JP2011045207A - On-board information-intensive advanced safety train control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an on-board information-intensive advanced safety train control system, wherein quick and accurate control can be carried out in a train by mounting an intelligent on-board controller. <P>SOLUTION: The on-board information-intensive advanced safety train control system includes an obstacle on the track detector 4, which detects the information regarding an obstacle on the track; a train state detector 5 which detects the state of the train; an information collector 6 which collects the information regarding the areas along the track; an information collector 7 which collects information from a preceding train 13; and an on-board controller 3; which is mounted on a following train 2 in order to collect and process information from the detectors and the information collectors. Advanced safety train control is performed mainly by the on-board controller 3 in the following train 2, by using the information about an obstacle on the track, the information about the state of the train, the information about the areas along the track, and the information from a preceding train 13. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an on-vehicle information intensive high safety train travel control system.

The main signal security devices related to conventional train interval control and route control include interlocking devices, traffic lights, track circuits, and switchboards.
Both train interval control and route control require a high level of safety. For this reason, it is designed so that when a device breaks down, it is stopped (see Patent Documents 1 and 2 below).

  On the other hand, when ensuring the safety of trains against obstacles, various obstacle detection devices such as level crossing obstacle detection devices, falling rock detection devices, and marginal obstacle notification devices installed along the tracks detect abnormalities, and special signal light emitters. Lights up. In addition, the crew will be able to prevent secondary disasters by issuing protective radios and shorting rails to stop nearby trains.

JP-A-8-282493 JP 2000-25616 A

Problems to be solved by the present invention are shown below.
(1) Many devices are scattered along the track, requiring maintenance and time.
(2) A backup device (ATS) is separately required for the driver's control based on the ground signal.

(3) In the control by the track circuit and the ground signal device, there is a limit to performing fine control.
(4) It is a specification for detecting only an obstacle in a section where an obstacle detection device is installed in advance.
(5) It is necessary for crew members to take protective measures to ensure safety.
In view of the above situation, the present invention is equipped with an intelligent on-board control device, so that control for safe traveling of the train can be quickly and accurately performed on the vehicle, and the on-board information is collected. The purpose is to provide a type of highly safe train control system.

In order to achieve the above object, the present invention provides
[1] In-vehicle information intensive high-safety train control system, in-rail obstacle detection device for detecting obstacle information in the track, own train state detection device for detecting own train state, and information on the railway track The information collection device related to the track along the track to collect the information, the information collection device from the preceding train that collects information from the preceding train, the subsequent train equipped with the on-board control device, the obstacle information in the track and the It is characterized in that safe train control is performed mainly using an on-board control device for the succeeding train using own train state information, information on the track along the track, and information from the preceding train.

[2] The on-vehicle information intensive high safety train control system according to [1], wherein the in-rail obstacle detection device is a camera, a radar device, or a microphone.
[3] In the on-vehicle information intensive high-definition train control system according to [1] above, the information on the track along the track includes structures (tunnels, bridges, air sections, etc.), station premises, and facilities in the middle of the station. It is characterized by information on railway facilities.

[4] The on-vehicle information intensive high safety train control system according to [3], wherein the railroad equipment is a tipping machine.
[5] The on-vehicle information intensive high safety train control system according to [3], wherein the railway facility is a railroad crossing.
[6] The on-vehicle information intensive type highly safe train control system according to [3], wherein the railway facility is a ground unit.

[7] The on-board information-intensive high-safety train control system according to [4] or [5], wherein the switch and the railroad crossing are controlled by the on-board controller.
[8] In the on-board information-intensive high safety train control system according to [3] above, a stop limit point is set in the on-board controller of the subsequent train based on the position of the preceding train and the track opening condition. It is characterized by that.

[9] In the on-board information intensive high-definition train control system according to [3], the on-board control device of the following train is a fault detection result of a level crossing obstacle detection device, a falling rock detection device, or a marginal failure notification device. Thus, the stop limit is set.
[10] In the on-board information intensive high safety train control system according to [3], the on-board control device for the following train performs acceleration / deceleration control based on track conditions (speed limit information, etc.). Features.

