WO2019244622A1 - Ground control device, ground control method, and train control system - Google Patents

Ground control device, ground control method, and train control system Download PDF

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Publication number
WO2019244622A1
WO2019244622A1 PCT/JP2019/022170 JP2019022170W WO2019244622A1 WO 2019244622 A1 WO2019244622 A1 WO 2019244622A1 JP 2019022170 W JP2019022170 W JP 2019022170W WO 2019244622 A1 WO2019244622 A1 WO 2019244622A1
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WIPO (PCT)
Prior art keywords
brake
instruction
information
speed limit
train
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PCT/JP2019/022170
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French (fr)
Japanese (ja)
Inventor
佑介 中西
潤 小池
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株式会社日立製作所
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Publication of WO2019244622A1 publication Critical patent/WO2019244622A1/en

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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
    • 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
    • B61L3/02—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control
    • B61L3/08—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically
    • B61L3/12—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically using magnetic or electrostatic induction; using radio waves
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the present invention relates to a ground control device for controlling the speed of a train, a control method thereof, and a train control system.
  • Patent Literature 1 discloses a signal security system that states, "When a temporary speed limit is specified at the meeting, an emergency brake is activated on the train, and the train must be stopped once to release the emergency brake.
  • a train control device that controls the running of a train according to a generated speed check pattern is used for a given train running section during normal times.
  • a temporary speed limit information receiving unit that receives temporary speed limit information that specifies a train speed lower than a predetermined train speed; and, when the temporary speed limit information is received, the temporary speed limit based on the characteristics of the service brake of the own train.
  • the train speed indicated by the limit information, or the end position of the speed check pattern is adjusted to the end position of the train traveling section indicated by the temporary speed limit information.
  • Speed Shosa pattern redraw the "that such is disclosed in.
  • An object of the present invention is to provide an instruction to drive a plurality of brake devices having different braking forces in a stepwise manner when a train speed limit is instructed to a train.
  • the present invention provides a first brake device with a smaller braking force among a plurality of brake devices, based on setting information from an operation terminal or measurement information from a measurement device. Generating information relating to a brake instruction, a second brake instruction to a second one of the plurality of brake devices having the larger braking force, and a speed limit instruction for limiting a train speed to a temporary speed limit Instruction generating means for performing the instruction, and transmitting means for transmitting at least information generated by the instruction generating means to an on-vehicle security device for controlling the driving of the plurality of brake devices.
  • the information including the first brake instruction and the speed limit instruction among the information generated by the generation means is transmitted to the on-board safety device, and thereafter, a predetermined time has elapsed. To the condition that, and transmits to the onboard security equipment information including the second brake instruction of the information by the generation of at least the instruction generation means.
  • FIG. 1 is a configuration diagram illustrating a configuration example of a signal security system according to an embodiment of the present invention.
  • the block diagram which shows the example of the speed check pattern of the train in one Example of this invention.
  • 5 is a flowchart illustrating an example of a processing operation of the ground control device according to the embodiment of the present invention.
  • FIG. 5 is a configuration diagram showing the updated content of a speed check pattern in one embodiment of the present invention.
  • FIG. 1 is a configuration diagram showing a configuration example of a signal security system according to the present invention.
  • the signal security system is a train control system, for example, an operation terminal 51, an anemometer 52, a seismometer 53, and devices mounted on the train 101 (emergency brake device 71, service brake device 72, speed sensor 73, car An upper security device 74) and a ground control device 201 are provided.
  • the operation terminal 51 transmits operation information according to the operation of the commander (operator) to the ground control device 201, receives information from the ground control device 201, and displays the received information on a display screen (not shown). To be displayed.
  • the anemometer 52 is a measuring device that measures the wind speed and transmits measurement information indicating the measured value to the ground control device 201.
  • the seismometer 53 is a measuring device that measures a seismic intensity when an earthquake occurs and transmits measurement information on the seismic intensity to the ground control device 201.
  • the ground control device 201 is installed on the ground, creates a message 301 for the train 101, and transmits information of the created message 301 to the train 101.
  • the electronic message 301 includes information on a temporary speed limit instruction 302, and the temporary speed limit instruction 302 includes information on a brake instruction 303 and a speed limit instruction 304.
  • the brake instruction 303 information of a service brake instruction or an emergency brake instruction is recorded
  • the speed limit instruction 304 for example, information of 25 km / h is recorded as information of a temporary speed limit.
  • information indicating a location for example, information indicating a traveling section of the train 101 is added to the message 301, and the temporary speed limit is set.
  • the restriction instruction 302 can be set variably for each location.
  • the ground control device 201 communicates with the anemometer 52 or the seismometer 53, communicates with the measuring device communication unit 61 that receives measurement information from the anemometer 52 or the seismometer 53, and communicates with the operation terminal 51 to perform operation.
  • a terminal communication unit 62 for transmitting and receiving information to and from the terminal 51, measurement information (input values from the anemometer 52 and the seismometer 53) received by the measuring device communication unit 61, and reception information of the terminal communication unit 62 (operation of the commander) (A setting information according to the above), a message generating unit 63 for generating information of a message 301 including a temporary speed limit instruction 302 and the like, and a train communication unit 64 for communicating with the train 101 and transmitting the information of the message 301 to the train 101. including.
  • the message generation unit 63 uses the setting information from the operation terminal 51 or the measurement information from the measuring device (the anemometer 52 or the seismometer 53) to determine the braking force of the plurality of braking devices mounted on the train 101.
  • Service brake command (first brake command) to the service brake device (first brake device) 72 having a smaller brake force, and an emergency brake device (second brake device) having a larger braking force among a plurality of brake devices.
  • It functions as an instruction generation unit that generates information relating to an emergency brake instruction (second brake instruction) for the train 71 and a speed limit instruction for limiting the speed of the train 101 to a temporary speed limit.
  • the train communication unit 64 transmits to the train 101 information that is information generated by the message generation unit 63 and includes a service brake instruction (first brake instruction) and a speed limit instruction. It functions as a transmission unit that transmits at least information including an emergency brake instruction (second brake instruction) to the train 101 on condition that the time has elapsed.
  • first brake instruction service brake instruction
  • second brake instruction emergency brake instruction
  • the ground control device 201 includes, for example, a computer device including a CPU (Central Processing Unit), an input device, an output device, a communication device, and a storage device.
  • a measuring instrument communication program, a terminal communication program, a message generation program, and a train communication program are stored as various processing programs to be processed by the CPU.
  • the functions of the measuring instrument communication unit 61, the terminal communication unit 62, the message generation unit 63, and the train communication unit 64 are realized by the CPU executing various processing programs.
  • it is also possible to use a plurality of CPUs determine that the information of the message 301 is normal, and transmit the information of the message 301 to the train 101 on condition that the processing results of the plurality of CPUs match.
  • the means for transmitting and receiving the message 301 may use wireless means, or may use other means such as using a current flowing through the rail.
  • the train 101 includes an emergency brake device 71, a service brake device 72, a speed sensor 73, and an on-board security device 74.
  • the speed sensor 73 is a speed detecting unit that detects the train speed of the train 101 and outputs information on the detected train speed to the on-board safety device 74.
  • the on-board security device 74 creates a speed check pattern indicating the train position (the position of the train 101) and the speed limit at that position, and the train speed detected by the speed sensor 73 exceeds the speed limit on the speed check pattern. Sometimes, a brake command is output to the brake device.
  • a braking force (braking force) is applied to the wheels of the train 101, and the train 101 decelerates according to the braking force.
  • the on-board security device 74 creates a speed check pattern for each type of brake device, and outputs a brake command corresponding to each brake device type when the train speed exceeds the speed limit on each speed check pattern. I do.
  • the on-vehicle security device 74 uses a service brake pattern 402 for the service brake device and a service brake pattern 402 for the emergency brake device as shown in FIG. An emergency brake pattern 401 is created.
  • the service brake pattern 402 is a brake pattern that defines a first speed limit serving as a driving condition of the service brake device 72, and is a first speed limit for limiting the speed of the train 101 to a temporary speed limit according to the train position. It is a brake pattern.
  • the emergency braking pattern 401 is a driving condition of the emergency braking device 71 and is a braking pattern that defines a second speed limit higher than the first speed limit. And a second brake pattern for stopping the train 101 at the stop point 403.
  • the on-vehicle security device 74 is, for example, a computer device including a CPU, an input device, an output device, a communication device, and a storage device, and a receiving unit that receives information from the ground control device 201, And a plurality of brake patterns based on information detected by the speed sensor 73 (speed of the train 101) and information on the brake patterns generated by the brake pattern generating means. It has a function as brake control means for controlling the driving of the brake device.
  • the brake pattern creating means creates and receives the service brake pattern (first brake pattern) 402 when the receiving means receives the information on the speed limit command and the service brake command (first brake command).
  • the means receives the information on the speed limit instruction and the emergency brake instruction (second brake instruction), it creates an emergency brake pattern (second brake pattern) 401.
