JPS6030168B2 - Fixed position stop method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention generates a distance-speed pattern for stopping on the vehicle side by receiving a ground transducer signal installed a certain distance before the target stereotactic pupil. The present invention relates to an improvement of a localization layer stopping method using an on-vehicle pattern, in which the vehicle is decelerated so as to follow the on-vehicle pattern according to the distance from which the vehicle is stopped according to the localization pattern.

A conventional fixed-position stopping method based on an on-vehicle pattern will be explained using Fig. 1.

When the vehicle reaches the ground signal unit installed at a certain distance 1^ from the localization almanac D, the vehicle 5 receives the ground signal signal 2 with the on-board receiving device 3, and the on-board automatic driving device 4 detects the distance S-. A speed V pattern P is generated.

From now on, the vehicle running at speed V will be speed-controlled by the on-board automatic driving device 41 so as to follow the on-board pattern P. In other words, the vehicle 5 running at speed V will follow the on-board pattern P. When the on-vehicle automatic driving device 4 receives the
Start measuring the distance traveled, determine the target speed corresponding to the distance traveled from the on-vehicle pattern P, and set the target speed and travel speed V,
After they match, speed control is performed so that the traveling speed matches the target speed. The dotted line trajectory in Figure 1 shows how a vehicle 5, which has entered the vehicle at a speed V, follows the on-vehicle pattern P and stops at the target localization layer D. Because the system generates an on-board pattern with one signal reception when passing a beacon, it is possible that generation of an on-board pattern may sometimes fail due to temporary abnormalities in beacon transmission or on-board reception. There are some countermeasures to deal with this, but each has its own drawbacks.

In other words, {1) Pilot's warning: ``This is treated as an emergency brake.

This places a heavy burden on the operator, and also poses a fundamental obstacle when attempting to fully automate vehicle driving. {2} The speed limit signal from the separately installed ATC (automatic train control device) lowers the speed limit step by step over multiple sections as one approaches the station, and furthermore, the section in front of the station is shown as a stop signal, which significantly reduces the speed limit. Prevent overruns. In this method, the localization layer stop control is performed after the vehicle speed is suppressed by the speed limit in advance, compared to the case where the localization layer stop control is performed from a high speed.
It has the disadvantage of causing a significant drop in entrainment efficiency.

[3} By installing a plurality of onboard pattern generating ground elements, the chances of receiving the ground element signal on the vehicle side are increased, and failure in onboard pattern generation is avoided.

In this method, the same receiving device is used on the vehicle side, so if the failure to generate the on-vehicle pattern is due to an abnormality or failure of the receiving device, it is not a fundamental countermeasure.

An object of the present invention is to generate an on-board pattern by installing a signal transmitting/receiving device between the ground and the vehicle, which is separate from the on-board receiving device for generating the on-board pattern, and a vehicle position detection device. The goal is to make sure it is certain.

In other words, ``Using a signal transmitting and receiving device between the ground and the vehicle,
When the ground side receives a signal indicating whether the stereotactic layer stop control has started from the vehicle side, and the ground side recognizes that the vehicle has arrived at a specific point after the ground, the vehicle Check whether the above pattern has been generated or not, and if it has not occurred, give a command equivalent to the ground signal for onboard pattern generation from the ground side using the signal transmitting/receiving device to ensure that the onboard pattern is generated. The purpose is to

The present invention will be explained below according to examples.

In Fig. 2, the signals ○, 1 to S, V, V,, P are as follows:
It shows the same thing as FIG. 1 which shows an example of the conventional system, and the ground signal 1, the ground signal 2, the on-board receiving device 3, the on-board automatic driving device 4, and the vehicle 5 have the same functions as the conventional system. It has the same reference numerals as those shown in the tatami map.

In FIG. 2, a signal transmission path 7 is installed along the vehicle travel path for detecting vehicle lights and transmitting/receiving signals between the ground and the vehicle.
An on-board transmitter/receiver 6 is installed on the vehicle side, and a ground transmitter/receiver 9, a position detection device IQ, and a control device 11 are installed on the ground side.

As explained in the conventional method, when the vehicle 5 receives the ground element signal 2 from the ground element 1 installed at a certain distance 1^ from the fixed position D, the vehicle automatic driving device 4 causes the vehicle to stop the stereo position layer. Generate upper pattern P.

On the other hand, the control device 11 installed separately on the ground side sends and receives signals 8 to and from the on-board automatic driving device 4, and the on-board transmitting/receiving device 4 sends and receives signals 8 via the signal transmission path 7 and the ground transmitting/receiving device 9. , monitors the state of the vehicle 5, and detects the position of the vehicle 5 from the position detection device 101.

When the position detection device 10 detects that the vehicle 5 has arrived at a specific point E after the berm 1, the control device 11 blocks the signal 8 from the vehicle 5, and the on-vehicle automatic driving device 4 It is checked whether the on-board pattern P has been generated or not, and if it has not been generated, an on-board pattern generation command signal is immediately transmitted via the ground transmitting/receiving device 9, the signal transmission path 7, and the on-board transmitting/receiving device 6. 8 to the on-vehicle automatic driving device 4.

Although FIG. 2 shows an example in which the signal transmission line 7 is used for both signal transmission and reception and position detection, it is also possible to install them independently. As a transmission line for signal transmission and reception, a leaky coaxial cable, an inductive radio, etc. are used, and the installation range may be the entire line in conjunction with other uses, or it may be limited to the use of the present invention, as shown in Figure 2. It may also be possible to install the system in a part of the driving route including point E to detect the position of the vehicle and perform point communication.

