Control device, vehicle device, control system, control method and control program

Abstract

To provide a control device that enables a vehicle to safely pass over a railroad crossing.SOLUTION: A control device comprises control means that forcibly controls a running direction of a vehicle so that the vehicle does not run off from a railroad crossing, on the basis of information on a straight-running direction on the railroad crossing obtained when a sensing device, which senses entry into the railroad crossing and exit from the railroad crossing of the vehicle running on the basis of operation by operating means of a driver, senses entry into the railroad crossing of the vehicle, and information on an azimuth angle set with a front side of the vehicle passing over the railroad crossing as a reference.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a control device, a vehicle device, a control system, a control method, and a control program.

Background Art

[0002] When a vehicle passes through a railroad crossing, it is important that the vehicle can pass through the railroad crossing safely. Therefore, for example, Patent Document 1 discloses a notification control device that notifies a driver of a vehicle so that the front wheels of the vehicle do not derail into the gap between the rail and the passage of the railroad crossing based on the steering angle of the front wheels of the vehicle and the rail angle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The notification control device of Patent Document 1 can notify the driver of the vehicle so that the front wheels of the vehicle do not derail into the gap between the rail and the passage of the railroad crossing, but a technology that allows the vehicle to pass through the railroad crossing more safely is desired.

[0005] One of the objects to be achieved by the embodiments disclosed in this specification is to provide a control device, a vehicle device, a control system, a control method, and a control program that contribute to solving the above problems. It should be noted that this object is only one of the multiple objects to be achieved by the multiple embodiments disclosed in this specification. Other objects or problems and novel features will be clarified from the description of this specification or the attached drawings.

Means for Solving the Problems

[0006] A control device according to an aspect of the present disclosure is disposed at an entrance and exit of a level crossing of a tram, and includes a detection device that detects entry of a vehicle traveling based on an operation of an operation means of a driver into and exit from the level crossing. When the detection device detects entry of the vehicle into the level crossing, the control device is based on the straight-ahead direction information of the level crossing acquired at that time and the azimuth angle information of the vehicle with respect to the front of the vehicle while the vehicle is passing through the level crossing, and includes control means for forcibly controlling the traveling direction of the vehicle so that the vehicle does not derail at the level crossing.

[0007] A vehicle device according to an aspect of the present disclosure is the above-described control device, and an azimuth sensor that detects the azimuth angle of the vehicle, and is provided.

[0008] A control system according to an aspect of the present disclosure is a detection device disposed at an entrance and exit of a level crossing of a tram, which detects entry of a vehicle into and exit from the level crossing, and the above-described vehicle device, and is provided.

[0009] A control method according to an aspect of the present disclosure is to forcibly control the traveling direction of a vehicle so that the vehicle does not derail at a level crossing based on the straight-ahead direction information of the level crossing acquired when a detection device disposed at an entrance and exit of a level crossing of a tram and detecting entry of the vehicle into and exit from the level crossing based on an operation of an operation means of a driver detects entry of the vehicle into the level crossing, and the azimuth angle information of the vehicle with respect to the front of the vehicle while the vehicle is passing through the level crossing.

[0010] A control program according to an aspect of the present disclosure causes a computer to execute a process of forcibly controlling the traveling direction of a vehicle so that the vehicle does not derail at a level crossing, based on the straight-ahead direction information of the level crossing acquired when a detection device disposed at the entrance and exit of the level crossing of a train and detecting the entry of the vehicle traveling based on an operation of an operation means of a driver into the level crossing and the azimuth angle information with respect to the front of the vehicle in the vehicle while the vehicle is passing through the level crossing.

Effect of the Invention

[0011] According to the above aspect, it is possible to provide a control device, a vehicle device, a control system, a control method, and a control program that enable a vehicle to safely pass through a level crossing.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0013] Hereinafter, the best mode for carrying out the present disclosure will be described with reference to the accompanying drawings. However, the present disclosure is not limited to the following embodiments. Also, for clarity of explanation, the following description and drawings are simplified as appropriate.

