JP3525481B2 - Train control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a train control device for controlling a train running on a schedule.

[0002]

2. Description of the Related Art Conventionally, train operation has been dependent on the experience of a driver. The only information given to the driver leaving the station was the estimated arrival time and departure time at the next station. The driver is driving according to his experience, taking into consideration the boarding rate, the gradient within the section, the speed limitation by signals and curves, energy saving, the riding comfort, etc., and the driving time between stations and the departure time of the next station How to use the spare time was left to the driver.

If the train schedule is disturbed due to weather conditions, accidents, etc., the operation management device of the central command station determines a revised schedule, and the train running time based on the revised schedule is transmitted to the train. Was there. At this time, the driver drives within the corrected traveling time between stations.

On the other hand, an automatic train controller (hereinafter referred to as ATC) is used for security. This ATC is
As described in JP-A-48-64604, the station is divided into a plurality of sections, and the speed is limited in each section according to the positional relationship with the preceding train. A mechanism was used in which the speed limit was suppressed as the number of sections in between decreased.

[0005]

Conventionally, the driver does not know the position or speed of the preceding train because the driver is left to use the spare time between stations. For this reason, even if the preceding train slows down due to bad weather or an accident, the train runs normally, so there are cases where the ATC limits the speed and it becomes impossible to keep the running time between stations. Also, if the speed limit is imposed, the subsequent trains will be subject to the speed limit due to the influence, and the delay will spread one after another.
The so-called accordion phenomenon occurs, and the disorder of the train schedule will be magnified.

[0006] Further, even when the disorder of the timetable is recovered by the modified timetable, the driver tries to recover the train timetable as quickly as possible because the individual driver is allowed to use the spare time included in the modified timetable. Tries to run at full speed limit. As a result, the distance from the preceding train became shorter, and the accordion phenomenon occurred again, which sometimes delayed the recovery of the diamond.

As described above, in the conventional control method, once the train operation is disturbed, the disturbance is likely to spread to the succeeding moving bodies, so that the operation plan is often forced to be changed. In addition, when the operation schedule was changed and an attempt was made to quickly restore the original operation plan, there were cases where it did not recover easily.

An object of the present invention is to provide a train control device which prevents the delay of train operation as much as possible.

Another object of the present invention is to provide a train control device which can speed up recovery even if a delay occurs.

[0010]

According to the present invention, an arrival position, an arrival time, and a target speed at arrival are instructed to a controlled train as an arrival target of the train based on a train schedule, and the arrival target is reached. Is a train control device that displays the travelable range up to the arrival target on the driver's cab, wherein the travelable range is decelerated at the maximum deceleration from the current position on the distance-time plane, and when stopped Maintain a stop, then accelerate at maximum acceleration, maintain that speed when the maximum speed is reached, then decelerate at maximum deceleration and reach the target at the target speed and the maximum acceleration from the current position. Accelerate and maintain the speed when reaching the maximum speed, then decelerate at maximum deceleration, maintain the stop when stopped, then accelerate at maximum acceleration to reach the target at the target speed A train control device which is a region surrounded by the trajectory.

Further, according to the present invention, based on the train schedule, the arrival position, the arrival time, and the target speed at the arrival are commanded to the preceding train and the succeeding train which are control targets as the arrival targets of these trains, and these trains Calculates the travelable range for reaching the target and detects the occurrence of a travel obstacle for the following train from the travelable range, within the travelable range of the train for any of the trains. In the train control device that newly sets the reaching target, the travelable range is decelerated at the maximum deceleration from the current position on the distance-time plane, and when stopped, the stop is maintained, and then at the maximum acceleration. Accelerate, maintain the speed when reaching the maximum speed, then decelerate at maximum deceleration and reach the target at the target speed, and accelerate from the current position to maximum acceleration, When the speed reaches a certain level, the speed is maintained, then the speed is decelerated with the maximum deceleration, the stop is maintained when the speed is stopped, and then the area is surrounded by the locus of accelerating with the maximum acceleration and reaching the reaching target at the target speed. Is a train control device.

For the train, the arrival position as the arrival target,
The travelable range of this train on the time-distance plane is uniquely determined by instructing the arrival time and the speed at the arrival time. Obstacles that hinder the operation of this train within this range,
For example, if there is no ATC speed limit signal, or
By setting a goal that does not cause any obstacles (only the arrival time at the station is determined as described above, which causes obstacles to the following trains depending on how the preceding train runs), avoid the obstacles that cause delays as much as possible. can do.

