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 technology]

[0002] When a vehicle passes through a railroad crossing, it is important that the vehicle can pass through the crossing safely. For this reason, for example, Patent Document 1 discloses a notification control device that notifies the driver of the vehicle to prevent the front wheels of the vehicle from running off into the gap between the rail and the crossing passage, 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] Japanese Patent Publication No. 2022-41543 Summary of the Invention [Problem to be solved by the invention]

[0004] The notification control device of Patent Document 1 can notify the vehicle driver to prevent the front wheels of the vehicle from slipping into the gap between the rails and the crossing passage, but technology that allows vehicles to pass through crossings more safely is desired.

[0005] One of the objectives that the embodiments disclosed in this specification aim to achieve is to provide a control device, a vehicle device, a control system, a control method, and a control program that contribute to solving the problem. It should be noted that this objective is only one of multiple objectives that the embodiments disclosed in this specification aim to achieve. Other objectives or objectives and novel features will become apparent from the description of this specification or the accompanying drawings. [Means for solving the problem]

[0006] A control device according to one embodiment of the present disclosure is arranged at the entrance and exit of a railroad crossing for trains, and includes control means for forcibly controlling the traveling direction of a vehicle to prevent the vehicle from running off the railroad crossing, based on straight-line direction information for the railroad crossing obtained when a detection device that detects the vehicle's entry into and exit from the railroad crossing based on the driver's operation of an operating means detects the vehicle's entry into the railroad crossing, and azimuth angle information based on the front of the vehicle while the vehicle is passing through the railroad crossing.

[0007] A vehicle device according to an embodiment of the present disclosure includes: The control device described above; a direction sensor for detecting a direction angle of the vehicle; Equipped with.

[0008] A control system according to an embodiment of the present disclosure includes: a detection device disposed at an entrance / exit point of a railroad crossing for detecting a vehicle entering and exiting the railroad crossing; The vehicle device described above; Equipped with.

[0009] A control method according to one embodiment of the present disclosure forcibly controls the traveling direction of a vehicle to prevent the vehicle from running off the railroad crossing, based on straight-line direction information for the crossing obtained by a detection device that is placed at the entrance and exit of a railroad crossing and detects the vehicle's entry into and exit from the crossing based on the driver's operation of an operating means when the detection device detects the vehicle's entry into the crossing, and azimuth angle information based on the front of the vehicle while the vehicle is passing through the crossing.

[0010] A control program according to one embodiment of the present disclosure causes a computer to execute a process of forcibly controlling the traveling direction of a vehicle to prevent the vehicle from running off the railroad crossing, based on straight-line direction information for the crossing obtained when a detection device, which is placed at the entrance and exit of a train crossing and detects the vehicle's entry into and exit from the crossing based on the driver's operation of an operating means, detects the vehicle's entry into the crossing, and azimuth angle information based on the front of the vehicle while the vehicle is passing through the crossing. [Effects of the Invention]

[0011] According to the above-described aspects, it is possible to provide a control device, a vehicle device, a control system, a control method, and a control program that allow a vehicle to pass through a railroad crossing safely. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a block diagram illustrating a configuration of a control device according to a first embodiment. [Figure 2] FIG. 10 is a diagram illustrating an example of the relationship between a detection device, a vehicle device, and an electric wheelchair in a control system according to a second embodiment. [Figure 3] FIG. 10 is a block diagram showing an example of the configuration of a control system of a control system according to a second embodiment. [Figure 4] FIG. 10 is a diagram illustrating an example of a state in which an electric wheelchair enters a railroad crossing. [Figure 5] FIG. 10 is a flowchart illustrating the flow of control of an electric wheelchair in the control system of the second embodiment. [Figure 6] FIG. 2 is a diagram illustrating an example of a hardware configuration included in a control device. DETAILED DESCRIPTION OF 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. In addition, the following description and drawings have been simplified as appropriate for clarity of explanation.

[0014] <First Embodiment> A control device and a control method according to the present embodiment will be described. Fig. 1 is a block diagram illustrating the configuration of the control device according to the present embodiment. As shown in Fig. 1, the control device 1 includes a control unit 1a.

