TRAVELING ASSISTANT SYSTEM FOR VEHICLES WITHOUT CONTACT WIRE

• US 20120116642A1
• Filed: 08/24/2010
• Published: 05/10/2012
• Est. Priority Date: 12/17/2009
• Status: Active Grant

• Current Assignee: Mitsubishi Heavy Industries Engineering, Ltd. (Mitsubishi Heavy Industries, Ltd.)
• Original Assignee: Mitsubishi Heavy Industries, Ltd.
• Inventors: Kono, Takayuki, Morita, Katsuaki, Mitake, Masaya, Kawamura, Takeya
• Granted Patent: US 8,781,704 B2
• Time in Patent Office: Days
• US Class Current: 701/93
• CPC Class Codes: B61L 15/0058 On-board optimisation of vehicle or vehicle train operation
• CPC Class Codes: B61L 27/16 Trackside optimisation of vehicle or train operation

Abstract

The present invention includes a memory means 23 which stores traveling schedule information of a vehicle without a contact wire, information on a next station located on a traveling interval and information about a plurality of traffic lights on the traveling interval temporarily, and a velocity pattern calculation means 3 for calculating a velocity pattern of the vehicle based on the traveling schedule information, the information on the next station and the information about the plurality of the traffic lights, wherein the velocity pattern calculation means 3 calculates such a velocity pattern which satisfies conditions that the vehicle is never stopped at a first traffic light, that when the vehicle departs from a current stop station, the vehicle is accelerated at an constant acceleration a and that after the acceleration, the vehicle travels at a constant first velocity V₁.

Claims

1. A traveling assistant system for a vehicle without a contact wire, the traveling assistant system being configured to calculate a velocity pattern in a traveling interval from a current stop station to a next station, the traveling assistant system comprising:

a memory means which previously stores traveling schedule information of the vehicle, information on the next station located on the traveling interval, and information about a plurality of traffic lights on the traveling interval; and

a velocity pattern calculation means which calculates a velocity pattern of the vehicle based on the traveling schedule information, the information on the next station, and the information about the plurality of the traffic lights,

wherein when calculating the velocity pattern in an interval from the current stop station to a first traffic light of the plurality of traffic lights, the velocity pattern calculation means calculates a velocity pattern which satisfies conditions that the vehicle is never stopped at the first traffic light, that the vehicle accelerates at an constant acceleration when the vehicle departs from the current stop station, and that after the acceleration, the vehicle travels at a constant first velocity, and

wherein the first velocity is calculated based on a traveling time taken from the current stop station to the first traffic light when the vehicle travels at a maximum velocity, a traveling time taken from the current stop station to the first traffic light calculated considering the traveling schedule information, a traveling distance from the current stop station to the first traffic light, information on the first traffic light, and the constant acceleration.

2. The traveling assistant system for the vehicle without the contact wire according to claim 1, wherein assuming that the vehicle travels at a maximum velocity, the velocity pattern calculation means determines whether or not the vehicle is stopped at the first traffic light,

wherein when it is determined that the vehicle is stopped at the first traffic light, the first velocity is calculated based on the following first relational expression and third relational expression, and

wherein when it is determined that the vehicle can pass without being stopped at the first traffic light, the first velocity is calculated based on the following second relational expression and third relational expression,

t_w=(t_target−

t_s)+t_m1  

 

First relational expression

t_w=(t_limit−

t_s)+t_m1  

 

Second relational expression

t_w=L_w/V₁+V₁/2a,  

 

Third relational expression

where V₁ is the first velocity, a is constant acceleration, t_w is a traveling time taken from the current stop station to the first traffic light, t_s is a departure time from the current stop station, t_target is a time when the first traffic light changes from red to green the next time, t_limit is a time when the first traffic light changes from green to red the next time, t_m1 is a margin for the traveling time t_x, and L_w is a traveling distance from the current stop station to the first traffic light.