When it is determined that there is a problem as a result of calculating the travelable range from the reachable target, the travelable range is further limited by newly setting an intermediate reachable target within the runnable range, Obstacles are removed and delays are most quickly recovered.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS It will be described with reference to FIG. 2 to FIG. 7 that the driving interval is reduced by the present invention.

FIG. 2 is a diagram showing that the travelable range on the time-distance plane is determined by giving a target (position, time, speed) to a train.

When the train is given a set of (position, time, speed) (s1, t1, v1), (s2, t2, v2) as shown in the figure, the maximum acceleration, maximum deceleration and maximum speed of the train are given. Is a value peculiar to the train, and the state of the route (gradient, curve, etc.) is also determined for each route, so the travelable range on the time-distance plane is uniquely the region surrounded by the curve shown. That is, the upper part of the area is curved 31
At the point s1 of 1, the vehicle decelerates from the speed v1 to the speed 0 with the maximum deceleration, stops at the straight line 312, and the speed 0 at the curve 315.
From the maximum speed to the maximum speed, the maximum speed is maintained on the straight line 314, and the curve 313 decelerates to the speed v2. The lower part is the maximum acceleration from the speed v1 to the maximum speed on the curve 316. Then, the straight line 317 maintains the maximum speed, the curve 320 decelerates to the speed 0 with the maximum deceleration, the straight line 319 stops, and the curve 318 accelerates to the maximum speed v2. The possible range is limited to this range.

The current (position, time, speed) is calculated as (s1, t
1, v1), the travelable range on the time-distance plane can be limited by specifying future (s2, t2, v2). Furthermore, point s1,
When the acceleration (deceleration) of the train in s2 is designated, the travelable range is further limited.

Next, the principle of narrowing the travelable range will be described with reference to FIG.

By newly designating the intermediate target 321 within the travelable range obtained from the two targets in FIG. 2, the travelable range can be made narrower than the area shown in FIG. 2 as shown in the figure.

FIG. 4 shows a case where two trains exist on the same route. The optimum traveling pattern of the trains in this case will be described. Subsequent trains overtake the train that left station 1 (curve 400) at station 2 (curves 402, 40).
3) Show the case.

As the preceding train travels, a speed limit signal is output by an automatic train control device for security (hereinafter referred to as ATC). When the succeeding train travels at a speed higher than the speed limit signal, the succeeding train operates at the maximum service brake (ATC). The brake will be applied and the speed will be reduced until the speed falls below the speed limit. A broken line 401 is a locus showing how the speed limit signal changes. If the succeeding train passes the station 1 and runs at a high speed, it approaches the preceding train too much as shown by the curve 402, and the ATC brake is activated due to the conflict with the speed limit signal, forcing deceleration.

If the succeeding train travels along a curve 403, it is possible to smoothly enter the station 2 and pass the preceding train without operating the ATC brake. Comparing the curves 402 and 403, the curve 40
In No. 2, since the ATC brake operates, the time passing through the station 2 is delayed as compared with the curve 403, which causes a train delay, or an obstacle to the delay cancellation when a train delay occurs. Further, in the curve 402, since re-acceleration (re-powering) is performed after the ATC brake is activated,
The power consumption increases, and the riding comfort of passengers deteriorates. Therefore, it is a necessary condition for running the train to prevent the ATC brake from operating as much as possible.

The principle of the present invention for generating such an ideal traveling pattern 403 will be described with reference to FIGS.

In FIG. 5, a target (indicates a set of (position, time, speed), the same applies hereinafter) 404 is the departure time of the preceding train at station 1 and a target 405 is the arrival time of the preceding train at station 2 and the target 40.
6 is a target indicating the passage time of the succeeding train at station 1, and target 407 is a target indicating the passage time of the succeeding train at station 2. In the present embodiment, for example, the areas described in FIG. 2 are calculated with the targets 404 and 405 and the targets 406 and 407 as the targets of the preceding train and the succeeding train, respectively. A region 408 is a traveling range of the preceding train, and a region 409 is a traveling range of the following train.
The polygonal line 410 is the worst condition of the speed limit signal generated when the train travels in the area 408, that is, the speed limit signal generated when the preceding train travels along the upper portion of the area 408.