[11] The on-board information-intensive high-safety train control system according to [3], wherein the on-board control device for the following train is a train at an emergency stop in consideration of track conditions (tunnel, bridge, air section, etc.) It is characterized by searching for a suppression position.
[12] In the onboard information intensive safety control system of the above-mentioned [3], the onboard control device for the succeeding train includes position information of a section under maintenance work, maintenance vehicle position information during maintenance work, The stop limit is set based on the position of the worker who is performing the maintenance work, and the traveling speed control is performed based on the position information of the worker and the evacuation completion notification information from the worker during the work in progress. .

[13] In the on-vehicle information intensive high safety train control system according to [1], the performance of the own train, the own train device (brake controller, main circuit controller, vehicle body tilt control device, steering control device, etc.) The maximum speed at which the train can travel is set based on the soundness level of the train.
[14] In the on-vehicle information intensive high-safety train control system according to [3], a track circuit for a lock-and-lock is provided at a location including the turning machine in the station premises as the railway equipment. It arranges and locks and unlocks combining the detection result and the position detection result in the train control which made the train on-board controller the main.

  [15] The on-vehicle information intensive high safety train control system according to the above [3], characterized in that travel control is performed while confirming safety mainly by an on-board controller of a train instead of a track circuit. .

  According to the present invention, by installing an intelligent on-board controller on a train, it is possible to quickly and accurately perform advanced safety train control on the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of an on-vehicle information intensive type highly safe train control system showing an embodiment of the present invention. It is a block diagram of the on-board controller of the on-board information intensive type highly safe train control system showing an embodiment of the present invention. It is an operation | movement flowchart of the highly safe train control system of an on-vehicle information aggregation type | mold which shows the Example of this invention. It is a schematic diagram of train position detection and interval control (in the middle of a station) of an on-vehicle information intensive type highly safe train control system showing an embodiment of the present invention. It is a schematic flowchart of the position management of the train in the on-vehicle information intensive type highly safe train control system showing the embodiment of the present invention. It is a schematic flowchart of the interval control of the train of the onboard information intensive type highly safe train control system showing an embodiment of the present invention. It is a schematic diagram of the switchover control of the onboard information intensive type highly safe train control system showing an embodiment of the present invention. It is a flowchart of the switchover control of the onboard information-intensive high safety train control system showing an embodiment of the present invention. It is a schematic diagram about control of the onboard information-intensive type highly safe train control system showing an embodiment of the present invention.

  The on-vehicle information-intensive high-safety train control system of the present invention includes an in-rail obstacle detection device that detects in-rail obstacle information, an own train state detection device that detects its own train state, and information along the track. It is comprised by the succeeding train carrying the on-board control apparatus which takes in and processes the information collection apparatus regarding the trackside which collects, and the information collection apparatus from the preceding train which collects the information from a preceding train. The on-board control device of the succeeding train is mainly used to perform advanced safety train control using the obstacle information in the track, the own train state information, information on the track along the track, and information from the preceding train.

Hereinafter, embodiments of the present invention will be described in detail.
FIG. 1 is a schematic diagram of an on-board information intensive type highly safe train control system showing an embodiment of the present invention, FIG. 2 is a block diagram of the on-board controller of the highly safe train control system, and FIG. 3 is its highly safe train. It is an operation | movement flowchart of a control system.
In FIG. 1, 1 is a track, 2 is a subsequent intelligent train that collects information on the vehicle (hereinafter simply referred to as a subsequent train), 3 is an on-board control device, 4 is an obstacle detection device on the track 1, and 5 is itself. The own train state detection device which grasps the train state information of the train, 6 is the information collection device regarding the track 1 along the line, 7 is the information collection device obtained by the preceding train 13, 8 is the place where the rock falls along the track 1, and 9 is the track 1 working place, 10 is a railroad crossing, 11 is a tipping machine, and 12 is a ground unit. In the present invention, the subsequent train includes a case where a normal train that is not an intelligent train travels between the subsequent train and the preceding train.