[0015] The control unit 1a is placed at the entrance and exit of a railroad crossing for trains, and forcibly controls the traveling direction of the vehicle to prevent it from running off the railroad crossing based on information about the straight-line direction of the crossing obtained when a detection device that detects the vehicle's entry into and exit from the crossing based on the driver's operation of the operating unit detects the vehicle's entry into the crossing, and azimuth angle information based on the front of the vehicle as it passes through the crossing.

[0016] In this way, the control device 1 and control method of this embodiment forcibly control the vehicle's running direction based on the straight-line direction information of the railroad crossing and the azimuth angle information based on the front of the vehicle while the vehicle is passing through the railroad crossing, so that the vehicle does not run off the tracks at the railroad crossing, thereby allowing the vehicle to pass through the railroad crossing safely.

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

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

[0019] Here, the electric wheelchair 12 is, for example, a so-called senior car, and as shown in FIG. 3, based on the operation of the operating unit 12b such as a handle or stick, a control unit 12c controls left and right motors 12d that drive left and right wheels 12a, respectively, to make the electric wheelchair 12 move forward and backward and turn.

[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, at a portion of the passage 14a of the crossing 14 on one side of the entrance / exit and at a portion of the passage 14a of the crossing 14 on the other side of the entrance / exit, with the rail 15 in between, as shown in Fig. 2, in order to detect the electric wheelchair 12 entering and leaving the crossing 14.

[0021] That is, as shown in Fig. 2, the detection device 17 is placed near an alarm device 19 placed on one entrance / exit side of the passage 14a of the railroad crossing 14, and near an alarm device 19 placed on the other entrance / exit side of the passage 14a of the railroad crossing 14. Note that in Fig. 2, the alarm device 19 placed on the other entrance / exit side of the passage 14a of the railroad 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 of the passage 14a of the railroad crossing 14 (i.e., the direction substantially parallel to the rail 15).

[0023] The piezoelectric element 17a converts the pressure applied when the electric wheelchair 12 passes, for example, into a voltage and outputs it to the communication unit 17b. In other words, 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 has, for example, straight-line direction information of the passage 14a of the railroad crossing 14 (for example, information indicating a direction perpendicular to the direction in which the rails 15 extend), and transmits detection information of the electric wheelchair 12 and straight-line direction information of the railroad crossing 14 to the vehicle device 18 when a voltage is applied from the piezoelectric element 17a.

[0025] In this case, the communication unit 17b may be operated by the voltage generated by the piezoelectric element 17a. This allows the detection device 17 to have a simple configuration without a power source. The communication unit 17b may also obtain straight-ahead direction information for the passage 14a of the railroad crossing 14 from an external server or the like.

[0026] 2 and 3, the vehicle device 18 includes a communication unit 18a, a direction sensor 18b, and a control device 18c, and is mounted on the electric wheelchair 12. The communication unit 18a receives detection information of the electric wheelchair 12 and straight-ahead direction information of the railroad crossing 14 from the communication unit 17b of the detection device 17.

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

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

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

[0030] The direction sensor 18b detects the direction angle of the electric wheelchair 12 based on the direction in front of the electric wheelchair 12. The direction sensor 18b may detect the direction angle of the electric wheelchair 12 based on, for example, the difference in rotation speed between the left and right motors 12d of the electric wheelchair 12, geomagnetism, or the like.

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

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

[0033] The tilt calculation unit 18f calculates the tilt of the electric wheelchair 12 relative to the passage 14a of the railroad crossing 14. Based on the straight-ahead direction of the railroad crossing 14 and the azimuth angle of the electric wheelchair 12, the tilt calculation unit 18f calculates the tilt of the electric wheelchair 12 relative to a reference axis AX1 (see FIG. 2) extending in the straight-ahead direction of the railroad crossing 14, as viewed from above and below the electric wheelchair 12, for example.

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

[0035] Next, a description will be given of the flow of control of the electric wheelchair 12 in the control system 11 of this embodiment. Fig. 5 is a flow chart illustrating the flow of control of the electric wheelchair in the control system of this embodiment.

