JP4357365B2 - Operation management apparatus, method and program - Google Patents

Description

  The present invention relates to an operation management apparatus, method, and program used for causing a traveling body such as a train to follow a target traveling pattern.

  The scheduled operation control device automatically controls the train driving / braking device in order to make the train travel follow the target traveling pattern, thereby realizing the train regular operation.

  In addition, the scheduled driving support device provides the driver with driving information such as how fast the vehicle should travel at the present time in order to realize the traveling of the train according to the target traveling pattern.

  Generally, as the target travel pattern, a position speed pattern indicating the target speed of the train for each position on the route is used.

  In the regular operation control or the regular operation support, the target travel pattern for the regular operation is created and held in advance, or is created at the time of departure or during travel according to the travel time on the travel schedule.

The target travel pattern is created by moving the travel speed up and down according to the travel time on the travel schedule based on the gradient on the route and the speed limit.
JP-A-7-245814 JP-A-8-9515

  Conventionally, the target travel pattern is created by numerically solving a differential equation based on the gradient on the route and speed limitation. Such a differential equation calculation tends to increase the calculation load.

  Accordingly, candidate patterns for several traveling times are assumed in advance, and each candidate pattern is stored as data for every predetermined time or every predetermined distance, and any one of the stored candidate patterns according to the traveling time is selected. It is realistic to search for such a candidate pattern and use the searched candidate pattern as the target travel pattern.

  However, in this case, the longer the travel time and travel distance, the greater the amount of candidate pattern data. Therefore, if candidate patterns are created from all possible cases and all candidate patterns are stored, a huge storage capacity is required.

  In addition, as a method of determining the target travel pattern, a method is used in which the surplus time with respect to the fastest driving time is averaged over the entire route, and in the first half, the mobile body travels according to the fastest target travel pattern to ensure a delay recovery margin. In the latter half, there is a method of adjusting the time by reducing the speed of the moving body. As described above, when the target travel pattern is determined in consideration of the allowance time allocation, the data capacity of the candidate data is further increased.

  On the other hand, as a method for easily realizing the scheduled operation, a method for calculating the target average speed based on the remaining distance and the remaining time from the current position to the deceleration start point and performing control to maintain this average target speed There is.

  In this simple method, it is not necessary to store many candidate patterns in advance, and the average target speed is sequentially recalculated based on the situation at each time point, thereby ensuring a fixed time system.

  However, there are local gradient conditions and local speed limitations, and an average target speed that is difficult to achieve may be calculated. In this case, it is difficult to ensure punctuality in traveling of the moving body.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an operation management apparatus, method, and program for efficiently realizing a scheduled operation in response to various changes in conditions.

  Specific means taken for realizing the present invention will be described below.

  The operation management apparatus according to the first embodiment of the present invention includes the distance from the current position of the moving body to the preceding deceleration start position of the moving body, and the time from the current time to the scheduled time for the moving body to reach the deceleration start position. From the current position to the deceleration start position based on the first calculation means for calculating the target average speed, and the constant torque operation data representing the relationship between the position and speed when the moving body travels at a constant torque A second calculating means for calculating a constant torque average speed, which is an average speed when the mobile body travels at a constant torque, a difference calculating means for obtaining a difference between the constant torque average speed and the target average speed, and a constant torque average speed When the target average speed is larger than the target average speed, the value obtained by subtracting the difference from the speed corresponding to the current position in the constant torque operation data is set as the target speed, and when the constant torque average speed is smaller than the target average speed, Comprising a determining means for determining a value obtained by adding the difference to the speed corresponding to the current position in the constant torque operation data as a target speed.

