Wireless train control system

Abstract

Provided is a wireless train control system capable of detecting the train position without a ground coil and correcting the train position in consideration of a transmission delay time. This wireless train control system comprises: a ground device comprising a detection unit that detects that a train has crossed a boundary located on a railroad, an identifier that can specify the boundary position when the detection unit detects that the train has crossed the boundary, and a cross-boundary data unit that creates and transmits, to the train, cross-boundary data having stored therein a serial number of data received from the train immediately before the train crosses the boundary; and an on-board device comprising a train position data unit that creates train position data having stored therein the train position and the serial number of the data, and that periodically transmits the train position data to the ground device, and a train position correction unit that, when the cross-boundary data has been received, corrects the train position by using the value obtained by adding the boundary position specified from the identifier in the cross-boundary data to the value obtained by subtracting, from the current train position, the train position immediately before crossing the boundary specified from the serial number in the cross-boundary data.

Description

Radio train control system

[0001] The present disclosure relates to a radio-based train control system.

[0002] Traditionally, railway operators have used train control systems that control trains by detecting their position using track circuits in order to prevent train collisions and operate trains safely. In recent years, with the aim of simplifying railway ground facilities, radio train control systems have been used in which the train itself detects its running position, transmits the running position to ground equipment via radio transmission, and transmits the train's stopping position from the ground equipment to the train, thereby controlling the train. When a new radio train control system is installed, it is not possible to replace the existing track circuit-based train control system all at once in a short period of time, so commercial operations are carried out with both the existing track circuit-based train control system and the new radio train control system running side by side. On the other hand, as a system for controlling trains, for example, the train control system disclosed in Patent Document 1 discloses a train control system in which the ground equipment regards the difference between the time at which a report signal is received from the on-board equipment (the time at the ground equipment) and the time at which the command included in the report signal from the on-board equipment as the transmission delay time of the report signal, and generates train control information that takes this transmission delay time into account, making it possible to detect the position of a train while taking into account the transmission delay time between the on-board equipment and the ground equipment, even when a general-purpose communication system is applied.

[0003] Japanese Patent Application Laid-Open No. 2018-19558

[0004] However, in such a radio train control system, a ground coil is used to detect the train position, and there was a problem that it was not possible to improve the accuracy of train position detection and position correction without the ground coil.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a wireless train control system that can detect train positions without ground coils and correct train positions by taking transmission delay time into account.

[0006] The wireless train control system of the present disclosure comprises a ground device including a detection unit that detects when a train has crossed a boundary installed on the tracks, and a border crossing data unit that, when the detection unit detects that the train has crossed the boundary, creates border crossing data storing an identifier that can identify the position of the boundary and the serial number of data received from the train immediately before it crossed the boundary and transmits the data to the train; a train position data unit that creates train position data storing the train's position and the data serial number and periodically transmits the data to the ground device; and an on-board device that, when border crossing data is received, corrects the train's position by a value obtained by subtracting from the train's current position the position of the train immediately before it crossed the boundary identified from the serial number in the border crossing data, and adding the position of the boundary identified from the identifier in the border crossing data.

[0007] According to the radio train control system of the present disclosure, it is possible to detect the train position without a ground coil and correct the train position by taking into account the transmission delay time.

[0008] 1 is a configuration diagram showing a wireless train control system according to a first embodiment of the present disclosure. FIG. 2 is a diagram showing the relationship between track circuits and blocks in the wireless train control system according to the first embodiment of the present disclosure. FIG. 3 is a diagram showing operation procedure 1 of the wireless train control system according to the first embodiment of the present disclosure (operational flow of the on-board equipment when a train runs before a track circuit boundary). FIG. 4 is a diagram showing operation procedure 4 of the wireless train control system according to the first embodiment of the present disclosure (operational flow of the on-board equipment after the train has passed the track circuit boundary). FIG. 5 is a diagram showing operation procedure 5 of the wireless train control system according to the first embodiment of the present disclosure (operational flow of the on-board equipment for position correction after the train has passed the track circuit boundary). FIG. 6 is a diagram showing the relationship between axle counters and blocks in the wireless train control system according to a second embodiment of the present disclosure. FIG. 11 is a diagram showing an axle counter database in the radio train control system according to the second embodiment of the present disclosure.