[0014] <Embodiment 1> The control device and control method of this embodiment will be described. FIG. 1 is a block diagram illustrating the configuration of the control device of this embodiment. As shown in FIG. 1, the control device 1 includes a control unit 1a.

[0015] The control unit 1a is arranged at the entrance and exit of a railroad crossing. When a detection device that detects the entry of a vehicle traveling based on the operation of an operator's operation unit into the railroad crossing detects the entry of the vehicle into the railroad crossing, the control unit 1a acquires the straight-ahead direction information of the railroad crossing. Based on this and the azimuth angle information with respect to the front of the vehicle in the vehicle while the vehicle is passing through the railroad crossing, the control unit 1a forcibly controls the traveling direction of the vehicle so that the vehicle does not derail at the railroad crossing.

[0016] As described above, the control device 1 and control method of this embodiment are based on the straight-ahead direction information of the railroad crossing and the azimuth angle information with respect to the front of the vehicle in the vehicle while the vehicle is passing through the railroad crossing, and forcibly control the traveling direction of the vehicle so that the vehicle does not derail at the railroad crossing. Therefore, the vehicle can safely pass through the railroad crossing.

[0017] <Embodiment 2> The control system of this embodiment will be described. FIG. 2 is a diagram illustrating the relationship between a detection device, a vehicle device, and a wheelchair in the control system of this embodiment. FIG. 3 is a block diagram showing a configuration example of the control system of this embodiment. FIG. 4 is a diagram illustrating the state when the wheelchair enters the railroad crossing.

[0018] For example, as shown in FIG. 2, when the driver 13 of the wheelchair 12 passes through the passage 14a of the railroad crossing 14, the control system 11 forcibly controls the traveling direction of the wheelchair 12 so that the wheels 12a of the wheelchair 12 do not derail from the passage 14a of the railroad crossing 14 or into the gap 16 between the passage 14a of the railroad crossing 14 and the rail 15.

[0019] Here, the electric wheelchair 12 is, for example, a so-called senior car or the like. As shown in FIG. 3, based on the operation of an operation unit 12b such as a steering wheel or a stick, a control unit 12c controls left and right motors 12d that drive the left and right wheels 12a respectively to realize forward and backward movement and turning of the electric wheelchair 12.

[0020] The control system 11 includes, for example, a detection device 17 and a vehicle device 18 as shown in FIG. 3. The detection device 17 is arranged, for example, as shown in FIG. 2, on one side of the entrance / exit of the passage 14a of the level crossing 14 and on the other side of the entrance / exit of the passage 14a of the level crossing 14 with the rail 15 in between, in order to detect the entry into and exit from the level crossing 14 of the electric wheelchair 12.

[0021] That is, the detection device 17 is arranged, for example, as shown in FIG. 2, near the alarm device 19 arranged on one side of the entrance / exit of the passage 14a of the level crossing 14 and near the alarm device 19 arranged on the other side of the entrance / exit of the passage 14a of the level crossing 14. In FIG. 2, the alarm device 19 arranged on the other side of the entrance / exit of the passage 14a of the level crossing 14 is omitted.

[0022] The detection device 17 includes, for example, a piezoelectric element 17a and a communication unit 17b as shown in FIG. 3. The piezoelectric element 17a is arranged, for example, over substantially the entire width direction (i.e., a direction substantially parallel to the rail 15) of the passage 14a of the level crossing 14.

[0023] The piezoelectric element 17a converts, for example, the pressure applied when the electric wheelchair 12 passes into a voltage and outputs it to the communication unit 17b. That is, the piezoelectric element 17a can detect the electric wheelchair 12 when pressure is applied from the electric wheelchair 12.

[0024] The communication unit 17b operates, for example, when a voltage is applied from the piezoelectric element 17a. The communication unit 17b includes, for example, straight-ahead direction information of the passage 14a of the level crossing 14 (for example, information indicating a direction orthogonal to the direction in which the rail 15 extends), and when a voltage is applied from the piezoelectric element 17a, transmits the detection information of the electric wheelchair 12 and the straight-ahead direction information of the level crossing 14 to the vehicle device 18.