  • the brake control means compares the detected speed of the speed sensor 73 with the service brake pattern (first brake pattern) 402, and on the condition that the detected speed of the speed sensor 73 exceeds the first speed limit, the service brake.
  • the device (first brake device) 72 is driven, and the speed detected by the speed sensor 73 is compared with the emergency brake pattern (second brake pattern) 401, and the speed detected by the speed sensor 73 becomes the second speed limit.
  • the emergency brake device (second brake device) 71 is driven instead of the service brake device 72.
  • the message 301 includes information on the stop point and the temporary speed limit instruction, and the train 101 changes the speed check pattern as needed according to the received message 301, and performs train control with the changed speed check pattern. be able to.
  • FIG. 3 is a flowchart illustrating an example of a control operation of the ground control device 201.
  • Step 501 The ground control device 201 receives the instruction to set the temporary speed limit.
  • the setting of the temporary speed limit is performed when the setting information is instructed via the operation terminal 51 based on the operation of the commander, or when the input value (measurement value) of the seismometer 53 or the anemometer 52 becomes a specified value or more. It is assumed that the user is instructed accordingly.
  • Step 502 The ground control device 201 is information to be recorded in the electronic message 301 based on the content instructed from the operation terminal 51 or the content instructed based on the input value from the seismometer 53 or the anemometer 52. Then, information (temporary speed limit information) of “speed limit instruction 304” indicating the temporary speed limit for the train 101 is created.
  • Step 503 The ground control device 201 creates a message 301 in which “normal brake” is recorded in “brake instruction 303” and the value of the temporary speed limit created in step 502 is recorded in “speed limit instruction 304”. The information of the created message 301 is transmitted to the train 101.
  • the on-board safety device 74 of the train 101 receives the information of the electronic message 301 and, based on the received information of the electronic message 301, as shown in FIG. 402, and monitors whether or not the actual train speed 404 (detected speed of the speed sensor 73) 404 of the train 101 exceeds the speed limit (first speed limit) specified by the service brake pattern 402. If the actual train speed 404 exceeds the speed limit on the service brake pattern 402, a brake command is output to the service brake device 72 to drive the service brake device 72.
  • Step 504 After a lapse of a predetermined time from the processing of step 503, the ground control device 201 records the “emergency brake” in the “brake instruction 303” and sets the temporary speed limit created in step 502 in the “speed limit instruction 304”. A message 301 in which a value is recorded is created, and information of the created message 301 is transmitted to the train 101.
  • the on-board safety device 74 of the train 101 receives the information of the electronic message 301 and, based on the received information of the electronic message 301, as shown in FIG.
  • An emergency brake pattern 405 in place of the emergency brake pattern 401 is created, and it is monitored whether or not the actual train speed 404 of the train 101 exceeds the speed limit (second speed limit) defined by the emergency brake pattern 405.
  • a brake command is output to the emergency brake device 71 to drive the emergency brake device 71.
  • the actual train speed 404 of the train 101 is lower than the temporary speed limit and is equal to or lower than the speed limit specified by the service brake pattern 402, no brake command is output to the emergency brake device 71.
  • the train 101 receives the information of the electronic message 301 and the on-board safety device 74 sends the brake command to the service brake device 72.
  • the time at which the train speed is guaranteed to be equal to or less than the temporary speed limit is calculated in advance, and the calculated time can be used.
  • the emergency brake device 71 after transmitting a message including a service brake command from the ground control device 201 to the train 101, even if a message including an emergency brake command is transmitted, the emergency brake device 71 is not driven, and By only driving the brake device 72, the actual train speed 404 of the train 101 can be made lower than the temporary limit speed. Further, even if the service brake device 72 is out of order and the actual train speed 404 of the train 101 is not lower than the temporary limit speed, the emergency brake device 71 will be driven after the specified time has elapsed, and the train 101 The safety of traveling is ensured.
  • the content of the electronic message 301 may be changed according to the factor of the temporary speed limitation or the train type. For example, when the information of the anemometer 52 is used, if the input value requires the train speed to be reduced immediately, the specified time is a time excluding “0” and a certain time width (a change of instruction). ), And an emergency brake instruction can be transmitted after a prescribed time, provided that the measurement value of the anemometer 52 is input.
  • the ground control device 201 transmits the message 301 including the service brake instruction according to steps 501 to 504, and then transmits the emergency message.
  • a message 301 including a brake instruction is transmitted to the train 101.
  • the prescribed time is determined according to the type of the train 101 (for example, an express train, a regular train, a train in another line section that has entered, etc.). Can also be set variably. In this case, the speed limit can be appropriately set for the train 101 according to the type of the train 101.
  • the ground control device 201 switches the “brake instruction”, but the switching may be performed by the on-board safety device 74 of the train 101.
  • the same effect as described above can be obtained by lowering the emergency brake pattern in accordance with the temporary speed limit when the train speed has become equal to or less than the temporary speed limit or when the specified time has elapsed.
  • the emergency brake command is issued after a specified time.
  • the information (second information) including the temporary speed limit the time from the transmission timing of the first information to the transmission timing of the second information is an arbitrary time within the specified time.
  • the time from the transmission timing of the first information to the transmission timing of the second information is defined as follows. Any time within the time can be set.
  • a speed limit when a speed limit is instructed to a train, an instruction to drive a plurality of brake devices having different braking forces in a stepwise manner can be issued. As a result, different braking forces can be applied to the train in stages.
  • a temporary speed limit can be set for a train without taking time when necessary, that is, without notifying all drivers. Further, since the service brake and the emergency brake are used, it is possible to ensure the safety of train operation under the temporary speed limit without being affected by the failure rate of the service brake.
  • the on-vehicle security device 74 can receive operation information from the operation terminal 51 and measurement information from the anemometer 52 or the seismometer 53 and create information belonging to the electronic message 301 (information related to an instruction). Further, the ground control device 201 creates information (information related to the instruction) belonging to the message 301 and, based on the information about the created message 301, information on a plurality of brake patterns (service brake pattern 402, emergency brake pattern 401). By transmitting the generated information to the on-vehicle security device 74, the configuration of the on-vehicle security device 74 can be simplified.
  • the on-board security device 74 receives the operation information from the operation terminal 51 and the measurement information from the anemometer 52 or the seismometer 53 from the ground control device 201. Based on the received information, a service brake command and information on an emergency brake command and a speed limit command are generated, and information on a plurality of brake patterns (service brake pattern 402, emergency brake pattern 401) is generated based on the generated information. Then, the detected speed of the speed sensor 73 is compared with the service brake pattern 402 or the emergency brake pattern 401, and the driving of a plurality of brake devices (service brake device 72, emergency brake device 71) can be controlled based on the comparison result. .
  • the above-described configurations, functions, and the like may be partially or entirely realized by hardware by, for example, designing an integrated circuit.
  • the above-described configurations, functions, and the like may be implemented by software by a processor interpreting and executing a program that implements each function.
  • Information such as programs, tables, and files for realizing each function is stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), an IC (Integrated Circuit) card, an SD (Secure Digital) memory card, a DVD ( Digital Versatile Disc) or other recording media.
  • SSD Solid State Drive
  • IC Integrated Circuit
  • SD Secure Digital
  • DVD Digital Versatile Disc

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention is provided with: an instruction generation means which, on the basis of operation information from an operation terminal and measurement information from a measuring instrument, generates information about a first brake instruction related to a first brake device having a relatively small braking force among a plurality of brake devices, a second brake instruction related to a second brake device having a relatively large braking force among the brake devices, and a speed limit instruction for limiting the speed of a train to a temporary speed limit; and a transmission means for transmitting the information generated by the instruction generation means to an on-board security device that controls the driving of the plurality of brake devices, wherein the transmission means transmits information including the first brake instruction and the speed limit instruction to the on-board security device, and then transmits information including at least the second brake instruction to the on-board security device on the condition that a specified time has elapsed.

Description

地上制御装置とその制御方法及び列車制御システムGround control device, control method thereof, and train control system
　本発明は、列車の速度を制御する地上制御装置とその制御方法及び列車制御システムに関する。 The present invention relates to a ground control device for controlling the speed of a train, a control method thereof, and a train control system.
　特許文献１には、信号保安システムに関して、「出会い頭に臨時速度制限が指定されると、列車に非常ブレーキが作動し、その非常ブレーキを緩解するために列車を一旦停車させなければならず、列車の運転効率が低下してしまう」こと等を課題とし、その解決手段として「生成された速度照査パターンに沿って列車を走行制御する列車制御装置において、所定の列車走行区間に対して通常時における所定の列車速度よりも低い列車速度を指定する臨時速度制限情報を受信する臨時速度制限情報受信手段と、臨時速度制限情報を受信したときに、自列車の常用ブレーキの特性に基づいてその臨時速度制限情報で示される列車速度、又はその臨時速度制限情報で示される列車走行区間の終端位置に前記速度照査パターンの終端位置を合わせてその速度照査パターンを引き直す」こと等が開示されている。 Patent Literature 1 discloses a signal security system that states, "When a temporary speed limit is specified at the meeting, an emergency brake is activated on the train, and the train must be stopped once to release the emergency brake. As a solution to this problem, a train control device that controls the running of a train according to a generated speed check pattern is used for a given train running section during normal times. A temporary speed limit information receiving unit that receives temporary speed limit information that specifies a train speed lower than a predetermined train speed; and, when the temporary speed limit information is received, the temporary speed limit based on the characteristics of the service brake of the own train. The train speed indicated by the limit information, or the end position of the speed check pattern is adjusted to the end position of the train traveling section indicated by the temporary speed limit information. Speed Shosa pattern redraw the "that such is disclosed in.