As described above, the succeeding train 2 is equipped with the obstacle detection device 4 on the track 1, the own train state detection device 5, the information collection device 6 related to the track 1 and the information collection device 7 from the preceding train 13. The information from these devices is taken into the on-board controller 3 and processed so that traveling by autonomous safety control of the train is performed.
The obstacle detection device 4 in the track 1 includes a camera 4A, a radar device 4B, a microphone 4C, and the like, and detects obstacles in the track 1 such as a crossing device, an obstacle in a railroad crossing, an obstacle on the track, and a stone. I do. The detection information 20 is stored in the in-line obstacle detection unit 3B of the on-vehicle control device 3. The own train state detection device 5 detects train state information 21, for example, wheel vibration and drive device state information, and stores them in the own train state information storage unit 3 </ b> C of the on-board control device 3. In the own train state information storage unit 3C, information related to the own train such as the type of the own train and the history information of the failure is recorded in advance. In the information collecting device 6 regarding the track along the track, as the information 22 regarding the track along the track, geospatial information (structures and facilities) along the track 1, information on the work place 9 in the track, information on the switch 11 and fault detection The information about the level crossing 10 including, the rock fall detection information at the rock fall warning point 8, and the information about the ground bridge 12 at the ground bridge 12 are collected. The information 22 related to the trackside is stored in the information storage unit 3D related to the trackside of the on-board controller 3. The information 23 collected by the information collection device 7 from the preceding train is stored in the information storage unit 3E from the preceding train 13 of the on-board control device 3. 3A is a central processing unit, and 3F is an input interface. In addition, although the information obtained from the preceding train can refer to all information taken in by the on-board controller of the preceding train, the preceding train position information related to train interval control is particularly important.

  Thus, in the highly safe train control according to the present invention, on the train (1) detection of obstacles in the track 1, (2) detection of the state of the own train, (3) collection of various information about the track, 4) Information is collected from the preceding train 13, and the recognized information is processed by the on-board control device 3, and control for performing safe driving is independently performed on the vehicle. In other words, an on-vehicle train traveling control system that travels by collecting and controlling information related to various types of train traveling by the on-board controller 3 is provided.

The present invention constructs an advanced database for the train itself to recognize the geospace along the track, and based on this, the train itself determines the safe driving, and the equipment placed on the ground side is the minimum necessary. To simplify the system.
The highly safe train control system shown in FIG. 1 has the following main functions.
(1) Coordinated control with peripheral devices The switch 11 and the railroad crossing 10 are controlled by the on-board controller 3 of the following train 2. Further, the succeeding train 2 sets the stop limit point of its own train based on the position of the surrounding train (for example, the preceding train 13), the track opening condition, and the like.

Thereby, since the control request | requirement is performed in the on-board controller 3 of the succeeding train 2 with respect to each apparatus (railroad crossing 10, the switch 11 etc.) arrange | positioned along a track, the succeeding train 2 is a safe state of ground equipment. Can be confirmed directly.
(2) Autonomous control by on-board controller based on recognition of surrounding conditions Acceleration / deceleration control based on track conditions (speed limit, section position, stop target position, etc.), emergency stop considering track conditions (tunnel, bridge, etc.) Train speed control based on search for train deterrence position and maintenance work position (distance from track, maintenance work content, etc.). For example, the on-board controller for the following train sets the stop limit based on the position information of the section under maintenance work, the position information of the maintenance vehicle during maintenance work, and the position of the worker during maintenance work. Then, the traveling speed control is performed based on the worker position information and the evacuation completion notification information from the worker.

Since the position information of various detection devices and information collection devices is stored in the succeeding train 2, the on-board control device 3 of the succeeding train 2 determines that each device itself is faulty if it cannot receive information from these devices. Yes, it can improve safety.
(3) Travel speed control based on the state of the own train The travel speed of the succeeding train 2 is determined based on the performance of the own train and the soundness of the own train.

Since the train itself determines the maximum speed at which it can travel safely based on the type of vehicle and the failure state, it is possible to ensure the minimum safety not only during normal times but also during abnormal conditions.
In order to realize the above-described function, it is necessary to grasp information related to the planned traveling range ahead of the train. For this reason, in the highly safe train control system of the present invention, for example, the following items other than those shown in FIG. It has.

(A) Digital map As a database used for identifying and controlling train positions, it is used in combination with information 22 along the track.
(B) Wireless communication apparatus Information 22 on the track and information 23 from the preceding train are communicated between the ground and the train and between the train and the train.