3. The traveling assistant system for the vehicle without the contact wire according to claim 1, wherein when calculating a velocity pattern in an interval between the first traffic light and a second traffic light located next of the plurality of traffic lights, the velocity pattern calculation means calculates a velocity pattern which satisfies conditions that the vehicle is never stopped at the second traffic light, that the vehicle is accelerated or decelerated at an constant acceleration after the vehicle passes the first traffic light, that the acceleration and deceleration at the constant acceleration are limited to a single time or less, and that the vehicle travels at a constant second velocity after the acceleration or the deceleration, and

wherein the second velocity is calculated based on a traveling time taken from the first traffic light to the second traffic light when the vehicle travels at a maximum velocity, a traveling time taken from the first traffic light to the second traffic light calculated considering the traveling schedule information, a traveling distance from the first traffic light to the second traffic light, information on the second traffic light, and the constant acceleration.

4. The traveling assistant system for the vehicle without the contact wire according to claim 3, wherein assuming that the vehicle travels at the maximum velocity, the velocity pattern calculation means determines whether or not the vehicle is stopped at the second traffic light,

wherein when it is determined that the vehicle is stopped at the second traffic light, the second velocity is calculated based on the following fourth relational expression and sixth relational expression, and

wherein when it is determined that the vehicle can pass the second traffic light without being stopped at the second traffic light, the second velocity is calculated based on the following fifth relational expression and sixth relational expression,

t_x=(t_target−

t_g1)+t_m2  

 

Fourth relational expression

t_x=(t_limit−

t_g1)+t_m2  

 

Fifth relational expression

t_x=L_x/V₂+(V₂−

V_o)²/2aV₂,  

 

Sixth relational expression

where V₂ is the second velocity, a is constant acceleration, V_o is a velocity when the vehicle passes the first traffic light, t_x is a traveling time taken from the first traffic light to the second traffic light, t_g1 is a time when the vehicle passes the first traffic light, t_target is a time when the second traffic light changes from red to green the next time, t_limit is a time when the second traffic light changes from green to red the next time, t_m2 is a margin for the traveling time t_x, and L_x is a traveling distance from the first traffic light to the second traffic light.

5. The traveling assistant system for the vehicle without the contact wire according to claim 1, wherein when calculating a velocity pattern in an interval between the last traffic light of the plurality of traffic lights and the next station, the velocity pattern calculation means calculates a velocity pattern which satisfies conditions that the vehicle is decelerated at an constant acceleration before the vehicle arrives at the next station, and that before decelerating, the vehicle travels constantly at a third velocity when the vehicle passes the last traffic light,

wherein the third velocity is calculated based on a traveling time taken from the last traffic light to the next station calculated considering the traveling schedule information, a traveling distance from the last traffic light to the next station, and the constant acceleration.

6. The traveling assistant system for the vehicle without the contact wire according to claim 5, wherein the third velocity is calculated based on the following seventh relational expression and eighth relational expression,

t_y=(t_g−

t_g2)+t_m3  

 

Seventh relational expression

t_y=L_y/V₃+V₃/2a,  

 

Eighth relational expression

where V₃ is the third velocity, a is constant acceleration, t_y is a traveling time taken from the last traffic light to the next station, t_g is an arrival time at the next station, t_g2 is a time when the vehicle passes the last traffic light, t_m3 is a margin for the traveling time t_y, and L_y is a traveling distance from the last traffic light to the next station.

7. The traveling assistant system for the vehicle without the contact wire according to claim 1, the traveling assistant system further comprising a detection means which detects a position and velocity of the vehicle traveling currently,

wherein the velocity pattern calculation means is configured to correct the first to third velocities based on a current position and the velocity of the vehicle detected by the detection means.

9. The traveling assistant system for the vehicle without the contact wire according to claim 7, wherein the fourth velocity is calculated based on the following ninth relational expression and tenth relational expression,

t_z=(t_g−

t_s)+t_m4  

 

Ninth relational expression

t_z=L_z/V₄+V₄/a,  

 

Tenth relational expression

where V₄ is the fourth velocity, a is constant acceleration, t_z is a traveling time taken from the current stop station to the next station, t_g is an arrival time at the next station, t_s is a departure time from the current stop station, t_m4 is a margin for the traveling time t_z, and L_z is a traveling distance from the current stop station to the next station.

