JP3369656B2 - Vehicle control system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle in which a storage device which can access stored information from the outside in a non-contact manner is installed on a track as a ground element, and the stored information of the ground element is read by an on-board element on the vehicle side. A vehicle control system for controlling a vehicle

[0002]

2. Description of the Related Art As an example of a vehicle running on a track, for example, a work vehicle for maintenance work on the track must be found in advance so as not to damage equipment or the like buried in the track. As another example, the wings for snow removal are installed on the left and right of the front and rear of the snow plow, but the wing must be closed in advance in a narrow space, and the wing must be raised before the railroad crossing. I have to.

However, in such a driving method,
There is a problem in that workability is poor because it depends on trained workers and drivers in order to detect equipment buried in railway tracks and obstacles under snow in advance. By the way, in order to solve such a problem, a storage device that can access the stored information from the outside in a non-contact manner is installed on the track as a ground element, and information such as appliances embedded in the track and obstacles under snow is previously stored. A method is conceivable in which this work is stored in the ground and the work is carried out while reading the track information from the work car side work.

[0004]

However, in such a method, there is a problem that a reading error occurs or important information cannot be read when the ground element fails. If the same track information is stored and installed in a plurality of ground elements, the above problem can be solved, but it is inefficient.

By the way, unlike a general vehicle such as a passenger car, a special vehicle such as a work vehicle or a snowplow travels in both a forward direction and a reverse direction on a railroad track. Since the distance information to an object differs depending on the traveling direction, a ground element that stores different track information depending on the traveling direction must be installed on the railway. According to the present invention, the above-mentioned conventional problems and the forward trajectory data when the vehicle travels in the forward direction on the track and the backward trajectory data when the vehicle travels in the backward direction have a correlation according to the traveling direction of the vehicle. In view of the above, it is possible to efficiently use the track information of the ground element installed on the track,
Moreover, it aims at providing the vehicle control apparatus which can improve the reliability of the track information of a ground element.

[0006]

In order to achieve the above object, the present invention provides forward trajectory data when a vehicle travels in a forward direction on a track and reverse trajectory data when a vehicle travels in a reverse direction. There is a correlation depending on the direction of travel of the vehicle, and the orbital data for the forward direction and the orbital data for the backward direction are stored in a pair of ground elements and installed in the vicinity, and each pair of ground elements are sequentially arranged along the orbit. It is characterized in that the track data for the forward direction and the track data for the reverse direction stored in each pair of ground elements are read by the car top and the track data in the vehicle traveling direction are identified by the mutual correlation.

Further, in the present invention, when the vehicle changes the traveling direction of the track by changing the front-back direction of the vehicle itself, information for changing the traveling direction is stored in the ground element, and the ground element moves in the traveling direction. After identifying the direction of travel by reading this information from the car top and reading the track data for forward direction and track data for reverse direction stored in each pair of ground track, It is characterized in that the trajectory data in the traveling direction of the vehicle is identified by the mutual correlation.

Further, according to the present invention, a pair of ground conductors are installed on both sides of each sleeper on the track, all the forward trajectory data of one ground conductor on the sleeper are stored, and the other ground conductors on the sleeper are stored. The reverse direction track data is stored in all of them, the information of the pair of ground plates on the sleepers is read by the pair of car tops, and the track data of the vehicle traveling direction is identified by the mutual correlation.
When any one of the pair of car tops fails, the track data in the vehicle traveling direction is identified from the information read from one of the ground tops of the normal car top. Specifically, when the forward or reverse direction vehicle upper member different from the vehicle traveling direction fails, the track data is recognized as it is from the information read by the normal vehicle upper member. Further, when the vehicle upper part for the forward direction or the reverse direction same as the vehicle traveling direction fails, the track data obtained from the information read by the normal vehicle upper part may be recognized as the reversed track data.

[0009]

In the present invention, the forward trajectory data and the backward trajectory data, which are correlated with each other, are stored in a pair of ground elements, and these data are read by the car top to determine the correlation with each other. Since the trajectory data in the vehicle traveling direction is identified, it is possible to accurately identify the trajectory data in the vehicle traveling direction even if a reading error occurs or one of the ground elements fails. Therefore, it is possible to efficiently use the track information of the ground element installed on the track, and it is possible to improve the reliability of the track information of the ground element.

When the vehicle changes the traveling direction of the track, there are two methods: a method of changing the front-rear driving direction without changing the front-rear direction of the vehicle itself and a method of changing the front-rear direction of the vehicle itself. In the latter case, since the information for changing the traveling direction is stored in the ground element and installed at the location for changing the traveling direction, the trajectory data for the vehicle traveling direction can be obtained without making a mistake in the trajectory data for the forward direction and the trajectory data for the backward direction. Can be identified.

