JP7655430B2 - Diagnostic methods - Google Patents

Description

The present disclosure relates to diagnostic methods .

Conventionally, there is known technology for making the door control system of a railway vehicle redundant (dual) into a regular system and a standby system (see, for example, Patent Document 1).

Patent document 1 discloses a door control device that is provided with a first controller for a regular system and a second controller for a standby system, and when an abnormality occurs in the first controller, the second controller takes over control of the motor. In this case, in Patent document 1, if the contents of the control information input from outside the door control device that are recognized by the first controller and the second controller do not match, the presence or absence of an abnormality in the first controller is determined by comparing the contents of the control information recognized by another door control device with the contents of the same control information.

Patent No. 5117614

However, for example, depending on the form of comparison of the contents of the same control information recognized by the first controller, the second controller, and other door control devices, even if there is no abnormality in the function related to the door control of the normal system, it may be determined that there is an abnormality in the normal system and the system may be switched to the standby system, which may reduce the availability of the door control system.

In view of the above issues, the objective is to provide technology that can increase the availability of redundant railway vehicle door control systems.

In order to achieve the above object, in one embodiment of the present disclosure,
A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside,
the first control unit compares the contents of the control signal recognized by itself, the contents of the control signal recognized by the second control unit obtained from the second control unit, and the contents of the control signal recognized by the specific other control unit obtained from the specific other control unit, and performs a majority vote; and diagnoses the presence or absence of an abnormality in itself by comparing the contents of the control signal recognized by the majority of the majority vote with the contents of the control signal recognized by itself .
A diagnostic method is provided.

In another embodiment of the present disclosure,
A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside,
the first control unit compares the contents of the control signals recognized by each of the other control devices, which are acquired from the other control devices, and takes a majority vote; and compares the majority vote results between the contents of the control signals recognized by itself, the contents of the control signals recognized by the second control unit, which are acquired from the second control unit, and the contents of the control signals recognized by each of the other control devices, and diagnoses the presence or absence of an abnormality in itself based on the majority vote.
A diagnostic method is provided.
In still another embodiment of the present disclosure,
A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside,
the first control unit assigns importance to each of the contents of the control signal recognized by itself, the contents of the control signal recognized by the second control unit, and the contents of the control signal recognized by the other control device, and determines the contents of the control signal to be used for controlling the one door based on the sum of the importance of the first contents and the second contents assumed as the recognized contents of the control signal, and diagnoses the presence or absence of an abnormality in itself by comparing the determined contents of the control signal with the contents of the control signal recognized by itself;
A diagnostic method is provided.
In still another embodiment of the present disclosure,
A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside,
comparing the contents of the control signals recognized by each of the plurality of other control devices, which are acquired from the plurality of other control devices, and taking a majority vote; and comparing the majority vote results of the contents of the control signals recognized by the first control unit, the contents of the control signals recognized by the second control unit, and the contents of the control signals recognized by each of the plurality of other control devices, and diagnosing the presence or absence of an abnormality in at least one of the first control unit and the second control unit based on the majority vote.
A diagnostic method is provided.

The above-described embodiment can increase the availability of the redundant railcar door control system.

FIG. 1 is a block diagram showing an example of the configuration of a railway vehicle. FIG. 2 is a diagram showing an example of a configuration of a door control system. FIG. 11 is a diagram showing an example of a process for determining the contents of a control signal used for door control by a DCM. FIG. 11 is a diagram showing another example of a process for determining the contents of a control signal used for door control by a DCM. FIG. 11 is a diagram showing another example of the configuration of the door control system. FIG. 11 is a diagram showing yet another example of a process for determining the contents of a control signal used to control a door by a DCM.

The following describes the embodiment with reference to the drawings.

[Configuration related to opening and closing operation of railway vehicle doors]
A configuration related to the opening and closing operation of a door 20 of a railway vehicle 1 will be described with reference to FIG.

Figure 1 shows an example of the configuration for opening and closing the door 20 of a railway vehicle 1. In the following explanation, for the sake of convenience, the main direction of travel when the railway vehicle 1 is in operation, i.e., the side where the driver's seat is located, is defined as "front."

As shown in FIG. 1, the railway vehicle 1 is configured as a train in which multiple vehicles are coupled together, including, for example, the first and last cars 1A and 1B, and car 1C coupled between cars 1A and 1B. Cars 1A and 1B are so-called control cars, and are equipped with a driver's seat. Hereinafter, when there is no need to distinguish between cars 1A to 1C, cars 1A to 1C may be referred to collectively or individually as "car 1X."

The railway vehicle 1 may be a two-car train. In this case, cars 1A and 1B are directly connected. The railway vehicle 1 may also be a one-car train. In this case, a driver's seat (driver's cab) may be provided at both the front and rear ends of the railway vehicle 1.

The railway vehicle 1 includes a vehicle control device 10, the door 20, switches 30A and 30B, a signal line 35, switches 40A and 40B, a signal line 45, a transmission device 50, a communication line 55, and a DCM (Door Control Module) 100 as components related to the opening and closing operation of the door 20.

The vehicle control device 10 controls the operation of the railway vehicle 1. For example, if the railway vehicle 1 is a train with multiple cars coupled together, the vehicle control device 10 is provided in the driver's cab of the leading car 1A. Also, for example, if the railway vehicle 1 is a train with multiple cars coupled together, the vehicle control device 10 is also provided in the conductor's cab at the rearmost car. Also, for example, if the railway vehicle 1 is operated as a single-car formation, one vehicle control device 10 is provided in each driver's cab at the front and rear ends of the railway vehicle 1.

The vehicle control device 10 outputs commands to the DCM 100 regarding the opening and closing operation of the door 20 in response to input from the driver or conductor via a specified input device and various conditions. The vehicle control device 10 outputs open and close commands for the door 20 in response to input from the driver or conductor.

The doors 20 are double-leaf sliding doors provided at openings on the left and right sides of the railway vehicle 1 (vehicles 1A to 1C), and are used for passengers to board and disembark from the railway vehicle 1. In this example, the vehicle 1X has four openings on each of its left and right sides, and a door 20 is provided at each opening. That is, in this example, the vehicle 1X is provided with four doors 20 on each of its left and right sides. The number of doors 20 provided on the left and right sides of the vehicle 1X may be three or less. For example, the vehicle 1X may be provided with two doors 20 at the front and rear ends on each of its left and right sides. The number of doors 20 provided on the left and right sides of the vehicle 1X may be five or more. For example, the vehicle 1X may be provided with six doors 20 on each of its left and right sides.