[0036] First, while 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 or not detection information of the electric wheelchair 12 has been acquired from the detection device 17 (S1).

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

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

[0039] Next, the control unit 18g of the control device 18c sets a restricted state that restricts the traveling direction of the electric wheelchair 12 (S3). Then, the tilt calculation unit 18f of the control device 18c calculates the tilt of the electric wheelchair 12 with respect to the reference axis AX1 that extends in the straight direction of the railroad 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 direction of the railroad crossing 14 is greater than ±45° (S5). If the inclination of the electric wheelchair 12 with respect to the reference axis AX1 extending in the straight direction of the railroad crossing 14 is ±45° or less (NO in S5), the control unit 18g of the control device 18c generates control information to cause the electric wheelchair 12 to travel based on the operation of the operation unit 12b of the electric wheelchair 12, and outputs the control information to the control unit 12c of the electric wheelchair 12 (S6).

[0041] On the other hand, if the inclination of the electric wheelchair 12 relative 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 to operate the operating unit 12b of the electric wheelchair 12 so that the inclination of the electric wheelchair 12 is less than ±45°, and outputs the control information 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, if the tilt 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 tilt of the electric wheelchair 12 becomes ±45° or less.

[0043] This prevents the wheels 12a of the electric wheelchair 12 from coming off the passage 14a of the crossing 14 or from coming off into the gap 16 between the passage 14a of the 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 (NO in S2) if, for example, the number of times that detection information of the electric wheelchair 12 has been obtained from the detection device 17 is even, counting from the initial state when the control system 11 is powered on.

[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 so that the electric wheelchair 12 travels based on the operation of the operation unit 12b of the electric wheelchair 12, and outputs the control information to the control unit 12c of the electric wheelchair 12 (S10). This allows the driver 13 to freely travel the electric wheelchair 12 based on the operation of the operation unit 12b.

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

[0047] In this way, the control device 18c, vehicle device 18, control system 11 and control method of this embodiment forcibly control the operating unit 12b so that the inclination of the electric wheelchair 12 is less than ±45° when the inclination of the electric wheelchair 12 relative to the reference axis AX1 extending in the straight-ahead direction of the railroad crossing 14 is greater than ±45°.

[0048] This makes it possible to prevent the wheels 12a of the electric wheelchair 12 from coming off the passage 14a of the railroad crossing 14 or from coming off into the gap 16 between the passage 14a of the railroad crossing 14 and the rail 15. This allows the electric wheelchair 12 to pass through the railroad crossing 14 safely.

[0049] Moreover, the control device 18c, vehicle device 18, control system 11, and control method of this embodiment determine whether the electric wheelchair 12 has entered or exited the railroad crossing 14 based on the number of times detection information of the electric wheelchair 12 is obtained from the detection device 17. Therefore, it is possible to easily determine whether the electric wheelchair 12 has entered or exited the railroad crossing 14.

[0050] In this embodiment, the communication unit 17b of the detection device 17 is operated by the voltage generated by the piezoelectric element 17a, which allows the detection device 17 to have a simple configuration without a power supply.

[0051] In this embodiment, the communication unit 17b of the detection device 17 and the communication unit 18a of the vehicle device 18 communicate with each other via short-range wireless communication. Therefore, when the electric wheelchair 12 enters or exits the railroad crossing 14, the vehicle device 18 of the electric wheelchair 12 can receive the detection information of the electric wheelchair 12 and the straight-ahead direction information of the railroad crossing 14 in a good manner.

[0052] <Other embodiments> Although the present disclosure has been described as a hardware configuration in the first and second embodiments, the present disclosure is not limited to this. The present disclosure can also be realized by having a CPU (Central Processing Unit) execute a computer program to perform the processing of each component.

[0053] For example, the control device 1, 18c according to the above-described embodiment may have the following hardware configuration: Fig. 6 is a diagram showing an example of the hardware configuration included in the control device 1, 18c.