[0025] At this time, the communication unit 17b may operate with the voltage generated by the piezoelectric element 17a. Thereby, the detection device 17 can have a simple configuration omitting a power source. Note that the communication unit 17b may acquire the straight-ahead direction information of the passage 14a of the level crossing 14 from an external server or the like.

[0026] The vehicle device 18 includes, for example, a communication unit 18a, an azimuth sensor 18b, and a control device 18c as shown in FIGS. 2 and 3, and is mounted on the electric wheelchair 12. The communication unit 18a receives the detection information of the electric wheelchair 12 and the straight-ahead direction information of the level crossing 14 from the communication unit 17b of the detection device 17.

[0027] At this time, the communication unit 17b of the detection device 17 and the communication unit 18a of the vehicle device 18 may communicate by short-range wireless communication. Since many people and vehicles pass through the level crossing 14, the detection device 17 detects people and vehicles other than the electric wheelchair 12. In the present embodiment, communication is performed by short-range wireless communication as described above.

[0028] Therefore, as shown in FIG. 4, when the electric wheelchair 12 enters or exits the level crossing 14, the vehicle device 18 of the electric wheelchair 12 can favorably receive the detection information of the electric wheelchair 12 and the straight-ahead direction information of the level crossing 14.

[0029] However, the entry of the electric wheelchair 12 into the level crossing 14 and the exit from the level crossing 14 may be detected based on the position information of the electric wheelchair 12 acquired using GPS (Global Positioning System) or the like.

[0030] The azimuth sensor 18b detects the azimuth angle of the electric wheelchair 12 with reference to the front of the electric wheelchair 12. The azimuth sensor 18b may detect the azimuth angle of the electric wheelchair 12 based on, for example, the difference in the rotation speeds of the left and right motors 12d of the electric wheelchair 12 or geomagnetism.

[0031] The control device 18c includes, for example, as shown in FIG. 3, an information acquisition unit 18d, a state determination unit 18e, an inclination calculation unit 18f, and a control unit 18g. The information acquisition unit 18d acquires the detection information of the electric wheelchair 12 and the straight-ahead direction information of the level crossing 14 received by the communication unit 18a.

[0032] The state determination unit 18e determines the approach / retreat state of the electric wheelchair 12 with respect to the level crossing 14. For example, when the number of times the detection information of the electric wheelchair 12 is acquired from the detection device 17 is odd since the control device 18c is in the initial state, the state determination unit 18e determines that the electric wheelchair 12 has entered the level crossing 14. On the other hand, when the number of times the detection information of the electric wheelchair 12 is acquired from the detection device 17 is even, the state determination unit 18e determines that the electric wheelchair 12 has exited the level crossing 14.

[0033] The inclination calculation unit 18f calculates the inclination of the electric wheelchair 12 with respect to the passage 14a of the level crossing 14. The inclination calculation unit 18f calculates, for example, the inclination of the electric wheelchair 12 with respect to the reference axis AX1 (see FIG. 2) extending in the straight-ahead direction of the level crossing 14 as viewed from the up-down direction of the electric wheelchair 12 based on the straight-ahead direction of the level crossing 14 and the azimuth angle of the electric wheelchair 12.

[0034] The control unit 18g generates control information for controlling the electric wheelchair 12 based on the approach / retreat state of the electric wheelchair 12 determined by the state determination unit 18e and the inclination of the electric wheelchair 12 with respect to the reference axis AX1 calculated by the inclination calculation unit 18f, although details will be described later.

[0035] Next, the control flow of the electric wheelchair 12 in the control system 11 of the present embodiment will be described. FIG. 5 is a flowchart illustrating the control flow of the electric wheelchair in the control system of the present embodiment.

[0036] First, in a state where the electric wheelchair 12 is moving based on operation information input from the operation unit 12b, the state determination unit 18e of the control system 11 determines whether it has acquired detection information of the electric wheelchair 12 from the detection device 17 (S1).