Further, even if any one of the pair of car tops fails, the track data can be recognized normally and the reliability is high.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view showing an embodiment of a vehicle control device according to the present invention. In the example shown in FIG. 1, obstacles 2 such as mountains and houses exist on both sides of the track 1, and although not shown, there are cases where railroad crossings cross the track 1. In addition, the snow removal wings 31L, 31 of the snow removal vehicle 3
R, 32L, and 32R can be independently opened and closed in the left-right direction by the operation of the wing control device 7 mounted on the snow removal vehicle 3 or an operator as described later, and can be independently moved in the up-down direction. . Therefore, the wings 31L, 31R, 32L, 32R of the snowplow 3 must be closed in a section where both sides are narrow, and must be raised when passing the railroad crossing.

In FIG. 1, the upward direction is referred to as the forward direction and the downward direction is referred to as the reverse direction. In the forward direction, the ground elements 5a and 5b are installed in the center of the sleeper 4 adjacent to the front side of the obstacle 2. Further, in the opposite direction, the ground elements 5d and 5c are installed in the center of the sleepers 4 adjacent to each other on the front side of the obstacle 2. Therefore, the snowplow 3 travels in the order of the ground elements 5a → 5b → 5c → 5d in the forward direction, and in the order of the ground elements 5d → 5c → 5b → 5a in the reverse direction.
The ground element 5a, 5c is used for the forward direction,
d and 5b are used for the reverse direction. Here on the ground child 5
The arrows shown in a to 5d indicate whether it is for the forward direction or the backward direction.

At the center of the front part of the snowplow 3, the ground elements 5a-5
A reader for reading the stored information of d, that is, a car top 6 is installed, and the wing control device 7 of the snow removing vehicle 3 is based on the stored information of the ground conductors 5 a to 5 d read via the car top 6. Wings 31L, 31R, 32L, 32
R is controlled or the stored information is displayed to prompt the operator to perform an operation.

Between the ground elements 5a and 5b and between the ground elements 5d,
Between 5c, it is desirable to dispose them on a certain distance, for example, on the adjacent sleepers 4, and it is desirable not to dispose other ground elements for track information. In addition, car child 6
May be installed before and after the snow removal vehicle 3. As shown in FIG. 2, the stored information of the ground elements 5a to 5d is data OP indicating work content, direction data indicating forward or reverse data, and wings 31L and 31R.
It is composed of commands for opening / closing 32L and 32R and driving vertically, an error check bit CK and the like.

In the forward direction ground elements 5a and 5c, as shown in FIG. 3 (a), the ground element 5a on the front side of the obstacle 2 includes data indicating snow removal work and forward data. Direction data indicating that there is, and wings 31L, 31
A command to close R, 32L, 32R is stored in advance,
Further, as shown in FIG. 3C, the ground element 5c at a position where the obstacle 2 is not present has data indicating snow removal work, direction data indicating forward data, and wings 31L and 31R. , 32L, 32R are stored in advance.

Similarly, in the reverse directions 5d and 5b, as shown in FIG. 3D, the ground element 5d on the front side of the obstacle 2 has data indicating snow removal work and reverse data. Direction data indicating that, and wings 31L, 31R, 32
A command for closing L and 32R is stored in advance, and the ground element 5b at the position where the obstacle 2 does not exist is shown in FIG.
As shown in (b), data indicating snow removal work, direction data indicating reverse data, and wing 31
Commands for opening L, 31R, 32L, 32R are stored in advance.

Here, focusing on the traveling direction data (forward / reverse) and wing control data (open / closed) of the ground elements 5a-5d, the vehicle travels in the forward direction in the order of the ground elements 5a → 5b → 5c → 5d. The data that should be read normally, that is, the data when no reading error occurs and the ground element is normally installed, is (forward / closed) → (reverse / open) → (forward / open) → (Reverse / closed).

Therefore, the data of the ground elements 5a and 5b which should be normally read on the front side of the obstacle 2 by traveling in the forward direction are (forward / closed) and (reverse / open), respectively, but the running directions of each other are different. The data (forward / reverse) is the opposite, and the wing control data (open / close) is also the opposite, so there is a correlation. Similarly, the data of the ground elements 5c and 5d which should be normally read at the position where the obstacle 2 does not exist are (order
Open) and (inverse / closed), so there is a correlation.