As can be seen from FIG. 5, when the preceding train and the succeeding train run independently, there is a situation in which the succeeding train is subject to ATC brakes, which is a factor that hinders the optimum operation of the succeeding train. In this embodiment, by calculating the travelable range for each train in this way, A
Find the area where the braking by TC may operate (obstruction between trains).

Next, the principle of eliminating obstacles between trains will be described. FIG. 6 illustrates a case in which obstacles between trains are eliminated by using the basic principle shown in FIG. In addition to the targets shown in FIG. 5, targets 411 and 412 are newly designated as the preceding train and the following train. Areas 413, 414 and Area 41
5, 416 are areas divided by a new target.

By setting the intermediate target in this manner, the travelable range of the preceding train is narrowed, the speed limit signal is closer to the preceding train, and the following train has a traveling margin, so that there is a possibility that the ATC brake will be applied to the following train. Decrease. In addition to this, the target 412 is set to a point where the following train is most likely to interfere with the speed limit signal, thereby further reducing the possibility that the ATC brake is applied to the following train.

FIG. 7 shows the optimum running pattern described in FIG. 4 applied to the distance-time plane of FIG.
The optimum driving pattern 400 shown in FIG. 4 is displayed in the newly divided areas 413 and 414.
It can be seen that 3 is included in the areas 415 and 416.
Then, the preceding train and the following train do not interfere with each other as long as they run in these areas.

As described above, in this embodiment, by designating targets (position, time, speed) for trains, obstacles between trains can be avoided, and further obstacles can be set by setting intermediate targets. Can be removed as much as possible.

By the way, even if the target is set as described above, the train must be a target that can actually reach the target. Therefore, a process for determining whether the train can reach the target is provided.

Each time the train position information is updated, the fastest train pattern stored in advance is read out, and when the train runs in the fastest pattern, it is calculated whether or not the target train can reach the target. Can determine if the target can be reached. This will be described with reference to FIGS.

It is assumed that the train currently exists at (s1, t1, v1), and the target is (s2, t2, v2). Figure 8
Is the distance-speed curve 501 of the fastest pattern on the distance-speed plane, the position / speed of the current train information (s1, v
Point 502 representing 1), target position / speed (s2, v2)
Is a point 505 that represents Point 502 (s1,
Curve 5 that reaches the fastest pattern from v1) with maximum acceleration
Calculate 04. Route data and train performance data are used for this calculation. Similarly, curve 505 is calculated by using maximum deceleration. From the calculated results of the curves 504 and 505, the distance-time curve 501 of the fastest pattern, and the current train position / speed information, the target position / speed (s
2, v2) can be calculated when the time t is reached fastest. This time t and target (s2, t2, v2)
Of time t2 are compared, reachable if t ≦ t2, t>
If t2, it can be determined that it is unreachable.

The above is expressed in the distance-time plane as shown in FIG. Train information (s1, t1, v1) is point 602
The distance-time curve corresponding to the distance-speed curve 504 is 60.
4, the distance-time curve corresponding to the distance-speed curve 501 is 601, and the state (s2, t, v2) that reaches the target position / speed (s2, v2) fastest is 603. The inclination of the arrow in FIG. 9 indicates the speed at 602 and 603. Here, the target (s2, t2, v2) is 607
If (t> t2), it is unreachable, and 606
If (t ≦ t2), it is reachable.

In the calculation of t, since the distance-speed curve and the distance-time curve of the fastest pattern are calculated and stored in advance, the actual calculation is performed by the curves 504, 5
Only 05, the calculation amount is small.

If the target can be reached, this target is commanded, and if it is impossible, the target is set again.

Next, an embodiment for realizing this principle will be described with reference to FIG.

A central operation management system 10000 and a station system 11000 are installed on the ground. Central operation management device 10
000 monitors the train group across all lines and creates and changes the train schedule. And the operation management computer 101
00 is connected to the station device 11000 via the central local network 10300, the gateway 10400, and the wide area network 12000.

The station device 11000 has a station timetable based on the train timetable, monitors a train departing from the previous station and heading to the own station, sets a target state based on the station timetable, and transmits it to the train 20. Hereinafter, the range from the front station to the premises of the own station is called the own station area. Station computer 11100 is station local network 1
It is connected to 1200. Further, the station device 11000 and the on-board device 200 can exchange information via the wireless communication device 101 and the wireless communication device 201.

