WO2011125822A1 - 目標速度算出機能を備えた列車制御装置 - Google Patents

目標速度算出機能を備えた列車制御装置 Download PDF

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Publication number
WO2011125822A1
WO2011125822A1 PCT/JP2011/058180 JP2011058180W WO2011125822A1 WO 2011125822 A1 WO2011125822 A1 WO 2011125822A1 JP 2011058180 W JP2011058180 W JP 2011058180W WO 2011125822 A1 WO2011125822 A1 WO 2011125822A1
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WO
WIPO (PCT)
Prior art keywords
train
target speed
section
speed
travel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2011/058180
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English (en)
French (fr)
Japanese (ja)
Inventor
山本　純子
道王 金山
憲二 吉田
康弘 寺門
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Toshiba Corp
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Toshiba Corp
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Filing date
Publication date
Application filed by Toshiba Corp filed Critical Toshiba Corp
Priority to EP11765722.1A priority Critical patent/EP2554427B1/en
Priority to CN201180017439.XA priority patent/CN102834293B/zh
Publication of WO2011125822A1 publication Critical patent/WO2011125822A1/ja
Priority to US13/493,503 priority patent/US8374739B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0058—On-board optimisation of vehicle or vehicle train operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0062—On-board target speed calculation or supervision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/10—Operations, e.g. scheduling or time tables
    • B61L27/16—Trackside optimisation of vehicle or train operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
    • 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
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/16—Driver interactions by display
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode

Definitions

  • Embodiment of this invention is related with the technique which adjusts the travel plan of a train adaptively so that it may drive
  • an automatic train operation device (ATO: Automatic Train Operation) has been proposed in order to maintain uniform operation of vehicles such as trains and reduce the risk of travel delay.
  • the ATO performs operation control based on a travel plan calculated according to data such as route data or vehicle model data.
  • the train is equipped with an automatic train control device (ATC: Automatic Train Control) which is a safety device.
  • ATC Automatic Train Control
  • the ATC activates the brake when the traveling speed of the train exceeds a predetermined speed or when the distance from the preceding train is too close.
  • Patent Document 1 describes coasting, acceleration, and the like based on the timing at which the preceding train is moved from the blocked section to the next blocked section, and the timing at which the subsequent train is accelerated to the brake pattern due to the presence of the preceding train.
  • a configuration for controlling the running state of the following train is disclosed.
  • Patent Document 2 discloses a configuration that calculates a traveling pattern of a train that observes a predetermined traveling distance and a speed limit by using a reverse curve, a notch switching reference parameter, and an upper limit speed in consideration of energy saving and riding comfort. .
  • JP 2004-266986 A Japanese Patent Laid-Open No. 5-193502
  • the following trains repeatedly accelerate and decelerate as they approach the preceding train as much as possible due to diamond disruption, and the riding comfort deteriorates.
  • the following train coasts when it is likely to accelerate and reach the speed limit pattern.
  • the target speed is set to the maximum speed within the range that does not reach the brake pattern, so that the ride time is minimized and the delay in travel time is minimized. Must be minimized.
  • Patent Document 2 is directed to a short railway between stations. Calculation of a travel plan based on such geographical conditions as a gradient requires enormous time and processing load, so it is not suitable for high-speed railways that require a long-distance / long-time travel plan because of the long distance between stations.
  • An object of the present invention is to provide a train control device that adaptively calculates a target speed of a train on the condition of traveling on a diagram.
  • the train control device sets a brake pattern behind a first acquisition unit that acquires a change history of the number of open sections, which is the number of closed sections between the own train and the preceding train, and the preceding train.
  • a setting unit; and a calculating unit that calculates a time until the vehicle passes through the blockage section where the preceding train is present based on the change history, and calculates a target speed that does not conflict with the brake pattern.