10. The traveling schedule system for the vehicle without the contact wire according to claim 1, further comprising a detection means which detects a position and velocity of the vehicle traveling currently,

wherein the velocity pattern calculation means is configured to correct the fourth velocity based on a current position and the velocity of the vehicle detected by the detection means.

11. The traveling assistant system for the vehicle without the contact wire according to claim 2, wherein when calculating a velocity pattern in an interval between the first traffic light and a second traffic light located next of the plurality of traffic lights, the velocity pattern calculation means calculates a velocity pattern which satisfies conditions that the vehicle is never stopped at the second traffic light, that the vehicle is accelerated or decelerated at an constant acceleration after the vehicle passes the first traffic light, that the acceleration and deceleration at the constant acceleration are limited to a single time or less, and that the vehicle travels at a constant second velocity after the acceleration or the deceleration, and

wherein the second velocity is calculated based on a traveling time taken from the first traffic light to the second traffic light when the vehicle travels at a maximum velocity, a traveling time taken from the first traffic light to the second traffic light calculated considering the traveling schedule information, a traveling distance from the first traffic light to the second traffic light, information on the second traffic light, and the constant acceleration.

12. The traveling assistant system for the vehicle without the contact wire according to claim 11, wherein assuming that the vehicle travels at the maximum velocity, the velocity pattern calculation means determines whether or not the vehicle is stopped at the second traffic light,

wherein when it is determined that the vehicle is stopped at the second traffic light, the second velocity is calculated based on the following fourth relational expression and sixth relational expression, and

wherein when it is determined that the vehicle can pass the second traffic light without being stopped at the second traffic light, the second velocity is calculated based on the following fifth relational expression and sixth relational expression,

t_x=(t_target−

t_g1)+t_m2  

 

Fourth relational expression

t_x=(t_limit−

t_g1)+t_m2  

 

Fifth relational expression

t_x=L_x/V₂+(V₂−

V_o)²/2aV₂,  

 

Sixth relational expression

where V₂ is the second velocity, a is constant acceleration, V_o is a velocity when the vehicle passes the first traffic light, t_x is a traveling time taken from the first traffic light to the second traffic light, t_g1 is a time when the vehicle passes the first traffic light, t_target is a time when the second traffic light changes from red to green the next time, t_limit is a time when the second traffic light changes from green to red the next time, t_m2 is a margin for the traveling time t_x, and L_x is a traveling distance from the first traffic light to the second traffic light.

13. The traveling assistant system for the vehicle without the contact wire according to claim 2, wherein when calculating a velocity pattern in an interval between the last traffic light of the plurality of traffic lights and the next station, the velocity pattern calculation means calculates a velocity pattern which satisfies conditions that the vehicle is decelerated at an constant acceleration before the vehicle arrives at the next station, and that before decelerating, the vehicle travels constantly at a third velocity when the vehicle passes the last traffic light,

wherein the third velocity is calculated based on a traveling time taken from the last traffic light to the next station calculated considering the traveling schedule information, a traveling distance from the last traffic light to the next station, and the constant acceleration.

14. The traveling assistant system for the vehicle without the contact wire according to claim 3, wherein when calculating a velocity pattern in an interval between the last traffic light of the plurality of traffic lights and the next station, the velocity pattern calculation means calculates a velocity pattern which satisfies conditions that the vehicle is decelerated at an constant acceleration before the vehicle arrives at the next station, and that before decelerating, the vehicle travels constantly at a third velocity when the vehicle passes the last traffic light,

wherein the third velocity is calculated based on a traveling time taken from the last traffic light to the next station calculated considering the traveling schedule information, a traveling distance from the last traffic light to the next station, and the constant acceleration.

15. The traveling assistant system for the vehicle without the contact wire according to claim 4, wherein when calculating a velocity pattern in an interval between the last traffic light of the plurality of traffic lights and the next station, the velocity pattern calculation means calculates a velocity pattern which satisfies conditions that the vehicle is decelerated at an constant acceleration before the vehicle arrives at the next station, and that before decelerating, the vehicle travels constantly at a third velocity when the vehicle passes the last traffic light,

wherein the third velocity is calculated based on a traveling time taken from the last traffic light to the next station calculated considering the traveling schedule information, a traveling distance from the last traffic light to the next station, and the constant acceleration.