[0037] When the control device 18c has not acquired the detection information of the electric wheelchair 12 and the straight-ahead direction information of the level crossing 14 from the detection device 17 (NO in S1), the control device 18c returns to the step of S1. On the other hand, when the control device 18c has acquired the detection information of the electric wheelchair 12 and the straight-ahead direction information of the level crossing 14 from the detection device 17 (YES in S1), the state determination unit 18e of the control device 18c determines the approach / retreat state of the electric wheelchair 12 with respect to the level crossing 14 (S2).

[0038] The state determination unit 18e of the control device 18c determines that the electric wheelchair 12 has entered the level crossing 14 when the number of times the detection information of the electric wheelchair 12 has been acquired from the detection device 17 is an odd number, for example, counted from the initial state when the power of the control system 11 is turned on (YES in S2).

[0039] Next, the control unit 18g of the control device 18c sets the electric wheelchair 12 to a restricted state in which the traveling direction is restricted (S3). Then, the inclination calculation unit 18f of the control device 18c calculates the inclination of the electric wheelchair 12 with respect to the reference axis AX1 extending in the straight-ahead direction of the level crossing 14 (S4).

[0040] The control unit 18g of the control device 18c determines whether the inclination of the electric wheelchair 12 with respect to the reference axis AX1 extending in the straight-ahead direction of the level crossing 14 is greater than ±45° (S5). When the inclination of the electric wheelchair 12 with respect to the reference axis AX1 extending in the straight-ahead direction of the level crossing 14 is ±45° or less (NO in S5), the control unit 18g of the control device 18c generates control information so that the electric wheelchair 12 travels based on the operation of the operation unit 12b of the electric wheelchair 12 and outputs it to the control unit 12c of the electric wheelchair 12 (S6).

[0041] On the other hand, when the inclination of the electric wheelchair 12 with respect to the reference axis AX1 extending in the straight-ahead direction of the railroad crossing 14 is greater than ±45° (YES in S5), the control unit 18g of the control device 18c generates control information for operating the operation unit 12b of the electric wheelchair 12 so that the inclination of the electric wheelchair 12 becomes ±45° or less, and outputs it to the control unit 12c of the electric wheelchair 12 (S7).

[0042] Next, the control unit 12c of the electric wheelchair 12 controls the left and right motors 12d based on the operation of the operation unit 12b based on the input control information (S8). At this time, when the inclination of the electric wheelchair 12 is greater than ±45°, the control unit 12c of the electric wheelchair 12 forcibly controls the operation unit 12b so that the inclination of the electric wheelchair 12 becomes ±45° or less.

[0043] Thereby, it is possible to suppress the wheels 12a of the electric wheelchair 12 from derailing from the passage 14a of the railroad crossing 14 or the wheels 12a of the electric wheelchair 12 from derailing into the gap 16 between the passage 14a of the railroad crossing 14 and the rail 15.

[0044] The state determination unit 18e of the control device 18c determines that the electric wheelchair 12 has exited the railroad crossing 14 when, for example, the number of times of acquiring the detection information of the electric wheelchair 12 from the detection device 17 is an even number since the initial state when the power of the control system 11 is turned on (NO in S2).

[0045] Next, the control unit 18g of the control device 18c sets the electric wheelchair 12 to an unrestricted state in which the traveling direction is not restricted (S9), generates control information for the electric wheelchair 12 to travel based on the operation of the operation unit 12b of the electric wheelchair 12, and outputs it to the control unit 12c of the electric wheelchair 12 (S10). Thereby, the driver 13 can freely drive the electric wheelchair 12 based on the operation of the operation unit 12b.

[0046] Thereafter, until the power supply of the control system 11 is turned off, the process returns to the step S1 and the above-described flow is repeated. Then, for example, when the power supply of the control system 11 is turned on again, it is preferable that the number of times of acquiring the detection information of the electric wheelchair 12 from the detection device 17 returns to the initial state where it is reset.