  • the train control device includes a setting unit that sets a travel plan to the next station, a calculation unit that calculates a travel time from the current position to the next station based on the travel plan, and the travel time. Adjusting means for comparing the predetermined time and adjusting the travel time of the travel plan.
  • FIG. 1 is a block diagram illustrating a system including a plurality of trains and a track circuit including the train control device according to the first embodiment.
  • FIG. 2A is a diagram illustrating the movement of the brake pattern and the adjustment of the traveling speed according to the first embodiment.
  • FIG. 2B is a diagram for explaining the movement of the brake pattern and the adjustment of the traveling speed according to the first embodiment.
  • FIG. 3 is a diagram illustrating a change in traveling speed when traveling in a section from the station X to the station Y according to the second embodiment.
  • FIG. 4 is a diagram illustrating a change in traveling speed when traveling in a section from the station X to the station Y according to the second embodiment.
  • FIG. 1 is a block diagram illustrating a system including a plurality of trains and a track circuit including the train control device according to the first embodiment.
  • FIG. 2A is a diagram illustrating the movement of the brake pattern and the adjustment of the traveling speed according to the first embodiment.
  • FIG. 2B is a
  • FIG. 5 is a diagram showing a power running curve and a deceleration curve calculated for a travel plan for phase 0 according to the second embodiment.
  • FIG. 6 is a diagram illustrating a travel plan for phase 0 according to the second embodiment.
  • FIG. 7 is a diagram illustrating a change in the deceleration curve in phase 1 according to the second embodiment.
  • FIG. 8A is a diagram illustrating a change from power running to coasting in phase 1 according to the second embodiment.
  • FIG. 8B is a diagram illustrating a change from power running to coasting in phase 1 according to the second embodiment.
  • FIG. 9 is a diagram illustrating a change in the constant speed in the phase 1 according to the second embodiment.
  • FIG. 10 is a diagram illustrating another example of changing the constant speed in the phase 1 according to the second embodiment.
  • FIG. 11 is a diagram illustrating a change from deceleration to coasting in phase 1 according to the second embodiment.
  • FIG. 1 is a block diagram illustrating a system including a plurality of trains and a track circuit including the train control device according to the first embodiment.
  • the first embodiment is a system for long-distance and high-speed railways.
  • the train A10 includes a reception unit 101, an ATC 102, a target speed calculation unit 103, a display device 104, an ATO 105, and an on-board wireless device 106.
  • the train control device includes an ATC 102, a target speed calculation unit 103, and an ATO 105.
  • the receiving unit 101 acquires various types of information via the track circuit 30 that is a ground system.
  • the receiving unit 101 acquires the number of open sections with the train preceding the own train via the track circuit 30.
  • the open section number information is the number of closed sections between the closed section in which the preceding train is traveling and the closed section in which the own train is traveling.
  • the receiving unit 101 acquires an ID assigned to each block section indicating which block section the host train is traveling from the track circuit 30.
  • the ATC 102 automatically performs brake control on the train A10.
  • the ATC 102 acquires the number of open sections received by the receiving unit 101.
  • the ATC 102 acquires each control cycle and the number of open sections via the receiving unit 101.
  • a case where the ATC 102 is a digital ATC will be described. This is because the analog ATC has a small amount of information that can be acquired, and thus the number of open sections cannot be acquired.
  • the target speed calculation unit 103 receives information on the number of open sections from the ATC 102, holds a change history of the number of open sections, and calculates the target speed of the train A10 based on the information on the number of open sections. Further, the target speed calculation unit 103 calculates a travel plan to the next station.
  • the display device 104 displays various information on the display based on the request from the target speed calculation unit 103.
  • the ATO 105 automatically operates the train A10 based on the travel plan calculated by the target speed calculation unit 103.
  • the on-vehicle wireless device 106 transmits and receives information between trains via a network (not shown) in the ground system.
  • Train B20 is a subsequent train that runs after train A.