At the time when the control device 11 checks the occurrence of the on-board pattern, the control device 11 uses the vehicle passing signal at the beacon 1.
(not shown), and the position of the vehicle is detected either after a certain period of time after the passage is detected, or for each section where the vehicle travel route is appropriately divided. For example, there is a method in which a certain period of time elapses after a signal indicating that the vehicle 5 has entered a specific section is received from a device such as a track circuit (not shown).
The control device 11 can detect on the ground side that the vehicle 5 has arrived at a specific point where it is checked whether an on-board pattern is generated or not. A method of detecting a position detection transmission line laid in parallel with the transmission line 7 by dividing it into such a degree that the required vehicle detection accuracy can be obtained, and furthermore,
A corresponding identification code, e.g. shrimp binary code, is assigned,
By simultaneously receiving the transmission signal from the vehicle 5 in the signal transmission/reception 8 for transmitting and receiving information between the ground and the vehicle on the position detection transmission path, the signal is converted into the above-mentioned identification code on the ground side in synchronization with the information exchange. In addition, the so-called absolute position can be known, and various methods can be used, such as detecting the position of a specific vehicle by correlating it with the vehicle number used for information exchange. The following effects can be obtained by the present invention.

{1) The success or failure of onboard pattern generation during localization stop control can be monitored and confirmed on the ground side, and if failure occurs, an onboard pattern generation command can be given to the vehicle again from an independent system. The reliability of stereotactic layer stop control can be greatly improved. ■ Since the receiving status of the ground signal for onboard pattern generation in the vehicle is monitored on the ground side, failures and abnormalities in the ground and onboard equipment related to stereotaxic layer stop control can be discovered and corrective measures can be taken quickly. be able to.

That is, for example, if multiple vehicles fail to receive the same ground transducer signal, it is considered that the fault on the ground transducer side is abnormal rather than on the vehicle side, and inspection and repair of the ground transducer can be expedited.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a conventional stereotactic pupil stop control system, and FIG. 2 is a block diagram showing an embodiment of the present invention. Explanation of symbols, E...Target localization layer, 1^...
Distance between target localization road and ground element for onboard pattern generation, S...
・...Distance, V, V,...Speed, P...On-vehicle pattern, 1
...Ground element for onboard pattern generation, 3...
・On-vehicle receiving device, 4... On-vehicle automatic driving device, 5
...Vehicle, 6...On-vehicle transmitter/receiver, 7...
...Signal transmission path, 9...Terrestrial transceiver device,
10...Position detection device, 11...Control device. Zoo diagrams 2

Claims (1)

[Claims] 1. By receiving on the vehicle side a ground transducer signal installed a certain distance before the target fixed position, the vehicle side generates a distance-speed pattern for stopping, and determines the distance the vehicle will travel. Accordingly, in a fixed-position stopping method in which the vehicle is decelerated and stopped at a fixed position so as to follow the above-mentioned above-mentioned on-board pattern, by the time the vehicle reaches a specific point after the above-mentioned ground coil, or after passing the above-mentioned above-mentioned ground coil, A signal is received from the vehicle side using a ground-to-vehicle signal transmitting/receiving device to determine whether the vehicle has successfully generated an on-board pattern and started fixed position stop control by a later specified time. This fixed-position stopping method is characterized in that the on-board pattern generation command signal is given to the vehicle again from the ground side if the vehicle has not started after checking on the ground side. 2. The signal transmitting/receiving device is composed of a signal transmission path installed in a required section of the running route or the entire line, and a transmitting/receiving device installed both on the ground and on the vehicle side, and the on-board pattern generation is performed on the ground side. It is also used as a signal transmission path to indicate that a vehicle has arrived at a specific point to be inspected. Alternatively, the fixed position stopping method according to claim 1 is characterized in that the position of the vehicle is detected by detecting the position of the vehicle in synchronization with signal transmission and reception using a position detection transmission line installed in parallel. . 3. The signal transmitting/receiving device is composed of a signal transmission path installed in a required section or the entire running route, and a transmitting/receiving device installed on both the ground and vehicle sides, and the onboard pattern generation is performed on the ground side. The fixed position according to claim 1, wherein the arrival of a vehicle at a specific point to be inspected is known by receiving a signal from the vehicle at a ground switch installed at the point. Stopping method. 4. The signal transmitting/receiving device is composed of a signal transmission path installed in a required section or the entire running route, and a transmitting/receiving device installed on both the ground and vehicle sides, and the onboard pattern generation is performed on the ground side. The specific time to check is determined as a certain period of time after receiving a signal indicating that the vehicle has entered a specific section from a device that detects the position of the vehicle in each section where the vehicle travel route is appropriately divided. A fixed position stopping system according to claim 1, characterized in that: 5. Knowing that the vehicle has arrived at a specific point where the occurrence of the above-mentioned on-vehicle pattern is to be checked on the ground side by receiving a signal from the vehicle side at a ground switch installed at the point; The fixed position stopping system according to claim 1, characterized in that the same ground transducer is used also for signal transmission and reception between the two. 6. The signal transmitting/receiving device is composed of a signal transmission path installed in a required section of the running route or the entire line, and a transmitting/receiving device installed on both the ground and vehicle sides, and the onboard pattern generation is performed on the ground side. The fixed position according to claim 1, characterized in that the specific time for checking is determined as a certain period of time after the passage of a vehicle on a beacon for generating an on-board pattern is detected on the ground side. Stop control method.