Note that for convenience, FIG. 1 depicts the door 20 and related configuration of vehicle 1C (signal lines 35, 45, transmission device 50, communication line 55, and DCM 100), but vehicles 1A and 1B also have similar doors 20 and related configuration.

Switches 30A and 30B are used to allow the door 20 (hereinafter, for convenience, "left door 20") on the left side of the railcar 1 (car 1X) to be opened. Switches 30A and 30B are provided, for example, in the driver's cab of car 1A and the conductor's cab of car 1C, respectively, and are turned on and off in response to the operation of the driver or conductor. For example, the driver or conductor turns on switches 30A and 30B just before the railcar 1 stops at a station adjacent to a boarding and disembarking platform on the left side of the railcar 1.

The signal line 35 connects in parallel between a predetermined DC power source and each of the multiple DCMs 100 (hereinafter, for convenience, "left DCMs 100") that control the left side door 20. Specifically, the signal line 35 has two signal paths that are connected in parallel from a predetermined DC power source to each of the left DCMs 100 via each of the switches 30A and 30B. As a result, when both switches 30A and 30B are in the off state, an L (Low) level signal (off signal) is input to each of the left DCMs 100. On the other hand, when either one of the switches 30A and 30B is in the on state, there is electrical continuity between the DC power source and the left DCM 100, and an H (High) level signal (on signal) is input to each of the left DCMs 100. Therefore, the signal line 35 can transmit a signal to the left DCM 100 to permit the left door 20 to be opened (hereinafter, the "open permission signal") depending on the on/off state of the switches 30A and 30B.

Switches 40A and 40B are used to allow the door 20 on the right side of the railcar 1 (car 1X) (hereinafter, for convenience, "right door 20") to be opened. Switches 40A and 40B are provided, for example, in the driver's cab of car 1A and the conductor's cab of car 1C, respectively, and are turned on and off in response to the operation of the driver or conductor. For example, the driver or conductor turns on switches 40A and 40B just before the railcar 1 stops at a station adjacent to a boarding and disembarking platform on the right side.

The signal line 45 connects in parallel between a predetermined DC power source and each of the multiple DCMs 100 (hereinafter, for convenience, "right DCMs 100") that control the right side door 20. Specifically, the signal line 45 has two signal paths that are connected in parallel from a predetermined DC power source to each of the right DCMs 100 via each of the switches 40A and 40B. As a result, when both switches 40A and 40B are in the off state, an L (Low) level signal (off signal) is input to each of the right DCMs 100. On the other hand, when either of the switches 40A and 40B is in the on state, there is electrical continuity between the DC power source and the right DCM 100, and an H (High) level signal (on signal) is input to each of the right DCMs 100. Therefore, the signal line 45 can transmit a signal (open permission signal) to the right DCM 100 to permit the right door 20 to be opened depending on the on/off state of the switches 40A and 40B.

The transmission device 50 is provided in the vehicle 1X and transmits commands output from the vehicle control device 10 to the DCM 100 of the same vehicle 1X, and transmits signals output from the DCM 100 of the same vehicle 1X to the vehicle control device 10.

The communication line 55 connects the transmission device 50 of the vehicle 1X to multiple (eight in this example) DCMs 100 in parallel. This allows the transmission device 50 to transmit commands from the vehicle control device 10 to the DCM 100 through the communication line 55, and to receive signals from the DCM 100 and relay them to the vehicle control device 10. The communication line 55 is, for example, a communication line for serial communication based on a standard such as RS-485. The communication line 55 may also be a communication line for parallel communication.

DCM100 is provided for each door 20 of the railway vehicle 1 and controls the opening and closing operations of the corresponding door 20.

For example, when the DCM 100 (an example of a control device) receives a command to open the door 20 from the vehicle control device 10, it opens the door 20 to be controlled if the open permission signal is on. This allows the DCM 100 to open only one of the left and right doors 20 that is permitted to be opened by the switches 30A, 30B or the switches 40A, 40B.

[An example of the configuration of a door control system]
Next, an example of the configuration of a control system for the door 20 will be described with reference to FIG.

Figure 2 shows an example of the configuration of the control system for door 20.

Note that the left-side DCM 100 and the right-side DCM 100 have the same configuration except that the former is connected to signal line 35 and the latter is connected to signal line 45, so in Figure 2, the left-side DCM 100 is drawn as a representative. Therefore, in the case of the right-side DCM 100, signal line 35 in Figure 2 is replaced with signal line 45. The same applies to the case of Figure 5 described below.

As shown in FIG. 2, the DCM 100 includes a regular system controller 110, a standby system controller 120, and an output switching circuit 130.

The regular system controller 110 (an example of a first control unit) controls the opening and closing operations of the door 20.

The standby controller 120 (an example of a second control unit) is configured to be able to execute control related to the opening and closing operations of the door 20, and performs a backup function for the regular controller 110. Thus, by providing the standby controller 120 in addition to the regular controller 110, the DCM 100 can achieve redundancy of the control system related to the opening and closing operations of the door 20. Specifically, when an abnormality occurs in the regular controller 110, the standby controller 120 controls the opening and closing operations of the door 20 in place of the regular controller 110.

The functions of the daily use controller 110 may be realized by any hardware or any combination of hardware and software. For example, the daily use controller 110 includes an auxiliary storage device 111, a memory device 112, a CPU 113, an interface device 114, and a drive device 115.

The auxiliary storage device 111 is, for example, a non-volatile storage means such as a ROM (Read Only Memory), and stores various installed programs as well as data required for various processes.

The memory device 112 is, for example, a volatile storage means such as a RAM (Random Access Memory), and when an instruction to start a program is received, it reads the program from the auxiliary storage device 111 and stores it.

The CPU 113 executes various programs loaded from the auxiliary storage device 111 to the memory device 112, and realizes various functions related to the opening and closing operation of the door 20 according to the programs. The CPU 113 includes a signal content determination unit 1131 and a control unit 1132 as functional units realized by executing the programs loaded from the auxiliary storage device 111 to the memory device 112.

The interface device 114 is used for inputting and outputting signals, data, etc., between the device and the outside. The interface device 114 includes a photocoupler 114A and a communication interface 114B.