Memory 101 of operation management computer 10100
An operating system 10151 (hereinafter referred to as OS) and a timetable information program 10152 exist on the computer 50, and the processor 10120 reads and executes them.

The operation management computer 10100 includes a processor 10120 and an input device interface 1011.
The input device such as the mouse 10111 or the keyboard 10112 via the display interface 10
The display 10131 via the network 130, the central local network 10300 via the network adapter 10160, and the disk interface 10140.
A diamond storage device 10141 is connected through.

The timetable management program 10152 displays train position information transmitted from the station device 11000 on the display 10131, and the commander sends a mouse 1011.
A change timetable for each station is created from the change timetable input via 1 or the keyboard 10112.

The station device 11000 includes a processor 1112.
0, the memory 11150, the wireless communication device 11111 through the external device interface 11110, the station local network 11200 through the network adapter 11130, and the disk interface 1
Via 1140, a traveling pattern storage device 11141, a station timetable storage device 11142, a train data storage device 111
43 is connected.

On the memory 11150 of the station computer 11100, an OS 11151, a station diagram management program 111
52, a target state setting program 11153, and a train monitoring program 11154.

The train monitoring program 11154 transmits information from the train to the timetable management program 10152 of the central operation management device 10000 and monitors whether the train can reach the target. Station timetable management program 1115
2 receives the changed station timetable from the timetable management program 10153 of the central operation management device 10000, saves the changed station timetable, and transmits the changed data to the target state setting program 11153. Goal setting program 1115
3 sets the target, changes the target by changing the timetable, and resets the reachable target.

The on-board device 200 is an on-board computer 20100.
And wireless communication device 20111, running pattern storage device 20161 as a storage device, train schedule storage device 2016
2, has a route / train data storage device 20163, and further, an automatic train operation device 20200 is connected to a motor 20300 and a brake 20400, and an integrated wattmeter 20112,
Passenger rate meter 20131, speedometer 20114, total distance meter 2
0115, clock 20116, device monitor 20117, ATC
It has a signal receiver 20118.

The on-board computer 20100 has a memory 2012.
0, a processor 20130, an external device interface 20110, an external storage interface 20150, and a timer 20140 are mutually connected by a bus 20160. On the memory 20120, the OS 20121,
There are a train data transmission program 20122 and a running pattern generation program 20123. The automatic train operation device 20200 is connected to the instrument group, the motor 20300, and the brake 20400, and controls the motor 20300 and the brake 20400 so as to follow the travel pattern generated by the travel pattern generation program 20123. Then, various devices are connected via the external device interface 20110 as illustrated.

The train data transmission program 20122
The station device 11 takes in data from the instrument group at regular intervals.
000 train monitoring program 11154. The traveling pattern generation program 20123 generates a traveling pattern that normally reaches the standard target stored in the train schedule storage device 20162, and when a new target is transmitted from the target setting program 11153 of the station device 11000, the new target is generated. Generate a travel pattern that reaches.

Next, the operations of the central operation management device 10000, the station device 11000, and the on-board device 200 will be described with reference to FIGS. 14 to 20.

As shown in FIG. 14, the timetable management program 10152 in the central operation management device 10000 is as follows.
Create a train schedule for all train lines and display tracking information for each train provided by each station (1406, 1
407), and has a timetable change function (1402-1405) by rescheduling according to the delay situation. If there is a delay and it becomes difficult to operate according to the planned timetable, the dispatcher will cancel the train, change the train station, change the passing station,
This is due to the rescheduling carried out in order to eliminate the delay as much as possible by changing the current schedule such as changing the departure time. Then, the schedule management program 10152 notifies the train schedule management program 11152 of each station device of the train schedule including the modified schedule.

The station timetable management program 11152 in the station device 11000, as the timetable information, for each train and each station, the train number of each train, the arrival time of the station, the distinction of stop / passage, the departure time of the station, and the operation according to the timetable. The data of the standard target state in the case where there is a train is stored, and the schedule information of each train is set as the target setting device 111 based on the status of the train.
It has a function of notifying 53. In addition, the point entry position and the station yard entry position are determined for each station, and the speed limit at each position is determined by the distinction between stopping and passing, so these pieces of information are stored. When the timetable is changed, the changed timetable information is input and stored, and the target setting program 11153 is notified (FIG. 20, 2200 to 2203).