  The operation management apparatus according to the second embodiment of the present invention includes a distance from the current position of the moving body to the preceding deceleration start position of the moving body, and a time from the current time to a scheduled time at which the moving body reaches the deceleration start position. From the current position to the deceleration start position based on the first calculation means for calculating the target average speed, and the constant torque operation data representing the relationship between the position and speed when the moving body travels at a constant torque A second calculation means for calculating a constant torque average speed, which is an average speed when the moving body travels at a constant torque, a difference calculation means for obtaining a difference between the constant torque average speed and the target average speed, and a difference between the current position and the current position. Weighting means for obtaining a weight value multiplied by a corresponding weighting factor, and when the constant torque average speed is larger than the target average speed, the weight value is subtracted from the speed corresponding to the current position in the constant torque operation data. It was the target speed, constant torque average speed is smaller than the target average speed comprises a determination means for determining a value obtained by adding a weight value to the speed corresponding to the current position in the constant torque operation data as a target speed.

  In the present invention, it is possible to efficiently realize the scheduled operation according to various condition changes.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  In the present embodiment, a description will be given of an operation management apparatus for a moving body that corrects the speed when traveling with a constant torque and determines a target speed according to the position of the moving body. In this embodiment, the case where the moving body is a train will be described as an example. However, the present invention can be similarly applied to the case of other moving bodies such as an automobile, a ship, and an airplane.

  FIG. 1 is a block diagram illustrating an example of an operation management apparatus according to the present embodiment.

  The train 1 includes a driving / braking device 2, a ground element detection unit 3, a speed position calculation unit 4, a time measuring unit 5, a storage unit 6, an operation management device 7, and a display device 8.

  Further, the operation management device 7 includes a first calculation unit (average target speed calculation unit) 7a, a second calculation unit (constant torque average speed calculation unit) 7b, a difference calculation unit 7c, a weighting unit 7d, a determination unit 7e, a control command. A calculation unit 7f and a torque selection unit 7g are provided.

  The train 1 travels by the driving / braking device 2.

  The ground element detection unit 3 creates position correction data used for position correction based on the position signal from the ground element 3 a that emits a signal indicating the position of the route, and provides the position correction data to the speed position calculation unit 4.

  The speed position calculation unit 4 creates current speed data representing the current speed of the moving body 1 and current position data representing the current position of the moving body 1 based on speed pulses generated by the traveling of the moving body 1.

  The speed position calculation unit 4 corrects the current position represented by the current position data based on the position correction data.

  The speed position verification unit 4 provides the current position data to the first calculation unit 7a, the second calculation unit 7b, the determination unit 7e, the weighting unit 7d, the determination unit 7e, and the torque selection unit 7g, and the control command calculation unit 7f. To provide current speed data.

  The timer unit 5 provides current time data representing the current time to the first arithmetic unit 7a.

  The storage unit 6 stores constant torque operation data 6a, estimated travel time data 6b, and weight coefficient data 6c. Instead of the storage unit 6, for example, a database that manages various data such as constant torque operation data 6 a, scheduled travel time data 6 b, and weight coefficient data 6 c may be used.

  The constant torque operation data 6a represents the relationship between the position and speed when the train 1 travels with a certain torque.

  In the present embodiment, the constant torque operation data 6a represents the relationship between each position and the speed of the train 1 when the train 1 travels at the maximum torque that can be specified by the train 1 up to the deceleration start position. . In this case, the constant torque operation data 6a represents the fastest speed pattern at which the train 1 travels on the route.

  The constant torque operation data 6a represents the relationship between each position when the train 1 travels, and, for example, the gradient / travel resistance and the speed limit.

  Even if the train 1 travels with the maximum torque, the speed of the train 1 changes due to the influence of the gradient / travel resistance of the route.

  The planned travel time data 6b represents the planned time for the train 1 to travel on each position on the route.

  The weighting coefficient data 6c represents a weighting coefficient determined in accordance with the position of the train 1 in the range of 0 to 1. For example, the weighting factor is set so that it smoothly changes from 0 to 1 as the train 1 moves from the departure point to the arrival point.

  The first calculation unit 7 a receives current position data and current time data, and reads constant torque operation data 6 a and scheduled travel time data from the storage unit 6.