Hereinafter, the design policy of the on-vehicle information-intensive high safety train control system according to the present invention will be described.
(1) The on-board control device is the main control body. The on-vehicle controller 3 recognizes the arrangement of the all-ground equipment.
(2) The switch of the switch and the lock control are performed based on the ID of the on-board controller 3.

(3) A track circuit for a lock-and-lock can be arranged at a place including a turning machine in a station yard (inside and between the halls).
(4) Ground devices [position management terminal (station middle), position management terminal (station premises), switchboard terminal, railroad crossing control terminal] use standard terminals, and on-board control devices via them Operate by communicating with 3.

As a result, the system can be easily repaired.
The position management terminal does not recognize the connection status of the adjacent terminal, and the on-board controller recognizes it. However, the switch terminal recognizes the position management terminal (station premises) ID related to the lock.
(5) In the case of a double-action turning machine, it is fundamental to make it single-acting.
Hereinafter, an outline of each safe traveling control will be described.

FIG. 4 is a schematic diagram of train position detection and interval control of an on-vehicle information intensive high safety train control system showing an embodiment of the present invention.
In this figure, T1 and T2 are intelligent trains, 31 is a first block, 32 is a second block, 33 is a third block, and 34, 35 and 36 are location management terminals.
Here, the on-board controller 3 in the train T2 calculates the position of the intelligent train (following train) T2. In the example of FIG. 4, the train T <b> 2 is located 1 km 300 m from the start end A of the first block 31 and 1 km 100 m from the end B. Then, the on-board controller 3 creates the stop limit E of the intelligent train T2 (for example, the point E is 3 km from the end B of the second block. The position calculation of the intelligent train (preceding train) T1 is performed in the train T1. The intelligent train (preceding train) T1 is located at 3 km 300 m from the start B of the second block 32 and 3 km 100 m from the end C. The on-board controller 3 is the intelligent train. (Preceding train) A stop limit F of T1 is created (for example, a point 4 km from the end C of the third block) The location management terminals 34, 35, and 36 can be combined into one. If the position management terminal including the turning machine is configured as a track circuit terminal having a track circuit, a check lock can be incorporated.

FIG. 5 is a schematic flowchart of the position management of the on-vehicle information intensive type high safety train control system train showing an embodiment of the present invention, and FIG. 6 is a schematic flowchart of the interval control of the train.
As for position management, as shown in FIG. 5, the on-board controller 3 transmits the position of the own train to the position management terminals 34, 35, and 36 (step S11). Then, the location management terminals 34, 35, and 36 register details of each train (T1, T2,...) (Step S12), and transmit the on-line state of each train (T1, T2,...) (Step S13). Then, the on-board controller 3 confirms that the existing line of the own train is recognized (step S14).

  Next, as shown in FIG. 6, the on-board control device 3 searches each block in the related route for train interval control (step S21). On the other hand, the position management terminals 34, 35, and 36 transmit the in-line state of each block and the detailed position information of the train (step S22). Further, the location management terminals 34, 35, and 36 can be integrated into one unit. Next, the on-board controller 3 confirms the standing state of each block (step S23). Next, the on-board controller 3 creates a stop limit for the own train based on the received information (step S24). Next, the on-board controller 3 reserves a range up to the stop limit (step S25). Next, the location management terminals 34, 35, and 36 reflect the reserved stop limit in the registration information (step S26). Next, the position management terminals 34, 35, and 36 retransmit the in-line state and the detailed position (step S27). Next, the on-board controller 3 determines a reservation range based on the received information (step S28). Next, the location management terminals 34, 35, and 36 reflect the determined stop limit in the registration information (step S29). Next, the position management terminals 34, 35, and 36 transmit the on-line state and the detailed position again (step S30). Then, the on-board controller 3 confirms that the determined stop limit is reflected (step S31).

Next, the switchover switch control will be described.
FIG. 7 is a schematic diagram of the switchover control of the onboard information intensive type high safety train control system showing an embodiment of the present invention.
In this figure, T1 and T2 are intelligent trains, 51 is a first block, 52 is a second block, 53 is a third block, 54 is a fourth block, 55, 56 and 57 are track circuit terminals or position management terminals, 58 Is a tipping machine, and 59 is a tipping machine terminal (T1: localization, lock, T2: inversion, reservation).

