JPH0785607B2 - Vehicle fixed position stop control method - Google Patents

Description

Description of the Invention [Object of the Invention] The present invention relates to a fixed position stop control method, and in particular, a vehicle driven by a discrete control input such as a notch is stopped at a stop target point without frequently changing a control command. The present invention relates to a fixed position stop control method for a vehicle that enables the operation.

[Prior art]

FIG. 1 is a block diagram showing an example of a conventional automatic train control device for automatically stopping a train at a target position, and FIG. 2 is an operation explanatory diagram showing its speed pattern. In FIG. 1, 1 is a speed generator, 2 is a speed calculation circuit, 3 is a distance integration circuit, 4 is a ground element, 5 is a point detector, 6 is a pattern generator, 7 is a comparator, and 8 is a brake controller. And 9 has shown the brake device.

In the above-mentioned conventional fixed position stop control, the vehicle uses a ground detector 4 installed at a point P (point P) located a predetermined distance l before the stop target point O (point O) as a reference, and a point detector on the vehicle. 5 to detect. The distance integration circuit 3 counts the pulses from the speed generator 1 according to the point detector detection signal from the point detector 5, and outputs the distance S traveled by the vehicle from the point P. In addition, the pattern generator 6 selects the distance l to the stop target point from its own memory in response to the point detection signal from the point detector 5, and determines the predetermined deceleration β.
_{With P} The target speed pattern V _{P according} to the following equation is output.

The speed calculation circuit 2 calculates the actual speed V _{T of the} vehicle from the pulse of the speed generator 1. The comparator 7 compares the actual speed V _T with the target speed pattern V _P output from the pattern generator 6. Based on the output signal (V _T −V _P ) of the comparator 7, the brake device 9 is comparatively controlled via the brake control device 8 so that the actual speed V _T of the vehicle follows the target speed pattern V _P. Controls to stop near the stop target point O.

However, in the method described above, the braking device 9
There is a case where the follow-up steady deviation with respect to the target speed pattern V _P occurs due to the fluctuation of the braking force and the fluctuation of the external force due to the gradient of the track, and the stop accuracy is deteriorated. Further, if integral control is performed in addition to the comparison control of the brake device 9 in order to prevent the occurrence of the following steady-state deviation, the control command (notch) is frequently changed, which causes another problem that the riding comfort of the vehicle deteriorates. Occurs.

[Object of the Invention]

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle fixed-position stop control method in which the final stopping accuracy of a vehicle with respect to a target point is within an allowable range and the riding comfort is improved. To provide.

[General Description of Invention]

To achieve the above object, the present invention obtains a control command according to the state of the vehicle, and in a vehicle fixed position stop control method for performing speed control for stopping the vehicle at a target position by the control command, the vehicle speed is In a section equal to or greater than a predetermined value, a temporary position set before the final stop target position is set as a target, and in a section where the vehicle speed is lower than the predetermined value, the final stop target position is set as a target and speed control is performed. The control result predicted when the command is held as it is and the control result predicted when the command is changed by a predetermined amount are periodically calculated, and fuzzy inference is performed based on these predetermined control rules. The control command to be given to the vehicle at that time is determined by making a comparison.

Example of Invention

FIG. 3 is a block diagram of a vehicle fixed-position stop control system showing an embodiment of the present invention, and the same components as those shown in FIG. 1 are designated by the same reference numerals. Further, 2'is a speed / acceleration calculation device for calculating the speed (actual speed) V _T and acceleration α _T of the vehicle by the pulse of the speed generator 1 in the past 1 second, and 3'is the current position (x ₁ ) of the vehicle and the stop A remaining distance calculation device for calculating the distance L ₁ to the target point O, 10 is predetermined in correspondence with the current vehicle speed V _T , the distance L ₁ to the stop target point O and a notch selected in advance. Using the calculated deceleration β _P , L ₂ = L ₁ −V _T ² /(7.2·β _P ) ... (2) The stop error L when braking with the notch previously selected by the formula A predetermined notch stop error calculator for calculating ₂ and 11 is the stop error L ₂ and the current speed V _T
From this, the brake control start margin time ΔT when traveling at the current speed is calculated by the formula ΔT = 3.6L ₂ / V _T (3), and the margin time ΔT becomes a fixed time (for example, 1 second) or less. In this case, the brake control start command calculation device outputs a brake control start signal for stopping at a fixed position.