  • the train B20 includes a reception unit 201, an ATC 202, a target speed calculation unit 203, a display device 204, an ATO 205, and an on-board wireless device 206.
  • Receiving unit 201, ATC 202, target speed calculating unit 203, display device 204, ATO 205, and on-board wireless device 206 are respectively configured as receiving unit 101, ATC 102, target speed calculating unit 103, display device 104, ATO 105, on-board wireless device.
  • the configuration is the same as that of 106.
  • the track circuit 30 transmits information on the number of open sections with the preceding train to the following train. Each blockage section is assigned a unique ID.
  • the train B20 which is the subsequent train, adjusts the target speed according to the traveling speed of the train A10, which is the preceding train, will be described.
  • the train A10 and the train B20 travel with power running, constant speed running, coasting, and deceleration in one section from departure to stop.
  • the target speed calculation unit 203 sets a brake pattern starting from the end point of the blockage section immediately before the blockage section where the train A10 is located.
  • the brake pattern is a curve in which the traveling speed of the train B20 and the brake activation position by the ATC 202 are associated with each other.
  • the brake pattern is positioned closer to the front of the brake pattern as the speed increases.
  • the ATC 202 activates the brake when the train B20 conflicts with the brake pattern so that the train B20 does not enter the closed section where the preceding train A10 is present.
  • the target speed calculation unit 203 sets the travel speed (averaged travel speed) in the blockage section where the preceding train A10 has passed (the blockage section immediately before the blockage section where the preceding train A10 is located) as follows. To calculate.
  • the target speed calculation unit 203 holds closed section length information of each closed section. Therefore, the target speed calculation unit 203 calculates the traveling speed in the blocked section in which the train A10 has passed from the blockage section length information and the history of the number of opened sections in which the train A10 has passed, that is, the time interval in which the opened section increases. To do.
  • the target speed calculation unit 203 calculates the time predicted to pass through the blocked section where the train A10 is present as follows.
  • the target speed calculation unit 203 is predicted to pass through the blocked section where the train A10 is present based on the traveling speed in the blocked section where the preceding train A10 has passed and the blocked section length information of the blocked section where the train A10 is present. Can be calculated.
  • the target speed calculation unit 203 sets a brake pattern, which starts from the end point of the blockage section immediately preceding the blockage section where the train A10 is located, by moving from the end point of the next blockage section to the start point. Predict when to perform.
  • the target speed calculation unit 203 applies the brake pattern set from the end point of the blockage section immediately before the blockage section where the train A10 is located as a starting point when moving from the end point of the next blockage section to the start point.
  • the traveling speed of the train B20 that travels to the position immediately before the conflict with the pattern is calculated as follows.
  • the target speed calculation unit 203 calculates the distance from the current position of the train B20 calculated based on the ID of the closed section where the train B20 is present acquired from the track circuit 30 to the position immediately before the conflict with the brake pattern. Further, the target speed calculation unit 203 determines that the time during which the train A10 passes through the blocked section is the time that can be traveled to the position immediately before the conflict with the brake pattern. Therefore, the target speed calculation unit 203 can calculate the target speed that is the traveling speed of the train B20 from the distance to the position immediately before the conflict with the brake pattern and the time that can travel to the position immediately before the conflict with the brake pattern.
  • the target speed calculation unit 203 transmits the calculated target speed to the ATO 205.
  • the ATO 205 automatically operates the train B20 by controlling the traveling speed of the train B20 according to the target speed.
  • the target speed calculation unit 203 transmits target speed information to the display device 204.
  • the display device 204 displays the target speed on a display (not shown). Based on the target speed displayed on the display device 204, the driver operates a master controller (not shown) to control the traveling speed of the train B20 to manually operate the train B20.
  • FIG. 2A and FIG. 2B are diagrams showing the movement of the brake pattern described above, the train A10 and the train B20, and the travel position relationship.
  • FIG. 2A is a case where the target speed calculation unit 203 according to the first embodiment does not calculate the target speed of the train B20 based on the traveling speed of the train A10 as a comparative example.
