U.S. patent number 3,774,025 [Application Number 05/158,341] was granted by the patent office on 1973-11-20 for vehicle control system.
This patent grant is currently assigned to General Signal Corporation. Invention is credited to Robert F. Anderson, John H. Auer, Jr., Henry C. Sibley.
United States Patent |
3,774,025 |
Auer, Jr. , et al. |
November 20, 1973 |
VEHICLE CONTROL SYSTEM
Abstract
The control system governs the operation of a vehicle along the
right-of-way which is divided into a plurality of zones and has
control means for governing safe operation of the vehicles in
accordance with traffic conditions. The improvement comprises means
on the vehicle for demarcating the ends thereof and wayside located
check-in means at entering boundaries of each zone responsive to
the passage of the front end of the vehicle which provides the
check-in signal. Wayside located check-out means beyond the
check-in means at exit boundaries of each zone providing an overlap
zone between zone boundaries, and is responsive to the passage of
the rear end of the vehicle. The check-in marker provides the
check-out signal while clearing the previous zone only provided the
check-in signal is received. A speed selector is located in the
overlap zone enabled by the check-in signal for communicating a
selected speed limit to the vehicle only within each of said
overlap zones.
Inventors: |
Auer, Jr.; John H. (Fairport,
NY), Sibley; Henry C. (Adams Basin, NY), Anderson; Robert
F. (Rochester, NY) |
Assignee: |
General Signal Corporation
(Rochester, NY)
|
Family
ID: |
22567686 |
Appl.
No.: |
05/158,341 |
Filed: |
June 30, 1971 |
Current U.S.
Class: |
246/63A;
246/187B; 246/122R |
Current CPC
Class: |
B61L
3/121 (20130101) |
Current International
Class: |
B61L
3/00 (20060101); B61L 3/12 (20060101); B61l
003/12 () |
Field of
Search: |
;246/63A,63R,63C,34R,187B,91,182C ;324/166,173,174,175,176
;180/98 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Forlenza; Gerald M.
Assistant Examiner: Libman; George H.
Claims
We claim:
1. A control system for governing the operation of a vehicle along
a right-of-way divided into a plurality of zones and having control
means for governing safe operation of vehicles in accordance with
traffic conditions wherein the improvement comprises:
a. means on the vehicle for demarcating the ends thereof;
b. an overlap zone located in the ends of each zone and formed by
adjacent zones overlapping one another, wherein the boundaries of
said overlap zone are defined by the boundaries of the adjacent
zones;
c. wayside located check-in means at an entering boundary of each
zone and its corresponding overlap zone, said check-in means
responsive to the passage of the front end of the vehicle for
providing a check-in signal;
d. wayside located check-out means beyond each of said check-in
means and at an exit boundary of each zone and its corresponding
overlap zone, said check-out means responsive to the passage of the
rear end of the vehicle and the check-in means for the advance
block for providing a check-out signal, and for clearing the
previous zone only provided the check-in signal is received at the
wayside
e. speed selector means located in said overlap zone enabled by
said check-in signal for communicating a selected speed limit
signal to the vehicle only within each of said overlap zones along
the right-of-way; and
f. said speed selector means including a wayside loop for
transmitting the selected speed limit signals only when the vehicle
is in said overlap zones, and receiver means on the vehicle
responsive for providing governing signals in accordance with said
selected speed limit signals only until the next succeeding overlap
zone.
2. The control system according to claim 1 further including
inactive demarcating means located periodically along the
right-of-way establishing an indication of displacement as the
vehicle progresses and means on the vehicle responsive to said
de-marcating means for providing an output each time the
demarcating means is sensed with respect to time thereby providing
a sequence of signals representative of vehicle speed.
3. The control system according to claim 2 wherein said demarcating
means comprises:
first and second sets of markers located along the right-of-way
having a distinctive code frequency of occurrence for each
alternate zone for establishing alternating sets of control markers
as the vehicle progresses from one zone to the next.
4. The control system according to claim 3 including: reader means
responsive to each of said first and said second sets of markers
for conditioning the receiver response, to each alternate code
frequency; and means responsive to said reader means and said
wayside loop for providing a signal indicative of malfunction
unless the speed selection signals are received and the reader
means conditions said receiver, whereby the vehicle may proceed
from one overlap zone to the next without wayside control except in
said overlap zones.