特開２００１－１７７９２２号公報JP 2001-177922 A
　強風が発生している場合や線路脇で工事を行う場合等では、臨時速度制限を設定し列車に一時的な速度制限を設けることで、列車運用を継続させる。臨時制限速度を設定している状況では、列車がその制限速度を超えた場合、緊急ブレーキを出力させることで安全を確保することができる。しかし、緊急ブレーキが一度出力されると、列車が停止するまでブレーキを緩解することが出来ない。そのため、臨時速度制限を設定した際、制限速度を超えていた全ての列車に、緊急ブレーキがかかり、全ての列車が一度に停止することになる。そこで、予め指令員から運転士に速度を下げるように伝えてから臨時速度制限を設定する、あるいは特許文献１のように、緊急ブレーキではなく常用ブレーキを出力することで、列車を一度に停止させないようにする、といったことが行われている。 列車 In the case of strong winds or construction beside the track, temporary operation speed limits will be set and temporary speed limits will be set for trains to continue train operation. In a situation where a temporary speed limit is set, safety can be ensured by outputting an emergency brake when the train exceeds the speed limit. However, once the emergency brake is output, the brake cannot be released until the train stops. Therefore, when the temporary speed limit is set, the emergency brake is applied to all trains that have exceeded the speed limit, and all trains stop at once. Therefore, a temporary speed limit is set after a commander instructs the driver to reduce the speed in advance, or the train is not stopped at once by outputting a service brake instead of an emergency brake as in Patent Document 1. And so on.
　しかし、前者では、列車数が多くなると臨時速度制限を設定するまでに時間がかかることがあり、また、列車内の立っている人に、列車の進行方向とは逆方向の力がかかり過ぎることがある。一方、後者では、常用ブレーキが故障した場合、列車速度を制限速度以下にすることが保障されない。 However, in the former, when the number of trains increases, it may take time to set the temporary speed limit, and too much force is applied to the standing person in the train in the direction opposite to the direction of travel of the train There is. On the other hand, in the latter, if the service brake fails, it is not guaranteed that the train speed will be lower than the speed limit.
　本発明の目的は、列車に制限速度を指示する場合、ブレーキ力が相異なる複数のブレーキ装置を段階的に切り替えて駆動させるための指示を行うことにある。 An object of the present invention is to provide an instruction to drive a plurality of brake devices having different braking forces in a stepwise manner when a train speed limit is instructed to a train.
　前記課題を解決するために、本発明は、操作端末からの設定情報又は計測装置からの計測情報を基に、複数のブレーキ装置のうちブレーキ力の小さい方の第１のブレーキ装置に対する第１のブレーキ指示と、前記複数のブレーキ装置のうち前記ブレーキ力の大きい方の第２のブレーキ装置に対する第２のブレーキ指示と、列車の速度を臨時制限速度に制限するための制限速度指示に関する情報を生成する指示生成手段と、前記複数のブレーキ装置の駆動を制御する車上保安装置に対して、少なくとも前記指示生成手段の生成による情報を送信する送信手段と、を備え、前記送信手段は、前記指示生成手段の生成による情報のうち前記第１のブレーキ指示と前記制限速度指示を含む情報を前記車上保安装置に送信し、その後、規定の時間が経過したことを条件に、少なくとも前記指示生成手段の生成による情報のうち前記第２のブレーキ指示を含む情報を前記車上保安装置に送信することを特徴とする。 In order to solve the above-described problem, the present invention provides a first brake device with a smaller braking force among a plurality of brake devices, based on setting information from an operation terminal or measurement information from a measurement device. Generating information relating to a brake instruction, a second brake instruction to a second one of the plurality of brake devices having the larger braking force, and a speed limit instruction for limiting a train speed to a temporary speed limit Instruction generating means for performing the instruction, and transmitting means for transmitting at least information generated by the instruction generating means to an on-vehicle security device for controlling the driving of the plurality of brake devices. The information including the first brake instruction and the speed limit instruction among the information generated by the generation means is transmitted to the on-board safety device, and thereafter, a predetermined time has elapsed. To the condition that, and transmits to the onboard security equipment information including the second brake instruction of the information by the generation of at least the instruction generation means.
　本発明によれば、列車に制限速度を指示する場合、ブレーキ力が相異なる複数のブレーキ装置を段階的に切り替えて駆動させるための指示を行うことができる。結果として、列車に異なるブレーキ力を段階的に付与することができる。上記以外の課題、構成及び効果は、以下の実施例の説明により明らかにされる。 According to the present invention, when a speed limit is instructed to a train, an instruction to drive a plurality of brake devices having different braking forces by switching stepwise can be issued. As a result, different braking forces can be applied to the train in stages. Problems, configurations and effects other than those described above will be clarified by the following description of the embodiments.
本発明の一実施例における信号保安システムの構成例を示す構成図。FIG. 1 is a configuration diagram illustrating a configuration example of a signal security system according to an embodiment of the present invention. 本発明の一実施例における列車の速度照査パターンの例を示す構成図。The block diagram which shows the example of the speed check pattern of the train in one Example of this invention. 本発明の一実施例における地上制御装置の処理動作の例を示すフローチャート。5 is a flowchart illustrating an example of a processing operation of the ground control device according to the embodiment of the present invention. 本発明の一実施例における速度照査パターンの更新内容を示す構成図。FIG. 5 is a configuration diagram showing the updated content of a speed check pattern in one embodiment of the present invention.
　以下、本発明の実施の形態について図面を参照して説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　本実施例の信号保安システムについて、図１を用いて説明する。図１は、本発明に係る信号保安システムの構成例を示す構成図である。信号保安システムは、列車制御システムとして、例えば、操作端末５１と、風速計５２と、地震計５３と、列車１０１に搭載された装置（緊急ブレーキ装置７１、常用ブレーキ装置７２、速度センサ７３、車上保安装置７４）と、地上制御装置２０１とを備えている。操作端末５１は、指令員（作業員）の操作に応じた操作情報を地上制御装置２０１に送信すると共に、地上制御装置２０１からの情報を受信し、受信した情報を表示画面（図示せず）に表示する。風速計５２は、風速を計測し、計測値を示す計測情報を地上制御装置２０１に送信する計測装置である。地震計５３は、地震発生時に、震度を計測し、震度に関する計測情報を地上制御装置２０１に送信する計測装置である。 信号 The signal security system of this embodiment will be described with reference to FIG. FIG. 1 is a configuration diagram showing a configuration example of a signal security system according to the present invention. The signal security system is a train control system, for example, an operation terminal 51, an anemometer 52, a seismometer 53, and devices mounted on the train 101 (emergency brake device 71, service brake device 72, speed sensor 73, car An upper security device 74) and a ground control device 201 are provided. The operation terminal 51 transmits operation information according to the operation of the commander (operator) to the ground control device 201, receives information from the ground control device 201, and displays the received information on a display screen (not shown). To be displayed. The anemometer 52 is a measuring device that measures the wind speed and transmits measurement information indicating the measured value to the ground control device 201. The seismometer 53 is a measuring device that measures a seismic intensity when an earthquake occurs and transmits measurement information on the seismic intensity to the ground control device 201.
　地上制御装置２０１は、地上に設置されて、列車１０１に対する電文３０１を作成し、作成した電文３０１の情報を列車１０１に送信する。電文３０１は、臨時速度制限指示３０２の情報を含み、臨時速度制限指示３０２は、ブレーキ指示３０３と制限速度指示３０４の情報から構成される。ブレーキ指示３０３には、常用ブレーキ指示又は緊急ブレーキ指示の情報が記録され、制限速度指示３０４には、臨時制限速度の情報として、例えば、２５ｋｍ/ｈの情報が記録される。なお、本実施例では、全線で一つの臨時速度制限を設定する場合を想定しているが、電文３０１に、場所を示す情報、例えば、列車１０１の走行区間を示す情報を追加し、臨時速度制限指示３０２を場所毎に可変に設定することもできる。 The ground control device 201 is installed on the ground, creates a message 301 for the train 101, and transmits information of the created message 301 to the train 101. The electronic message 301 includes information on a temporary speed limit instruction 302, and the temporary speed limit instruction 302 includes information on a brake instruction 303 and a speed limit instruction 304. In the brake instruction 303, information of a service brake instruction or an emergency brake instruction is recorded, and in the speed limit instruction 304, for example, information of 25 km / h is recorded as information of a temporary speed limit. In this embodiment, it is assumed that one temporary speed limit is set for all lines. However, information indicating a location, for example, information indicating a traveling section of the train 101 is added to the message 301, and the temporary speed limit is set. The restriction instruction 302 can be set variably for each location.