  • FIG. 2B is a case where the target speed of the train B20 is calculated based on the traveling speed of the train A10 by the target speed calculation unit 203 according to the first embodiment.
  • the horizontal axis indicates the travel positions of the train A10 and the train B20.
  • shaft shows the traveling speed of the train A10 and the train B20.
  • 2A and 2B show changes in the travel positions of the train A10 and the train B20 as time elapses.
  • the train B20 conflicts with the brake pattern set with the end point of the closed section a as the starting point because the train A10 does not pass through the closed section b. Therefore, the ATC 202 activates the brake.
  • the train B20 is in the closed section b, and the train A10 is in the closed section c.
  • the target speed calculation unit 203 sets the starting point of the brake pattern by moving from the end point of the closed section a to the end point of the closed section b.
  • the ATO 205 performs power running to increase the traveling speed as the brake pattern moves.
  • the train B20 is in the closed section b, and the train A10 is in the closed section c.
  • the train B20 conflicts with the brake pattern set with the end point of the closed section b as the starting point because the train A10 does not pass through the closed section c. Therefore, the ATC 202 activates the brake.
  • the ATO 205 performs power running in order to increase the traveling speed as the start point of the brake pattern moves from the end point of the closed section b to the end point of the closed section c.
  • the train B20 conflicts with the brake pattern set with the end point of the closed section c as the starting point because the train A10 does not pass through the closed section d. Therefore, the ATC 202 activates the brake.
  • the ATO 205 performs power running in order to increase the traveling speed with the movement of the starting point of the brake pattern from the end point of the closed section c to the end point of the closed section d.
  • the train B20 travels by repeatedly accelerating and decelerating in order to travel according to the schedule.
  • the target speed calculation unit 203 sets the base point of the brake pattern as the end point of the closed section a.
  • the target speed calculation unit 203 predicts the timing at which the train A10 enters the next blockage section c, that is, the timing at which the start point of the brake pattern is moved to the end point of the next blockage section b.
  • the train B20 travels at the target speed calculated by the target speed calculation unit 203 based on the movement timing of the brake pattern.
  • the target speed calculation unit 203 sets the start point of the brake pattern to the end point of the closed section b. Therefore, ATC 202 does not activate the brake.
  • the target speed calculation unit 203 sets the start point of the brake pattern as the end point of the closed section b. The train B20 travels at the target speed calculated by the target speed calculation unit 203 based on the movement timing of the brake pattern.
  • the target speed calculation unit 203 sets the start point of the brake pattern as the end point of the closed section c immediately before the train B20 conflicts with the brake pattern set as the start point of the closed section b. Move and set.
  • the train B20 travels at the target speed calculated by the target speed calculation unit 203 based on the movement timing of the starting point of the brake pattern from the end point of the closed section b to the end point of the closed section c.
  • the target speed calculation unit 203 sets the start point of the brake pattern to the end point of the closed section d.
  • the delay from the diamond can be minimized while reducing unnecessary brake activation by the ATC 202.
  • the target speed calculation unit 203 calculates the target speed of the train B based on the traveling speed of the train A10. There is no need to travel based on a travel plan created in advance.
  • the target speed calculation unit 203 of the train B20 calculates the traveling speed of the train A10 from the change history of the number of open sections.
  • the traveling speed of the preceding train A10 calculated by the target speed calculation unit 203 is an average traveling speed in the closed section immediately before the closed section where the train A10 is located. That is, the target speed calculation unit 203 assumes that the traveling speed in the closed section where the train A10 is present is the same as the traveling speed in the previous closed section. Therefore, when the train A10 starts powering and braking in the closed section where the train is present, the train B20 cannot recognize the speed change of the train A10.
  • the target speed calculation unit 203 actually needs to delay the movement timing of the brake pattern. Therefore, the possibility that the train B20 conflicts with the brake pattern and the ATC 202 activates the brake increases.