[0047] As described above, the control device 18c, the vehicle device 18, the control system 11, and the control method according to the present embodiment forcibly control the operation unit 12b so that when the inclination of the electric wheelchair 12 with respect to the reference axis AX1 extending in the straight-ahead direction of the level crossing 14 is greater than ±45°, the inclination of the electric wheelchair 12 becomes ±45° or less.

[0048] Thereby, it is possible to suppress the wheels 12a of the electric wheelchair 12 from coming off the passage 14a of the level crossing 14 or from coming off into the gap 16 between the passage 14a of the level crossing 14 and the rail 15. Therefore, the electric wheelchair 12 can safely pass through the level crossing 14.

[0049] Moreover, the control device 18c, the vehicle device 18, the control system 11, and the control method according to the present embodiment determine the entry of the electric wheelchair 12 into the level crossing 14 and the exit from the level crossing 14 based on the number of times of acquiring the detection information of the electric wheelchair 12 from the detection device 17. Therefore, it is possible to easily determine the entry of the electric wheelchair 12 into the level crossing 14 and the exit from the level crossing 14.

[0050] Further, in the present embodiment, the communication unit 17b of the detection device 17 is operated by the voltage generated by the piezoelectric element 17a. Thereby, the detection device 17 can have a simple configuration that omits the power supply.

[0051] Further, in the present embodiment, the communication unit 17b of the detection device 17 and the communication unit 18a of the vehicle device 18 communicate with each other by short-range wireless communication. Therefore, when the electric wheelchair 12 enters or exits the level crossing 14, the vehicle device 18 of the electric wheelchair 12 can favorably receive the detection information of the electric wheelchair 12 and the straight-ahead direction information of the level crossing 14.

[0052] <Other Embodiments> In the above-described Embodiments 1 and 2, the present disclosure has been described as a hardware configuration, but the present disclosure is not limited thereto. The present disclosure can also be realized by causing a CPU (Central Processing Unit) to execute a computer program for the processing of each component.

[0053] For example, the control devices 1 and 18c according to the above-described embodiments can have the following hardware configuration. FIG. 6 is a diagram showing an example of the hardware configuration included in the control devices 1 and 18c.

[0054] The device 21 shown in FIG. 6 includes a processor 23 and a memory 24 together with an interface 22. The control devices 1 and 18c described in the above-described embodiments are realized by the processor 23 reading and executing a program stored in the memory 24. That is, this program is a program for causing the processor 23 to function as the control devices 1 and 18c.

[0055] Here, a program includes a group of instructions (or software code) for causing a computer to perform one or more functions when read into the computer. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, a computer-readable medium or a tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD), or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc, or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage, or other magnetic storage devices. The program may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, a transitory computer-readable medium or a communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0056] As described above, the present disclosure has been described with reference to the embodiments. However, the present disclosure is not limited to the above-described embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure. And each embodiment can be combined with other embodiments as appropriate.

[0057] For example, in the above-described Embodiment 2, the electric wheelchair 12 is controlled as a vehicle, but any vehicle that travels based on the driver's operation may be used.

[0058] For example, in the above-described embodiments, the operation unit 12b of the electric wheelchair 12 is controlled so that the inclination of the electric wheelchair 12 with respect to the reference axis AX1 extending in the straight-ahead direction of the level crossing 14 is 45° or less. However, the left and right motors 12d of the electric wheelchair 12 may be controlled.

[0059] Also, the inclination of ±45° of the electric wheelchair 12 is merely an example, and can be appropriately set to an inclination that can suppress the wheels 12a of the electric wheelchair 12 from derailing from the passage 14a of the level crossing 14 or from derailing into the gap 16 between the passage 14a of the level crossing 14 and the rail 15.

[0060] Note that each drawing is merely an example for explaining one or more embodiments. Each drawing is not necessarily associated with only one specific embodiment, but may be associated with one or more other embodiments. As can be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with the features or steps shown in one or more other drawings, for example, to create an embodiment that is not explicitly illustrated or described. Not all of the features or steps shown in any one drawing for explaining an exemplary embodiment are necessarily essential, and some features or steps may be omitted. The order of the steps described in any drawing may be changed as appropriate.