　地上制御装置２０１は、風速計５２又は地震計５３と通信を行って、風速計５２又は地震計５３からの計測情報を受信する計測機通信部６１と、操作端末５１と通信を行って、操作端末５１と情報の送受信を行う端末通信部６２と、計測機通信部６１の受信による計測情報（風速計５２や地震計５３からの入力値）や端末通信部６２の受信情報（指令員の操作による設定情報）を基に臨時速度制限指示３０２等を含む電文３０１の情報を生成する電文生成部６３と、列車１０１と通信を行って、電文３０１の情報を列車１０１に送信する列車通信部６４を含む。 The ground control device 201 communicates with the anemometer 52 or the seismometer 53, communicates with the measuring device communication unit 61 that receives measurement information from the anemometer 52 or the seismometer 53, and communicates with the operation terminal 51 to perform operation. A terminal communication unit 62 for transmitting and receiving information to and from the terminal 51, measurement information (input values from the anemometer 52 and the seismometer 53) received by the measuring device communication unit 61, and reception information of the terminal communication unit 62 (operation of the commander) (A setting information according to the above), a message generating unit 63 for generating information of a message 301 including a temporary speed limit instruction 302 and the like, and a train communication unit 64 for communicating with the train 101 and transmitting the information of the message 301 to the train 101. including.
　この際、電文生成部６３は、操作端末５１からの設定情報又は計測装置（風速計５２又は地震計５３）からの計測情報を基に、列車１０１に搭載される複数のブレーキ装置のうちブレーキ力の小さい方の常用ブレーキ装置（第１のブレーキ装置）７２に対する常用ブレーキ指示（第１のブレーキ指示）と、複数のブレーキ装置のうちブレーキ力の大きい方の緊急ブレーキ装置（第２のブレーキ装置）７１に対する緊急ブレーキ指示（第２のブレーキ指示）と、列車１０１の速度を臨時制限速度に制限するための制限速度指示に関する情報を生成する指示生成手段として機能する。また、列車通信部６４は、電文生成部６３の生成による情報であって、常用ブレーキ指示（第１のブレーキ指示）と制限速度指示を含む情報を列車１０１に送信し、その後、規定の時間が経過したことを条件に、少なくとも緊急ブレーキ指示（第２のブレーキ指示）を含む情報を列車１０１に送信する送信手段として機能する。 At this time, the message generation unit 63 uses the setting information from the operation terminal 51 or the measurement information from the measuring device (the anemometer 52 or the seismometer 53) to determine the braking force of the plurality of braking devices mounted on the train 101. Service brake command (first brake command) to the service brake device (first brake device) 72 having a smaller brake force, and an emergency brake device (second brake device) having a larger braking force among a plurality of brake devices. It functions as an instruction generation unit that generates information relating to an emergency brake instruction (second brake instruction) for the train 71 and a speed limit instruction for limiting the speed of the train 101 to a temporary speed limit. Further, the train communication unit 64 transmits to the train 101 information that is information generated by the message generation unit 63 and includes a service brake instruction (first brake instruction) and a speed limit instruction. It functions as a transmission unit that transmits at least information including an emergency brake instruction (second brake instruction) to the train 101 on condition that the time has elapsed.
　また、地上制御装置２０１は、例えば、ＣＰＵ（Central　Processing　Unit）、入力装置、出力装置、通信装置および記憶装置を備えたコンピュータ装置で構成される。記憶装置には、ＣＰＵが処理する各種処理プログラムとして、例えば、計測機通信プログラム、端末通信プログラム、電文生成プログラム、列車通信プログラムが格納される。ＣＰＵが、各種処理プログラムを実行することで、計測機通信部６１と、端末通信部６２と、電文生成部６３及び列車通信部６４の機能が実現される。また、ＣＰＵを複数個用い、複数のＣＰＵの処理結果が一致することを条件に、電文３０１の情報が正常であると判定し、電文３０１の情報を列車１０１に送信することもできる。 {The ground control device 201 includes, for example, a computer device including a CPU (Central Processing Unit), an input device, an output device, a communication device, and a storage device. In the storage device, for example, a measuring instrument communication program, a terminal communication program, a message generation program, and a train communication program are stored as various processing programs to be processed by the CPU. The functions of the measuring instrument communication unit 61, the terminal communication unit 62, the message generation unit 63, and the train communication unit 64 are realized by the CPU executing various processing programs. Alternatively, it is also possible to use a plurality of CPUs, determine that the information of the message 301 is normal, and transmit the information of the message 301 to the train 101 on condition that the processing results of the plurality of CPUs match.
　なお、電文３０１を送受信する手段は、無線を用いてもよいし、レールに流す電流を用いる等、他の手段を用いてもよい。 The means for transmitting and receiving the message 301 may use wireless means, or may use other means such as using a current flowing through the rail.
　列車１０１は、緊急ブレーキ装置７１と、常用ブレーキ装置７２と、速度センサ７３と、車上保安装置７４を備えている。速度センサ７３は、列車１０１の列車速度を検出し、検出した列車速度の情報を車上保安装置７４に出力する速度検出手段である。車上保安装置７４は、列車位置（列車１０１の位置）とその位置における制限速度を示す速度照査パターンを作成し、速度センサ７３の検出による列車速度が、速度照査パターン上の制限速度を超過したときに、ブレーキ装置にブレーキ指令を出力する。ブレーキ指令に応答して、ブレーキ装置が作動すると、列車１０１の車輪にブレーキ力（制動力）が付与され、列車１０１は、ブレーキ力に従って減速する。車上保安装置７４は、速度照査パターンを、ブレーキ装置の種別毎に作成し、列車速度が、各速度照査パターン上の制限速度を超過した場合、各ブレーキ装置の種別に対応したブレーキ指令を出力する。 The train 101 includes an emergency brake device 71, a service brake device 72, a speed sensor 73, and an on-board security device 74. The speed sensor 73 is a speed detecting unit that detects the train speed of the train 101 and outputs information on the detected train speed to the on-board safety device 74. The on-board security device 74 creates a speed check pattern indicating the train position (the position of the train 101) and the speed limit at that position, and the train speed detected by the speed sensor 73 exceeds the speed limit on the speed check pattern. Sometimes, a brake command is output to the brake device. When the brake device operates in response to the brake command, a braking force (braking force) is applied to the wheels of the train 101, and the train 101 decelerates according to the braking force. The on-board security device 74 creates a speed check pattern for each type of brake device, and outputs a brake command corresponding to each brake device type when the train speed exceeds the speed limit on each speed check pattern. I do.
　本実施例では、複数のブレーキ装置として、ブレーキ力（制動力）の小さい方の常用ブレーキ装置（第１のブレーキ装置）７２と、ブレーキ力（制動力）が常用ブレーキ装置７２よりも大きい緊急ブレーキ装置（第２のブレーキ装置）７１を用いているので、車上保安装置７４は、速度照査パターンとして、図２に示すように、常用ブレーキ装置用の常用ブレーキパターン４０２と、緊急ブレーキ装置用の緊急ブレーキパターン４０１を作成する。 In this embodiment, as the plurality of brake devices, a service brake device (first brake device) 72 having a smaller braking force (braking force) and an emergency brake having a braking force (braking force) larger than the service brake device 72 Since the device (second brake device) 71 is used, the on-vehicle security device 74 uses a service brake pattern 402 for the service brake device and a service brake pattern 402 for the emergency brake device as shown in FIG. An emergency brake pattern 401 is created.
　常用ブレーキパターン４０２は、常用ブレーキ装置７２の駆動条件となる第１の制限速度を規定するブレーキパターンであって、列車１０１の速度を列車位置に応じて臨時制限速度に制限するための第１のブレーキパターンである。緊急ブレーキパターン４０１は、緊急ブレーキ装置７１の駆動条件となり、第１の制限速度よりも高い第２の制限速度を規定するブレーキパターンであって、列車１０１の速度を列車位置に応じて臨時制限速度に制限し、列車１０１を停止点４０３に停止させるための第２のブレーキパターンである。 The service brake pattern 402 is a brake pattern that defines a first speed limit serving as a driving condition of the service brake device 72, and is a first speed limit for limiting the speed of the train 101 to a temporary speed limit according to the train position. It is a brake pattern. The emergency braking pattern 401 is a driving condition of the emergency braking device 71 and is a braking pattern that defines a second speed limit higher than the first speed limit. And a second brake pattern for stopping the train 101 at the stop point 403.