  The intelligent train T1 travels from the first block 51 to the third block 53 via the second block 52. Requests a change of position and lock to the switch 58 on the second block 52. The on-board control device 3 determines the range for reservation and conversion lock. The on-board controller 3 also creates the stop limit A based on the state of the switch 58 and the train on-line state. The intelligent train T2 proceeds from the fourth block 54 to the first block 51 via the second block 52, but the advance of the intelligent train T1 is prioritized. Therefore, the stop limit is once set to B, and after the intelligent train T1 passes through the second block 52, the turning machine 58 is requested to perform a reversion.

FIG. 8 is a flowchart of the switchover control of the onboard information intensive type highly safe train control system according to the embodiment of the present invention.
The on-board control device 3 (with switch control) performs block search in the relevant route as process 1, process block check request as process 2, and response position (train position, stop limit, reservation range, switch) as process 3. A stop limit is created based on the state of the aircraft), a range up to the stop limit is reserved as process 4, a reserved range is determined based on the response position as process 5, and the stop limit is updated.

In the switchover control, when a certain point is reached as the process 1, the line setting starts, the state of the related field device is confirmed as the process 2, the state reception from the field device is performed as the process 3, and the reservation or Partial reservation within a possible range, request for setting as process 5, complete lock-up from related field devices as process 6, request unlock when process 7 reaches a certain point.
In the switch terminal, when the transmission source ID, the transmission destination ID, and the state confirmation are performed by the process 2 of the switchover conversion control, a request for the state confirmation is received as a process 1. As processing 2, the terminal terminal ID, the on-board controller ID, and the unlocked state are transmitted (unlocked or reserved) to the switchboard switching control side. The onboard control device ID, the switch terminal ID, and the reservation request (localization) are transmitted to the switch terminal by the process 4 on the switch switching control side. By registering the reservation request as processing 3 of the switch terminal, the switch terminal ID, the on-board controller ID, and the localization (reservation) are transmitted to the switch conversion control side. Then, when the onboard control device ID, the switch terminal ID, and the switch request (localization) are transmitted to the switch terminal by the process 5 on the switch switch control side, The switch terminal ID, the onboard control device ID, and the localization (setting completed) are transmitted to the switchover control side by the switching control of process 4, and the onboard control device ID, When the switch terminal ID and the lock request (localization) are transmitted to the switch terminal, the switch terminal uses the lock of processing 5 to switch the switch terminal ID and the onboard control device ID. , Localization (setting complete) is sent to the machine change control side.

  On the other hand, in the position management terminal having the track circuit, transmission of the standing line state (position management terminal ID, on-board controller ID, standing line state, detailed position, stop limit situation) is transmitted to the machine terminal as process 1. Then, in the switch terminal, if the process 6 is in the in-line state, the pre-lock lock pre-processing is performed. Further, when the switchover control side reaches the fixed point of the process 7, an unlock request is made, and the onboard control device ID, the switchboard terminal ID, and the unlocking are transmitted to the switchboard terminal. In the switch terminal, the unlocking process of process 7 is performed. In addition, it can also be comprised only with the position management terminal without a track circuit terminal.

An example of the control system described above is as follows.
FIG. 9 is a schematic diagram for the control of the on-board information intensive high safety train control system according to the embodiment of the present invention.
In this figure, T1 to T8 are intelligent trains, 61 is a central control unit (PRC), 62 and 63 are station terminals, 64 is a position management terminal (station middle down), 65 is a position management terminal (station middle up), B1 -B12 are the first to twelfth blocks, 66A to 66P are turning machines, 67A to 67P are turning machine terminals, and 68A to 68U are position management terminals (station premises). The position management terminal (station intermediate down) 64, the position management terminal (station intermediate up) 65, and the position management terminals (station premises) 68A to 68U may be configured as one position management terminal.

  In addition, this invention is not limited to the said Example, Based on the meaning of this invention, a various deformation | transformation is possible and these are not excluded from the scope of the present invention.

  The on-board information intensive high-safety train control system of the present invention is equipped with an intelligent on-board controller, so that the high-safety train can quickly and accurately perform safe driving control on the vehicle. It can be used as a control system.