Further, the data to be read in the order of the ground elements 5d → 5c → 5b → 5a while traveling in the reverse direction are (reverse / close) → (forward / open) → (reverse / open) → (forward / close) ), The data (reverse / closed) and (forward / open) of the ground elements 5d and 5c that should be normally read on the front side of the obstacle 2 are in correlation with each other, and the position at which the obstacle 2 does not exist is the same. The data of 5b and 5a that should be normally read by
Open) and (sequential / closed), so there is a correlation.

On the other hand, for example, a combination of data that may be read on the front side of the obstacle 2 is when (forward / close) is correct and (reverse / open) is correct. There is an error in (Sequence / Close) and the correct (Reverse / Open). When (order / close) is correct and (reverse / open) is incorrect.

There is an error in (sequential / closed) and an error in (reverse / open). When (forward / closed) is no response and (reverse / open) is correct. When (forward / closed) has no response and (reverse / open) has an error. (Forward / Closed) is correct, and (Inverse / Open) is no response. There is an error in (sequential / closed) and no response in (reverse / open).

No response is given to (sequential / closed) and no response is given to (reverse / open). There are 9 ways. In addition, it cannot be distinguished from the case of "no response" in both cases, whether the ground elements 5a to 5d are faulty or originally not installed, but the probability of no response from two at a time is 1 Probability P (0 ≦ P ≦ 1)
To P ² , which is extremely reduced. Also, above
The read error in, and can be dealt with by devising the data code structure and the error detection method.

Therefore, in the present embodiment, for example, the traveling direction data (forward / reverse) of the backward data and the wing control data (based on the correlation between the forward data and the backward data read when traveling in the forward direction) are used. Line 1 by reversing (open / closed) and adopting it as forward data
It is possible to efficiently use the information of the ground conductors 5a to 5d installed in, and improve the reliability of the line information of the ground conductors 5a to 5d.

Further, since the error check bit CK is stored in the ground elements 5a to 5d as shown in FIGS. 2 and 3, if a read error occurs in one communication, the error amount is detected to detect the data. The reliability of can be improved. In the above embodiment, the snow plow 3 itself does not change its direction, that is, the driver's seat is changed or retreats as it is to reciprocate on one track 1. I explained the case where the traveling direction data (forward / reverse) is needed because the direction to move on the track (before and after the snowplow 3) is changed without changing the
As another example, as shown in FIG. 4, the traveling direction changing tracks 1a and 1b are provided to the track 1, and the snow removal vehicle 3 itself changes its direction, that is, the road is moved forward without changing the driver's seat. There are vehicles that run in the up and down directions of 1.

Therefore, in such a case, the direction change data and the up or down direction of the line 1 are shown along the traveling direction changing lines 1a and 1b as shown in FIGS. Ground elements 51a and 5 in which data are stored respectively
By installing 1b, the traveling direction of the vehicle can be identified. Further, in the above-mentioned embodiment, the ground wire 5a and 5b and the ground wire 5d and 5c are installed in the center of the sleeper 4, but when it is not possible to install the ground wire in the center of the sleeper 4, as shown in FIG. 151R in each direction on both ends
~ 154R, 151L to 154L may be installed to store left and right data, and readers 161R, 162R may be installed on the front and rear right sides of the vehicle 3, respectively.

As shown in FIG. 6, for example, the right ground element 151R-
Data for forward direction, backward direction, forward direction, and backward direction are stored in 154R, respectively, and ground elements 151L to 151L on the left side of the drawing are stored.
Data for the backward direction, the forward direction, the backward direction, and the forward direction are stored in 54L. When the vehicle 3 travels in the forward direction, the reader 161R sequentially reads the ground elements 151R → 152R → 153R → 154R on the right side of the drawing to identify the data in the traveling direction based on the logical relationship between the forward direction data and the backward direction data. To do.

Here, as described above, when the vehicle 3 travels in the opposite direction, the driver's seat is changed or it is retracted and folded back, and the driver's seat is not changed as shown in FIG. There is a street, but in the former case, leader 16
2R, in the latter case, the reader 161R sequentially reads the ground elements 151L → 152L → 153L → 154L on the left side in the figure, that is, the right side in the traveling direction, and identifies the data in the traveling direction based on the logical relationship between the forward direction data and the backward direction data. be able to.

FIG. 7 shows another embodiment in which a pair of ground elements are installed on both sides of the sleeper 4. In the embodiment of FIG. 7, all the ground elements 251R and 252R arranged on one side of the sleeper 4 are used for the forward direction. For example, the ground element 251R stores (forward / closed) data, and the ground element 252R (forward / closed). Store the data of (open). In addition, the ground element 251 arranged on the other side of the sleeper 4
L and 252R are all for the reverse direction, for example, the ground element 251
The (reverse / closed) data is stored in R, and the (reverse / open) data is stored in the ground element 252R.