The 12Z, 12P, and 12N show the stop accuracy predicted when the vehicle is operated under different control commands, for example, when the notch selected in advance is held, when one notch is added, and when one notch is subtracted. A stop precision ambiguous amount calculation device for calculating a vague amount, a notch change suppressing device 13 for generating a signal M for suppressing notch change for a predetermined period after the notch change, for example, one second, and 14 for Vague inference is performed based on the output, and the notch command N should be output when notch change is not suppressed.
A control notch calculating device for calculating (t), and 15 is a brake command calculating device for connecting and disconnecting the output of the control notch calculating device 14 according to the output of the brake control start command calculating device 11.

The operation of the apparatus of this embodiment will be described below with reference to FIGS. 4 and 5.

FIG. 4 is a diagram for explaining the operation of determining the brake control start time for the fixed position stop control, in which the vehicle passes a point P located a predetermined distance 1 from the stop target point O, It shows the situation at x ₁ . The predetermined notch stop error calculation unit 10 described above, determine the stop error L _2, from between this and the current speed V _T, seeking brake start time margin ΔT by the brake control start command calculation unit 11, starts the brake A brake control start command is output when the allowance time ΔT is equal to or less than a fixed time (for example, 1 second).

FIG. 5 is a diagram for explaining the operation of selecting a brake notch for stopping at a fixed position. In the stop accuracy fuzzy amount calculation devices 12Z, 12P, 12N, the distance to the stop target point obtained by the remaining distance calculation device 3'indicating the state quantity of the vehicle.
L ₁ and the current speed calculated by the speed / acceleration calculator 2 ′
V _T1 , acceleration α _T1 and predetermined acceleration Δ per notch Δ
From α (for example, 0.5 Km / h / sec), the scalar amounts L _Z , L _P , and L _N of the stop accuracy, which is the control purpose, are calculated by the following equation (4).

Here, it is assumed that the ambiguous amount of stop accuracy is composed of two ambiguous base sets: ( ₁ ) can be stopped within a tolerance (μ ₁ ) and (2) can be accurately stopped at a stop target position (μ ₂ ). A membership function that represents these fuzzy sets is defined as follows, for example. x is the stop error (m) and the allowable error is 0.
If the distance is 5 m, the membership function μ ₁ (x) of the fuzzy platform set that can be stopped within the above tolerance is And the membership function μ ₂ (x) of the fuzzy base set that can accurately stop at the stop target position is Is defined as

The output of each of the stopping accuracy ambiguous amount computing devices 12Z, 12P, 12N is an ambiguous amount consisting of a pair of values of the above two membership functions μ ₁ (x) and μ ₂ (x) with respect to the predicted stopping accuracy. It represents. That is, from the scalar quantity L _Z , L _P , L _N of the stop accuracy, the ambiguous quantity _Z , _P of the stop accuracy when the current notch is held and when the notch is changed by ± 1 notch from the current value , _N is obtained as a value expressed as follows.

Based on the outputs _Z , _P , _N from the stop accuracy fuzzy amount computing devices 12Z, 12P, 12N, the control notch computing device 14 is, for example, as shown below, a control law (1) consisting of a condition part and a conclusion part.
Based on the ambiguous inference according to (3), a control command to be output, that is, a notch is selected.

(1) If the current notch can stop within the allowable range,
Keep the current notch.

(2) If it is possible to accurately stop at the stop target position with +1 notch, increase by 1 notch.