  The first calculation unit 7a obtains a deceleration start position based on the constant torque operation data 6a, and further calculates a scheduled deceleration start time that is a scheduled time for the train 1 to start deceleration based on the planned travel time data and the deceleration start position. Ask.

  The first calculator 7a obtains a remaining distance that is a distance from the current position to the deceleration start position based on the equation (1).

Remaining distance = deceleration start position-current position (1)
The 1st calculating part 7a calculates | requires the remaining time which is the time from the present time to the scheduled deceleration start time of the train 1 based on Formula (2).

Remaining time = Deceleration start scheduled time−Current time (2)
The first calculator 7a calculates the average target speed based on the equation (3). The average target speed represents an average speed from the current position for arriving at the deceleration start position to the deceleration start position by the scheduled deceleration start time.

Average target speed = remaining distance / remaining time (3)
Then, the first calculation unit 7a provides average target speed data representing the average target speed to the difference calculation unit 7c.

  The second arithmetic unit 7b receives the current position data, reads the constant torque operation data 6a from the storage unit 6, obtains the deceleration start position based on the constant torque operation data 6a, and obtains the current position, the deceleration start position, and the constant torque operation data. Based on 6a, a constant torque average speed is calculated.

  The constant torque average speed is an average speed when the moving body 1 travels at a constant torque from the current position to the deceleration start position. In the present embodiment, since the constant torque is the maximum torque that can be specified by the train 1, the constant torque average speed represents the fastest average speed when driving from the current position to the deceleration start position at the fastest speed.

  The constant torque average speed can be easily calculated based on the speed between the current position and the deceleration start position in the constant torque operation data 6a.

  The second calculation unit 7b calculates the constant torque average speed based on the equation (4), the remaining distance, the current time, and the time to reach the deceleration start position when the train 1 travels at a constant torque. Also good.

Constant torque average speed = remaining distance / (time to reach deceleration start position when traveling at constant torque−current time) (4)
Then, the second calculation unit 7b provides constant torque average speed data representing the constant torque average speed to the difference calculation unit 7c.

  In this equation (4), the remaining distance from the current position to the deceleration start position is divided by a value obtained by subtracting the current time from the time to reach the deceleration start position when traveling at a constant torque according to the constant torque operation data.

  The difference calculator 7c calculates an average speed difference based on the average target speed data, the constant torque average speed data, and (5).

Average speed difference = constant torque average speed-average target speed (5)
In this equation (5), the average speed difference is obtained by subtracting the average target speed from the constant torque average speed.

  And the difference calculating part 7c provides the average speed difference data showing an average speed difference to the weighting part 7e.

  The weighting unit 7e receives the current position data and the average speed difference data and reads the weighting coefficient data 6c from the storage unit 6 to obtain the weighting coefficient corresponding to the current position.

  The weighting unit 7e calculates the weighted average speed difference (weight value) based on the average speed difference data, the weighting coefficient corresponding to the current position, and the equation (6).

Weighted average speed difference = average speed difference × weighting coefficient (6)
In this equation (6), the weighted average speed difference is obtained by the product of the average speed difference and the weight coefficient.

  Then, the weighting unit 7e provides weighted average speed difference data representing the weighted average speed difference to the determination unit 7e.

  The determination unit 7e receives the current position data and the weighted average speed difference data and reads the constant torque operation data 6a from the storage unit 6.

  Further, the determination unit 7e weights the speed (the fastest speed pattern in the present embodiment) at each position when the train 1 represented by the constant torque operation data travels at a constant torque (the maximum torque in the present embodiment). The target speed (target speed pattern) for each position is obtained by moving the value of the average speed difference to the minus side.

  Then, the determination unit 7e obtains target speed data representing the target speed at the current position based on the target speed pattern and the current position, and provides the target speed data to the control command calculation unit 7f, the torque selection unit, and the display device. .