[0009] Embodiment 1. Fig. 1 is a configuration diagram showing a radio train control system according to embodiment 1 of the present disclosure. As shown in Fig. 1, the radio train control system includes a train 1, a speed generator 2, an on-board device 3, a track circuit database 4, an on-board radio device 5, ground equipment 6, rails 7a, 7b, rail insulation 8a, 8b, 8c, track circuits 9a, 9b, ground radio devices 10a, 10b, a detection unit 11, a border crossing data unit 12, a train position data unit 13, and a train position correction unit 14.

[0010] The train 1 has a speed generator 2, an on-board device 3, a track circuit database 4, and an on-board radio device 5.

[0011] The tachometer generator 2 is attached to the wheels of the train 1 and outputs speed pulses. The train 1 counts the output speed pulses and can calculate the distance traveled by the train 1 from the count number and the wheel diameter.

[0012] The on-board device 3 is provided in the train 1 and performs train control such as braking of the train 1.

[0013] The track circuit database 4 stores the correspondence between the track circuit identifier, the block number corresponding to the track circuit, and the value indicating the position within the block indicated by the block number.

[0014] The track circuit database 4 also stores the correspondence between a block number and the block number adjacent to that block number.

[0015] The on-board radio equipment 5 transmits and receives information wirelessly between the track equipment 6 and the on-board equipment 3 .

[0016] The ground equipment 6 manages the presence of trains by inputting train presence conditions to the track circuit. The presence conditions are conditions for detecting the presence of a train in a specific section using the track circuit, determining whether the train can enter the track circuit, and controlling signals, etc.

[0017] The rails 7a and 7b are rails laid on the ground or the like for the train 1 to run on.

[0018] Rail insulation 8a, 8b, 8c is rail insulation that electrically insulates rails 7a, 7b.

[0019] The track circuits 9a, 9b are connected to the rails 7a, 7b, and detect the presence or absence of a train on the tracks by passing an electric current through the rails, and the way the electric current flows changes depending on the presence or absence of a train axle.

[0020] The ground radio devices 10a and 10b are installed along the track and transmit and receive information between the ground device 6 and the on-board device 3 by radio.

[0021] The detection unit 11 has the function of detecting when a train crosses a boundary set on the track, and is composed of rails 7a and 7b, rail insulators 8a, 8b and 8c, and track circuits 9a and 9b.

[0022] The border crossing data unit 12 is provided in the ground equipment 6 and has the function of creating border crossing data that stores an identifier that can identify the position of the border and the serial number of the data received from the train just before it crossed the border when the detection unit 11 detects that the train has crossed the border, and transmitting this data to the train.

[0023] The train position data unit 13 has the function of creating train position data that stores the train position and data serial number, and periodically transmitting it to the ground equipment 6, and is provided in the on-board equipment 3.

[0024] When border crossing data is received, the train position correction unit 14 has the function of correcting the train's position by a value obtained by subtracting the position of the train immediately before crossing the border identified from the serial number in the border crossing data from the current position of the train, and adding the position of the boundary identified using the track circuit database 4 from the identifier in the border crossing data, and is provided in the on-board device 3.

[0025] Figure 2 is a diagram showing the relationship between track circuits and blocks. In the explanation of Figure 2, the same reference numerals as in Figure 1 indicate the same or corresponding parts. In Figure 2, to simplify the explanation, the track circuits and blocks are physically separated in the same way.

[0026] In FIG. 2, 15a, 15b, and 15c are block boundaries, which indicate the division of blocks.

[0027] In Figure 2, 16a and 16b are blocks. Blocks are used to indicate train positions in a radio train control system and are expressed as sections obtained by dividing a rail. The division unit is different from the division unit of a track circuit.

[0028] 3 is a diagram showing the track circuit database 4. The track circuit database 4 indicates the correspondence between track circuits and blocks, and the adjacency relationship between blocks.

[0029] The track circuit database 4 includes a track circuit / block correspondence database 17 and an adjacent block database 18 .