　この際、車上保安装置７４は、例えば、ＣＰＵ、入力装置、出力装置、通信装置および記憶装置を備えたコンピュータ装置であって、地上制御装置２０１からの情報を受信する受信手段と、受信手段の受信した情報を基にブレーキパターンに関する情報を作成するブレーキパターン作成手段と、速度センサ７３の検出速度（列車１０１の速度）とブレーキパターン作成手段の作成によるブレーキパターンに関する情報とを基に複数のブレーキ装置の駆動を制御するブレーキ制御手段としての機能を有する。 At this time, the on-vehicle security device 74 is, for example, a computer device including a CPU, an input device, an output device, a communication device, and a storage device, and a receiving unit that receives information from the ground control device 201, And a plurality of brake patterns based on information detected by the speed sensor 73 (speed of the train 101) and information on the brake patterns generated by the brake pattern generating means. It has a function as brake control means for controlling the driving of the brake device.
　この場合、ブレーキパターン作成手段は、受信手段が、制限速度指示と常用ブレーキ指示（第１のブレーキ指示）に関する情報を受信した場合、常用ブレーキパターン（第１のブレーキパターン）４０２を作成し、受信手段が、制限速度指示と緊急ブレーキ指示（第２のブレーキ指示）に関する情報を受信した場合、緊急ブレーキパターン（第２のブレーキパターン）４０１を作成する。 In this case, the brake pattern creating means creates and receives the service brake pattern (first brake pattern) 402 when the receiving means receives the information on the speed limit command and the service brake command (first brake command). When the means receives the information on the speed limit instruction and the emergency brake instruction (second brake instruction), it creates an emergency brake pattern (second brake pattern) 401.
　ブレーキ制御手段は、速度センサ７３の検出速度と常用ブレーキパターン（第１のブレーキパターン）４０２とを比較し、速度センサ７３の検出速度が第１の制限速度を超えたことを条件に、常用ブレーキ装置（第１のブレーキ装置）７２を駆動し、また速度センサ７３の検出速度と緊急ブレーキパターン（第２のブレーキパターン）４０１とを比較し、速度センサ７３の検出速度が第２の制限速度を超えたことを条件に、常用ブレーキ装置７２の駆動に変えて緊急ブレーキ装置（第２のブレーキ装置）７１を駆動する。 The brake control means compares the detected speed of the speed sensor 73 with the service brake pattern (first brake pattern) 402, and on the condition that the detected speed of the speed sensor 73 exceeds the first speed limit, the service brake. The device (first brake device) 72 is driven, and the speed detected by the speed sensor 73 is compared with the emergency brake pattern (second brake pattern) 401, and the speed detected by the speed sensor 73 becomes the second speed limit. On the condition that it exceeds, the emergency brake device (second brake device) 71 is driven instead of the service brake device 72.
　なお、本実施例では、速度照査パターンが２つ存在するものとして説明するが、他のブレーキ種別に対応した速度照査パターンを作成することもできる。また、電文３０１には、停止点や臨時速度制限指示に関する情報が含まれており、列車１０１は、受信した電文３０１に従い、速度照査パターンを随時変更し、変更した速度照査パターンで列車制御を行うことができる。 In the present embodiment, it is assumed that there are two speed check patterns, but a speed check pattern corresponding to another brake type can be created. In addition, the message 301 includes information on the stop point and the temporary speed limit instruction, and the train 101 changes the speed check pattern as needed according to the received message 301, and performs train control with the changed speed check pattern. be able to.
　次に、本実施例の各装置の制御動作について説明する。図３は、地上制御装置２０１の制御動作の例を示すフローチャートである。 Next, the control operation of each device of this embodiment will be described. FIG. 3 is a flowchart illustrating an example of a control operation of the ground control device 201.
　ステップ５０１：地上制御装置２０１は、臨時速度制限の設定指示を受信する。この臨時速度制限の設定は、指令員の操作を基に操作端末５１経由で設定情報が指示される場合や、地震計５３や風速計５２の入力値（計測値）が規定値以上となったことを以って指示される場合等が想定される。 Step 501: The ground control device 201 receives the instruction to set the temporary speed limit. The setting of the temporary speed limit is performed when the setting information is instructed via the operation terminal 51 based on the operation of the commander, or when the input value (measurement value) of the seismometer 53 or the anemometer 52 becomes a specified value or more. It is assumed that the user is instructed accordingly.
　ステップ５０２：地上制御装置２０１は、操作端末５１から指示された内容、あるいは地震計５３又は風速計５２からの入力値を基に指示された内容を基に、電文３０１に記録する情報であって、列車１０１に対する臨時制限速度を示す「制限速度指示３０４」の情報（臨時速度制限情報）を作成する。 Step 502: The ground control device 201 is information to be recorded in the electronic message 301 based on the content instructed from the operation terminal 51 or the content instructed based on the input value from the seismometer 53 or the anemometer 52. Then, information (temporary speed limit information) of “speed limit instruction 304” indicating the temporary speed limit for the train 101 is created.
　ステップ５０３：地上制御装置２０１は、「ブレーキ指示３０３」に「常用ブレーキ」が記録され、「制限速度指示３０４」に、ステップ５０２で作成した臨時制限速度の値が記録された電文３０１を作成し、作成した電文３０１の情報を列車１０１に送信する。 Step 503: The ground control device 201 creates a message 301 in which “normal brake” is recorded in “brake instruction 303” and the value of the temporary speed limit created in step 502 is recorded in “speed limit instruction 304”. The information of the created message 301 is transmitted to the train 101.
　この際、列車１０１の車上保安装置７４は、電文３０１の情報を受信し、受信した電文３０１の情報を基に、図４（ａ）に示すように、臨時制限速度に対応した常用ブレーキパターン４０２を作成し、列車１０１の実列車速度（速度センサ７３の検出速度）４０４が、常用ブレーキパターン４０２で規定された制限速度（第１の制限速度）を超えるか否かを監視し、列車１０１の実列車速度４０４が、常用ブレーキパターン４０２上の制限速度を超えている場合には、常用ブレーキ装置７２にブレーキ指令を出力し、常用ブレーキ装置７２を駆動させる。 At this time, the on-board safety device 74 of the train 101 receives the information of the electronic message 301 and, based on the received information of the electronic message 301, as shown in FIG. 402, and monitors whether or not the actual train speed 404 (detected speed of the speed sensor 73) 404 of the train 101 exceeds the speed limit (first speed limit) specified by the service brake pattern 402. If the actual train speed 404 exceeds the speed limit on the service brake pattern 402, a brake command is output to the service brake device 72 to drive the service brake device 72.
　ステップ５０４：ステップ５０３の処理から規定時間経過後、地上制御装置２０１は、「ブレーキ指示３０３」に「緊急ブレーキ」が記録され、「制限速度指示３０４」に、ステップ５０２で作成した臨時制限速度の値が記録された電文３０１を作成し、作成した電文３０１の情報を列車１０１に送信する。 Step 504: After a lapse of a predetermined time from the processing of step 503, the ground control device 201 records the “emergency brake” in the “brake instruction 303” and sets the temporary speed limit created in step 502 in the “speed limit instruction 304”. A message 301 in which a value is recorded is created, and information of the created message 301 is transmitted to the train 101.
　この際、列車１０１の車上保安装置７４は、電文３０１の情報を受信し、受信した電文３０１の情報を基に、図４（ｂ）に示すように、臨時制限速度に対応した緊急ブレーキパターンとして、緊急ブレーキパターン４０１に代わる緊急ブレーキパターン４０５を作成し、列車１０１の実列車速度４０４が、緊急ブレーキパターン４０５で規定された制限速度（第２の制限速度）を超えるか否かを監視し、列車１０１の実列車速度４０４が、緊急ブレーキパターン４０５上の制限速度を超える場合には、緊急ブレーキ装置７１にブレーキ指令を出力し、緊急ブレーキ装置７１を駆動させる。列車１０１の実列車速度４０４が、臨時制限速度未満であって、常用ブレーキパターン４０２で規定された制限速度以下の場合には、緊急ブレーキ装置７１にブレーキ指令が出力されることはない。 At this time, the on-board safety device 74 of the train 101 receives the information of the electronic message 301 and, based on the received information of the electronic message 301, as shown in FIG. An emergency brake pattern 405 in place of the emergency brake pattern 401 is created, and it is monitored whether or not the actual train speed 404 of the train 101 exceeds the speed limit (second speed limit) defined by the emergency brake pattern 405. When the actual train speed 404 of the train 101 exceeds the speed limit on the emergency brake pattern 405, a brake command is output to the emergency brake device 71 to drive the emergency brake device 71. When the actual train speed 404 of the train 101 is lower than the temporary speed limit and is equal to or lower than the speed limit specified by the service brake pattern 402, no brake command is output to the emergency brake device 71.
　また、「ブレーキ指示３０３」が「常用ブレーキ指示」から「緊急ブレーキ指示」に切り替わる規定時間としては、列車１０１が電文３０１の情報を受信し、車上保安装置７４が常用ブレーキ装置７２にブレーキ指令を出力した後、列車速度が、臨時制限速度以下になることが保障される時間を予め算出しておき、その算出時間を使用することができる。 In addition, as the specified time when the “brake instruction 303” switches from the “service brake instruction” to the “emergency brake instruction”, the train 101 receives the information of the electronic message 301 and the on-board safety device 74 sends the brake command to the service brake device 72. , The time at which the train speed is guaranteed to be equal to or less than the temporary speed limit is calculated in advance, and the calculated time can be used.