5. The control system according to claim 2 wherein said means on
the vehicle responsive to said demarcating means comprises a speed
sensor for providing said signals representative of vehicle speed
and speed regulator means controlled in accordance with the speed
limit signals and the speed sensor signals for providing a control
output for governing vehicle propulsion.
6. The control system according to claim 5 further including: a
motion detector responsive to the output of the speed sensor for
providing outputs when the vehicle is in motion and a brake sensor
means responsive to the condition of vehicle brake parameters for
providing an output indicative thereof and door control means on
the vehicle responsive to the brake sensor means, the motion
detector, and the control signals from the wayside at selected
overlap zones for governing the operation of the doors on the
vehicle.
7. The control system according to claim 6 further including:
leveller means for governing the vertical position of the vehicle
relative to the right of way responsive to said brake sensor,
motion detector and control signals from the wayside at said
selected overlap zones, and said leveller provides a further output
for controlling said door control means.
8. The control system according to claim 5 further including:
inactive wayside marker means for providing indication when sensed
of selected stopping locations for the vehicle and profile
generator means responsive to said wayside markers for providing an
input to the speed regulator for modifying the output thereof for a
control precision stop.
Description
BACKGROUND OF INVENTION
The control system provided herein is operative to govern the
automatic operation of one of the newer types of guided vehicles
but may be applied to any railroad or street vehicle.
For certain applications a block signaling system is rather
effective to control the operation of railroad or other similar
vehicles, utilizing coded track circuits, radio remote control,
periodic inductive coupling, or wiggle wire transmission along the
rails or guideway. Many of these systems provide continuous control
while others, like the periodic inductive coupling, provide
intermittent control for checking. For such systems, block sections
may be relatively short, and require complex apparatus to assure
that a vehicle is where it must be for purposes of safety. Further,
speed checks must be maintained in order to assure that the vehicle
is not running beyond maximum speed limits provided for each
section.
It is necessary in many instances to include short blocks or zones
in areas near station platforms or where traffic is heavy and
headway requirements are short. However, in those areas where those
requirements are not so strict, for example, on express lines
between distant station locations, long blocks are preferable. The
system of course must be designed to operate in safe failure modes.
However, the requirements for wayside located control and checking
apparatus at frequent intervals may be costly and unnecessary.
It is therefore an object of the present invention to provide a
system which obviates one or more of the disadvantages of the
described prior arrangements.
It is also an object of the present invention to provide a system
for automatic control of a vehicle with infrequent and relatively
long wayside control and check locations.
SUMMARY OF INVENTION
There has been provided a control system which governs the
operation of a vehicle along the right-of-way which is divided into
a plurality of zones and has control means for governing safe
operation of vehicles in accordance with traffic conditions. The
improvement comprises means on the vehicle for demarcating its ends
and wayside located check-in means at an entering boundary of each
zone responsive to the passage of the front end of the vehicle for
providing a check-in signal. Wayside located check-out means is
placed beyond each of said check-in means at an exit boundary of
each zone for providing an overlap zone between zone boundaries and
is responsive to the passage of the rear end of the vehicle and the
check-in means for the advance block for providing a check-out
signal, and for clearing the previous zone only provided the
check-in signal is received. A speed selector means is located in
the overlap zone and is enabled by the check-in signal for
communicating a selected speed limit signal to the vehicle only
within each of said overlap zones within the right-of-way.
For a better understanding of the present invention, together with
other and further objects thereof, reference is directed to the
following description taken in connection with the accompanying
drawings, while its scope will be pointed out in the appended
claims.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a plan view showing of the system contemplated in the
present invention.
FIG. 2 is a block diagram showing vehicle carried equipment and
controls.
DESCRIPTION OF THE PREFERRED EMBODIMENT
In the present disclosure a vehicle V is proposed which rides in a
guideway GW including a linear induction motor rail. The system
may, of course, be a railroad or rubber-tired vehicle. In this
embodiment, an air cushion vehicle is contemplated; however, the
principles involved in control of the vehicle V would apply to any
convenient guideway system. The guideway GW is divided into blocks
or zones and a section thereof is shown including blocks A, B and
C. Each alternate block in this case, blocks A and C, have a code
marker noted code 1 impressed upon the rail of the guideway GW.
This code is some sort of periodic inert marker as perhaps a paint
strip or indentations on the guideway rail GW. A code 2 for block B
as an alternate block is also provided, and the vehicle has
apparatus for sensing the codes 1 and 2 and alternately switching
the response characteristics to the code available in accordance
with other restraints on the system. One reason for using two codes
would permit checking of the progress of the vehicle in a dynamic
manner.