The target setting program 11153 draws data from the station timetable management program 11152 to create a target for the controlled train. As the target, the standard target stored in the station timetable management program 11152 is read. This standard target is basically (position, time, speed) at a stop or passing station, but there are many points and curves in the station yard, and the braking time for stopping and the passing time are fixed. This reduces the degree of freedom in running the train (called the standard time required). Therefore, at the point before entering the station (position, time, speed)
Target. That is, the standard goal of time is the time obtained by subtracting the standard required time from the station stop time or the station passing time given by the timetable, and the speed with a margin to the speed limit of the point or approach speed on the station premises is the standard target of speed. . The standard required time is calculated as the shortest required time when entering the point approach position or the station entrance position at the full speed limit and then stopping or passing, or the required time when entering and stopping at the standard approach speed or passing through. Is adopted as the standard required time. Then, the shortest required time or the standard required time is stored for each station, type of train, stop / passage distinction, use number line, and entry position. Even if the timetable is changed, it is calculated based on the changed timetable, the standard required time, and the standard approach speed.

The standard goal generated in this way (see FIG.
5, 1604) is sent to the train monitoring program 11154 and checks the rationality based on the above-mentioned principle whether the controlled train can reach the target (FIG. 15, 1606).

When it is determined that the target is a reasonable target as a result of this check, the target setting program 11153 checks whether there is any obstacle between the controlled trains (see FIGS. 16 and 2).
100). As mentioned above, the obstacle is that the succeeding train is ATC or A.
This refers to the case where the speed is limited by TS etc. In addition, the confirmation of the presence or absence of obstacles uses an ATC speed limit signal (given for each closed section corresponding to the position of the preceding train) according to the running of the preceding train, but since the closed section is stored in advance, The speed limit signal is calculated from this and the traveling pattern of the preceding train that will travel the slowest. The obstacle can be confirmed from the speed limit signal and the area where the following train can exist. If there is no problem, the standard target is transmitted to the on-board device 200 (FIG. 15, 1704). The operation of the on-board device will be described later.

In the above, since the target is the standard target, the standard target is adopted as the target with almost no problem.
If there is a delay or there is a schedule change due to traffic rescheduling, the rationality of the target will not be maintained, and the subsequent trains will be hindered. This obstacle may occur at the stage of the planning timetable even if the train is not delayed. Hereinafter, those processes will be described.

When the train monitoring program 11154 detects that the train cannot reach the target, the target is reset. Explaining with reference to FIG. 18, the target is originally provided with a margin in time and speed, and the target is reset (2003) so as to be reachable by delaying the time or increasing the speed by the margin. After resetting, determine again whether the train can reach the target (2
004). If the train is not reachable, assuming that the train runs the fastest, the time and speed such as the point entry position and the station entrance position at that time are set as targets (20
05). In this case, train delay is allowed.

Even if the train reachable point is rationally calculated as described above, if the following train is disturbed as described above, the train delay on all lines will be further expanded. Therefore, a new target that can avoid obstacles is set as an intermediate target by using the method described in principle in FIGS. 6 and 7 (FIGS. 19 and 2103). Since this intermediate goal is set within the train existence range obtained from the final goal as described above, rationality is maintained. As a new target, it is conceivable to set the position to the midpoint of two points, the time to the midpoint of two points, and the speed to the average speed between the two points.

The new target limits the travelable range of the preceding train and the following train, and the obstacle is eliminated. However, if using this new goal does not resolve the obstacle (Fig. 1
9, 2102) adds more goals (FIGS. 19, 21).
By doing so, the obstacle can be eliminated by further dividing the range in which the obstacle is generated with the intermediate point as a target.

However, this may not be an appropriate intermediate goal. An embodiment for calculating a lean intermediate target will be described with reference to FIGS.

In FIG. 5, the staircase pattern 410 is the speed limit signal for the succeeding train, and the position where the speed limit signal changes is the boundary of the closed section. When the following train has a trouble as shown in FIG. 5, it may not occur depending on the operation of the following train. Therefore, first, the intermediate target of the following train is set. In this case, the following train causes the most trouble (the entrance of the blockage where the maximum speed pattern of the following train and the speed limit signal overlap is the largest, in this case point A) is the blockage in front of station 2. Therefore, this point A is set as a new intermediate target for the succeeding train.