In this case, if the vehicle 3 does not turn,
The car upper 161R is used for the forward direction, and the car upper 16R
2R is used for the reverse direction. When the vehicle 3 changes direction, the car top 161R is used for the forward direction when traveling in the forward direction and used for the reverse direction when traveling in the reverse direction. At the same time, the vehicle upper member 162R is used for the reverse direction when traveling in the forward direction and used for the forward direction when traveling in the reverse direction.

When both of the car tops 161R and 162R are normal, a pair of the ground tops 251R, 252L and 252 are installed for each sleeper 4 using the two car tops 161R and 162R.
R and 251L are sequentially read, and the trajectory data in the vehicle traveling direction is identified from the correlation between the two. In addition, the car train 161R, 16
Even if one of the 2Rs fails, the orbital data can be identified from the correlation between the pair of ground elements. For example, when the car top 161R fails while the vehicle is traveling in the forward direction, only the ground pedestals 162R for the reverse direction are used and the ground pedestals 252L and 251L are used.
The data will be read in the order of. At this time, since the failure of the forward direction vehicle upper member 161R is known, the data obtained by reversing the trajectory data read by the reverse direction vehicle upper member 162R becomes the correct forward direction trajectory data. For example, ground child 2
The data of 52L is (reverse / open), but by reversing this (forward / closed), the same result can be obtained as when the ground child 251R is read by the failed upper child 161R.

On the other hand, in the embodiment shown in FIG.
If either 1R or 162R fails, the trajectory data cannot be read correctly even if the correlation is used, and the embodiment of FIG. 7 is superior in terms of reliability. Next, with reference to FIG. 8, an example of the non-contact type ground element and vehicle upper element in the above embodiment will be described. A data transmission unit 32 including an MPU (microprocessor) 22, which is a control unit, a modulation circuit 40 and a demodulation circuit 46, a transmission coil 34a and a reception coil 34 that are wound around a common core, are provided on the vehicle top 6.
b, an upper interface 48 for the wing control device 7 of FIG. 1 is provided.

As shown in FIGS. 3 and 5, the MPU 22 can read and control the information stored in the memory 44 of the car top 5, and can also perform the write control. The modulation circuit 40 in the data transmission unit 32 uses the MP for the ground element 5.
The signal from U22 is modulated and output to the transmission coil 34a. Further, the demodulation circuit 46 demodulates data from the transmission signal from the ground element 5 and outputs it to the MPU 22.

The ground coil 5 includes a transmission / reception coil 36 and a changeover switch 5 for switching between transmission and reception of the transmission / reception coil 36.
0, a data transmission unit 38 having a demodulation circuit 52 and a modulation circuit 56, a memory control unit 42, a nonvolatile memory 44 such as an EEPROM, and a rectification circuit 41 for power supply. The transmission / reception coil 36 is switched by the signal from the controller 42 to the receiving side a shown in the figure when there is no access from the vehicle top 6 and when data is received from the vehicle top 6. Further, when transmitting the read data from the memory 44 based on the read command from the train car 6, the transmission side b is switched. The demodulation circuit 52 of the data transmission unit 38
The received signal received via the coil 36 is demodulated and output to the controller 42. The controller 42 executes read access or write access to the memory 44 based on the received command.

The modulation circuit 56 of the data transmission unit 38 modulates the read data from the memory 44 by the controller 42 into an analog signal, and transmits it to the train car 6 via the coil 36. Further, the ground element 5 is provided with a rectifying circuit 41,
When the changeover switch 50 is switched to the receiving side a, the received signal obtained in the coil 36 is rectified, and the DC power supply voltage V
Supply cc to each circuit.

The ground element 5 may be of a battery built-in type. In addition, as non-contact transmission between the car core 6 and the ground core 5, electromagnetic induction coupling using a coil is taken as an example.
Appropriate non-contact transmission such as radio wave method and optical communication method can be adopted. Further, although the car top 6 of FIG. 8 exemplifies the case where writing and reading are possible, the car top of the present invention may be at least readable.

[0037]

As described above, according to the present invention, the forward trajectory data and the backward trajectory data, which are correlated with each other, are stored in a pair of ground elements, and these data are stored by the car top. Since it is read and the track data in the vehicle traveling direction is identified by the correlation with each other, it is possible to accurately identify the track data for forward direction even if a read error occurs or the ground element fails, and ,
It is possible to efficiently use the track information of the ground element installed on the track, and improve the reliability of the track information of the ground element.