The photocoupler 114A is connected to the signal line 35 or the signal line 45, receives the signal (open permission signal) transmitted by the signal line 35 or the signal line 45, electrically insulates the received signal, and outputs it to the CPU 113. This is because the voltage of the on signal of the signal lines 35 and 45 is very high compared to the drive voltage of the DCM 100.

The communication interface 114B is connected to the communication line 55, and receives commands from the vehicle control device 10 transmitted through the transmission device 50, and transmits data indicating the state of the general-use controller (hereinafter, "status data") to the vehicle control device 10 through the transmission device 50 under the control of the CPU 113. The status data may be transmitted to the vehicle control device 10, for example, as a response to a command received from the vehicle control device 10, or may be transmitted to the vehicle control device 10 at predetermined intervals.

The CPU 113 recognizes the contents of the open permission signal (on state or off state) from the signal captured from the photocoupler 114A. The CPU 113 also transmits the contents of the open permission signal recognized by itself to the standby controller 120 (CPU 123). The CPU 113 also captures the contents of the open permission signal recognized by the standby controller 120 (CPU 123) from the standby controller 120. At this time, the CPU 113 may transmit the contents of the open permission signal recognized by itself to the standby controller 120 through a communication path inside the DCM 100, or receive the contents of the open permission signal recognized by the standby controller 120 from the standby controller 120. The CPU 113 may also control the communication interface 114B and transmit the contents of the open permission signal recognized by itself to the standby controller 120 through the communication line 55, or receive the contents of the open permission signal recognized by the standby controller 120 from the standby controller 120. The CPU 113 also controls the communication interface 114B to transmit status data including the contents of the open permission signal recognized by the CPU 113 to the vehicle control device 10 through the communication line 55 and the transmission device 50. The CPU 113 may transmit status data to the vehicle control device 10 only when the regular controller 110 is in an active state in which it controls the opening and closing operation of the door 20, or may transmit the status data regardless of whether the regular controller 110 is in an active state or not. The CPU 113 also receives (intercepts) status data of the other DCM 100 transmitted through the communication line 55 through the communication interface 114B. This allows the CPU 113 to obtain the contents of the open permission signal recognized by the other DCM 100 (the CPU 113 of the regular controller 110 or the CPU 123 of the standby controller 120).

The drive device 115 uses power supplied from a specific power source to drive an actuator related to the opening and closing operation of the door 20. The drive device 115 includes a motor drive device that drives the motor 22 and a solenoid drive device that drives the solenoid 24.

The motor 22 drives the opening and closing mechanism of the door 20 to open and close the door 20. The drive device 115 (motor drive device) can open and close the door 20 by driving the motor 22.

The solenoid 24 drives the locking mechanism of the door 20 to lock and unlock the door 20. The solenoid 24 includes, for example, a locking solenoid and an unlocking solenoid. The drive device 115 (solenoid drive device) can lock the door 20 by energizing the locking solenoid. The drive device 115 (solenoid drive device) can unlock the door 20 by energizing the unlocking solenoid. The solenoid 24 may have only one of the functions of locking and unlocking, and the other function may be replaced by a biasing member (for example, a spring) that maintains the locking mechanism of the door 20 in either the locked state or the unlocked state.

The locking mechanism of the door 20 may be a self-retaining type, so that the door 20 can remain locked or unlocked even if the solenoid 24 is de-energized.

The signal content determination unit 1131 determines the content of the control signal used by the control unit 1132 to control the opening and closing operation of the door 20. The control signal means a signal input from outside the DCM 100 and used to control the opening and closing operation of the door 20. The control signal includes, for example, the above-mentioned open permission signal. The control signal may also include, for example, a signal indicating that the railroad vehicle 1 has reached a predetermined speed (for example, 5 km/h). The control signal may also include, for example, a signal for opening all the doors 20 of all the cars 1X of the railroad vehicle 1 or all the doors 20 of a specific car 1X. The following description will focus on the case where the control signal is an open permission signal. The signal content determination unit 1131 may determine the content of the control signal used by the control unit 1132 only when the regular system controller 110 is in an active state, or may execute the process regardless of whether the regular system controller 110 is in an active state.

The signal content determination unit 1131 determines the content of the open permission signal to be used by the control unit 1132 based on the content of the open permission signal recognized by the CPU 113, the content of the open permission signal recognized by the standby controller 120, and the content of the open permission signal recognized by other DCMs 100.

The control unit 1132 controls the drive unit 115 and performs control related to the opening and closing operation of the door 20. Specifically, the control unit 1132 performs sequence control related to the opening and closing operation of the door 20 in response to an external control signal and a stop signal, an open command, a close command, etc. from the vehicle control device 10. In addition, the control unit 1132 performs sequence control related to the opening and closing operation of the door 20 while grasping the open/closed state of the door 20, the position in the opening and closing direction, and whether or not it is locked, based on the output of an encoder, DCS (Door Close Switch), DLS (Door Lock Switch), etc. (not shown).

The functions of the standby controller 120 may be realized by any hardware or any combination of hardware and software. For example, the standby controller 120 includes an auxiliary storage device 121, a memory device 122, a CPU 123, an interface device 124, and a drive device 125.

The auxiliary storage device 121 is, for example, a non-volatile storage means such as a ROM, and stores various installed programs as well as data required for various processes.

The memory device 122 is, for example, a volatile storage means such as a RAM, and when an instruction to start a program is received, it reads the program from the auxiliary storage device 121 and stores it.

The CPU 123 executes various programs loaded from the auxiliary storage device 121 to the memory device 122, and realizes various functions related to the opening and closing operation of the door 20 according to the programs. The CPU 123 includes a signal content determination unit 1231 and a control unit 1232 as functional units realized by executing the programs loaded from the auxiliary storage device 121 to the memory device 122.

The interface device 124 is used for inputting and outputting signals, data, etc., between the device and the outside. The interface device 124 includes a photocoupler 124A and a communication interface 124B.

The photocoupler 124A is connected to the signal line 35 or the signal line 45, receives a signal (open permission signal) transmitted by the signal line 35 or the signal line 45, electrically insulates the received signal, and outputs it to the CPU 123. This is because the voltage of the on signal of the signal lines 35 and 45 is very high compared to the drive voltage of the DCM 100.

The communication interface 124B is connected to the communication line 55, and receives commands from the vehicle control device 10 transmitted through the transmission device 50, and transmits data indicating the state of the general-use controller (hereinafter, "status data") to the vehicle control device 10 through the transmission device 50 under the control of the CPU 123. The status data may be transmitted to the vehicle control device 10, for example, as a response to a command received from the vehicle control device 10, or may be transmitted to the vehicle control device 10 at predetermined intervals.