At the time when the intermediate target of the succeeding train is obtained, the obstacle check is performed again before the intermediate target of the preceding train is obtained. If there is no obstacle, the intermediate target and the final target at the station 2 are given to the succeeding train, and the target at the station 2 is given to the preceding train.

If it is determined that the intermediate target of the succeeding train has a problem, the intermediate target for the preceding train is calculated this time. When the intermediate target is set in the preceding train, the speed limit signal generally decreases according to the above-mentioned principle (in other words, the speed limit signal increases faster for the succeeding train). From FIG. 6, the obstacle is eliminated from the point A to the station 2 by targeting the point A for the succeeding train. But,
The obstacle is not always eliminated from station 1 to point A (the figure shows the obstacle eliminated). Therefore, in this embodiment, the entrance of the block immediately before the point A is set as the intermediate target B of the position. When the position is determined, the time is determined by the distance-time curve, and it is considered that the speed is the average of the fastest and lowest patterns from the intermediate target.

If this still causes trouble, this time, a further intermediate target for the following train is set on the station 1 side from the point B by the same method. In essence, take turns from the following train to station 2
Create intermediate goals in order from the side blockage. By doing so, as compared with the method of simply setting the intermediate target between the stations as described above, the optimum intermediate point is obtained and the number of calculations is reduced.

The target calculated as above is used as the on-board device 2
00 through the transmission means. The operation of the on-board device that has received the target will be described below.

A running pattern generation program 20123 for the on-board computer 20100 installed in the on-board device 200.
Generates a traveling pattern of a train that reaches a target stored in the train schedule storage device 20162 before starting traveling. Automatic train operation device 2 when running patterns are generated
Send the pattern to 0200.

Further, the train data transmission program 20122 of the on-board device 200 measures train information (at least position and speed among time, position and speed, hereinafter referred to as train information) by the instrument group 40 at regular intervals. It is sent to the train monitoring program 11154 of the device 11000. Upon receiving the train information, the train monitoring program 11154 transmits it to the central monitoring program, and the train information display program 10152 displays the train information on the display 10131.

Generation of the traveling pattern will be described. On-vehicle driving pattern generation program 20 that has received the target
123 generates a travel pattern based on this.

FIG. 21 shows a flow for generating a running pattern. When the process is started, the traveling pattern generation program 20123 takes in train information of the own train (2301),
A target to be reached next is retrieved from the train schedule storage device 20163, and a standard pattern (a traveling pattern created in advance based on the standard target) is retrieved from the traveling pattern storage device 20162 (2302). Next, it is checked whether the current state reaches the target in a standard pattern (whether it matches the target) (2303). If the standard pattern is reached, the pattern is output (2304). If the standard pattern is not reached, pattern modification processing (240
0) and output the corrected pattern (230
4). After outputting the pattern, the station device waits until a new target state is notified or the target is reached (2305). In the waiting state (2305), the station device 1
When a new target is notified from the 1000 target setting program 11153, train information is fetched (230
7) Return to the pattern correction processing (2400). When the target is reached, the process returns to the train information acquisition (2301).

FIG. 22 is a flow chart showing the process of the pattern correction process (2400). Pattern correction process 2
In 400, the curves 707 and 708 are obtained as described above (2
401), the curves 900 and 901 are obtained based on a predetermined interpolation function (2402), a power consumption (riding comfort) is taken into consideration, and a running pattern is set (2403), and the process ends.

FIG. 23 shows a train data transmission program 20.
It is a flow chart showing processing of 122. When the execution is started, the timer 20140 is set (2501), and the timer expires or the device monitor waits for an abnormality detection notification (2502). If the timer expires, the train information including speed, position and time is transmitted to the train monitoring program 11154 of the station device 11000 (2504),
Return to timer 10230 set (2501). In the case of abnormality detection, the train monitoring program 11 of the station device 11000
Train information including equipment monitor information, speed, position, and time is transmitted to 154 (2505), and a timer set (250
Return to 1).

As described above, according to this embodiment, the speed, position,
By transmitting the time target to the train, there is an effect that train control can be performed without any trouble.

By the way, in the above-mentioned embodiment, the automatic train operation device is described, but in reality, the automatic train operation device has not been widely spread. Therefore, an embodiment will be described in which the present invention is used as driving support until it is fully spread.