  Here, when the train 1 is traveling in the speed limit section (speed limit position), the determination unit 7e sets the target speed to be equal to or lower than the limit speed in the speed limit section.

  In the present embodiment, the constant torque operation data 6a represents the fastest speed pattern when the train 1 travels with the maximum torque, so the average speed difference and the weighted average speed difference are always positive values, and the constant torque operation data The speed at each position in the position always moves to the minus side by the value of the weighted average speed difference.

  However, when the constant torque operation data 6a represents a speed pattern when the train 1 travels with another torque that is not the maximum torque, the average speed difference and the weighted average speed difference may be negative values. In this case, the speed at each position in the constant torque operation data moves to the plus side by the absolute value of the weighted average speed difference.

  FIG. 2 is a diagram illustrating an example of the relationship between the speed pattern (maximum speed pattern) of the train 1 with a constant torque (maximum torque) and the target speed pattern determined by the determination unit 7e. FIG. 2 shows an example in which the weighting factor is 1.

  The fastest speed pattern is translated in the minus direction of the speed axis by the weighted average speed difference at the current position. The target speed pattern is the fastest speed pattern after translation.

  The weighting of the average speed difference is performed for adjusting the consumption distribution of the surplus time. When the weighting factor is 0, the fastest speed pattern matches the target speed pattern regardless of the average speed difference value. When the weighting factor is 1, the target speed pattern is a pattern in which the fastest speed pattern is translated by the average speed difference.

  By changing the weighting factor from 0 to 1 according to the running of the train 1, it is possible to gradually shift from the fastest speed pattern to the speed pattern for regular operation.

  For example, when the weighting coefficient of the first half part on the route is set to 0 and the second half part is set to 1, the first half part has the fastest travel along the fastest speed pattern, and the delay recovery margin is maintained. Then, the speed drops in the second half and the time is adjusted.

  Based on the current speed data and the target speed data, the control command calculation unit 7f provides a deceleration command to the driving / braking device 2 when the target speed is larger than the current speed, and the target speed is smaller than the current speed. An acceleration command is provided to the driving / braking device 2.

  The control command calculation unit 7f calculates a notch command or a torque command based on the current speed and the target speed and provides it to the driving / braking device 2 so that the speed of the train 1 follows the target speed. May be performed.

  The torque selection unit 7g receives the current position data and the target speed data and reads the constant torque operation data 6a from the storage unit 6.

  Then, the torque selector 7g obtains the gradient resistance and the running resistance at the current position of the train 1 based on the current position data and the constant torque operation data 6a, and uses the target speed under the gradient resistance and the running resistance at the current position. Is selected, and torque selection data indicating the selected torque is provided to the display device 8.

  The display device 8 displays the target speed indicated by the target speed data, the torque indicated by the torque selection data, and various other information.

  FIG. 3 is a flowchart showing an example of processing of the operation management device 7 according to the present embodiment. 3 may be executed periodically, or may be executed when the train 1 passes a predetermined position on the route.

  In step S1a, the first calculator 7a calculates an average target speed.

  In step S1b, the second calculator 7b calculates a constant torque average speed.

  Note that the processing order of step S1a and step S1b may be executed after step S1a or vice versa, or step S1a and step S1b may be executed in parallel.

  In step S2, the difference calculation unit 7c subtracts the average target speed from the constant torque average speed to obtain the average speed difference.

  In step S <b> 3, the weighting unit 7 d calculates a weighted average speed difference that is a product of the weighting coefficient corresponding to the current position of the train 1 and the average speed difference.

  In step S4, the determination unit 7e translates the speed pattern corresponding to each position when traveling at a constant torque such as the maximum torque, for example, in the minus direction by the weighted average speed difference, and calculates the target speed pattern.

  For example, when the constant torque is not the maximum torque and the weighted average speed difference is a negative value, the speed pattern corresponding to each position when traveling at this constant torque is represented by the absolute value of the weighted average speed difference. In response to this, it moves in parallel in the plus direction.