It should be noted in the diagram of FIG. 1 that blocks A, B and C
overlap, that is, the check-out for block A is beyond the check-in
for block B. The vehicle V has check-in and check-out transmitters
respectively labelled 4 and 6 which cooperate with check-in and
check-out receivers 10 and 12 adjacent to the guideway GW. As the
front of the vehicle approaches check-in marker 10, the check-in
transmitter 4 provides a signal to junction box 14 associated
therewith. In this case, the vehicle V is in block A in approach of
block B. As the vehicle checks into block B, a signal is provided
at junction box 14 to loop 8 for providing a maximum speed limit
coded signal which is received on the vehicle. This speed limit
signal may be exceeded if the vehicle is braking sufficiently to
insure a safe speed at the exit of block B. As the rear of the
vehicle carrying check-out transmitter 6 passes check-out receiver
12, a signal is provided to junction box 14 for clearing occupancy
of block A. However, occupancy of block A cannot be cleared unless
block B is set at occupied. Therefore, a failure of either wayside
receiver 10 or 12, prevents the preceding block; namely A, to be
set clear which, of course, maintains protection of the vehicle V
from the rear.
Vehicles measure their own speed in this system by sensing the
uniform code patterns 1 and 2 impressed along the guideway GW. The
vehicle has means for generating a signal in accordance with the
passage of each of the impressions which make up the respective
codes and the frequency of this signal is a direct indication of
the actual speed. It should be noted that the junction boxes 14 are
coupled by a code transmission line C1 and also by that same line
to a central control computer 16. Thus, by using coded
transmission, signals may be transmitted along the entire route
from a central control location. This may be a two-wire system as
shown in the drawing, or more if necessary, however, it is
contemplated that a simple yet effective code communication be
established in order to avoid the frequent use of junction boxes
and associated circuitry along the guideway route.
FIG. 2 illustrates apparatus necessary for controlling the vehicle
V in accordance with signals from the wayside loop 8 and the code
markers 1 and 2 shown in FIG. 1. A guideway code reader 20 is
installed on the vehicle V which is operative to read either of the
codes 1 or 2 and provide a signal through a code switch 26 to speed
sensor 24. The code switch provides a signal to the speed sensor
over inputs 1 or 2 as shown in the drawing, if it is receiving one
of the codes, and the code switch 26 is activated for that code
reception. The speed sensor 24 provides an input to motion detector
30 which is utilized for checking purposes as later described in
the disclosure. An output of the motion detector 30 indicative of
the vehicle speed is impressed on an input of governor 32 which may
be one of many types now utilized in the art to hold off
application of an emergency brake control 36. A similar input is
also provided to speed regulator 34 which controls the service
brake unit 38 and a propulsion unit 40 which in this case is the
linear induction motor. The speed regulator 34 also receives an
input from a receiver and decoder 22 which is coupled to an
external antenna 18. The antenna picks up a signal from the wayside
loop 8 as it passes the overlap zone described with respect to FIG.
1 and transmits a signal to the governor 32 and the speed regulator
34. The governor compares the coded input from the motion detector
30 with the input from the decoder 22 and holds off emergency brake
application if the actual speed does not exceed the speed limit as
provided by the output from the wayside loop. Similarly, the speed
regulator controls the propulsion and service braking of the
vehicle V in accordance with the actual speed signal and the
maximum speed limit signal. A jerk control 44 provides a signal to
the propulsion system 40 and the service brake unit 38 for limiting
the rate of start-up and brake applications in order to provide a
more comfortable ride for passengers on the vehicle. The jerk
control is also responsive to the speed regulator which provides an
indication of vehicle operation in order to correct the output of
jerk control 44 for different vehicle speeds.
An accelerometer 50 provides inputs to the governor 32 the speed
regulator 34 in order to respectively delay emergency brake
applications if the vehicle is decelerating at a proper rate after
a speed limit change and also to provide an acceleration signal to
the speed regulator 34 in order to regulate more smoothly the
service and propulsion system operations.
A loop detector 28 is responsive to signals transmitted by the
wayside located transmitting loops 8 and provides an input to code
switch 26 each time a loop is sensed. This input initiates a switch
from one code to another because each time a loop is inserted, the
code on the guideway GW is changed and it enables the speed sensor
24 to respond to the appropriate code impressed on the guideway GW.