  • the target speed calculation unit 103 holds the ID of the closed section where the own train is located, the corresponding closed section length information, and information on the target speed or traveling speed of the train A10 (each train). . Therefore, the target speed calculation unit 103 predicts the time from the closed section where the tail end of the train A10 is present to the next closed section based on these pieces of information.
  • the on-board wireless device 106 transmits the passage time information of the closed section by the train A calculated by the target speed calculation unit 103 to the on-board wireless device 206 of the train B20 via the network.
  • the target speed calculation unit 203 of the train B20 predicts the movement timing of the brake pattern more accurately based on the passage time information of the closed section transmitted from the train A10.
  • the target speed calculation unit 203 trains in a brake pattern set with the end point of the blockage section immediately before the blockage section where the train A10 is located as the starting point before the passage time of the blockage section calculated by the train A10 has elapsed. If it is determined that B conflicts, the target speed of the train B20 is calculated again. The ATO 205 may adjust the traveling speed based on the target speed calculated again by the target speed calculation unit 203. Therefore, according to this example, the conflict with the brake pattern of the train B20 can be prevented.
  • the target speed calculation unit 203 predicts and corrects the movement timing of the brake pattern every time the on-board wireless device 206 periodically acquires the passage time information of the closed section calculated in the preceding train A10. do it. The same applies when the train A10 is accelerated. In the train B20, the target speed calculation unit 203 may correct the brake pattern movement timing to advance and increase the target speed.
  • the first embodiment it is possible to provide a traveling speed guideline such that the train reaches the position immediately before the brake pattern during the time until the starting point of the brake pattern moves to the next blockage section. Therefore, it is possible to realize energy saving, improved ride comfort, and driving on a schedule. Furthermore, since the time (or distance) interval between running trains can be approached within a range in which safety is maintained, a diagram with a shortened interval can be realized. Even in the case of manual driving, the driver only needs to drive according to the target speed. Therefore, according to the first embodiment, it is possible to reduce the driving variation due to the difference in skill for each driver.
  • a system including a plurality of trains and track circuits provided with the train control device according to the second embodiment is the same as that of the first embodiment shown in FIG.
  • the travel plan is calculated so that the time required for the train A to depart from the station and stop after the departure is set as a diagram.
  • the second embodiment is a system for long-distance and high-speed railways, and assumes that the train travels at a constant speed for a long time.
  • traveling of the train B20 will be described.
  • FIG. 3 is calculated by the target speed calculation unit 203 according to the second embodiment when the distance between the stations is relatively short and the specified time between the stations is relatively short, such as a suburb section of a city. It is a travel plan and is a figure which shows target speed change in case train B20 drive
  • the horizontal axis indicates the position, and the vertical axis indicates the target speed.
  • the thick line is the threshold for the speed limit.
  • a thin line is a travel plan calculated by the target speed calculation unit 203 based on the threshold and the travel time of the XY section.
  • the target speed calculation unit 203 has geographical information such as a gradient in the XY section.
  • the target speed calculation unit 203 calculates air resistance information.
  • the target speed calculation unit 203 simulates a change in train speed during coasting based on geographical information and air resistance information, and increases the traveling speed by coasting downhill in a range that does not cause a delay in the traveling time of the XY section. If it is determined, the power running location in the travel plan in FIG.
  • the target speed calculation unit 203 replaces the deceleration portion of the travel plan in FIG. 3 with coasting as shown by a broken line so that the terminal portion of the constant speed traveling section is replaced with coasting and the vehicle slowly decelerates.
  • the target speed calculation unit 203 transmits, to the ATO 205, a travel plan adjusted so as to replace the end portion of the power running and constant speed travel section with coasting.