The CPU 123 recognizes the contents of the open permission signal (on state or off state) from the signal captured from the photocoupler 124A. The CPU 123 also transmits the contents of the open/close signal recognized by itself to the normal system controller 110 (CPU 113). The CPU 123 also captures the contents of the open permission signal recognized by the normal system controller 110 (CPU 113) from the normal system controller 110. At this time, the CPU 123 may transmit the contents of the open permission signal recognized by itself to the normal system controller 110 through the internal communication path of the DCM 100, or receive the contents of the open permission signal recognized by the normal system controller 110 from the normal system controller 110. The CPU 123 may also control the communication interface 124B and transmit the contents of the open permission signal recognized by itself to the normal system controller 110 through the communication line 55, or receive the contents of the open permission signal recognized by the normal system controller 110 from the normal system controller 110. The CPU 123 also controls the communication interface 124B to transmit status data including the contents of the open permission signal recognized by the CPU 123 to the vehicle control device 10 through the communication line 55 and the transmission device 50. The CPU 123 may transmit status data to the vehicle control device 10 only when the standby controller 120 is in an active state in which it controls the opening and closing operation of the door 20, or may transmit the status data regardless of whether the standby controller 120 is in an active state or not. The CPU 123 also receives (intercepts) status data of the other DCM 100 transmitted through the communication line 55 through the communication interface 124B. This allows the CPU 123 to obtain the contents of the open permission signal recognized by the other DCM 100 (the CPU 113 of the regular controller 110 or the CPU 123 of the standby controller 120).

The drive device 125 uses power supplied from a specific power source to drive an actuator related to the opening and closing operation of the door 20. The drive device 125 includes a motor drive device that drives the motor 22 and a solenoid drive device that drives the solenoid 24.

The drive unit 125 (motor drive unit) can open and close the door 20 by driving the motor 22.

The drive unit 125 (solenoid drive unit) can lock the door 20 by energizing a locking solenoid. The drive unit 125 (solenoid drive unit) can also unlock the door 20 by energizing an unlocking solenoid.

The signal content determination unit 1231 determines the content of the control signal used by the control unit 1232 to control the opening and closing operation of the door 20. The signal content determination unit 1231 may determine the content of the control signal used by the control unit 1232 only when the standby controller 120 is in an active state, or may execute the process regardless of whether the standby controller 120 is in an active state.

The signal content determination unit 1231 determines the content of the open permission signal to be used by the control unit 1232 based on the content of the open permission signal recognized by the CPU 123, the content of the open permission signal recognized by the regular system controller 110, and the content of the open permission signal recognized by other DCMs 100.

When an abnormality occurs in the control function related to the opening and closing operation of the door 20 in the normal system controller 110, the control unit 1232 controls the drive unit 125 to control the opening and closing operation of the door 20. Specifically, the control unit 1232 performs sequence control related to the opening and closing operation of the door 20 in response to an external control signal and a stop signal, an open command, a close command, etc. from the vehicle control device 10. In addition, the control unit 1232 performs sequence control related to the opening and closing operation of the door 20 while grasping the opening and closing state of the door 20, the position in the opening and closing direction, and whether or not it is locked, based on the output of an encoder, DCS, DLS, etc. (not shown).

The output switching circuit 130 is provided between the regular system controller 110 (drive device 115) and the standby system controller 120 (drive device 125) and actuators (e.g., motor 22, solenoid 24) related to the opening and closing operation of the door 20. The output switching circuit 130 switches between a state in which the regular system controller 110 (drive device 115) is connected to the actuators related to the opening and closing operation of the door 20, and a state in which the standby system controller 120 (drive device 125) is connected to the actuators related to the opening and closing operation of the door 20.

Specifically, when the control function of the normal controller 110 regarding the opening and closing of the door 20 is normal, the output switching circuit 130 maintains a state in which the normal controller 110 (driver 115) and the actuator related to the opening and closing of the door 20 are connected. As a result, the normal controller 110 (driver 115) can supply an output current to the actuator related to the opening and closing of the door 20 through the output switching circuit 130, thereby realizing the opening and closing of the door 20. On the other hand, when an abnormality occurs in the control function of the normal controller 110 regarding the opening and closing of the door 20, the output switching circuit 130 switches to a state in which the standby controller 120 (driver 125) and the actuator related to the abnormality of the door 20 are connected. As a result, when the normal controller 110 is abnormal, the standby controller 120 can supply an output current to the actuator related to the opening and closing of the door 20 through the output switching circuit 130, thereby realizing the opening and closing of the door 20.

[An example of signal content determination processing]
Next, an example of a process (hereinafter, "signal content determination process") for determining the content of a control signal (open permission signal) used to control the door 20 by the DCM 100 (signal content determination units 1131, 1231) will be described with reference to FIG.

Figure 3 is a flowchart that shows an example of a signal content determination process by DCM 100 (signal content determination unit 1131 of normal system controller 110). This flowchart is executed repeatedly at a predetermined interval while DCM 100 is in operation. This flowchart may also be executed when an open command is received from vehicle control device 10. The same may be true for the flowcharts in Figures 4 and 6 described below.

The signal content determination process by the standby controller 120 (signal content determination unit 1231) is the same as that shown in FIG. 3, except that in step S102, it is determined whether or not the recognized content of the open permission signal from the active controller 110 has been acquired. Therefore, in this example, the signal content determination process by the active controller 110 (signal content determination unit 1131) will be described as a representative example.

As shown in FIG. 3, in step S102, the signal content determination unit 1131 determines whether or not the recognition content of the open permission signal has been acquired from each of the standby controller 120 and a specific other DCM 100.

The specific other DCM 100 is selected from the DCM 100 on the same side as the DCM 100 including the target regular system controller 110 of this flowchart among the left and right DCMs 100. That is, the specific other DCM 100 is selected from the other DCMs 100 to which the same open permission signal is input simultaneously through the same one of the signal lines 35 and 45. For example, the specific other DCM 100 is the DCM 100 corresponding to the specific door 20 adjacent to the front or rear of the same vehicle 1X as the door 20 corresponding to the DCM 100 including the target regular system controller 110 of this flowchart and on the same side. Also, the specific other DCM 100 may be selected from the DCM 100 on the same side of the other vehicle 1X as long as it is the other DCM 100 on the same side as the DCM 100 including the target regular system controller 110 of this flowchart. In this case, the status data of a specific other DCM 100 of the other vehicle 1X may be transmitted, for example, from the vehicle control device 10 to the transmission device 50 and then imported into the active system controller 110 that is the subject of this flowchart via the communication line 55.