(3) If it is possible to accurately stop at the stop target position with -1 notch, decrease by 1 notch.

The specific notch selection based on the fuzzy reasoning is performed by selecting the value of the membership function corresponding to each condition part among the control rules (1) to (3) (in the embodiment, C _Z1 ,
This is done by selecting the one with the maximum C _P2 , C _N2 ). Note that this control is performed when there is no notch change suppression signal M from the notch change suppression device 13.

In the present embodiment, the first consideration is that the target stop point can be stopped within the allowable error, and the notch is changed only when the stop can be stopped with higher accuracy by changing the ± 1 notch. It is possible to realize a fixed position stop control that is safe and has little change in notch and is comfortable to ride.

In the above embodiment, an example in which the various arithmetic units 10 to 15 are configured by hardware has been shown, but a microcomputer may be used for the arithmetic. An example of the program processing flow in this case is shown in FIG. This program has a function of obtaining the notch command N (t) based on the vehicle speed V _T , acceleration α _T , and the distance L ₁ to the stop target point.

Further, in the above-described embodiment, the membership function of the fuzzy base set for defining the fuzzy amount of the stop accuracy, which is the control purpose, is defined as in equations (5) and (6).
The present invention is not limited to this. For example, as shown in FIG. 7, the vehicle speed is a predetermined speed V _C (for example, 10 km
/ h) or more, l '(eg
It may be changed stepwise so that the point Q just before 2m) is targeted and the point O is targeted when the speed becomes V _C or less.

In the fuzzy reasoning in the above-described embodiment, the number of notches is increased or decreased by ± 1 notch, but it goes without saying that more notch changes may be added to the selection range by increasing the number of control rules.

〔The invention's effect〕

As described above, according to the present invention, the control section is divided according to the vehicle speed, and the control result predicted when the control command is maintained as it is in each section and the case of changing the predetermined amount By calculating the control result periodically and comparing them by fuzzy reasoning, the control command to be given to the vehicle at that time is decided, so the number of changes of the control command can be reduced, and By setting the allowable control error stepwise for each control section, the vehicle can be stopped within the allowable range of the target position and comfortably controlled to stop.

[Brief description of drawings]

FIG. 1 is a block diagram showing an example of a conventional fixed position vehicle stop control device, FIG. 2 is an operation explanatory diagram showing its speed pattern, FIG. 3 is a block diagram showing one embodiment of the present invention, FIG. FIG. 5 is a diagram for explaining the operation, FIG. 6 is a processing flowchart showing another embodiment of the present invention, and FIG. 7 is a diagram showing a speed pattern in still another embodiment of the present invention. . 1: Speed generator, 2 ': Speed acceleration calculation device, 3': Remaining distance calculation device, 4: Ground element, 5: Point detector, 9: Brake device,
10: Stop error calculation device, 11: Brake start command device, 12Z,
12P, 12N: Ambiguous amount calculation device, 13: Notch change suppression device, 14: Control notch calculation device, 15: Brake command calculation device.

Claims (1)

[Claims] 1. A vehicle fixed-position stop control method for determining a control command according to the state of a vehicle and performing speed control for stopping the vehicle at a target position according to the control command, in a section where the vehicle speed is a predetermined value or more. The target is a temporary position set before the final stop target position, and speed control is performed with the final stop target position as the target in the section where the vehicle speed is lower than the predetermined value. The stop error for the stop target position predicted when held as it is and the stop error predicted for the case where the control command is changed by a predetermined amount are periodically calculated, and these stop errors are respectively controlled by the predetermined control. The stop error of each of the stop errors obtained by applying to the membership function is given to an ambiguous inference means that stores a plurality of control rules associated with the command and the membership function. A vehicle fixed-position stop control method, characterized in that one of the above-mentioned control laws is selected according to the magnitude of the ambiguity and the speed of the vehicle is controlled by one control command specified by the control law.