[0054] 6 includes an interface 22, a processor 23, and a memory 24. The control devices 1, 18c described in the above embodiments are realized by the processor 23 reading and executing a program stored in the memory 24. In other words, this program causes the processor 23 to function as the control devices 1, 18c.

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

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

[0057] For example, in the second embodiment described above, 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 embodiment, the operating unit 12b of the electric wheelchair 12 is controlled so that the inclination of the electric wheelchair 12 relative to the reference axis AX1 extending in the straight-ahead direction of the railroad crossing 14 is within ±45°, but the left and right motors 12d of the electric wheelchair 12 may also be controlled.

[0059] Furthermore, the inclination of ±45° of the electric wheelchair 12 is an example, and the inclination can be set appropriately to prevent the wheels 12a of the electric wheelchair 12 from coming off the aisle 14a of the railroad crossing 14 or from coming off into the gap 16 between the aisle 14a of the railroad crossing 14 and the rail 15.

[0060] It should be noted that each drawing is merely an example for describing one or more embodiments. Each drawing may relate not only to one particular embodiment but also to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessarily required to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0061] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes. (Appendix 1) A control device comprising: a control means for forcibly controlling the traveling direction of a vehicle to prevent the vehicle from running off the railroad crossing, based on straight-line direction information for the crossing obtained when a detection device, which is arranged at the entrance and exit of a train crossing and detects the entry and exit of a traveling vehicle into and from the crossing based on the operation of an operating means by the driver, detects the vehicle's entry into the crossing, and azimuth angle information based on the front of the vehicle while the vehicle is passing through the crossing.

[0062] (Appendix 2) an inclination calculation means for calculating an inclination of the vehicle relative to a reference axis extending in a straight-ahead direction of the railroad crossing; The control device described in Appendix 1, wherein the control means puts the vehicle into a restricted state in which the vehicle's traveling direction is forcibly controlled so that the vehicle's inclination relative to a reference axis extending in the straight-ahead direction of the railroad crossing does not exceed ±45°.

[0063] (Appendix 3) a state determination means for determining that the vehicle has entered the railroad crossing if the number of times that the control device has acquired the vehicle detection information from the detection device is an odd number, counting from when the control device was in an initial state, and determining that the vehicle has exited the railroad crossing if the number of times that the control device has acquired the vehicle detection information from the detection device is an even number, The control device described in Appendix 2, wherein the control means controls the vehicle in the restricted state when the vehicle has entered the railroad crossing, and controls the vehicle in the unrestricted state when the vehicle has exited the railroad crossing.

[0064] (Appendix 4) 4. The control device according to any one of claims 1 to 3, wherein the vehicle is an electric wheelchair.

[0065] (Appendix 5) A control device according to any one of appendices 1 to 4; an orientation sensor for detecting an orientation angle of the vehicle; A vehicle device comprising:

[0066] (Appendix 6) a detection device disposed at an entrance / exit point of a railroad crossing for detecting a vehicle entering and exiting the railroad crossing; a vehicle device according to Supplementary Note 5; A control system comprising:

[0067] (Appendix 7) the detection device comprises a piezoelectric element disposed at the entrance and exit of the railroad crossing, and a communication means for transmitting detection information of the vehicle and straight-ahead direction information of the railroad crossing to the vehicle device; The control system described in Appendix 6, wherein the vehicle device is equipped with a communication means for receiving detection information of the vehicle and straight-line direction information of the railroad crossing from the detection device.

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

[0069] (Appendix 9) A control method in which a detection device, which is placed at the entrance and exit of a railroad crossing and detects the entry and exit of a traveling vehicle into and from the crossing based on the operation of an operating means by the driver, forcibly controls the traveling direction of the vehicle so that the vehicle does not run off the railroad crossing, based on straight-line direction information for the crossing obtained when the detection device detects the vehicle's entry into the crossing and azimuth angle information based on the front of the vehicle while the vehicle is passing through the crossing.