If the signal content determination unit 1131 has not obtained the latest recognized content of the open permission signal from at least one of the standby controller 120 and the specific other DCM 100, the signal content determination unit 1131 proceeds to step S104. On the other hand, if the signal content determination unit 1131 has obtained the latest recognized content of the open permission signal from each of the standby controller 120 and the specific other DCM 100, the signal content determination unit 1131 proceeds to step S106.

In step S104, the signal content determination unit 1131 determines the content of the open permission signal that the control unit 1132 uses to control the opening and closing operation of the door 20 to be the content recognized by itself (the CPU 113 of the regular controller 110). This is because if the recognized content of the open permission signal cannot be obtained from at least one of the standby controller 120 and a specific other DCM 100, the majority vote in step S106 cannot be performed.

When the CPU 113 completes processing of step S104, it ends the processing of this flowchart.

On the other hand, in step S106, the signal content determination unit 1131 performs a majority vote on the recognized content of the open permission signal by the active controller 110, the standby controller 120, and certain other DCMs 110.

When the CPU 113 completes processing of step S104, it proceeds to step S106.

In step S108, the signal content determination unit 1131 determines whether or not the majority recognizes the open permission signal as being in the ON state as a result of the processing in step S106. If the majority recognizes the open permission signal as being in the ON state, the signal content determination unit 1131 proceeds to step S110, and if the majority does not recognize the open permission signal as being in the ON state, the signal content determination unit 1131 proceeds to step S112.

In step S110, the signal content determination unit 1131 determines that the content of the open permission signal used by the control unit 1132 to control the opening and closing operation of the door 20 is to be in the ON state.

When the CPU 113 completes processing of step S110, it ends the processing of this flowchart.

On the other hand, in step S112, the signal content determination unit 1131 determines the content of the open permission signal used by the control unit 1132 for the control unit related to the opening and closing operation of the door 20 to be in the OFF state.

When the CPU 113 completes processing of step S112, it ends the processing of this flowchart.

In this way, in this example, the regular controller 110 controls the opening and closing operation of the door 20 based on the contents of the control signal recognized by itself, the contents of the control signal recognized by the standby controller 120, and the contents of the control signal recognized by the specific other DCM 100. Specifically, the regular controller 110 compares the contents of the control signal recognized by itself, the standby controller 120, and the specific other DCM 100, and determines the contents of the control signal to be used to control the door 20 by majority vote.

As a result, even if, for example, an abnormality occurs in the photocoupler 114A and the CPU 113 cannot accurately recognize the contents of the control signal, the DCM 100 can adopt the recognition results from the standby controller 120 and other DCMs 100. Therefore, for example, in a situation where an abnormality occurs only in the photocoupler 114A but there are no problems with other functions, the DCM 100 can maintain redundancy of the control system related to the opening and closing operations of the door 20. Therefore, the DCM 100 can suppress a decrease in the availability of the redundant control system of the railway vehicle 1.

The signal content determination unit 1131 may check the recognized contents of the open permission signal of a specific other DCM 100 only when there is a difference in the recognized contents of the open permission signal by the regular controller 110 (CPU 113) and the standby controller 120 (CPU 123). In this case, when the recognized contents of the open permission signal by the regular controller 110 (CPU 113) and the standby controller 120 (CPU 123) match, the signal content determination unit 1131 determines the recognized contents as the contents of the open permission signal to be used by the control unit 1132.

[Another example of signal content determination processing]
Next, another example of the signal content determination process by the DCM 100 (signal content determination units 1131 and 1231) will be described with reference to FIG.

Figure 4 is a flowchart that shows an outline of another example of the signal content determination process by DCM 100 (signal content determination unit 1131 of the common system controller 110).

The signal content determination process by the standby controller 120 (signal content determination unit 1231) is the same as that shown in FIG. 4, except that in step S202, it is determined whether or not the recognized content of the open permission signal from the active controller 110 has been acquired. Therefore, in this example, the signal content determination process by the active controller 110 (signal content determination unit 1131) will be described as a representative example.

As shown in FIG. 4, steps S202 to S212 are the same as steps S102 to S112 in FIG. 3, so detailed explanations are omitted.

When the CPU 113 completes processing of step S210 or step S212, it proceeds to step S214.

In step S214, the signal content determination unit 1131 determines whether the content of the open permission signal recognized by itself (CPU 113) is the same as the content of the open permission signal used by the control unit 1132. If the content of both signals is not the same, the signal content determination unit 1131 proceeds to step S216, and if the content is the same, the processing of this flowchart is terminated.

In step S216, the signal content determination unit 1131 records information indicating an abnormality in the input unit (photocoupler 114A) of the open permission signal in a specified storage unit. This is because there is a high possibility that the regular system controller 110 was unable to receive the appropriate contents of the open permission signal through the photocoupler 114A. As a result, for example, a person in charge of maintenance of the railway vehicle 1 can recognize the abnormality of the photocoupler 114A by checking the recorded contents of the specified storage unit in a specified manner after the fact, and use the information in the maintenance of the railway vehicle 1. The specified storage unit to which the information is recorded may be, for example, an internal storage unit of the DCM 100, such as the auxiliary storage unit 111 of the regular system controller 110, or an external storage unit of the DCM 100, such as an internal memory of the vehicle control device 10. In the latter case, the signal content determination unit 1131 may transmit information indicating an abnormality in the signal input unit (photocoupler 114A) from the communication interface 114B through the communication line 55 and the transmission device 50 to an external storage unit such as the vehicle control device 10, and record the information in the external storage unit.

When the CPU 113 completes processing of step S216, it ends the processing of this flowchart.

In this way, in this example, the normal system controller 110 diagnoses whether there is an abnormality in itself, specifically, the signal input section (photocoupler 114A), based on the contents of the control signal it recognizes and the contents of the control signal used to open and close the door 20.

This allows the regular system controller 110 to determine the contents of the control signal as well as diagnose whether or not there is an abnormality in its own signal input section (photocoupler 114A).