  • the ATO 205 automatically operates the train B20 based on the travel plan calculated again. In many cases, the train B20 cannot travel as planned due to external factors such as weather, boarding rate, and manual intervention. Therefore, the target speed calculation unit 203 adjusts the travel plan a plurality of times in the XY section.
  • the train B20 partially travels on the coast, leading to the promotion of energy saving.
  • the configuration in which the power running location and the terminal portion of the constant speed travel section are replaced with coasting has been described.
  • the target speed change in the constant speed travel section will be described.
  • FIG. 4 is calculated by the target speed calculation unit 203 according to the second embodiment when the distance between the stations is relatively long and the prescribed time between the stations is relatively long, such as an intercity high-speed railway.
  • FIG. 6 is a diagram showing a change in target speed when a train B20 travels from a station X to a station Y. The horizontal axis indicates the position, and the vertical axis indicates the target speed. The thick line is the threshold for the speed limit. A thin line is a travel plan calculated by the target speed calculation unit 203 based on the threshold and the travel time of the XY section.
  • Phase 0 is a period until a travel plan is obtained
  • Phase 1 is a section where the distance to the next station is large after the travel plan is obtained
  • Phase 2 is a section where the distance to the next station is short thereafter.
  • the target speed calculation unit 203 appropriately adjusts the travel plan in phase 1 based on simple calculation, and adjusts the travel plan in phase 2 based on strict simulation calculation.
  • FIG. 5 is a diagram illustrating a power running curve and a deceleration curve calculated for a travel plan by the target speed calculation unit 203 according to the second embodiment.
  • the target speed calculation unit 203 is offline, before starting or immediately after departure, a power running curve when the departure position and the speed limit increase, a speed reduction curve where the speed limit decreases, a deceleration curve at the next station, and a station Y stop position.
  • the deceleration curve is calculated, for example, in increments of 1 to 2 seconds until the power running curve and deceleration curve are equal to or higher than the target speed.
  • the target speed calculation unit 203 calculates a deceleration curve by reverse lookup using a deceleration pattern of the ATC 202, for example.
  • the target speed calculation unit 203 also calculates a deceleration deceleration curve that is weaker than the ATC 202 by, for example, one notch.
  • the target speed calculation unit 203 connects the power running curve and the deceleration curve with a straight line having a margin lower than the limit speed to calculate a travel plan.
  • FIG. 6 is a diagram illustrating a travel plan calculated by the target speed calculation unit 203.
  • FIG. 6 shows a state where the train B20 is present at a position where the distance to the next station is still large.
  • the target speed calculation unit 203 calculates a target speed that is a margin lower than the speed limit until the travel plan is calculated, and the ATO 205 starts automatic operation according to the target speed.
  • FIG. 7 is a diagram showing a travel plan in phase 1 adjusted by the target speed calculation unit 203.
  • the travel plan shown in FIG. 7 changes the deceleration curve with respect to the travel plan shown in FIG. 6 when there is a margin in travel time.
  • FIG. 7 shows a state where the train B20 is in a position where the distance to the next station is still large.
  • target travel time determined by the diagram – predicted travel time until stopping at station Y + elapsed time from departure from station X to present
  • adjust means that the train B20 arrives at the station Y on the street when it is expected to arrive at the station Y earlier than or later than the target travel time determined by the diagram. This is a predetermined time range in which the time can be adjusted.
  • station Y It means the case of arriving earlier than the time determined by the diamond. Therefore, the target speed calculation unit 203 needs to calculate the travel plan again in order to adjust the travel time to the station Y.
  • the target speed calculation unit 203 replaces a deceleration curve with a slightly weaker deceleration among the plurality of deceleration curves calculated in phase 0 for the same deceleration location.
  • the target speed calculation unit 203 adjusts the deceleration curve in order from the station Y that is the stop target position.
  • the target speed calculation unit 203 shortens the constant speed travel section connected to the deceleration curve by replacing the deceleration curve with a weak deceleration. Since it is only necessary to reselect the deceleration curve that has been calculated in advance, it is not necessary to recalculate the deceleration curve and the processing load can be reduced.