  In step S5, the determination unit 7e obtains a target speed corresponding to the current position based on the target speed pattern.

  In step S6a, the control command calculation unit 7f creates a command for realizing traveling following the target speed, and provides the command to the driving / braking device 2.

  In step S6b, the torque selection unit 7g selects torque for the train 1 to travel at the target speed based on the gradient resistance and travel resistance at the current position and the target speed.

  In the present embodiment described above, the candidate pattern to be stored in advance may be only the constant torque operation data 6a. Therefore, it is not necessary to store a large number of candidate patterns in advance, and the data storage capacity can be reduced.

  In this embodiment, it is not necessary to numerically solve the differential equation in order to obtain the target speed, and the target speed can be obtained by simple calculation. Thereby, calculation load can be reduced.

  In the present embodiment, a target speed pattern is obtained by translating a speed pattern with a constant torque. The level at which the speed pattern by the constant torque is translated is weighted according to the position. As a result, it is possible to flexibly cope with changes in various conditions such as the travel time of the train 1, flexibly adjust the allowance time distribution for the train 1 to arrive on time, and the train 1 can be operated regularly. Realized.

  In addition, the target speed calculated | required by the driving | operation management apparatus 7 which concerns on this Embodiment is shown to a driver, and this driver may drive the train 1 with reference to a target speed. Further, the train 1 may be automatically operated based on the target speed.

  Here, in the present embodiment, the target speed pattern is obtained by translating the speed pattern in the case of driving with a constant torque.

  Therefore, even when driving along the target speed pattern, the chance of changing the torque is considered to decrease. For this reason, even if it is not a skilled driver, the driving | running along target speed can be performed easily and control of an automatic driving | operation becomes easy. The driver can drive with reference to the torque selected by the torque selector 7g, and the labor of the driver is reduced.

  In the present embodiment, each component can be freely deformed as long as the same operation can be realized, the arrangement may be changed, the components can be freely combined, and the components can be divided. is there.

  For example, in the present embodiment, the first calculation unit 7a and the second calculation unit 7b obtain the deceleration start position from the constant torque operation data 6a, but the deceleration indicating the deceleration start position separately from the constant torque operation data 6a. The start position data is stored in the storage unit 6, and the operation management device 7 may read the deceleration start position data and recognize the deceleration start position.

  In addition, for example, a process common to the first calculation unit 7a and the second calculation unit 7b, such as a process for obtaining a deceleration start position and a process for calculating a remaining distance, is executed by either one of the results. It may be provided to the other, or an independent processing unit that performs overlapping processing may be provided, and the result may be provided to the first calculation unit 7a and the second calculation unit 7b.

  Further, in the present embodiment, the constant torque operation data 6a represents the relationship between the position and the gradient / running resistance and the relationship between the position and the speed limit in addition to the relationship between the position and the speed due to the constant torque. However, separately from the constant torque operation data 6a, gradient / running resistance data representing the relationship between position and gradient / running resistance, and speed limit data representing the relationship between position and speed limit are stored in the storage unit 6 independently. The torque selection unit 7g may recognize the gradient / running resistance for each position and the speed limit for each position based on the gradient / running resistance data and the speed limit data.

  In the present embodiment, the determination unit 7e may provide target speed pattern data indicating the target speed pattern to the control command calculation unit 7f, the torque calculation unit 7g, and the display device 8 instead of the target speed data. . In this case, the control command calculation unit 7f provides a command to the driving / braking device 2 based on the target speed pattern data, and the torque selection unit 7g selects a torque that can be specified by the train 1 based on the target speed pattern data. The display device 8 displays the target speed pattern based on the target speed pattern data.

  The function as the operation management apparatus 7 in each of the above embodiments may be realized by a computer that has read a program.

  In this case, the program can be applied to a computer by writing it on a recording medium such as a magnetic disk (flexible disk, hard disk, etc.), an optical disk (CD-ROM, DVD, etc.), and a semiconductor memory.