[0030] The track circuit / block correspondence database 17 stores the correspondence between track circuit identifiers and block numbers corresponding to the approach end of the track circuit indicated by the track circuit identifier. Once the track circuit identifier is known, the block number corresponding to that track circuit can be determined. Although not shown in Figure 3, in the case of single-track operation, the correspondence between the track circuit identifiers and block numbers corresponding to the track circuit end on the opposite side of the track circuit indicated by the track circuit identifier is also stored.

[0031] The adjacent block database 18 stores the correspondence between a block number, its adjacent block number, and the position within the block number that indicates the track circuit boundary within the adjacent block number. The position within the block number is the physical distance in meters from one end of the block number to the track circuit boundary. Once a block number is known, the track circuit boundary within the block number adjacent to that block number can be determined. Although not shown in Figure 3, in the case of single-track operation, the database also stores the correspondence between the adjacent block number on the opposite side of the track circuit indicated by the track circuit identifier and the position within the block number that indicates the track circuit boundary within the adjacent block number on the opposite side.

[0032] FIG. 4 illustrates procedure 1 of the operation of the radio train control system according to the first embodiment of the present disclosure (the flow of the operation of the on-board device when the train is traveling just before the track circuit boundary).

[0033] In Figure 4, rail insulation 8a, 8b, 8c are track circuit boundaries 50a, 50b, 50c, and the operation is shown when the train 1 is at positions p_K and p_(K+1) just before the track circuit boundary 50b, and the train position data unit 13 is transmitting train position data containing the train serial number to the ground device 6.

[0034] FIG. 4( a) shows the operation when the train 1 is traveling just before the track circuit boundary 50b and the train position data unit 13 in the on-board equipment 3 of the train 1 is transmitting train position data containing the serial number K to the ground equipment 6 at position p_K. The train position data unit 13 calculates the distance to determine the position of the train 1 using the tachometer generator 2, and periodically transmits the position data together with the serial number to the ground equipment 6 as information. The serial number is a serial number for the periodically transmitted information and is assigned in the order of 1, 2, 3, K, K+1, N, and N+1. After passing the track boundary, the serial number is assigned again in the order starting from 1. The train 1 depicted in solid line indicates the actual train position, and the train 1 depicted in dashed line indicates the train position recognized by the on-board equipment 3. The train position recognized by the on-board equipment 3 depicted in dashed line is ahead of the actual train position depicted in solid line due to errors in the position measurement and calculation themselves.

[0035] Figure 4(b) shows the operation when the train position data unit 13 transmits train position data containing the serial number K+1 to the ground device 6 at position p_(K+1) just before the track circuit boundary 50b after the train 1 has passed position p_K.

[0036] FIG. 5 illustrates procedure 2 of the operation of the radio train control system according to the first embodiment of the present disclosure (the flow of the operation of the on-board device immediately before the train passes through the track circuit boundary).

[0037] 5 shows the operation when the train position data unit 13 transmits train position data storing the serial number N to the ground device 6 at position p_N immediately before the train 1 passes through the track circuit boundary 50b.

[0038] FIG. 6 illustrates a third operation procedure of the radio train control system according to the first embodiment of the present disclosure (the flow of operations of the ground equipment when a train passes through a track circuit boundary).

[0039] 6 , when the ground equipment 6 receives train position data storing the serial number N from the train position data unit 13 and the train 1 passes through the track circuit boundary 50b, the track circuits 9a, 9b (not shown) detect that the train 1 has passed through the track circuit boundary 50b. The track circuits 9a, 9b notify the border crossing data unit 12 of the ground equipment 6 of the detection together with the track circuit identifiers of the track circuits 9a, 9b. When the border crossing data unit 12 receives the detection, it transmits border crossing data storing the serial number N of the train position data received from the train position data unit 13 immediately before the train passed and the track circuit identifier of the track circuit 9a that the train passed through to the train position correction unit 14 of the on-board equipment 3.

[0040] In addition, instead of receiving the serial number N from the train position data unit 13 immediately before passing, the crossing data unit 12 of the ground device 6 may receive the value indicating the train position itself from the on-board device 3 on the train 1 immediately before passing and transmit it to the train position correction unit 14 of the on-board device 3.

[0041] FIG. 7 illustrates procedure 4 of the operation of the radio train control system according to the first embodiment of the present disclosure (the flow of the operation of the on-board device after the train has passed the track circuit boundary).