[Another example of the configuration of the door control system]
Next, another example of the control system for the door 20 will be described with reference to Fig. 5. The following description will focus on the parts that are different from the above example (Fig. 2), and descriptions of the same or corresponding configurations as the above example may be omitted.

Figure 5 shows another example of the configuration of the control system for door 20.

As shown in FIG. 5, the DCM 100 includes a regular system controller 110, a standby system controller 120, and an output switching circuit 130, as in the example described above.

As in the example described above, the regular system controller 110 includes an auxiliary storage device 111, a memory device 112, a CPU 113, an interface device 114, and a drive device 115.

As in the example described above, the CPU 113 includes a signal content determination unit 1131 and a control unit 1132 as functional units realized by executing a program loaded from the auxiliary storage device 111 to the memory device 112.

Unlike the example described above, the signal content determination unit 1131 includes majority processing units 1131A and 1131B.

The majority voting processing unit 1131A performs a majority vote on the recognition contents of the control signal (open permission signal) from each of the multiple other DCMs 100 on the same side of the right and left sides, which are received by the communication interface 114B via the communication line 55.

The majority decision processing unit 1131B performs a majority decision on the recognition contents of the control signal by the regular system controller 110, the recognition contents of the control signal by the standby system controller 120, and the recognition contents of the control signal corresponding to the result of the majority decision by the majority decision processing unit 1131A.

As in the example described above, the standby controller 120 includes an auxiliary storage device 121, a memory device 122, a CPU 123, an interface device 124, and a drive device 125.

As in the example described above, the CPU 123 includes a signal content determination unit 1231 and a control unit 1232 as functional units realized by executing a program loaded from the auxiliary storage device 121 to the memory device 122.

Unlike the example described above, the signal content determination unit 1231 includes majority processing units 1231A and 1231B.

The majority voting processing unit 1231A performs a majority vote on the recognition contents of the control signal (open permission signal) from each of the multiple other DCMs 100 on the same side of the right and left sides, which are received by the communication interface 124B via the communication line 55.

The majority decision processing unit 1231B performs a majority decision on the recognition contents of the control signal by the regular system controller 110, the recognition contents of the control signal by the standby system controller 120, and the recognition contents of the control signal corresponding to the result of the majority decision by the majority decision processing unit 1231A.

[Yet another example of signal content determination processing]
Next, still another example of the signal content determination process by the DCM 100 (signal content determination units 1131, 1231) will be described with reference to FIG.

Figure 6 is a flowchart that shows yet another example of the signal content determination process by DCM 100 (signal content determination unit 1131 of the common system controller 110).

The signal content determination process by the standby controller 120 (signal content determination unit 1231) is the same as that shown in FIG. 6, except that in step S302, it is determined whether or not the recognized content of the open permission signal from the active controller 110 has been acquired. Therefore, in this example, the signal content determination process by the active controller 110 (signal content determination unit 1131) will be described as a representative example.

As shown in FIG. 6, in step S302, the signal content determination unit 1131 determines whether or not the recognition content of the open permission signal has been acquired from the standby controller 120. If the signal content determination unit 1131 has acquired the latest recognition content of the open permission signal from the standby controller 120, the process proceeds to step S304, and if not, the process proceeds to step S310.

In step S304, the signal content determination unit 1131 determines whether or not it has been able to obtain the recognition content of the open permission signal from at least some of the multiple other DCMs 100 on the same side as the target DCM 100 of this flowchart.

The multiple other DCMs 100 are, for example, multiple other DCMs 100 corresponding to multiple other doors 20 on the same side of the vehicle 1X as the door 20 corresponding to the DCM 100 including the general-use controller 110 that is the subject of this flowchart. The multiple other DCMs 100 may also include, for example, other DCMs 100 corresponding to doors 20 on the same side of the vehicle 1X that are different from the door 20 corresponding to the DCM 100 including the general-use controller 110 that is the subject of this flowchart.

If the signal content determination unit 1131 has obtained the recognition content of the open permission signal from at least some of the multiple other DCMs 100, it proceeds to step S306, and if it has not obtained the recognition content of the open permission signal from all of the multiple other DCMs 100, it proceeds to step S310.

In step S306, the signal content determination unit 1131 (majority voting processing unit 1131A) performs a majority vote on the recognized content of each of the open permission signals of the multiple other DCMs 100.

In addition, when the recognized contents of the open permission signal are obtained from both the active controller 110 and the standby controller 120 of the same other DCM 100, the signal content determination unit 1131 may perform a majority vote by treating the recognized contents of both open permission signals as separate recognized contents. In addition, when the recognized contents of both open permission signals are the same, the signal content determination unit 1131 may integrate the recognized contents of the open permission signal of the other DCM 100 into one and perform a majority vote using the integrated result. In addition, when there is a difference in the recognized contents of both open permission signals, the signal content determination unit 1131 may set the recognized contents of the open permission signal of one of the active controllers 110 and the standby controller 120 of the other DCM 100 as the recognized contents of the open permission signal of the other DCM 100. In addition, when the recognized contents of the open permission signal are obtained only from one other DCM 100 among the multiple other DCMs 100, the majority vote processing unit 1131A may output the recognized contents already obtained from one other DCM 100 as the result of the majority vote.

When the CPU 113 completes processing of step S306, it proceeds to step S308.

In step S308, the signal content determination unit 1131 determines whether the result of the majority decision by the majority decision processing unit 1131A is that the number of ONs and OFFs is the same. If the result of the majority decision is that the number of ONs and OFFs is the same, the signal content determination unit 1131 proceeds to step S310, and if the number is not the same, the signal content determination unit 1131 proceeds to step S312.

In step S308, it may be determined whether the result of the majority decision by the majority decision processing unit 1131A is an equal number or a small difference between on and off. A small difference means that the difference between on and off as the recognized content of the open permission signal is less than a relatively small predetermined threshold (e.g., "1"). In this case, if the result of the majority decision is an equal number or a small difference between on and off, the signal content determination unit 1131 proceeds to step S310, and if the result of the majority decision is neither an equal number nor a small difference between on and off, the signal content determination unit 1131 proceeds to step S312. In addition, if the recognized content of the open permission signal is obtained only from one other DCM 100 out of the multiple other DCMs 100, the result of the majority decision by the majority decision processing unit 1131A may correspond to a small difference.