　本実施例では、地上制御装置２０１から列車１０１に対して、常用ブレーキ指示を含む電文を送信した後、緊急ブレーキ指示を含む電文を送信しても、緊急ブレーキ装置７１を駆動させることなく、常用ブレーキ装置７２のみ駆動させるだけで、列車１０１の実列車速度４０４を臨時制限速度以下にすることができる。また、常用ブレーキ装置７２が故障していて、列車１０１の実列車速度４０４が臨時制限速度以下になっていなかったとしても、規定時間経過後に、緊急ブレーキ装置７１が駆動することになり、列車１０１の走行の安全性は確保される。 In this embodiment, after transmitting a message including a service brake command from the ground control device 201 to the train 101, even if a message including an emergency brake command is transmitted, the emergency brake device 71 is not driven, and By only driving the brake device 72, the actual train speed 404 of the train 101 can be made lower than the temporary limit speed. Further, even if the service brake device 72 is out of order and the actual train speed 404 of the train 101 is not lower than the temporary limit speed, the emergency brake device 71 will be driven after the specified time has elapsed, and the train 101 The safety of traveling is ensured.
　ステップ５０３、５０４で規定時間経過後に、電文３０１の情報を常用ブレーキ指示から緊急ブレーキ指示に切り換えているが、臨時速度制限の要因や列車種別によって電文３０１の内容を変更してもよい。例えば、風速計５２の情報を用いる場合、すぐに列車速度を下げる必要がある入力値であれば、規定時間として、「０」を除く時間であって、ある時間幅がある時間（指示の切り替えに要する最小時間）に設定し、風速計５２の計測値を入力したことを条件に、規定時間後に緊急ブレーキ指示を送信することもできる。なお、風速計５２の計測値が、すぐに列車速度を下げる必要が無い入力値であれば、ステップ５０１～５０４に従い、地上制御装置２０１は、常用ブレーキ指示を含む電文３０１を送信した後、緊急ブレーキ指示を含む電文３０１を列車１０１に送信する。 Although the information of the electronic message 301 is switched from the service brake instruction to the emergency brake instruction after the lapse of the specified time in steps 503 and 504, the content of the electronic message 301 may be changed according to the factor of the temporary speed limitation or the train type. For example, when the information of the anemometer 52 is used, if the input value requires the train speed to be reduced immediately, the specified time is a time excluding “0” and a certain time width (a change of instruction). ), And an emergency brake instruction can be transmitted after a prescribed time, provided that the measurement value of the anemometer 52 is input. If the measured value of the anemometer 52 is an input value that does not require the train speed to be reduced immediately, the ground control device 201 transmits the message 301 including the service brake instruction according to steps 501 to 504, and then transmits the emergency message. A message 301 including a brake instruction is transmitted to the train 101.
　規定の時間を、風速計５２等の計測装置の計測値に応じて可変に設定する代わりに、列車１０１の種別（例えば、急行列車、普通列車、乗り入れしてきた他線区の列車等）に応じて可変に設定することもできる。この場合、列車１０１の種別に応じて、列車１０１に適切に速度制限を設定することができる。 Instead of setting the prescribed time variably in accordance with the measurement value of a measuring device such as the anemometer 52, the prescribed time is determined according to the type of the train 101 (for example, an express train, a regular train, a train in another line section that has entered, etc.). Can also be set variably. In this case, the speed limit can be appropriately set for the train 101 according to the type of the train 101.
　また、本実施例では、地上制御装置２０１が「ブレーキ指示」の切換えを行っているが、列車１０１の車上保安装置７４で実施しても良い。その場合、列車速度が臨時速度制限以下となった、あるいは規定時間経過したことを以って、緊急ブレーキパターンを臨時速度制限に合わせて下げることで、上記と同様の効果を得ることが出来る。 Also, in the present embodiment, the ground control device 201 switches the “brake instruction”, but the switching may be performed by the on-board safety device 74 of the train 101. In this case, the same effect as described above can be obtained by lowering the emergency brake pattern in accordance with the temporary speed limit when the train speed has become equal to or less than the temporary speed limit or when the specified time has elapsed.
　本実施例において、地上制御装置２０１から列車１０１の車上保安装置７４に対して、常用ブレーキ指示と臨時制限速度を含む情報（第１の情報）を送信した後、規定時間後に、緊急ブレーキ指示と臨時制限速度を含む情報（第２の情報）を送信しているが、第１の情報の送信タイミングから第２の情報の送信タイミングまでの時間は、規定時間内であれば、任意の時間に設定することもできる。例えば、列車１０１に制限速度を設定し、複数のブレーキ装置のうち常用ブレーキ装置７２と緊急ブレーキ装置７１を順番に駆動するために、常用ブレーキ装置７２が駆動した後、規定の時間が経過したことを条件に、緊急ブレーキ装置７１を駆動し、列車１０１に段階的にブレーキ力を付与する方法を採用した場合、第１の情報の送信タイミングから第２の情報の送信タイミングまでの時間は、規定時間内であれば、任意の時間に設定することができる。 In this embodiment, after transmitting the information (first information) including the service brake command and the temporary speed limit from the ground control device 201 to the on-board safety device 74 of the train 101, the emergency brake command is issued after a specified time. And the information (second information) including the temporary speed limit, the time from the transmission timing of the first information to the transmission timing of the second information is an arbitrary time within the specified time. Can also be set to For example, to set a speed limit on the train 101, and to drive the service brake device 72 and the emergency brake device 71 in order from among the plurality of brake devices, a prescribed time has elapsed after the service brake device 72 was driven. When the method of driving the emergency brake device 71 and applying the braking force to the train 101 in a stepwise manner is adopted under the condition, the time from the transmission timing of the first information to the transmission timing of the second information is defined as follows. Any time within the time can be set.
　本実施例によれば、列車に制限速度を指示する場合、ブレーキ力が相異なる複数のブレーキ装置を段階的に切り替えて駆動させるための指示を行うことができる。結果として、列車に異なるブレーキ力を段階的に付与することができる。また、必要な時に時間をかけることなく、すなわち、全ての運転士に通知することなく、列車に臨時速度制限を設定できる。さらに、常用ブレーキと緊急ブレーキを用いているので、常用ブレーキの故障率に影響されることなく、臨時速度制限下での列車運行の安全性を確保することが可能となる。 According to the present embodiment, when a speed limit is instructed to a train, an instruction to drive a plurality of brake devices having different braking forces in a stepwise manner can be issued. As a result, different braking forces can be applied to the train in stages. In addition, a temporary speed limit can be set for a train without taking time when necessary, that is, without notifying all drivers. Further, since the service brake and the emergency brake are used, it is possible to ensure the safety of train operation under the temporary speed limit without being affected by the failure rate of the service brake.
　なお、本発明は上記した実施例に限定されるものではなく、様々な変形例が含まれる。例えば、車上保安装置７４で、操作端末５１からの操作情報と風速計５２又は地震計５３からの計測情報を受信し、電文３０１に属する情報（指示に関する情報）を作成することもできる。さらに、地上制御装置２０１で、電文３０１に属する情報（指示に関する情報）を作成すると共に、作成した電文３０１に関する情報を基に、複数のブレーキパターン（常用ブレーキパターン４０２、緊急ブレーキパターン４０１）に関する情報を作成し、作成した情報を車上保安装置７４に送信することで、車上保安装置７４の構成の簡素化を図ることもできる。 The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the on-vehicle security device 74 can receive operation information from the operation terminal 51 and measurement information from the anemometer 52 or the seismometer 53 and create information belonging to the electronic message 301 (information related to an instruction). Further, the ground control device 201 creates information (information related to the instruction) belonging to the message 301 and, based on the information about the created message 301, information on a plurality of brake patterns (service brake pattern 402, emergency brake pattern 401). By transmitting the generated information to the on-vehicle security device 74, the configuration of the on-vehicle security device 74 can be simplified.
　車上保安装置７４で、電文３０１に関する情報を作成する場合、車上保安装置７４は、操作端末５１からの操作情報と風速計５２又は地震計５３からの計測情報を地上制御装置２０１から受信し、受信した情報を基に、常用ブレーキ指示と、緊急ブレーキ指示及び制限速度指示に関する情報を生成し、生成した情報を基に複数のブレーキパターン（常用ブレーキパターン４０２、緊急ブレーキパターン４０１）に関する情報を作成し、速度センサ７３の検出速度と常用ブレーキパターン４０２又は緊急ブレーキパターン４０１とを比較し、比較結果から複数のブレーキ装置（常用ブレーキ装置７２、緊急ブレーキ装置７１）の駆動を制御することができる。 When the information on the electronic message 301 is created by the on-board security device 74, the on-board security device 74 receives the operation information from the operation terminal 51 and the measurement information from the anemometer 52 or the seismometer 53 from the ground control device 201. Based on the received information, a service brake command and information on an emergency brake command and a speed limit command are generated, and information on a plurality of brake patterns (service brake pattern 402, emergency brake pattern 401) is generated based on the generated information. Then, the detected speed of the speed sensor 73 is compared with the service brake pattern 402 or the emergency brake pattern 401, and the driving of a plurality of brake devices (service brake device 72, emergency brake device 71) can be controlled based on the comparison result. .