[0061] Some or all of the above embodiments may be described as follows in the appended claims, but are not limited thereto. (Appendix 1) A detection device that is disposed at the entrance and exit of a railway crossing and detects the entry of a vehicle traveling based on an operation of an operation means of a driver into and exit from the railway crossing. When the detection device detects the entry of the vehicle into the railway crossing, the straight-ahead direction information of the railway crossing acquired at that time, and the azimuth angle information of the vehicle with respect to the front of the vehicle while the vehicle is passing through the railway crossing. Based on this, a control device comprising control means for forcibly controlling the traveling direction of the vehicle so that the vehicle does not derail at the railway crossing.

[0062] (Appendix 2) Comprising inclination calculation means for calculating the inclination of the vehicle with respect to a reference axis extending in the straight-ahead direction of the railway crossing. The control means is in a restricted state in which the traveling direction of the vehicle is forcibly controlled so that the inclination of the vehicle with respect to a reference axis extending in the straight-ahead direction of the railway crossing does not exceed ±45°. The control device according to Appendix 1.

[0063] (Appendix 3) When the number of times of acquiring the detection information of the vehicle from the detection device is odd since the control device was in the initial state, it is determined that the vehicle has entered the railway crossing. When the number of times of acquiring the detection information of the vehicle from the detection device is even, it is determined that the vehicle has exited the railway crossing. The control device is provided with state determination means. The control means is in the restricted state for controlling the vehicle when the vehicle is in a state of entering the railway crossing, and is in a non-restricted state for controlling the vehicle when the vehicle is in a state of exiting the railway crossing. The control device according to Appendix 2.

[0064] (Appendix 4) The vehicle is a powered wheelchair. The control device according to any one of Appendices 1 to 3.

[0065] (Appendix 5) The control device according to any one of Appendices 1 to 4, An azimuth sensor for detecting the azimuth angle of the vehicle, A vehicle device comprising

[0066] (Appendix 6) A detection device disposed at an entrance and exit of a railroad crossing of a train, for detecting entry of a vehicle into the railroad crossing and exit of the vehicle from the railroad crossing, The vehicle device according to Appendix 5, A control system comprising

[0067] (Appendix 7) The detection device includes a piezoelectric element disposed at an entrance and exit of the railroad crossing, and a communication means for transmitting the vehicle's detection information and the straight-ahead direction information of the railroad crossing to the vehicle device. The vehicle device according to Appendix 6, comprising a communication means for receiving the vehicle's detection information and the straight-ahead direction information of the railroad crossing from the detection device.

[0068] (Appendix 8) The control system according to Appendix 7, wherein the communication means of the detection device operates with the voltage generated by the piezoelectric element.

[0069] (Appendix 9) Based on the straight-ahead direction information of the railroad crossing obtained when a detection device disposed at an entrance and exit of a railroad crossing of a train and detecting entry of a vehicle into the railroad crossing and exit of the vehicle from the railroad crossing based on an operation of an operator's operation means detects entry of the vehicle into the railroad crossing, and the azimuth angle information with respect to the front of the vehicle in the vehicle while the vehicle is passing through the railroad crossing, a control method for forcibly controlling the traveling direction of the vehicle so that the vehicle does not derail at the railroad crossing.

[0070] (Appendix 10) A control program for causing a computer to execute a process of forcibly controlling the traveling direction of a vehicle so that the vehicle does not derail at a railroad crossing based on the straight-ahead direction information of the railroad crossing obtained when a detection device disposed at an entrance and exit of a railroad crossing of a train and detecting entry of a vehicle into the railroad crossing and exit of the vehicle from the railroad crossing based on an operation of an operator's operation means detects entry of the vehicle into the railroad crossing, and the azimuth angle information with respect to the front of the vehicle in the vehicle while the vehicle is passing through the railroad crossing.

[0071] Some or all of the elements (such as configurations and functions) described in Appendices 2 to 8 that are subordinate to Appendix 1 may be subordinate to Appendices 9 and 10 in the same subordinate relationship as Appendices 2 to 8. Some or all of the elements described in any appendix may be applied to various hardware, software, recording means for recording software, systems, and methods.