FIG. 24 is a diagram of a train cab. On the display 3000, the curve 707 created in FIG.
And 708 and the current position of the train are displayed. The details will be described with reference to FIGS. 25 and 26.

In FIG. 25, the current position 3001 of the train (current time 3002 and current position 300) is displayed together with the area 3005.
3) is displayed, and the driver controls the train by operating the master controller so as to enter this area.

FIG. 26 differs from FIG. 25 in that a region between the current position, time, speed and target is created. The driver drives so that the area 3006 does not disappear.

As described above, according to this embodiment, even if the train is not equipped with the automatic train operation device, proper train running can be realized.

A reference technique for generating a traveling pattern will be described with reference to FIGS. 10 to 13.

Since the given target is point information indicating (position, time, speed), in order to actually operate the train automatically, it must be replaced with line information on the distance-time plane to automatically operate the train. The device 20200 cannot perform feedback control. FIG. 10 shows two goals 701 and 70.
It will be described that the area is obtained by using the method described in FIGS. 7 and 8 when 2 is given. Figure 10
First, a curve 703 in which the fastest pattern is connected to the target 701 and a curve 704 in which the fastest pattern is connected to the target 702 are obtained, and further, the curve 705 decelerated from the target 701 at the maximum deceleration and the target 702 are maximized. A curve 706 that accelerates with acceleration is obtained, and a travelable range as shown in the figure is created by this.

The actual running pattern connecting these targets is obtained by calculating a curve that interpolates these curves. Hereinafter, the curve connecting the curves 704 and 705 is called a curve 707, and the curve connecting the curves 703 and 706 is called a curve 708.

FIG. 11 is a diagram showing an interpolation function used in this embodiment. The horizontal axis represents time t, and the vertical axis represents the ratio of the distance at time t on curve 707 to the distance at time t on curve 708. Two types of interpolation functions f (t) (800), g
(T) (801) is shown. Travel patterns created using these interpolation functions are shown in FIGS. 12 and 13.

FIG. 12 shows a running pattern in which a curve 900 is obtained, which is calculated using the interpolation function f (t). The calculation formula of this curve 900 is (distance of curve 900 at time t) = f × (distance of curve 707 at time t) + (1-f) × (distance of curve 708 at time t).

Further, FIG. 13 shows what was calculated using the interpolation function g (t), and a curve 901 is the obtained traveling pattern. The calculation formula of this curve 901 is (distance at time t of curve 901) = g × (distance at time t of curve 707) + (1-g) × (distance at time t of curve 708).

These two traveling patterns 900, 90
For 1, the power consumption is roughly estimated and a pattern with low power consumption is selected. In addition, if a pattern with a small change in acceleration is selected, a comfortable ride is obtained. It is conceivable that these judgments include, for example, selecting power saving during the morning and evening rush hours, and selecting a comfortable riding pattern during the daytime during quiet times. Further, although the above shows two types of interpolation functions, a feasible traveling pattern can be obtained as long as the value of the interpolation function does not decrease from time t1 to t2. Further, although the distance at the same time is interpolated in the above, the time at the same distance may be interpolated. Further, as long as the travel pattern is such that one pattern is finally drawn within the train travelable range, the above-mentioned method is not intimidated.

[0083]

As described above, according to the present invention, there is an effect that the delay can be avoided as much as possible by instructing the train to reach the target. Further, even if a delay occurs, by setting a new intermediate target within the travelable range determined by the target, it is possible to avoid obstacles as much as possible, and at least prevent delay from increasing and reduce it.

[Brief description of drawings]

FIG. 1 is a diagram showing a train control device according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating the principle of the present invention.

FIG. 3 is a diagram illustrating the principle of the present invention.

FIG. 4 is a diagram illustrating the principle of the present invention.

FIG. 5 is a diagram illustrating the principle of the present invention.

FIG. 6 is a diagram illustrating the principle of the present invention.

FIG. 7 is a diagram illustrating the principle of the present invention.

FIG. 8 is an explanatory diagram for calculating a value for determining whether or not a target can be reached.

FIG. 9 is an explanatory diagram for calculating a value for determining whether or not a target can be reached.

FIG. 10 is a diagram illustrating calculation of a traveling pattern from a target.

FIG. 11 is a diagram illustrating a ratio for calculating a traveling pattern.

FIG. 12 is a diagram showing a calculated traveling pattern.