[0042] Figure 7(a) shows the operation when, at position p_2 after train 1 has passed track circuit boundary 50b, the train position data unit 13 in the on-board device 3 of train 1 is transmitting train position data containing serial number 2 to the ground device 6.

[0043] Figure 7(b) shows the state when, at position p_1, the train position data unit 13 in the on-board device 3 of train 1 is transmitting train position data containing serial number 1 to the ground device 6 immediately after train 1 has passed the track circuit boundary 50b.

[0044] 7(a), the train position correction unit 14 of the on-board equipment 3 searches the track circuit / block correspondence database 17 of the track circuit database 4 using the track circuit identifier in the border-crossing data received from the border-crossing data unit 12 of the ground equipment 6. As a result of the search, the train position correction unit 14 acquires the block number corresponding to the passed track circuit identifier. The train position correction unit 14 then searches the adjacent block database 18 of the track circuit database 4 using the acquired block number. As a result of the search, the train position correction unit 14 acquires the block number adjacent to the block number corresponding to the passed track circuit and the physical position of the passed track circuit boundary 50b as the intra-block position.

[0045] Furthermore, the train position correction unit 14 recognizes that the train 1 has passed through the track circuit boundary 50b by receiving the serial number N in the border crossing data from the border crossing data unit 12. Note that data indicating that the train has passed through the track circuit boundary 50b may be provided in the border crossing data unit 12, and the train position correction unit 14 may recognize that the train 1 has passed through the track circuit boundary 50b by receiving this data.

[0046] 7, the difference 19 in train position recognized by the on-board equipment is a value obtained by subtracting the position p_N in the received serial number N from the current position p_2, assuming that the on-board equipment 3 regards the position p_N as the position p_1 of the train immediately after passing the track circuit boundary 50b in FIG. 7(b). The train position correction unit 14 calculates the difference 19 in train position recognized by the on-board equipment.

[0047] Note that instead of calculating the physical position of the track circuit boundary 50b using the track circuit database 4 in FIG. 7 , the trackside equipment 6 in FIG. 6 may be provided with the track circuit database 4, and the trackside equipment 6 may calculate the physical position of the track circuit boundary 50b and transmit it to the on-board equipment 3.

[0048] FIG. 8 illustrates step 5 of the operation of the radio train control system according to the first embodiment of the present disclosure (the flow of the operation of correcting the position in the on-board device after the train has passed the track circuit boundary).

[0049] FIG. 8(a) shows the operation when the train position correction unit 14 in the on-board device 3 of the train 1 corrects its position at position p_2 after the train 1 has passed the track circuit boundary 50b.

[0050] Figure 8(b) shows the state when, at position p_1, the train position data unit 13 in the on-board device 3 of train 1 is transmitting train position data containing serial number 1 to the ground device 6 immediately after train 1 has passed the track circuit boundary 50b.

[0051] In FIG. 8( a), the actual train position difference 20 is a value that takes into account the distance traveled by train 1 during a transmission delay at the time when the train position correction unit 14 of the on-board equipment 3 receives the serial number N in the border-crossing data from the border-crossing data unit 12 of the ground equipment 6. Therefore, the current actual train position p_2 can be regarded as the value obtained by adding the actual train position difference 20 to the position of the track circuit boundary 50b. Here, although it includes a slight error, the actual train position difference 20 can be regarded as the same as the train position difference 19 recognized by the on-board equipment 3. Therefore, the current actual train position p_2 is the value obtained by adding the train position difference 19 recognized by the on-board equipment to the physical position of the track circuit boundary 50b calculated in FIG. 7. The train position correction unit 14 calculates the current actual train position p_2 and corrects the position of train 1 based on the calculation result.

[0052] As described above, the radio train control system according to this embodiment comprises a ground device 6 including a detection unit 11 that detects when a train has crossed a boundary installed on the track, and a border crossing data unit 12 that, when the detection unit 11 detects that the train has crossed the boundary, creates border crossing data storing an identifier that can identify the position of the boundary and the serial number of data received from the train immediately before it crossed the boundary and transmits the data to the train; a train position data unit 13 that creates train position data storing the train's position and the data serial number and periodically transmits the data to the ground device; and an on-board device 3 that, when border crossing data is received, corrects the train's position by a value obtained by subtracting from the train's current position the position of the train immediately before it crossed the boundary identified from the serial number in the border crossing data, and adding the position of the boundary identified from the identifier in the border crossing data.