[0070] (Appendix 10) A control program that causes a computer to execute a process to forcibly control the traveling direction of a vehicle to prevent it from running off the railroad crossing, based on straight-line direction information for the crossing obtained when a detection device, which is placed at the entrance and exit of a train crossing and detects the entry and exit of a traveling vehicle into and from the crossing based on the operation of an operating means by the driver, detects the vehicle's entry into the crossing, and azimuth angle information based on the front of the vehicle while the vehicle is passing through the crossing.

[0071] Some or all of the elements (e.g., configurations and functions) described in Supplementary Notes 2 to 8 that are dependent on Supplementary Note 1 may also be dependent on Supplementary Notes 9 and 10 in the same dependency relationship as Supplementary Notes 2 to 8. Some or all of the elements described in any Supplementary Note may be applied to various hardware, software, recording means for recording software, systems, and methods. [Explanation of symbols]

[0072] 1 control device, 1a control section 11 Control System 12 electric wheelchair, 12a wheels, 12b operating unit, 12c control unit, 12d motor 13 Driver 14 Crossing, 14a Passage 15 Rail 16 Gap 17 detection device, 17a piezoelectric element, 17b communication unit 18 vehicle device, 18a communication unit, 18b direction sensor, 18c control device, 18d information acquisition unit, 18e state determination unit, 18f calculation unit, 18g control unit 19 Alarm 21 Equipment 22 Interface 23 processors 24 memory

Claims

1. A control device comprising: a control means for forcibly controlling the traveling direction of a vehicle to prevent the vehicle from running off the railroad crossing, based on straight-line direction information for the crossing obtained when a detection device, which is arranged at the entrance and exit of a train crossing and detects the entry and exit of a traveling vehicle into and from the crossing based on the operation of an operating means by the driver, detects the vehicle's entry into the crossing, and azimuth angle information based on the front of the vehicle while the vehicle is passing through the crossing.

2. an inclination calculation means for calculating an inclination of the vehicle relative to a reference axis extending in a straight-ahead direction of the railroad crossing; The control device described in claim 1, wherein the control means forcibly controls the vehicle's traveling direction to a restricted state so that the vehicle's inclination relative to a reference axis extending in the straight-ahead direction of the railroad crossing does not exceed ±45°.

3. a state determination means for determining that the vehicle has entered the railroad crossing if the number of times that the control device has acquired the vehicle detection information from the detection device is an odd number, counting from when the control device was in an initial state, and determining that the vehicle has exited the railroad crossing if the number of times that the control device has acquired the vehicle detection information from the detection device is an even number, The control device according to claim 2, wherein the control means controls the vehicle in the restricted state when the vehicle has entered the railroad crossing, and controls the vehicle in the unrestricted state when the vehicle has exited the railroad crossing.

4. The control device according to claim 1 , wherein the vehicle is an electric wheelchair.

5. The control device according to any one of claims 1 to 3; an orientation sensor for detecting an orientation angle of the vehicle; A vehicle device comprising:

6. a detection device disposed at an entrance / exit point of a railroad crossing for detecting a vehicle entering and exiting the railroad crossing; The vehicle device according to claim 5 ; A control system comprising:

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

8. 8. The control system of claim 7, wherein the communication means of the sensing device operates on the voltage generated by the piezoelectric element.

9. A control method in which a detection device, which is placed at the entrance and exit of a railroad crossing and detects the entry and exit of a traveling vehicle into and from the crossing based on the operation of an operating means by the driver, forcibly controls the traveling direction of the vehicle so that the vehicle does not run off the railroad crossing, based on straight-line direction information for the crossing obtained when the detection device detects the vehicle's entry into the crossing and azimuth angle information based on the front of the vehicle while the vehicle is passing through the crossing.

10. A control program that causes a computer to execute a process to forcibly control the traveling direction of a vehicle to prevent it from running off the railroad crossing, based on straight-line direction information for the crossing obtained when a detection device, which is placed at the entrance and exit of a train crossing and detects the entry and exit of a traveling vehicle into and from the crossing based on the operation of an operating means by the driver, detects the vehicle's entry into the crossing, and azimuth angle information based on the front of the vehicle while the vehicle is passing through the crossing.

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