　上記した実施例は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、実施例の構成の一部について、他の構成の追加・削除・置換をすることが可能である。 The embodiments described above have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described above. Further, for a part of the configuration of the embodiment, it is possible to add, delete, or replace another configuration.
　また、上記の各構成、機能等は、それらの一部又は全部を、例えば、集積回路で設計する等によりハードウェアで実現してもよい。また、上記の各構成、機能等は、プロセッサがそれぞれの機能を実現するプログラムを解釈し、実行することによりソフトウェアで実現してもよい。各機能を実現するプログラム、テーブル、ファイル等の情報は、メモリや、ハードディスク、ＳＳＤ（Solid　State　Drive）等の記録装置、または、ＩＣ（Integrated　Circuit）カード、ＳＤ（Secure　Digital）メモリカード、ＤＶＤ（Digital　Versatile　Disc）等の記録媒体に記録して置くことができる。 The above-described configurations, functions, and the like may be partially or entirely realized by hardware by, for example, designing an integrated circuit. In addition, the above-described configurations, functions, and the like may be implemented by software by a processor interpreting and executing a program that implements each function. Information such as programs, tables, and files for realizing each function is stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), an IC (Integrated Circuit) card, an SD (Secure Digital) memory card, a DVD ( Digital Versatile Disc) or other recording media.
　１０１　列車、５１　操作端末、５２　風速計、５３　地震計、６１　計測機通信部、６２　端末通信部、６３　電文生成部、６４　列車通信部、７１　緊急ブレーキ装置、７２　常用ブレーキ装置、７３　速度センサ、７４　車上保安装置、２０１　地上制御装置、３０１　電文、４０１　緊急ブレーキパターン、４０２　常用ブレーキパターン、４０３　停止点、４０４　実列車速度 101 train, 51 operation terminal, 52 anemometer, 53 seismometer, 61 measuring instrument communication unit, 62 terminal communication unit, 63 telegram generation unit, 64 train communication unit, 71 emergency brake device, 72 regular brake device, 73 speed sensor, 74 on-board security device, 201 ground control device, 301 telegram, 401 emergency brake pattern, 402 service brake pattern, 403 stop point, 404 actual train speed

Claims (9)

  1. 　操作端末からの設定情報又は計測装置からの計測情報を基に、複数のブレーキ装置のうちブレーキ力の小さい方の第１のブレーキ装置に対する第１のブレーキ指示と、前記複数のブレーキ装置のうち前記ブレーキ力の大きい方の第２のブレーキ装置に対する第２のブレーキ指示と、列車の速度を臨時制限速度に制限するための制限速度指示に関する情報を生成する指示生成手段と、
    　前記複数のブレーキ装置の駆動を制御する車上保安装置に対して、少なくとも前記指示生成手段の生成による情報を送信する送信手段と、を備え、
    　前記送信手段は、
    　前記指示生成手段の生成による情報のうち前記第１のブレーキ指示と前記制限速度指示を含む情報を前記車上保安装置に送信し、その後、規定の時間が経過したことを条件に、少なくとも前記指示生成手段の生成による情報のうち前記第２のブレーキ指示を含む情報を前記車上保安装置に送信することを特徴とする地上制御装置。     Based on setting information from an operation terminal or measurement information from a measuring device, a first brake instruction to a first brake device having a smaller braking force among a plurality of brake devices, and Instruction generation means for generating a second brake instruction for the second brake device having a larger braking force, and information relating to a speed limit instruction for limiting the speed of the train to a temporary speed limit;
    Transmitting means for transmitting at least information generated by the instruction generating means to an on-vehicle safety device that controls driving of the plurality of brake devices,
    The transmitting means,
    The information including the first brake instruction and the speed limit instruction among the information generated by the instruction generation means is transmitted to the on-vehicle security device, and thereafter, on condition that a specified time has elapsed, at least the instruction The ground control device, wherein information including the second brake instruction among information generated by the generation unit is transmitted to the on-vehicle security device.
  2. 　請求項１に記載の地上制御装置であって、
    　前記指示生成手段の生成による前記情報を基にブレーキパターンに関する情報を作成するブレーキパターン作成手段を更に備え、
    　前記ブレーキパターン作成手段は、
    　前記指示生成手段の生成による前記情報のうち前記制限速度指示と前記第１のブレーキ指示に関する情報を基に、前記第１のブレーキ装置の駆動条件となる第１の制限速度を規定するブレーキパターンであって、前記列車の速度を列車位置に応じて前記臨時制限速度に制限するための第１のブレーキパターンを作成し、前記指示生成手段の生成による前記情報のうち前記制限速度指示と前記第２のブレーキ指示に関する情報を基に、前記第２のブレーキ装置の駆動条件となり、前記第１の制限速度よりも高い第２の制限速度を規定するブレーキパターンであって、前記列車の速度を前記列車位置に応じて前記臨時制限速度に制限するための第２のブレーキパターンを作成し、
    　前記送信手段は、
    　前記指示生成手段の生成による前記情報の代わりに、前記第１のブレーキパターンに関する情報を前記車上保安装置に送信し、その後、前記規定の時間が経過したことを条件に、前記第２のブレーキパターンに関する情報を前記車上保安装置に送信することを特徴とする地上制御装置。     The ground control device according to claim 1,
    Brake pattern creating means for creating information on a brake pattern based on the information generated by the instruction generating means,
    The brake pattern creating means,
    A brake pattern that defines a first speed limit, which is a driving condition of the first brake device, based on the information on the speed limit instruction and the first brake instruction among the information generated by the instruction generation means. And generating a first brake pattern for limiting the speed of the train to the temporary speed limit according to the train position, and setting the speed limit instruction and the second speed limit in the information generated by the instruction generation means. A brake pattern that defines a driving condition of the second brake device based on the information about the brake instruction and that defines a second speed limit higher than the first speed limit. Creating a second brake pattern for limiting to the temporary speed limit according to the position,
    The transmitting means,
    Instead of the information generated by the instruction generation means, information on the first brake pattern is transmitted to the on-vehicle security device, and thereafter, the second brake pattern is provided on condition that the predetermined time has elapsed. A ground control device for transmitting information about a pattern to the on-vehicle security device.
  3. 　請求項１又は２に記載の地上制御装置であって、
    　前記規定の時間は、前記計測装置の計測値に応じて可変に設定されることを特徴とする地上制御装置。     The ground control device according to claim 1 or 2,
    The ground control device, wherein the prescribed time is variably set in accordance with a measurement value of the measuring device.
  4. 　請求項１又は２に記載の地上制御装置であって、
    　前記規定の時間は、前記列車の種別に応じて、可変に設定されることを特徴する地上制御装置。     The ground control device according to claim 1 or 2,
    The ground control device, wherein the prescribed time is variably set according to the type of the train.
  5. 　操作端末からの設定情報又は計測装置からの計測情報を基に、複数のブレーキ装置のうちブレーキ力の小さい方の第１のブレーキ装置に対する第１のブレーキ指示と、前記複数のブレーキ装置のうち前記ブレーキ力の大きい方の第２のブレーキ装置に対する第２のブレーキ指示と、列車の速度を臨時制限速度に制限するための制限速度指示に関する情報を生成する指示生成手段と、
    　前記複数のブレーキ装置の駆動を制御する車上保安装置に対して、少なくとも前記指示生成手段の生成による情報を送信する送信手段と、を備えた地上制御装置における制御方法であって、
    　前記送信手段が、前記指示生成手段の生成による情報のうち前記第１のブレーキ指示と前記制限速度指示を含む情報を前記車上保安装置に送信する第１の送信ステップと、
    　前記送信手段が、その後、規定の時間が経過したことを条件に、少なくとも前記指示生成手段の生成による情報のうち前記第２のブレーキ指示を含む情報を前記車上保安装置に送信する第２の送信ステップと、を含むことを特徴とする制御方法。     Based on setting information from an operation terminal or measurement information from a measuring device, a first brake instruction to a first brake device having a smaller braking force among a plurality of brake devices, and Instruction generation means for generating a second brake instruction for the second brake device having a larger braking force, and information relating to a speed limit instruction for limiting the speed of the train to a temporary speed limit;
    A control method in a ground control device, comprising: a transmitting unit configured to transmit at least information generated by the instruction generating unit to an on-vehicle safety device that controls driving of the plurality of brake devices.
    A first transmitting step of transmitting information including the first brake instruction and the speed limit instruction to the onboard safety device, among the information generated by the instruction generating means,
    A second transmitting unit that transmits, to the on-vehicle security device, at least information including the second brake instruction among information generated by the instruction generating unit, on condition that a predetermined time has elapsed. A control method, comprising: transmitting.
