Traffic system, control method, and program
View Patent ↗The limit information acquisition unit is configured to acquire limit information including speed limit information and the position information corresponding to the speed limit, from a vehicle speed limit unit that is configured to set the speed limits at a plurality of positions in order to achieve a predetermined deceleration completion speed at the speed limit start position. The current position acquisition unit is configured to acquire a current position of the vehicle. The current speed acquisition unit is configured to acquire a current speed of the vehicle. The travel curve generation unit is configured to generate a travel curve which satisfies the speed limit at each position obtained from the limit information according to the acquired limit information, the current position, and the current speed. The speed command unit is configured to generate a speed command according to the generated travel curve and the current position.
1. A traffic system, comprising:
a ground automatic train protection (ATP) device installed on a ground,
an on-vehicle ATP device that is mounted on a vehicle, and
a travel control device that is mounted on the vehicle,
wherein the ground ATP device is configured to transmit a speed limit start position to the on-vehicle ATP device,
wherein the on-vehicle ATP device is configured to output limit information, based on
the speed limit start position acquired from the ground ATP device, and
a predetermined deceleration completion speed to be achieved at the speed limit start position,
wherein the limit information corresponds to a speed limit curve indicating
positions of the vehicle at future times, and
corresponding speed limits at the positions of the vehicle at the future times,
wherein the positions of the vehicle at the future times are relative positions with respect to a reference position,
wherein the reference position is based on
a margin of maximum position error, and
a current position of the vehicle as recognized by the on-vehicle ATP device,
wherein the travel control device is configured to:
acquire the limit information from the on-vehicle ATP device,
acquire a current speed of the vehicle,
acquire a current position of the vehicle as recognized by the travel control device, based on
the speed limit start position, and
the current speed of the vehicle,
generate a travel curve, based on the limit information, the current position of the vehicle as recognized by the travel control device, and the current speed, wherein the travel curve indicates
the positions of the vehicle at the future times, and
corresponding target speeds at the positions of the vehicle at the future times, wherein the target speeds do not exceed the speed limits at the corresponding positions of the vehicle at the future times, and
generate a speed command according to the travel curve and the current position as recognized by the travel control device.
2. The traffic system according to claim 1 ,
wherein the limit information includes a sequence of each of the positions of the vehicle at the future times and a corresponding speed limit at said each of the positions of the vehicle at the future times.
3. The traffic system according to claim 1 ,
wherein the limit information includes only two representative speeds and two corresponding positions of the vehicle at two future times.
4. The traffic system according to claim 1 ,
wherein the speed limit curve is expressed as:
x
atp
(
v
)
=
x
b
-
(
v
2
-
v
b
2
)
2
β
-
vT
d
where x atp (v) is a speed limit position corresponding to a speed v,
x b is the speed limit start position corresponding to the deceleration completion speed v b ,
β is a guaranteed deceleration, and
T d is an idle running time.
5. A control method of a traffic system comprising a ground automatic train protection (ATP) device installed on a ground, an on-vehicle ATP device mounted on a vehicle, and a travel control device mounted on the vehicle, the method comprising:
causing the ground ATP device to transmit a speed limit start position to the on-vehicle ATP device;
causing the on-vehicle ATP device to output limit information, based on
the speed limit start position acquired from the ground ATP device, and
a predetermined deceleration completion speed to be achieved at the speed limit start position,
wherein the limit information corresponds to a speed limit curve indicating
positions of the vehicle at future times, and
corresponding speed limits at the positions of the vehicle at the future times,
wherein the positions of the vehicle at the future times are relative positions with respect to a reference position,
wherein the reference position is based on
a margin of maximum position error, and
a current position of the vehicle as recognized by the on-vehicle ATP device;
causing the travel control device to acquire the limit information from the on-vehicle ATP device;
causing the travel control device to acquire a current speed of the vehicle;
causing the travel control device to acquire a current position of the vehicle as recognized by the travel control device, based on
the speed limit start position, and
the current speed of the vehicle;
causing the travel control device to generate a travel curve, based on the limit information, the current position of the vehicle as recognized by the travel control device, and the current speed, wherein the travel curve indicates
the positions of the vehicle at the future times, and
corresponding target speeds at the positions of the vehicle at the future times, wherein the target speeds do not exceed the speed limits at the corresponding positions of the vehicle at the future times; and
causing the travel control device to generate a speed command according to the travel curve and the current position as recognized by the travel control device.
6. A non-transitory storage medium that stores a program for causing a computer in a traffic system comprising a ground automatic train protection (ATP) device installed on a ground, an on-vehicle ATP device mounted on a vehicle, and a travel control device mounted on the vehicle, to perform:
causing the ground ATP device to transmit a speed limit start position to the on-vehicle ATP device;
causing the on-vehicle ATP device to output limit information, based on
the speed limit start position acquired from the ground ATP device, and
a predetermined deceleration completion speed to be achieved at the speed limit start position,
wherein the limit information corresponds to a speed limit curve indicating
positions of the vehicle at future times, and
corresponding speed limits at the positions of the vehicle at the future times
wherein the positions of the vehicle at the future times are relative positions with respect to a reference position,
wherein the reference position is based on
a margin of maximum position error, and
a current position of the vehicle as recognized by the on-vehicle ATP device;
causing the travel control device to acquire the limit information from the on-vehicle ATP device;
causing the travel control device to acquire a current speed of the vehicle;
causing the travel control device to acquire a current position of the vehicle as recognized by the travel control device, based on
the speed limit start position, and
the current speed of the vehicle;
causing the travel control device to generate a travel curve, based on the limit information, the current position of the vehicle as recognized by the travel control device, and the current speed, wherein the travel curve indicates
the positions of the vehicle at the future times, and
corresponding target speeds at the positions of the vehicle at the future times, wherein the target speeds do not exceed the speed limits at the corresponding positions of the vehicle at the future times; and
causing the travel control device to generate a speed command according to the travel curve and the current position as recognized by the travel control device.