  It is also possible to transmit this program via a communication medium and apply it to a computer. The computer reads the program and realizes the function as the operation management device 7 by controlling the operation by the program.

  The present invention is effective in the field of realizing a scheduled operation of a moving body.

The block diagram which shows an example of the operation management apparatus which concerns on embodiment of this invention. The figure which shows an example of the relationship between the speed pattern of the train by constant torque, and the target speed pattern determined by the determination part. The flowchart which shows an example of the process of the operation management apparatus which concerns on the same embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Train, 2 ... Drive / brake device, 3 ... Ground element detection part, 3a ... Ground element, 4 ... Speed position calculation part, 5 ... Time measuring part, 6 ... Memory | storage part, 6a ... Constant torque operation data, 6b ... Travel Scheduled time data, 6c ... Weight coefficient data, 7 ... Operation management device, 7a ... First calculation unit, 7b ... Second calculation unit, 7c ... Difference calculation unit, 7d ... Weighting unit, 7e ... Determination unit, 7f ... Control command Calculation unit, 7g ... Torque selection unit, 8 ... Display device

Claims (12)

The target average speed is calculated based on the distance from the current position of the moving body to the preceding deceleration start position of the moving body and the time from the current time to the scheduled time for the moving body to reach the deceleration start position. First computing means;
Based on constant torque operation data representing the relationship between the position and speed when the moving body travels at a constant torque, the average speed when the mobile body travels at the constant torque from the current position to the deceleration start position. Second calculating means for calculating a constant torque average speed which is:
Difference calculating means for obtaining a difference between the constant torque average speed and the target average speed;
When the constant torque average speed is larger than the target average speed, a value obtained by subtracting the difference from the speed corresponding to the current position in the constant torque operation data is set as a target speed, and the constant torque average speed is the target average speed. An operation management apparatus comprising: a determination unit that determines, as a target speed, a value obtained by adding the difference to a speed corresponding to the current position in the constant torque operation data when the speed is smaller than the speed. The operation management device according to claim 1,
The constant torque is a maximum torque that can be specified by the moving body,
The determination means determines a value obtained by subtracting the difference from a speed corresponding to the current position in the constant torque operation data as a target speed. In the operation management device according to claim 1 or 2,
The first calculation means calculates the target average speed a plurality of times before the moving body reaches the deceleration start position,
The second calculation means calculates the constant torque average speed a plurality of times at the same timing as the first calculation means,
The difference calculating means calculates the difference every time the target average speed and the constant torque average speed are calculated,
The operation management apparatus, wherein the determining means determines the target speed every time the difference is calculated. In the operation management device according to claim 3,
The operation management apparatus, wherein the first calculation means calculates the target average speed every predetermined period. The target average speed is calculated based on the distance from the current position of the moving body to the preceding deceleration start position of the moving body and the time from the current time to the scheduled time for the moving body to reach the deceleration start position. First computing means;
Based on constant torque operation data representing the relationship between the position and speed when the moving body travels at a constant torque, the average speed when the mobile body travels at the constant torque from the current position to the deceleration start position. Second calculating means for calculating a constant torque average speed which is:
Difference calculating means for obtaining a difference between the constant torque average speed and the target average speed;
Weighting means for obtaining a weight value obtained by multiplying the difference by a weighting coefficient corresponding to the current position;
When the constant torque average speed is larger than the target average speed, a value obtained by subtracting the weight value from a speed corresponding to the current position in the constant torque operation data is set as a target speed, and the constant torque average speed is the target speed. An operation management apparatus comprising: a determination unit that determines a value obtained by adding the weight value to a speed corresponding to the current position in the constant torque operation data when the speed is smaller than an average speed. In the operation management device according to claim 5,
The constant torque is a maximum torque that can be specified by the moving body,
The operation determining apparatus, wherein the determining means determines a value obtained by subtracting the weight value from a speed corresponding to the current position in the constant torque operation data as a target speed. In the operation management device according to claim 5 or 6,
