JP6986936B2 - 車両制御システム - Google Patents
車両制御システム Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0058—On-board optimisation of vehicle or vehicle train operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0038—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L9/00—Electric propulsion with power supply external to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/026—Relative localisation, e.g. using odometer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/06—Indicating or recording the setting of track apparatus, e.g. of points, of signals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/62—Vehicle position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/70—Interactions with external data bases, e.g. traffic centres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Manufacturing & Machinery (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Navigation (AREA)
Description
図1において、100は全体として第1の実施の形態による車両制御システムを示す。かかる車両制御システム100は、車両101を含んで構成される。車両101は、軌道102に沿って設けられている電路設備より給電され、軌道102を走行する。
以下、図7〜図9を用いて第2の実施の形態について説明する。
なお上述の第1および第2の実施の形態においては、本発明を車両制御システム100,700に適用するようにした場合について述べたが、本発明はこれに限らず、この他種々の車両制御システムに広く適用することができる。
Claims (7)
- 車両に設けられ、物体の3次元形状を測定するセンシング部と、
前記車両が走行する軌道付近に予め設けられている構造物の3次元形状を示すデータ群と前記構造物の位置を示す位置情報とが対応付けられている複数の構造物情報と、前記センシング部で測定された物体の3次元形状を示すデータ群とのマッチング処理を行い、前記物体の位置を特定するマッチング部と、
前記マッチング部で特定された位置を基準位置とし、前記基準位置に基づいて前記車両の推定位置を決定する推定位置決定部と、
を備え、
前記予め設けられている構造物は、前記軌道付近のトロリ線、前記トロリ線を吊り支えるちょう架線およびハンガを含む電路設備を構成する構成要素であり、
前記センシング部は、前記電路設備を構成する構成要素であるトロリ線の真下からずれた位置に設けられ、前記電路設備の3次元形状を斜め方向から測定することを特徴とする車両制御システム。 - 前記基準位置からの前記車両の走行距離を計測する走行距離計測部を備え、
前記推定位置決定部は、前記走行距離計測部で計測された走行距離を前記基準位置に加算したものを前記車両の推定位置として決定する、
ことを特徴とする請求項1に記載の車両制御システム。 - 前記マッチング部は、前記軌道上の所定の範囲における構造物の3次元形状を示すデータ群の各々と前記センシング部で測定された物体の3次元形状を示すデータ群との類似度を算出し、各類似度がしきい値を超えるか否かを判定し、
前記推定位置決定部は、前記マッチング部で前記しきい値を超える類似度がないと判定された場合、前記走行距離計測部で計測された走行距離を前記基準位置に加算したものを前記車両の推定位置として決定する、
ことを特徴とする請求項2に記載の車両制御システム。 - 前記マッチング部は、前記所定の範囲の次にマッチング処理の対象とする範囲として、前記車両の推定位置と前記車両の速度とに基づいて、前記車両が位置していると予測する前記軌道上の範囲を設定する、
ことを特徴とする請求項3に記載の車両制御システム。 - 前記推定位置決定部で決定された前記車両の推定位置を用いて前記車両の制御を行う制御部を備える、
ことを特徴とする請求項1に記載の車両制御システム。 - 前記予め設けられている構造物のうち予め指定された構造物の指定位置を示す指定位置情報が設けられ、
前記推定位置決定部は、前記マッチング部で特定された位置が前記指定位置であるか否かを判定し、前記指定位置であると判定した場合、前記指定位置を前記基準位置とし、前記基準位置を前記車両の推定位置として決定する、
ことを特徴とする請求項1に記載の車両制御システム。 - 前記予め指定された構造物は、前記軌道付近の電路設備を構成する支持具である、
ことを特徴とする請求項6に記載の車両制御システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017223631A JP6986936B2 (ja) | 2017-11-21 | 2017-11-21 | 車両制御システム |
EP18880395.1A EP3715211A4 (en) | 2017-11-21 | 2018-10-23 | VEHICLE CONTROL SYSTEM |
US16/764,901 US11453422B2 (en) | 2017-11-21 | 2018-10-23 | Vehicle control system |
PCT/JP2018/039320 WO2019102769A1 (ja) | 2017-11-21 | 2018-10-23 | 車両制御システム |
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JP2017223631A JP6986936B2 (ja) | 2017-11-21 | 2017-11-21 | 車両制御システム |
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JP2019093840A JP2019093840A (ja) | 2019-06-20 |