1 Track 2 Intelligent train that collects information on the vehicle (following train)
DESCRIPTION OF SYMBOLS 3 On-vehicle control apparatus 3A Central processing unit 3B Obstacle detection part in a line 3C Own train state information storage part 3D Information storage part about a rail line 3E Information storage part 3F Input interface 4 Detection apparatus of an obstacle in a line 4A Camera 4B Radar apparatus 4C microphone 5 Own train state detection device 6 Information collection device related to the track 7 Information collection device from the preceding train 8 Falling stone warning location 9 Work location in the rail 10 Railroad crossing 11, 58, 66A to 66P Turning point 12 Ground element 13 Preceding Train 20 Detected information 21 Train status information 22 Information about the track 23 Information collected by the information collection device T1 to T8 Intelligent train 31, 51 First block 32, 52 Second block 33, 53 Third block 34, 35, 36 Location management terminal (in the middle of the station)
55, 56, 57, 68A-68U Location management terminal (station)
54 4th block 59, 67A-67P Switch terminal 61 Central controller (PRC)
62,63 Station terminal 64 Location management terminal (station middle down)
65 Location management terminal (station middle up)
B1 to B12 1st to 12th blocks

Claims (15)

(A) Obstacle detection device in the line that detects obstacle information in the track, own train state detection device that detects its own train state, information collection device related to the track along the line that collects information related to the track, and preceding train A subsequent train equipped with an on-board control device that takes in and processes an information collection device from a preceding train that collects information from
(B) Perform safe train control based on the on-board controller of the succeeding train using the obstacle information in the track, the own train state information, the information on the track along the track, and the information from the preceding train. An on-vehicle information-intensive high-safety train control system.   2. The on-vehicle information intensive high safety train control system according to claim 1, wherein the on-rail obstacle detecting device is a camera, a radar device or a microphone. .   2. The on-vehicle information-intensive high-safety train control system according to claim 1, wherein the information on the railway line is information on railway facilities including structures, stations, and facilities in the middle of the station. Highly safe train control system that collects information with   4. The on-board information intensive high safety train control system according to claim 3, wherein the railway equipment is a toppling machine.   4. The on-board information intensive high safety train control system according to claim 3, wherein the railway equipment is a railroad crossing.   4. The on-board information intensive high safety train control system according to claim 3, wherein the railway equipment is a ground unit.   The on-board information intensive high safety train control system according to claim 4 or 5, wherein the turning machine and the railroad crossing are controlled by the on-board control device. Train control system.   The on-board information-intensive high safety train control system according to claim 3, wherein a stop limit point is set in the on-board controller of the succeeding train based on a position of the preceding train and a track opening condition. On-vehicle information intensive high safety train control system.   4. The on-board information-intensive high-safety train control system according to claim 3, wherein the on-board control device for the following train is a stop limit based on a failure detection result of a level crossing obstacle detection device, a falling rock detection device, or a limit failure notification device. An on-board information-intensive high-safety train control system characterized by the setting of   The on-board information intensive type on-board information safety type control system according to claim 3, wherein the on-board control device of the following train performs acceleration / deceleration control based on track conditions. Safety train control system.   The on-board information-intensive high safety train control system according to claim 3, wherein the on-board control device for the succeeding train searches for a train restraint position at the time of emergency stop in consideration of track conditions. Information-intensive high-safety train control system.   4. The on-board information-intensive high-safety train control system according to claim 3, wherein the on-board control device for the succeeding train includes position information of a section under maintenance work, maintenance vehicle position information during maintenance work, maintenance work underway. Information on the vehicle is characterized in that the stop limit is set based on the worker position, and in the work in progress, traveling speed control is performed based on the worker position information and the evacuation completion notification information from the worker. Advanced safety train control system.   The on-board information-intensive high safety train control system according to claim 1, wherein a maximum speed at which the own train can travel is set based on the performance of the own train and the soundness of the own train. Centralized highly safe train control system.   4. The on-vehicle information intensive high-definition train control system according to claim 3, wherein a track circuit is arranged in the station, which is the railway equipment, and the detection result and train control mainly using the train on-board controller. An on-board information-intensive high-safety train control system that locks and unlocks by combining the position detection results.   The on-vehicle information aggregation type highly safe train control system according to claim 3, wherein the on-vehicle information is collected while performing safety control mainly by the on-board controller of the train instead of the track circuit. Type advanced safety train control system.

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