For example, if a malfunction occurs the system whereby the code
switch is inoperative, no code may be received by the sensor 24 and
thus a signal must be initiated for applying the emergency brakes.
So, not only must a code along the guideway be sensed by the code
receiver 20, but the code switch 26 must provide indication to
speed sensor 24 that this is a proper code for the block that the
vehicle occupies.
A profile generator 33 provides an input to the speed regulator 34
in response to an input from the wayside loop 8 for governing the
operation of the vehicle V along the specific route or within a
specific block, and in fact, may vary the optimum speed of the
vehicle as it proceeds through a block. This may be pre-programmed
in accordance with anticipated operating conditions along the
right-of-way when the system is initially set up.
The on-board profile generator 33 is also called into action when
activated by wayside markers 64 located at station stops for
regulating a precision stop. Registration of the vehicle in the
proper location is verified before the leveller 48 and doors are
permitted to be operated.
The loop detector 28 also couples a signal to door control 46
during station stopping to indicate that the signal has been
received from the wayside marker 64 and that the vehicle is
properly located at the desired location. The door control 46
receives an additional input from the receiver and decoder 32 which
is coupled over the wayside loop 8 from the junction box 14 for
initiating a door open command. An input from the motion detector
30 insures the door control 46 that the vehicle is not registering
speed, and a brake sensor 42 responsive to the service brake
apparatus 38 provides a signal to assure the door control that the
brakes are applied to a proper operating pressure. A leveller
apparatus 48 is actuated in accordance with signals from the
receiver 22, brake sensor 42 and motion detector 30 to remove
levitation of the vehicle upon command from the decoder 22 when
proper brake assurance is provided. When the leveller 48 has
completed its sequence, it initiates the final signal necessary to
operate the doors by completing the inputs to the door control
46.
The brake sensor 42 has an additional function to provide a delay
in the operation of the governor 32 such that if the vehicle
temporarily exceeds the maximum speed limit that is communicated
over the loop 8 the emergency brake application will be delayed as
long as sufficient brake application exists to slow the vehicle
down within the blocks. This delay assures that unnecessary
emergency brake applications are avoided whenever possible.
It is imperative to know what speed command a vehicle receives from
the wayside loop 8 at the overlap. When the vehicle enters the
overlap zone, it receives a signal from the wayside loop through
the antenna 18 to loop detector 28. This signal, however, is
conditioned so that it is transmitted by the wayside loop only
after the vehicle has caused the block in advance to show
occupancy. Failure of the vehicle to switch the pattern of code
switch 26 over loop detector 28 either as a result of the failure
to check into the advanced block or because of a failure to receive
the signal on board the vehicle results in the vehicle losing the
code pattern 1 or 2. Under these conditions, therefore, a failure
of the vehicle to receive both the speed limit signal from the loop
8 or the coded signal from the code reader 20 results in a
malfunction condition whereby a mandatory emergency braking is
initiated.
When the vehicle moves into the advance block sufficiently such
that its rear passes over the check-out receiver 12, check-out
transmitter provides a signal to initiate activation of a clear
signal for the preceding block. Once the vehicle has been enabled
to receive the selected code present on the rail GW, the vehicle
propulsion system and service braking 30 and 48, respectively, are
operative to govern the vehicle speed until it reaches the next
overlap zone. The speed limit of a zone that the vehicle occupies
is such, that the following vehicle arrives at the overlap zone at
a speed from which it can stop within that overlap. The length of
the overlap is selected to accommodate the maximum speed selected
for the preceding block. Upon entering an overlap zone for a block
occupied in advance of a following vehicle, the vehicle receives a
ZERO speed limit command and is required to stop within the
overlap, so that it may be in a position to receive a new speed
signal when the advance block becomes clear.
A two-way radio is provided for transmission over antenna 60 for
linking the control center 16 with each vehicle. Information from a
recorder 15 may also be transmitted over the radio 52 for providing
information as to the operation of certain vehicle systems which
may be critical to the safety of the operation of the transit
operation in general. Further, the signal transmitted to the
control center is analyzed and a permanent record is generated in
the form of a printed format.
While there has been described what at present is considered to be
the preferred embodiment of the present invention, it will be
obvious to those skilled in the art that various changes and
modifications may be made therein without departing from the
invention, and it is therefore aimed in the appended claims to
cover all such changes and modifications as fall within the true
spirit and scope of the invention.
* * * * *