Explanation of Reference Numerals

[0072] 1 Control device, 1a Control unit 11 Control system 12 Electric wheelchair, 12a Wheel, 12b Operation unit, 12c Control unit, 12d Motor 13 Driver 14 Level crossing, 14a Passage 15 Rail 16 Gap 17 Detection device, 17a Piezoelectric element, 17b Communication unit 18 Vehicle device, 18a Communication unit, 18b Azimuth sensor, 18c Control device, 18d Information acquisition unit, 18e State determination unit, 18f Calculation unit, 18g Control unit 19 Alarm 21 Device 22 Interface 23 Processor 24 Memory

Claims

1. A control device provided with control means for forcibly controlling the traveling direction of a vehicle so that the vehicle does not derail at a level crossing, based on the straight-ahead direction information of the level crossing acquired when a detection device, which is arranged at the entrance and exit of the level crossing of a tram and detects entry of the vehicle into the level crossing and exit of the vehicle from the level crossing based on an operation of an operation means of a driver, detects entry of the vehicle into the level crossing, and azimuth angle information of the vehicle with respect to the front of the vehicle while the vehicle is passing through the level crossing.

2. Comprising inclination calculation means for calculating the inclination of the vehicle with respect to a reference axis extending in the straight-ahead direction of the level crossing, The control means sets a restricted state in which the traveling direction of the vehicle is forcibly controlled so that the inclination of the vehicle with respect to a reference axis extending in the straight-ahead direction of the level crossing does not exceed ±45°. The control device according to claim 1.

3. State determination means for determining that the vehicle has entered the level crossing when the number of times of acquiring detection information of the vehicle from the detection device is an odd number since the control device was in the initial state, and determining that the vehicle has exited the level crossing when the number of times of acquiring detection information of the vehicle from the detection device is an even number, The control means sets the control of the vehicle to the restricted state when the vehicle is in a state of entering the level crossing, and sets the control of the vehicle to a non-restricted state when the vehicle is in a state of exiting the level crossing. The control device according to claim 2.

4. The vehicle is a powered wheelchair. The control device according to any one of claims 1 to 3.

5. A control device according to any one of claims 1 to 3, An azimuth sensor for detecting the azimuth angle of the vehicle, A vehicle device comprising.

6. A detection device arranged at the entrance and exit of a level crossing of a tram for detecting entry of a vehicle into the level crossing and exit of the vehicle from the level crossing, The vehicle device according to claim 5, A control system comprising.

7. The detection device comprises a piezoelectric element arranged at the entrance and exit of the level crossing and communication means for transmitting detection information of the vehicle and straight-ahead direction information of the level crossing to the vehicle device, The vehicle device comprises communication means for receiving detection information of the vehicle and straight-ahead direction information of the level crossing from the detection device. The control system according to claim 6.

8. The communication means of the detection device operates with the voltage generated by the piezoelectric element. The control system according to claim 7.

9. A control method for forcibly controlling the traveling direction of a vehicle so that the vehicle does not derail at a level crossing, based on the straight-ahead direction information of the level crossing obtained when a detection device, which is arranged at the entrance and exit of the level crossing of a tram and detects the entry of the vehicle traveling based on the operation of the driver's operating means into and the exit of the vehicle from the level crossing, detects the entry of the vehicle into the level crossing, and the azimuth angle information of the vehicle with respect to the front of the vehicle while the vehicle is passing through the level crossing.

10. A control program for causing a computer to execute a process of forcibly controlling the traveling direction of a vehicle so that the vehicle does not derail at a level crossing, based on the straight-ahead direction information of the level crossing obtained when a detection device, which is arranged at the entrance and exit of the level crossing of a tram and detects the entry of the vehicle traveling based on the operation of the driver's operating means into and the exit of the vehicle from the level crossing, detects the entry of the vehicle into the level crossing, and the azimuth angle information of the vehicle with respect to the front of the vehicle while the vehicle is passing through the level crossing.

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