The operation management apparatus according to claim 1, wherein the weighting factor changes in a direction increasing from 0 to 1 as the mobile object travels. In the operation management device according to any one of claims 1 to 7,
The apparatus further comprises means for selecting torque of the moving body that realizes the target speed based on data representing gradient resistance and traveling resistance at each position on the traveling path of the moving body and the target speed. Operation management device. The target average speed is calculated based on the distance from the current position of the moving body to the preceding deceleration start position of the moving body and the time from the current time to the scheduled time for the moving body to reach the deceleration start position. And when the moving body travels from the current position to the deceleration start position based on constant torque operation data representing the relationship between the position and speed when the moving body travels at a constant torque. Calculate the constant torque average speed, which is the average speed,
Find the difference between the constant torque average speed and the target average speed,
When the constant torque average speed is larger than the target average speed, a value obtained by subtracting the difference from the speed corresponding to the current position in the constant torque operation data is set as a target speed, and the constant torque average speed is the target average speed. When the speed is smaller than a speed, a value obtained by adding the difference to a speed corresponding to the current position in the constant torque operation data is determined as a target speed. The target average speed is calculated based on the distance from the current position of the moving body to the preceding deceleration start position of the moving body and the time from the current time to the scheduled time for the moving body to reach the deceleration start position. And when the moving body travels from the current position to the deceleration start position based on constant torque operation data representing the relationship between the position and speed when the moving body travels at a constant torque. Calculate the constant torque average speed, which is the average speed,
Find the difference between the constant torque average speed and the target average speed,
A weight value obtained by multiplying the difference by a weighting factor corresponding to the current position;
When the constant torque average speed is larger than the target average speed, a value obtained by subtracting the weight value from a speed corresponding to the current position in the constant torque operation data is set as a target speed, and the constant torque average speed is the target speed. An operation management method, wherein when the speed is smaller than an average speed, a value obtained by adding the weight value to a speed corresponding to the current position in the constant torque operation data is determined as a target speed. Computer
The target average speed is calculated based on the distance from the current position of the moving body to the preceding deceleration start position of the moving body and the time from the current time to the scheduled time for the moving body to reach the deceleration start position. First computing means;
Based on constant torque operation data representing the relationship between the position and speed when the moving body travels at a constant torque, the average speed when the mobile body travels at the constant torque from the current position to the deceleration start position. Second computing means for computing a constant torque average speed which is
A difference calculating means for obtaining a difference between the constant torque average speed and the target average speed;
When the constant torque average speed is larger than the target average speed, a value obtained by subtracting the difference from the speed corresponding to the current position in the constant torque operation data is set as a target speed, and the constant torque average speed is the target average speed. A program for functioning as a determining means for determining, as a target speed, a value obtained by adding the difference to a speed corresponding to the current position in the constant torque operation data when the speed is smaller than the speed. Computer
The target average speed is calculated based on the distance from the current position of the moving body to the preceding deceleration start position of the moving body and the time from the current time to the scheduled time for the moving body to reach the deceleration start position. First computing means;
Based on constant torque operation data representing the relationship between the position and speed when the moving body travels at a constant torque, the average speed when the mobile body travels at the constant torque from the current position to the deceleration start position. Second computing means for computing a constant torque average speed which is
A difference calculating means for obtaining a difference between the constant torque average speed and the target average speed;
Weighting means for obtaining a weight value obtained by multiplying the difference by a weighting coefficient corresponding to the current position;
When the constant torque average speed is larger than the target average speed, a value obtained by subtracting the weight value from a speed corresponding to the current position in the constant torque operation data is set as a target speed, and the constant torque average speed is the target speed. A program for functioning as a determining means for determining, as a target speed, a value obtained by adding the weight value to a speed corresponding to the current position in the constant torque operation data when the average speed is smaller.

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