  • FIGS. 8A and 8B are diagrams showing a travel plan in phase 1 adjusted by the target speed calculation unit 203.
  • FIG. The travel plans shown in FIGS. 8A and 8B change the power running location or the constant speed travel section to coasting with respect to the travel plan shown in FIG. 7 when there is a surplus in travel time.
  • 8A and 8B show a state where the train B20 is still at a position where the distance to the next station is still large.
  • the target speed calculation unit 203 further adjusts the travel plan in the phase 1 when it is determined that the travel plan after replacing the deceleration curve with the one having a weak deceleration satisfies the formula (1).
  • the target speed calculation unit 203 adjusts the travel plan so as to change the power running location or the constant speed travel section to coasting as follows.
  • the target speed calculation unit 203 performs a coasting simulation for a short time based on the current position and the current travel speed. If the travel speed of the train B20 reaches the speed of the travel plan before correction before the simulation ends, even if the coasting time can be secured for a certain time or more and the travel time of the phase 1 increases, the formula (1) is satisfied. If it is judged, target speed calculation part 203 will adjust a run plan so that a power running location or a constant speed run section may be changed to coasting.
  • the simulation at the coast requires consideration of geographical conditions such as gradient and air resistance, but since it is a short-time simulation, it is not necessary to greatly increase the processing load.
  • FIG. 9 is a diagram showing a travel plan in phase 1 adjusted by the target speed calculation unit 203.
  • the travel plan shown in FIG. 9 changes the target speed with respect to the travel plan shown in FIG. 7 when there is a margin in travel time.
  • FIG. 9 shows a state where the train B20 is present at a position where the distance to the next station is still large.
  • the target speed calculation unit 203 further adjusts the travel plan in the phase 1 when it is determined that the travel plan after replacing the deceleration curve with the one having a weak deceleration satisfies the formula (1).
  • the target speed calculation unit 203 adjusts the travel plan so as to lower the target speed in the constant speed travel section as follows.
  • the target speed calculation unit 203 similarly adjusts whether or not the power running location or the constant speed traveling section as shown in FIGS. 8A and 8B is changed to coasting.
  • the target speed calculation unit 203 lowers the constant speed from the part where the constant speed travel section is long in the constant speed travel section sandwiched between the power running curve and the deceleration curve.
  • the ATO 205 adjusts the current travel speed to be lowered to the target speed.
  • the target speed calculation unit 203 When adjusting the target speed of the constant speed travel section up and down, the target speed calculation unit 203 does not need to consider geographical conditions such as the gradient of the constant speed travel section and air resistance, so that the processing load can be reduced. it can.
  • FIG. 10 is a diagram showing a travel plan in phase 1 adjusted by the target speed calculation unit 203.
  • the travel plan shown in FIG. 11 further adjusts the target speed adjusted in FIG. FIG. 11 shows a state where the train B20 is present at a position where the distance to the next station is still large.
  • the target speed calculation unit 203 determines that the expression (1) is not satisfied, the target speed calculation unit 203 further adjusts the travel plan in the phase 1. In this case, in order to adjust the travel time to the station Y, the target speed calculation unit 203 needs to recalculate the travel plan so as to pass through the phase 1 section earlier.
  • the target speed calculation unit 203 increases the constant speed of the constant speed traveling section nearest to the current position among the constant speed traveling sections adjusted to be lower than the target speed determined from the speed limit.
  • the target speed calculation unit 203 when there is no constant speed travel section for increasing the target speed, or when the target speed is still not satisfied even when the target speed is increased, the constant speed section nearest to the current position is calculated. Replace the deceleration curve that leads to the one with strong deceleration.
  • the target speed calculation unit 203 When adjusting the target speed of the constant speed travel section up and down, the target speed calculation unit 203 does not need to consider geographical conditions such as the gradient of the constant speed travel section, air resistance, and the deceleration curve of the travel plan. When changing the deceleration, it is only necessary to select a deceleration curve calculated in advance, so that the processing load can be reduced.