[0053] This makes it possible to detect the train position without a ground coil and correct the train position by taking into account the transmission delay time.

[0054] Embodiment 2. A radio train control system according to embodiment 2 will be described with reference to Figures 9 and 10. In embodiment 2, the detection unit 11 of embodiment 1 is replaced with an axle counter. In the description of embodiment 2, the same reference numerals as those in embodiment 1 indicate the same or corresponding parts.

[0055] 9 is a diagram showing the relationship between axle counters and blocks in a radio train control system according to embodiment 2 of the present disclosure. As shown in Fig. 9, axle counters 17a, 17b, and 17c are used instead of the track circuit boundaries 50a, 50b, and 50c of embodiment 1. Also, an axle counter database 22 is used instead of the track circuit database 4 of embodiment 1.

[0056] 10 is a diagram showing an axle counter database in the wireless train control system according to the second embodiment of the present disclosure. The axle counter database 22 represents the correspondence between the axle counters and the blocks, and the adjacency relationships between the blocks.

[0057] The axle counter database 22 includes an axle counter / block correspondence database 23 and an adjacent block database 18 .

[0058] The axle counter / block correspondence database 23 stores the correspondence between the axle counter identifier and the block number corresponding to the axle counter indicated by the axle counter identifier. Once the axle counter identifier is known, the block number corresponding to that axle counter can be determined. Although not shown in Figure 10, in the case of single-track operation, the correspondence with the block number when entering from the opposite side is also stored, as in the first embodiment.

[0059] As described above, by replacing the track circuit boundaries 50a, 50b, and 50c of the detection unit 11 with the axle counters 17a, 17b, and 17c, the same operation as in the first embodiment can be performed and the same effects can be obtained.

[0060] The configurations shown in the above embodiments are merely examples of the contents of the present disclosure, and can be combined with other known technologies. For example, conventional position correction using an already installed ground coil may be used in combination. Even if used in combination, the present application can achieve the effect of reducing the number of newly installed ground coils compared to conventional methods. Furthermore, it is also possible to omit or modify part of the configuration without departing from the gist of the present disclosure.

[0061] 1 Train, 2 Speed ​​generator, 3 On-board equipment, 4 Track circuit database, 5 On-board radio equipment, 6 Ground equipment, 7a, 7b Rail, 8a, 8b, 8c Rail insulation, 9a, 9b Track circuit, 10a, 10b Ground radio equipment, 11 Detection unit, 12 Border crossing data unit, 13 Train position data unit, 14 Train position correction unit, 15a, 15b, 15c Block boundary, 16a, 16b Block, 17 Track circuit / block correspondence database, 18 Adjacent block database, 19 Difference in train position recognized by on-board equipment, 20 Difference in actual train position, 21a, 21b, 21c Axle counter, 22 Axle counter database, 23 Axle counter / block correspondence database, 50a, 50b, 50c Track circuit boundary

Claims

1. A radio train control system comprising: an on-board device comprising: a detection unit that detects when a train has crossed a boundary installed on a track; and a border crossing data unit that, when the detection unit detects that the train has crossed the boundary, creates border crossing data storing an identifier that can identify the position of the boundary and the serial number of data received from the train immediately before it crossed the boundary, and transmits the data to the train; a train position data unit that creates train position data storing the train's position and the data serial number, and periodically transmits the data to the on-board device; and a train position correction unit that, when the border crossing data is received, corrects the train's position by a value obtained by subtracting from the train's current position the position of the train immediately before it crossed the boundary identified from the serial number in the border crossing data, and adding the position of the boundary identified from the identifier in the border crossing data.

2. The radio train control system according to claim 1, wherein the detection unit detects that the train has crossed the boundary of a track circuit installed on the track.

3. The radio train control system according to claim 1, wherein the detection unit detects that the train has crossed the boundary of an axle counter installed on the track.

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