16. The traveling assistant system for the vehicle without the contact wire according to claim 11, wherein when calculating a velocity pattern in an interval between the last traffic light of the plurality of traffic lights and the next station, the velocity pattern calculation means calculates a velocity pattern which satisfies conditions that the vehicle is decelerated at an constant acceleration before the vehicle arrives at the next station, and that before decelerating, the vehicle travels constantly at a third velocity when the vehicle passes the last traffic light,

wherein the third velocity is calculated based on a traveling time taken from the last traffic light to the next station calculated considering the traveling schedule information, a traveling distance from the last traffic light to the next station, and the constant acceleration.

17. The traveling assistant system for the vehicle without the contact wire according to claim 12, wherein when calculating a velocity pattern in an interval between the last traffic light of the plurality of traffic lights and the next station, the velocity pattern calculation means calculates a velocity pattern which satisfies conditions that the vehicle is decelerated at an constant acceleration before the vehicle arrives at the next station, and that before decelerating, the vehicle travels constantly at a third velocity when the vehicle passes the last traffic light,

wherein the third velocity is calculated based on a traveling time taken from the last traffic light to the next station calculated considering the traveling schedule information, a traveling distance from the last traffic light to the next station, and the constant acceleration.

18. The traveling assistant system for the vehicle without the contact wire according to claim 13, wherein the third velocity is calculated based on the following seventh relational expression and eighth relational expression,

t_y=(t_g−

t_g2)+t_m3  

 

Seventh relational expression

t_y=L_y/V₃+V₃/2a,  

 

Eighth relational expression

where V₃ is the third velocity, a is constant acceleration, t_y is a traveling time taken from the last traffic light to the next station, t_g is an arrival time at the next station, t_g2 is a time when the vehicle passes the last traffic light, t_m3 is a margin for the traveling time t_y, and L_y is a traveling distance from the last traffic light to the next station.

19. The traveling assistant system for the vehicle without the contact wire according to claim 14, wherein the third velocity is calculated based on the following seventh relational expression and eighth relational expression,

t_y=(t_g−

t_g2)+t_m3  

 

Seventh relational expression

t_y=L_y/V₃+V₃/2a,  

 

Eighth relational expression

where V₃ is the third velocity, a is constant acceleration, t_y is a traveling time taken from the last traffic light to the next station, t_g is an arrival time at the next station, t_g2 is a time when the vehicle passes the last traffic light, t_m3 is a margin for the traveling time t_y, and L_y is a traveling distance from the last traffic light to the next station.

20. The traveling assistant system for the vehicle without the contact wire according to claim 15, wherein the third velocity is calculated based on the following seventh relational expression and eighth relational expression,

t_y=(t_g−

t_g2)+t_m3  

 

Seventh relational expression

t_y=L_y/V₃+V₃/2a,  

 

Eighth relational expression

where V₃ is the third velocity, a is constant acceleration, t_y is a traveling time taken from the last traffic light to the next station, t_g is an arrival time at the next station, t_g2 is a time when the vehicle passes the last traffic light, t_m3 is a margin for the traveling time t_y, and L_y is a traveling distance from the last traffic light to the next station.

8. A traveling assistant system for a vehicle without a contact wire, the traveling assistant system being configured to calculate a velocity pattern in a traveling interval from a current stop station to a next station, the traveling assistant system comprising:

a memory means which previously stores traveling schedule information of the vehicle and information on a next station located on the traveling interval; and

a velocity pattern calculation means which calculates a velocity pattern of the vehicle based on the traveling schedule information and the information on the next station,

wherein when calculating a velocity pattern in an interval between the current stop station and the next station, the velocity pattern calculation means calculates a velocity pattern which satisfies conditions that when the vehicle departs from the current stop station and when the vehicle arrives at the next station, the vehicle is accelerated or decelerated at an constant acceleration, and that the vehicle travels at a constant fourth velocity between acceleration and deceleration, and

wherein the fourth velocity is calculated based on a traveling time taken from the current stop station to the next station calculated considering the traveling schedule information, a traveling distance from the current stop station to the next station, and the constant acceleration.