  • FIG. 11 is a diagram showing a travel plan in phase 2 that is adjusted by the target speed calculation unit 203.
  • the travel plan shown in FIG. 11 changes the constant speed travel section or the deceleration point to coasting with respect to the travel plan shown in FIG. 6 when there is a margin in travel time.
  • the target speed calculation unit 203 predicts the required time based on the distance from the current position to the stop target position in consideration of geographical conditions such as gradient and air resistance.
  • the target speed calculation unit 203 adjusts the travel plan so that the train B20 arrives at the station Y, which is the stop target position, in the same way as the travel plan adjustment in the short distance section. That is, the target speed calculation unit 203 replaces the constant speed traveling part or the deceleration part with coasting based on the geographical condition and the air resistance.
  • the second embodiment it is possible to provide a traveling speed guideline based on a simple calculation that realizes traveling according to a diagram mainly by changing the target speed of the constant speed traveling section. Therefore, even between long-distance and long-time stations, it is possible to realize energy saving, improved ride comfort, and driving on a schedule without increasing the processing load. Even in the case of manual driving, the driver only needs to drive according to the target speed in the constant speed travel section, so according to the second embodiment, the variation in driving due to the difference in skills for each driver is reduced. Can do.
  • a system including a plurality of trains and a track circuit including the train control device according to the third embodiment is the same as that of the first embodiment shown in FIG.
  • traveling of the train B20 will be described.
  • the target speed calculation unit 203 travels to a position just before conflicting with the brake pattern set as the starting point at the end point of the blockage section immediately before the blockage section where the train A10 is located.
  • the target speed is calculated. This target speed is set as the first target speed.
  • the target speed calculation unit 203 determines that the travel time from the current position to the stop position based on the travel plan is shorter or longer than the predetermined time by a predetermined time or longer.
  • the target speed is calculated by adjusting the speed set in the plan up and down. This target speed is set as the second target speed.
  • the target speed calculation unit 203 calculates a target speed by subtracting a predetermined speed from a predetermined speed limit in the travel section. The reason why the predetermined speed is subtracted is to allow the target speed to have a margin with respect to the speed limit. This target speed is set as the third target speed.
  • the target speed calculation unit 203 sets the slowest speed among the first target speed, the second target speed, and the third target speed as the target speed of the train B.
  • the ATO 205 automatically operates the train B20 by controlling the traveling speed of the train B20 according to the set target speed. According to the third embodiment, it is possible to reduce unnecessary brake activation by the ATC 202 even between long-distance / long-time stations, save energy without increasing the processing load, improve ride comfort, travel on the road, Safe driving without exceeding the speed limit can be realized.
  • DESCRIPTION OF SYMBOLS 10 ... Train A, 20 ... Train B, 30 ... Track circuit, 101 ... Reception part, 102 ... ATC, 103 ... Target speed calculation part, 104 ... Display apparatus, 105 ... ATO, 106 ... On-vehicle radio apparatus, 201 ... Reception , 202 ... ATC, 203 ... target speed calculation unit, 204 ... display device, 205 ... ATO, 206 ... on-vehicle wireless device.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
PCT/JP2011/058180 2010-04-01 2011-03-31 目標速度算出機能を備えた列車制御装置 Ceased WO2011125822A1 (ja)

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CN201180017439.XA CN102834293B (zh) 2010-04-01 2011-03-31 具备目标速度计算功能的列车控制装置
US13/493,503 US8374739B2 (en) 2010-04-01 2012-06-11 Train control device having a target speed calculation function

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JP2011217564A (ja) 2011-10-27
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US8374739B2 (en) 2013-02-12
CN102834293A (zh) 2012-12-19
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EP2554427B1 (en) 2020-10-14
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