| 摘要 |
PROBLEM TO BE SOLVED: To reduce a stop position error even if an estimation model of an automatic train operation system has an error. SOLUTION: This automatic train operation system 11 generates a fixed position stop plan when the fixed position stop control is started and repeats reconsideration of the plan with a short period approximately same as a control period while a train is traveling to eliminate the influence of an estimation model error before the influence is enlarged and reduces a stop position error. Further, a brake torque is estimated and a brake torque value of the estimation model is corrected to reduce the estimation model error and the stop position error is reduced. In addition, if approximately same estimation values of the stop position error are obtained every time when the stop position error is estimated according to the stop plan reconsidered in the previous control period, a stop target position is shifted in a reverse direction by the distance corresponding to the stop position error to reduce the actual stop position error.
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