In step S310, the signal content determination unit 1131 determines the content of the open permission signal that the control unit 1132 uses to control the opening and closing operation of the door 20 to be the content recognized by itself (the CPU 113 of the regular controller 110). This is because if the recognized content of the open permission signal cannot be obtained from the standby controller 120 or all of the multiple other DCMs 100, the majority vote in step S312 cannot be performed. The same applies when the majority vote results in a tie or a close difference in the recognized content of the open permission signal among the multiple other DCMs 100.

On the other hand, in step S312, the signal content determination unit 1131 (majority voting processing unit 1131B) makes a majority vote on the recognized content of the open permission signal by the regular system controller 110, the recognized content of the open permission signal by the standby system controller 120, and the recognized content of the open permission signal as a result of the majority vote of the majority voting processing unit 1131A.

When the CPU 113 completes processing of step S312, it proceeds to step S314.

In step S314, the signal content determination unit 1131 determines whether or not the majority recognizes the open permission signal as being in the ON state as a result of the processing in step S312. If the majority recognizes the open permission signal as being in the ON state, the signal content determination unit 1131 proceeds to step S316, and if the majority does not recognize the open permission signal as being in the ON state, the signal content determination unit 1131 proceeds to step S318.

In step S316, the signal content determination unit 1131 determines that the content of the open permission signal used by the control unit 1132 to control the opening and closing operation of the door 20 is to be in the ON state.

When the CPU 113 completes processing of step S316, it ends the processing of this flowchart.

On the other hand, in step S318, the signal content determination unit 1131 determines that the content of the open permission signal used by the control unit 1132 for the control unit regarding the opening and closing operation of the door 20 is in the OFF state.

When the CPU 113 completes processing of step S318, it ends the processing of this flowchart.

After completion of step S316 or step S318, processing similar to steps S214 and S216 in FIG. 4 may be performed. This allows the regular system controller 110 to achieve the same effects and advantages as in the other example (FIG. 4) described above.

In this way, in this example, the regular controller 110 controls the opening and closing operation of the door 20 based on the contents of the control signal recognized by itself, the contents of the control signal recognized by the standby controller 120, and the contents of the same control signal recognized by the multiple other DCMs 100. Specifically, the regular controller 110 compares the recognized contents of the control signal recognized by itself, the recognized contents of the control signal recognized by the standby controller 120, and the results of a majority vote of the recognized contents of each of the multiple other DCMs 100, and determines the contents of the control signal to be used to control the door 20 by majority vote.

As a result, the DCM 100 achieves the same effects and advantages as the above-mentioned example (FIG. 3) and other example (FIG. 4). In addition, since the recognition contents of the control signal by each of the multiple other DCMs 100 can be used, the DCM 100 can further increase the reliability of the control signal used to control the door 20, and can control the door 20 more appropriately.

As in the above example (FIG. 3) and other examples (FIG. 4), the signal content determination unit 1131 may perform a majority vote on the recognized contents of the open permission signals of the multiple other DCMs 100 only when there is a difference in the recognized contents of the open permission signals by the active controller 110 and the standby controller 120. Also, instead of performing two majority votes, the signal content determination unit 1131 may perform a majority vote only once on the recognized contents of the same open permission signals by each of the active controller 110, the standby controller 120, and the multiple other DCMs 100, and determine the contents of the open permission signal to be used by the control unit 1132. Also, the signal content determination unit 1131 may assign importance to each of the recognized contents of the open permission signals of the active controller 110, the standby controller 120, and the other DCMs 100. Then, the signal content determination unit 1131 may determine the contents of the open permission signal to be used by the control unit 1132 based on the sum of the respective importances of on and off as the recognized contents of the open permission signal.

[Action]
Next, the operation of the DCM 100 according to this embodiment will be described.

For example, in the case of conventional door control devices for railcars, even if there is no abnormality in the function related to the control of the normal door system, if a problem occurs in the function of the input section that receives signals input from the outside, it may be determined that there is an abnormality in the normal system and the system may be switched to the standby system. This may reduce the availability of the door control system. Furthermore, if the redundancy of the door control system is lost due to switching to the standby system, the railcar may need to be taken to a garage for inspection. This may result in a decrease in the availability of the railcar.

In contrast, in this embodiment, the DCM 100 includes a service controller 110 and a standby controller 120. Specifically, the service controller 110 controls the operation of the first door 20 of the railway vehicle 1 based on a control signal input from the outside to the DCM 100 and the other DCMs 100 at the same time. The standby controller 120 is configured to be able to control the operation of the first door 20 of the railway vehicle 1 based on the above-mentioned control signal input from the outside. The service controller 110 is configured to be able to communicate with the standby controller 120 and the other DCMs 100 that control the other doors 20 of the railway vehicle 1 based on the same control signal input from the outside. The service controller 110 controls the operation of the first door 20 based on the contents of the control signal recognized by itself, the contents of the control signal recognized by the standby controller 120 obtained from the standby controller 120, and the contents of the control signal recognized by the other DCMs 100 obtained from the other DCMs 100.

As a result, even if, for example, an abnormality occurs in the photocoupler 114A and the CPU 113 cannot accurately recognize the contents of the control signal, the DCM 100 can use the recognition contents by the standby controller 120 and other DCMs 100. Therefore, for example, in a situation where an abnormality occurs only in the photocoupler 114A but there are no problems with other functions, the DCM 100 can use the recognition contents by the standby controller 120 and other DCMs 100 to increase the availability of the control system related to the opening and closing operations of the door 20. As a result, since the redundancy of the control system related to the opening and closing operations of the door 20 can be maintained, the DCM 100 can increase the availability of the redundant railway vehicle 1.

In addition, in this embodiment, the regular system controller 110 may control the operation of one door 20 based on the contents of the control signal recognized by itself, the contents of the control signal recognized by the standby system controller 120, and the contents of the control signal recognized by a specific other DCM 100.

As a result, the DCM 100 can increase the availability of the control system for opening and closing the door 20, specifically, by utilizing the recognition contents of the control signals of the standby controller 120 and certain other DCMs 100.

In addition, in this embodiment, the regular system controller 110 may compare the contents of the control signal recognized by itself, the contents of the control signal recognized by the standby system controller 120, and the contents of the control signal recognized by a specific other DCM 100, and determine the contents of the control signal to be used to control the operation of one door 20 by majority vote.

This allows the DCM 100 to specifically determine the content of the control signal to be used to control the operation of the door 20, and to control the opening and closing operation of the door 20 based on that control signal.

