-01-21 日本信号株式会社 Information transmission device for train control
JP4666506B2 (en) * 2006-02-23 2011-04-06 株式会社京三製作所 Train sorting device
JP5360662B2 (en) 2010-03-25 2013-12-04 株式会社国際電気通信基礎技術研究所 Wireless device
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JP2001114105A (en) 1999-10-18 2001-04-24 Nippon Signal Co Ltd:The Automatic train control and on-ground train detector
US20100330875A1 (en) 2005-08-17 2010-12-30 Qs Industries, Inc. Signaling and remote control train operation
JP2008013043A (en) 2006-07-06 2008-01-24 Nippon Signal Co Ltd:The Train controller

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WO2015020214A1 (en) 2015-02-12
JP2015036249A (en) 2015-02-23
KR20160042956A (en) 2016-04-20

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