  6. 　請求項５に記載の制御方法であって、
    　前記指示生成手段の生成による前記情報を基にブレーキパターンに関する情報を作成するブレーキパターン作成手段を更に備え、
    　前記ブレーキパターン作成手段が、前記指示生成手段の生成による前記情報のうち前記制限速度指示と前記第１のブレーキ指示に関する情報を基に、前記第１のブレーキ装置の駆動条件となる第１の制限速度を規定するブレーキパターンであって、前記列車の速度を列車位置に応じて前記臨時制限速度に制限するための第１のブレーキパターンを作成する第１の作成ステップと、
    　前記ブレーキパターン作成手段が、前記指示生成手段の生成による前記情報のうち前記制限速度指示と前記第２のブレーキ指示に関する情報を基に、前記第２のブレーキ装置の駆動条件となり、前記第１の制限速度よりも高い第２の制限速度を規定するブレーキパターンであって、前記列車の速度を前記列車位置に応じて前記臨時制限速度に制限するための第２のブレーキパターンを作成する第２の作成ステップと、を含み、
    　前記送信手段は、
    　前記第１の送信ステップでは、前記指示生成手段の生成による前記情報の代わりに、前記第１のブレーキパターンに関する情報を前記車上保安装置に送信し、
    　前記第２の送信ステップでは、前記指示生成手段の生成による前記情報の代わりに、前記第２のブレーキパターンに関する情報を前記車上保安装置に送信することを特徴とする制御方法。     The control method according to claim 5, wherein
    Brake pattern creating means for creating information on a brake pattern based on the information generated by the instruction generating means,
    The brake pattern creating unit is configured to perform a first restriction as a driving condition of the first brake device based on information on the speed limit instruction and the first brake instruction among the information generated by the instruction generation unit. A first creation step of creating a first brake pattern that is a brake pattern that defines a speed, and that limits the speed of the train to the temporary speed limit according to a train position;
    The brake pattern creation means is a driving condition of the second brake device based on information on the speed limit instruction and the second brake instruction among the information generated by the instruction generation means, and A second brake pattern that defines a second speed limit higher than the speed limit, and creates a second brake pattern for limiting the speed of the train to the temporary speed limit according to the train position. Creating step;
    The transmitting means,
    In the first transmitting step, information on the first brake pattern is transmitted to the on-vehicle security device instead of the information generated by the instruction generating means,
    The control method, wherein in the second transmitting step, information on the second brake pattern is transmitted to the on-vehicle security device instead of the information generated by the instruction generating means.
  7. 　請求項５又は６に記載の制御方法であって、
    　前記規定の時間は、前記計測装置の計測値に応じて可変に設定されることを特徴とする制御方法。     The control method according to claim 5 or 6, wherein
    The control method according to claim 1, wherein the predetermined time is variably set according to a measurement value of the measuring device.
  8. 　請求項５又は６に記載の制御方法であって、
    　前記規定の時間は、前記列車の種別に応じて、可変に設定されることを特徴する制御方法。     The control method according to claim 5 or 6, wherein
    The control method, wherein the predetermined time is variably set according to the type of the train.
  9. 　操作端末からの設定情報又は計測装置からの計測情報を管理する地上制御装置と、
    　前記地上制御装置と情報の送受信を行うと共に、ブレーキ力の異なる複数のブレーキ装置を管理する車上保安装置と、備え、
    　前記地上制御装置は、
    　前記設定情報又は前記計測情報を基に、前記複数のブレーキ装置のうち前記ブレーキ力の小さい方の第１のブレーキ装置に対する第１のブレーキ指示と、前記複数のブレーキ装置のうち前記ブレーキ力の大きい方の第２のブレーキ装置に対する第２のブレーキ指示と、列車の速度を臨時制限速度に制限するための制限速度指示に関する情報を生成する指示生成手段と、
    　前記指示生成手段の生成による前記情報であって、前記第１のブレーキ指示と前記制限速度指示を含む情報を前記車上保安装置に送信し、その後、規定の時間が経過したことを条件に、少なくとも前記第２のブレーキ指示を含む情報を前記車上保安装置に送信する送信手段と、を有し、
    　前記車上保安装置は、
    　前記地上制御装置からの情報を受信する受信手段と、
    　前記受信手段の受信した前記情報を基にブレーキパターンに関する情報を作成するブレーキパターン作成手段と、
    　前記列車の速度を検出する速度検出手段の検出速度と前記ブレーキパターン作成手段の作成による前記ブレーキパターンに関する情報とを基に前記複数のブレーキ装置の駆動を制御するブレーキ制御手段と、を有し、
    　前記ブレーキパターン作成手段は、
    　前記受信手段が、前記制限速度指示と前記第１のブレーキ指示に関する情報を受信した場合、前記第１のブレーキ装置の駆動条件となる第１の制限速度を規定するブレーキパターンであって、前記列車の速度を列車位置に応じて前記臨時制限速度に制限するための第１のブレーキパターンを作成し、前記受信手段が、前記制限速度指示と前記第２のブレーキ指示に関する情報を受信した場合、前記第２のブレーキ装置の駆動条件となり、前記第１の制限速度よりも高い第２の制限速度を規定するブレーキパターンであって、前記列車の速度を前記列車位置に応じて前記臨時制限速度に制限するための第２のブレーキパターンを作成し、
    　前記ブレーキ制御手段は、
    　前記速度検出手段の検出速度と前記第１のブレーキパターンとを比較し、前記速度検出手段の検出速度が前記第１の制限速度を超えたことを条件に、前記第１のブレーキ装置を駆動し、その後、前記速度検出手段の検出速度と前記第２のブレーキパターンとを比較し、前記速度検出手段の検出速度が前記第２の制限速度を超えたことを条件に、前記第１のブレーキ装置の駆動に変えて前記第２のブレーキ装置を駆動することを特徴とする列車制御システム。     A ground control device that manages setting information from an operation terminal or measurement information from a measurement device,
    An on-board safety device that transmits and receives information to and from the ground control device and manages a plurality of braking devices having different braking forces,
    The ground control device,
    Based on the setting information or the measurement information, a first brake instruction to the first brake device having the smaller brake force among the plurality of brake devices, and a large brake force among the plurality of brake devices. Instruction generation means for generating information on a second brake instruction to the second brake device and a speed limit instruction for limiting the speed of the train to the temporary speed limit;
    The information generated by the instruction generating means, the information including the first brake instruction and the speed limit instruction is transmitted to the on-vehicle security device, and thereafter, on the condition that a specified time has elapsed, Transmitting means for transmitting information including at least the second brake instruction to the on-vehicle security device,
    The on-vehicle security device,
    Receiving means for receiving information from the ground control device,
    Brake pattern creating means for creating information about a brake pattern based on the information received by the receiving means,
    Brake control means for controlling the driving of the plurality of brake devices based on the detection speed of the speed detection means for detecting the speed of the train and information on the brake pattern created by the brake pattern creation means,
    The brake pattern creating means,
    When the receiving means receives the information on the speed limit instruction and the first brake instruction, the receiving means is a brake pattern that defines a first speed limit as a driving condition of the first brake device, and Creating a first brake pattern for limiting the speed of the train to the temporary speed limit in accordance with the position of the train, wherein the receiving means receives the information on the speed limit instruction and the second brake instruction, A driving condition of a second brake device, a brake pattern defining a second speed limit higher than the first speed limit, wherein the speed of the train is limited to the temporary speed limit according to the position of the train. To create a second brake pattern for
    The brake control means includes:
    Comparing the speed detected by the speed detecting means with the first brake pattern, and driving the first brake device on condition that the speed detected by the speed detecting means exceeds the first speed limit; And then comparing the detected speed of the speed detecting means with the second brake pattern, and on the condition that the detected speed of the speed detecting means exceeds the second speed limit, A train control system, wherein the second brake device is driven in place of the drive of the train.
PCT/JP2019/022170 2018-06-22 2019-06-04 Ground control device, ground control method, and train control system WO2019244622A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05319249A (en) * 1992-05-25 1993-12-03 Nippon Kamotsu Tetsudo Kk Brake device of rolling stock
JP2001128302A (en) * 1999-10-27 2001-05-11 Mitsubishi Heavy Ind Ltd Safety method of train operation
JP2001177922A (en) * 1999-12-20 2001-06-29 Nippon Signal Co Ltd:The Train control apparatus
JP2009208528A (en) * 2008-03-03 2009-09-17 Hitachi Ltd Automatic train control system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05319249A (en) * 1992-05-25 1993-12-03 Nippon Kamotsu Tetsudo Kk Brake device of rolling stock
JP2001128302A (en) * 1999-10-27 2001-05-11 Mitsubishi Heavy Ind Ltd Safety method of train operation
JP2001177922A (en) * 1999-12-20 2001-06-29 Nippon Signal Co Ltd:The Train control apparatus
JP2009208528A (en) * 2008-03-03 2009-09-17 Hitachi Ltd Automatic train control system

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