In addition, in this embodiment, the regular system controller 110 may control the operation of one door 20 based on the contents of the control signal recognized by itself, the contents of the control signal recognized by the standby system controller 120, and the contents of the control signal recognized by each of the multiple other DCMs 100.

This allows the DCM 100 to use the recognition contents of the control signals of the standby controller 120 and the multiple other DCMs 100. Therefore, the DCM 100 can more appropriately increase the availability of the control system related to the opening and closing operation of the door 20.

In addition, in this embodiment, the regular system controller 110 may compare the contents of the control signal recognized by each of the multiple other DCMs 100, take a majority vote, and compare the results of the majority vote between the contents of the control signal recognized by itself, the contents of the control signal recognized by the standby system controller 120, and the contents of the control signal recognized by each of the multiple other DCMs 100, and determine the contents of the control signal to be used to control the operation of one door 20 by majority vote.

This allows the specific content of the control signal to be used to control the operation of the door 20 to be determined, and the opening and closing operation of the door 20 to be controlled based on that control signal.

In addition, in this embodiment, if the regular system controller 110 cannot obtain the contents of the control signal recognized by the specific other DCM 100 from the specific other DCM 100, the regular system controller 110 may determine the contents of the control signal recognized by itself as the contents of the control signal to be used to control the operation of one door 20.

This allows the DCM 100 to continue controlling the opening and closing operation of the door 20 by the regular controller 110 even if it is unable to obtain the recognized contents of the control signal from a specific other DCM 100.

In addition, in this embodiment, if the regular system controller 110 cannot obtain the contents of the control signal recognized by each of the multiple other DCMs 100 from all of the multiple other DCMs 100, or if the result of a majority vote on the contents of the DCMs 100 recognized by each of the multiple other DCMs 100 is a tie or a close difference below a predetermined threshold, the regular system controller 110 may determine the contents of the control signal recognized by itself as the contents of the control signal to be used to control the operation of one door 20.

This allows the DCM 100 to continue control of the opening and closing operation of the door 20 by the regular system controller 110 even if it is unable to obtain the recognized contents of the control signal from all of the other DCMs 100. Furthermore, the DCM 100 can continue control of the opening and closing operation of the door 20 by the regular system controller 110 even if the majority vote on the recognized contents of the control signal from each of the other DCMs 100 is the same or has a small margin of difference.

In addition, in this embodiment, if the regular system controller 110 cannot obtain from the standby system controller 120 the contents of the control signal recognized by the standby system controller 120, the regular system controller 110 may determine the contents of the control signal recognized by itself as the contents of the control signal for controlling the operation of one door 20.

This allows the DCM 100 to continue controlling the opening and closing operation of the door 20 using the regular controller 110 even if it is unable to obtain the recognized contents of the control signal from the standby controller 120.

In addition, in this embodiment, the regular system controller 110 may diagnose whether or not there is an abnormality in itself based on the contents of the control signal recognized by itself and the contents of the control signal used to control the operation of one door 20.

This allows the DCM 100 to diagnose whether there is an abnormality in the normal system controller 110 (specifically, the input section of the control signal, such as the photocoupler 114A) while determining the content of the control signal that the normal system controller 110 uses to control the door 20.

In addition, in this embodiment, if the contents of the control signal recognized by the normal system controller 110 do not match the contents of the control signal used to control the operation of one of the doors 20, the normal system controller 110 may record information regarding its own abnormality in a specified memory unit.

As a result, the DCM 100 can, for example, make the person in charge of maintaining the railway vehicle 1 aware of the possibility of an abnormality in the input section of the control signal of the regular system controller 110 through the information in a specified memory section. As a result, the DCM 100 can improve the work efficiency of maintenance of the door 20 control system.

Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist of the invention as described in the claims.

REFERENCE SIGNS LIST 1 Railway vehicle 1A to 1C Vehicle 10 Vehicle control device 20 Door 22 Motor 24 Solenoid 30A, 30B Switch 35 Signal line 40A, 40B Switch 45 Signal line 50 Transmission device 55 Communication line 100 DCM (control device)
110 Normal system controller (first control unit)
111 Auxiliary storage device 112 Memory device 113 CPU
114 Interface device 114A Photocoupler 114B Communication interface 115 Drive device 120 Standby controller (second control unit)
121 Auxiliary storage device 122 Memory device 123 CPU
124 Interface device 124A Photocoupler 124B Communication interface 125 Drive device 130 Output switching circuit 1131 Signal content determination unit 1131A Majority processing unit 1131B Majority processing unit 1132 Control unit 1231 Signal content determination unit 1231A Majority processing unit 1231B Majority processing unit 1232 Control unit

Claims (4)

A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside,
the first control unit compares the contents of the control signal recognized by itself, the contents of the control signal recognized by the second control unit obtained from the second control unit, and the contents of the control signal recognized by the specific other control unit obtained from the specific other control unit, and performs a majority vote; and diagnoses the presence or absence of an abnormality in itself by comparing the contents of the control signal recognized by the majority of the majority vote with the contents of the control signal recognized by itself .
Diagnostic methods. A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside,
the first control unit compares the contents of the control signals recognized by each of the other control devices, which are acquired from the other control devices, and takes a majority vote; and compares the majority vote results between the contents of the control signals recognized by itself, the contents of the control signals recognized by the second control unit, which are acquired from the second control unit, and the contents of the control signals recognized by each of the other control devices, and diagnoses the presence or absence of an abnormality in itself based on the majority vote.
Diagnostic methods. A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside,
the first control unit assigns importance to each of the contents of the control signal recognized by itself, the contents of the control signal recognized by the second control unit, and the contents of the control signal recognized by the other control device, and determines the contents of the control signal to be used for controlling the one door based on the sum of the importance of the first contents and the second contents assumed as the recognized contents of the control signal, and diagnoses the presence or absence of an abnormality in itself by comparing the determined contents of the control signal with the contents of the control signal recognized by itself;
Diagnostic methods. A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside,
comparing the contents of the control signals recognized by each of the plurality of other control devices, which are acquired from the plurality of other control devices, and taking a majority vote; and comparing the majority vote results of the contents of the control signals recognized by the first control unit, the contents of the control signals recognized by the second control unit, and the contents of the control signals recognized by each of the plurality of other control devices, and diagnosing the presence or absence of an abnormality in at least one of the first control unit and the second control unit based on the majority vote.
Diagnostic methods.

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