Further, when the vehicle changes the traveling direction of the track, there are two methods: a method of changing the driving direction without changing the front and rear of the vehicle and a method of changing the front and rear of the vehicle itself. In the former case, Since the information for changing the traveling direction is stored in the ground element and installed in the place where the traveling direction is changed, the trajectory data of the vehicle traveling direction can be identified without making a mistake in the trajectory data for the forward direction and the trajectory data for the reverse direction. .

[Brief description of drawings]

FIG. 1 is an explanatory plan view showing an embodiment of a vehicle control system according to the present invention.

FIG. 2 is an explanatory diagram showing a configuration of data stored in the ground element shown in FIG.

FIG. 3 is an explanatory diagram showing a specific example of data stored in the ground element shown in FIG. 1.

FIG. 4 is an explanatory diagram showing a case in which the traveling direction is changed by changing the direction of the vehicle itself without changing the driver's seat.

5 is an explanatory diagram showing a specific example of data stored in the ground element of FIG. 4. FIG.

FIG. 6 is an explanatory view showing an embodiment in which the ground wire is installed at both ends of the sleepers.

FIG. 7 is an explanatory view showing another embodiment in which the ground wire is installed at both ends of the sleeper.

FIG. 8 is a block diagram showing a specific example of the ground child and the car child of FIG.

[Explanation of symbols]

1, 1a, 1b: Line 2: Obstacle 3: Snowplow (vehicle) 4: Sleepers 5,5a ~ 5d, 51a, 51b, 151R ~ 154R, 151L ~ 154L: Ground child 6,161R, 162R: On-board child 7: Wing control device 22: MPU (microprocessor) 31L, 31R, 32L, 32R: Wing 32, 38: data transmission section 34a: Transmission coil 34b: receiving coil 36: Transmit / receive coil 40, 56: Modulation circuit 41: Rectifier circuit 42: Controller 44: memory 46, 52: Demodulation circuit 48: Upper interface

Front page continuation (72) Inventor Kazuya Honma 2-1646 Minami Kamata, Ota-ku, Tokyo Within Tokimec Co., Ltd. (72) Inventor Hidesato Fujimori 1-6-5 Marunouchi, Chiyoda-ku, Tokyo East Japan Railway Company (72) Inventor Hiroshi Sugai 1-6-5 Marunouchi, Chiyoda-ku, Tokyo East Japan Railway Company (72) Inventor Mitsuru Takano 1-6-5, Marunouchi, Chiyoda-ku, Tokyo East Japan Railway Company (56) Reference JP-A-53-100793 (JP, A) JP-A-54-45015 (JP, A) JP-A-52-143604 (JP, A) JP-A-53-27524 (JP, A) Actual Development Sho 61-189701 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) B60L 1/00-3/12 B60L 7/00-13/00 B60L 15/00-15 / 42 B61L 1/00-29/32 G06K 19/07

Claims (3)

(57) [Claims] 1. A forward trajectory data when a vehicle travels in a forward direction on a track and a backward trajectory data when a vehicle travels in a backward direction have a correlation according to a traveling direction of the vehicle. Orbital data and orbital data for the reverse direction are stored in a pair of ground elements and installed in the vicinity, and the ground elements of each pair are sequentially installed along the orbit, and are stored in the ground elements of each pair for the forward direction. A vehicle control system characterized in that the trajectory data and the trajectory data for the reverse direction are read by a car body and the trajectory data in the vehicle traveling direction are identified by their mutual correlation. 2. The vehicle control system according to claim 1, wherein when the vehicle changes the traveling direction of the track by changing the front-back direction of the vehicle itself, the information for changing the traveling direction is stored in the ground element. A lever is installed at a place where the traveling direction is changed, the traveling direction is read by reading this information from the car top, and then the forward trajectory data and the backward trajectory stored in each pair of the above-mentioned ground elements. A vehicle control system characterized in that the data is read by a vehicle top and the track data in the vehicle traveling direction is identified by the mutual correlation. 3. The vehicle control system according to claim 1, wherein a pair of ground elements are installed on both sides for each sleeper on the track,
Stores all the forward direction trajectory data of one of the above-mentioned sleepers on the sleeper, stores the backward direction trajectory data at all of the other above-grounded shoe on the sleeper, and makes a pair on the sleeper by a pair of car tops. The information on the above-mentioned ground wire is read and the track data in the vehicle traveling direction is identified by the correlation with each other, and when any one of the pair of the above-mentioned ground wire fails, one ground wire is the normal ground wire. A vehicle control system characterized by identifying trajectory data of a vehicle traveling direction from information read from the vehicle.