JP6986936B2 true JP6986936B2 (ja) | 2021-12-22 |
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US (1) | US11453422B2 (ja) |
EP (1) | EP3715211A4 (ja) |
JP (1) | JP6986936B2 (ja) |
WO (1) | WO2019102769A1 (ja) |
Families Citing this family (7)
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JP6947699B2 (ja) * | 2018-07-25 | 2021-10-13 | 公益財団法人鉄道総合技術研究所 | 情報処理装置および点群位置補正方法、ならびにプログラム |
JP7227879B2 (ja) * | 2019-09-02 | 2023-02-22 | 株式会社日立製作所 | 周辺観測システム、周辺観測プログラムおよび周辺観測方法 |
JP7288380B2 (ja) * | 2019-10-04 | 2023-06-07 | 株式会社日立製作所 | データ記録装置及びデータ記録方法 |
KR20220045846A (ko) * | 2020-10-06 | 2022-04-13 | 현대자동차주식회사 | 트랙렛의 사전분포모델을 활용한 표적차량의 운동 및 형상 동시 추정방법 |
CN112330647A (zh) * | 2020-11-12 | 2021-02-05 | 南京优视智能科技有限公司 | 一种动车车底异常检测方法 |
EP4011747B8 (en) * | 2020-12-14 | 2023-10-25 | Siemens Rail Automation S.A.U. | System and method for measuring a distance travelled by a guided vehicle |
JP2024000901A (ja) * | 2022-06-21 | 2024-01-09 | 株式会社日立製作所 | 速度算出装置、速度算出方法および移動体制御システム |
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JPH09270013A (ja) * | 1996-04-02 | 1997-10-14 | Nippon Signal Co Ltd:The | 移動***置検知装置 |
AUPP299498A0 (en) * | 1998-04-15 | 1998-05-07 | Commonwealth Scientific And Industrial Research Organisation | Method of tracking and sensing position of objects |
JP4900810B2 (ja) * | 2007-03-30 | 2012-03-21 | 株式会社京三製作所 | 列車位置検知装置と列車制御装置 |
JP5531291B2 (ja) * | 2010-03-25 | 2014-06-25 | 独立行政法人交通安全環境研究所 | 列車搭載用画像処理システム |
JP2013107434A (ja) | 2011-11-18 | 2013-06-06 | Nippon Signal Co Ltd:The | 車上装置、及び、自列車位置認識方法 |
JP6101553B2 (ja) | 2013-05-01 | 2017-03-22 | 株式会社日立製作所 | 位置検出装置及び位置検出方法 |
JP6225362B2 (ja) | 2013-11-11 | 2017-11-08 | 株式会社明電舎 | 電車の自己位置推定装置 |
KR101583707B1 (ko) * | 2013-11-12 | 2016-01-08 | 한국철도기술연구원 | 전차선 편위 정보를 이용한 고정밀 열차 위치 검지 시스템 |
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JP6494103B2 (ja) * | 2015-06-16 | 2019-04-03 | 西日本旅客鉄道株式会社 | 画像処理を利用した列車位置検出システムならびに画像処理を利用した列車位置および環境変化検出システム |
US11307042B2 (en) * | 2015-09-24 | 2022-04-19 | Allstate Insurance Company | Three-dimensional risk maps |
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2017
- 2017-11-21 JP JP2017223631A patent/JP6986936B2/ja active Active
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2018
- 2018-10-23 US US16/764,901 patent/US11453422B2/en active Active
- 2018-10-23 WO PCT/JP2018/039320 patent/WO2019102769A1/ja active Search and Examination
- 2018-10-23 EP EP18880395.1A patent/EP3715211A4/en active Pending
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Publication number | Publication date |
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US20200339171A1 (en) | 2020-10-29 |
JP2019093840A (ja) | 2019-06-20 |
WO2019102769A1 (ja) | 2019-05-31 |
US11453422B2 (en) | 2022-09-27 |
EP3715211A1 (en) | 2020-09-30 |
EP3715211A4 (en) | 2021-08-18 |
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