FIG. 13 is a diagram showing a calculated traveling pattern.

FIG. 14 is a flowchart of a timetable management program.

FIG. 15 is a flowchart of a train monitoring program.

FIG. 16 is a flowchart of a goal setting program.

FIG. 17 is a flowchart of target change processing.

FIG. 18 is a flowchart of target resetting processing.

FIG. 19 is a flowchart of target division processing.

FIG. 20 is a flowchart of a station timetable management program.

FIG. 21 is a flowchart of a travel pattern generation program.

FIG. 22 is a flowchart of pattern correction processing.

FIG. 23 is a flowchart of a train schedule transmission program.

FIG. 24 is a diagram showing a cab applied to another embodiment of the present invention.

FIG. 25 is a diagram showing a travelable range displayed on the cab.

FIG. 26 is a diagram showing a travelable range displayed on the cab.

[Explanation of symbols]

3000 ... Display, 11153 ... Target setting program, 11154 ... Train monitoring program, 20123 ...
Running pattern generation program.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification symbol FI G08G 1/00 G08G 1/00 D (72) Inventor Tashiro Isumi 7-1 Omikacho, Hitachi City, Ibaraki Hitachi, Ltd. Factory Hitachi Research Laboratory (72) Inventor Yasuo Morooka 7-1-1 Omika-cho, Hitachi-shi, Ibaraki Hitachi Ltd. Hitachi Research Laboratory (72) Inventor Masahiro Yahiro 5-2-1 Omika-cho, Hitachi City, Ibaraki Company Hitachi Ltd. Omika Factory (72) Inventor Masaki Katahira 52-1 Omika-cho, Hitachi City, Ibaraki Hitachi Ltd. Omika Factory Hitachi Ltd. (72) Inventor Kazuro Kira 5-2-1 Omika-cho, Hitachi City, Ibaraki Prefecture Issue Hitachi, Ltd. Omika Factory (56) Reference JP-A-4-27661 (JP, A) JP-A-3-289301 (JP, A) JP Flat 2-23003 (JP, A) JP 5-319269 (JP, A) JP 5-286441 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B61L 1 / 00-27/00 B60L 3/08 B60L 15/40 G08G 1/00

Claims (5)

(57) [Claims] According to a train schedule, an arrival position, an arrival time, and
A train control device for instructing a target speed upon arrival and inputting this arrival target to display a travelable range up to the arrival target on a driver's cab, wherein the travelable range is present on a distance-time plane. Decelerate from the position with maximum deceleration, maintain the stop when stopped, then accelerate with maximum acceleration, maintain the speed when reaching the maximum speed, and then decelerate with maximum deceleration to reach the target speed Acceleration from the current position with maximum acceleration, maintain the speed when reaching the maximum speed, decelerate with maximum deceleration after that, maintain the stop when stopped, and then accelerate with maximum acceleration A train control device that is an area surrounded by a locus of reaching a target at the target speed. 2. Based on a train timetable, an arrival position, an arrival time, and a target speed at the arrival are commanded to the preceding train and the succeeding train, which are control targets, as the arrival targets of those trains, and these trains are set as targets. When the travelable range for reaching is calculated and the occurrence of a travel obstacle for the following trains is detected from the travelable range, the train is newly added to the train within the travelable range of any of the trains. A train control device for setting a target to be reached, wherein the travelable range is, on the distance-time plane, decelerated from the current position at the maximum deceleration, maintained at the stop when stopped, and then accelerated at the maximum acceleration, When the maximum speed is reached, the speed is maintained, and then the locus of decelerating at the maximum deceleration and reaching the target at the target speed, and accelerating at the maximum acceleration from the current position to reach the maximum speed. Train control, which is an area surrounded by a locus of maintaining the speed, then decelerating at the maximum deceleration, maintaining the stop when stopped, and then accelerating at the maximum acceleration to reach the reaching target at the target speed. apparatus. 3. The train control device according to claim 1, wherein the traveling obstacle of the succeeding train is a speed limit that acts on the succeeding train in accordance with a position of the preceding train by a safety brake. Train control device. 4. The train control device according to claim 2, wherein the safety brake is an automatic train control (ATC) brake. 5. The train control device according to claim 1, further comprising: means for newly setting a target to be reached within a travelable range of the train for any one of the trains, and commanding the target to reach the train. Train control device equipped with a means for performing on the ground side.