JP2011045168A - Train control system and train control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a train control system and a train control method for improving the riding comfort of a train and improving safety by preventing repetitive acceleration and deceleration of the train. <P>SOLUTION: The automatic train operation system 4 is configured so that if a receiving means provided on an ATC on-vehicle device 3 receives a forward prediction detecting signal obtained, when the signal aspect speed of a subsequent block section is smaller than the signal aspect speed of the block section where the train currently exists; and when the signal aspect speed of the block section where the train currently exists becomes larger because a preceding train runs, a drive/braking device 8 is controlled at a constant speed so as to maintain the train speed obtained from the speed detecting means 6, in a range that does not exceed the signal aspect speed from the ATC on-vehicle device 3. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a train control device and a train control method.

A Shinkansen train or a route that performs high-density operation in the suburbs of large cities is equipped with an ATC device (automatic train control device) from the viewpoint of operational security. This device compares the speed limit information obtained from the ATC ground device via the rail with the train speed obtained from the pulse information of the speed generator, etc., and the train speed is the speed limit (hereinafter referred to as the signal display speed). Is exceeded, the service maximum brake command is output to the train driving / braking device, and the train speed is controlled to be lower than the signal display speed.

As this control method, for example, as described in JP-A-5-76107, a speed deviation between the signal display speed of the ATC device and the train speed is calculated, and the speed deviation is compared with a set value. There are some which control train speed by selecting one of constant speed control, acceleration control and brake control.

On the other hand, in recent years, an ATO device (automatic train operation device) operating under such an ATC device has become widespread.

As described in, for example, Japanese Patent Application Laid-Open No. 6-284519, this device is based on permanent speed limit information set in accordance with the gradient and curve of the route, within a range not exceeding the signal display speed of the ATC device. Create and set a target pattern, calculate the power running (acceleration) / brake command by comparing the set target speed pattern and the train speed, and adjust the train speed by giving it to the train driving / braking device , Train automatic operation.

JP-A-5-76107 JP-A-6-284519

However, when train operation becomes dense, such as during morning and evening rush hours, the interval between trains is shortened, and when the preceding train is delayed, the following train further approaches the preceding train. In the ATC device, in order to prevent collision between trains, a plurality of blocked sections with different signal display speeds of a predetermined length are provided, and subsequent trains cannot enter the closed section immediately after the preceding train. As the distance from the preceding train increases, the signal display speed in the closed section gradually increases.

For example, referring to FIG. 6, in (A), when a preceding train is present in the next three blocked sections, the signal display speed in the next blocked section is closer to the preceding train. To be smaller. After that, as shown in (B), when the preceding train advances and moves to the fourth blocked section, the distance from the preceding train is increased, so the signal display speed of the existing blocked section increases. The ATO device accelerates by performing power running control of the train speed according to the signal display speed. After that, when moving to the next blockage section as shown in (C), the preceding train is in the three blockage section ahead and approaches the preceding train more, so the signal display speed in the blockage section is small. Become. Therefore, the ATO device performs deceleration control of the train speed according to the signal display speed, and the ATO device decelerates rapidly by the ATC brake. After that, as shown in (D), when the preceding train advances and moves to the next blocked section, the distance from the preceding train increases, so the signal display speed of the blocked section that is on the line increases. The ATO device accelerates by performing power running control of the train speed according to the signal display speed.

Thus, when the preceding train is delayed, such as during morning and evening rush hours, the ATO device repeats power running control and brake control of the train speed according to the signal display speed of the ATC device, for example, as shown in FIG. For this reason, there is a possibility that a large jerk (jerk acceleration) occurs and the ride comfort of the train is deteriorated, resulting in an accident such as a passenger falling.

It is an object of the present invention to provide a train control device and a train control method that suppress the repetition of acceleration and deceleration, improve the riding comfort of a train, and improve safety even when a delay or the like of a preceding train occurs. And

  In order to achieve the above object, the first invention includes a speed detecting means for detecting the speed of a train, a position detecting means for detecting the position of the train, and a plurality of signal display speeds that differ based on the position of the preceding train. An ATC device that includes a blockage section and performs brake control when the train speed in the blockage section that is present exceeds the signal display speed in the blockage section, and the signal display speed in each of the plurality of blockage sections included in the ATC device Storage means for storing the maximum value and the blockage length, receiving means for receiving a forward notice signal when the signal display speed in the next blockage section is smaller than the signal display speed in the blockage section in the line, and reception When the signal display speed of the blockage section where the forward notice signal is received by the means and the current train is increased due to the advance of the preceding train increases, the signal display speed of the ATC device reaches the exit of the blockage section. Without exceeding, characterized by comprising a control means for performing constant-speed control to maintain the train speed obtained by the speed detecting means.

  Further, the second invention comprises a speed detection means for detecting the speed of the train, a position detection means for detecting the position of the train, and a plurality of closed sections with different signal display speeds based on the position of the preceding train, The ATC device that performs brake control when the train speed in the blocked section where it is present exceeds the signal display speed in the blocked section, and the maximum value and blockage of the signal display speed in each of the plurality of blocked sections included in the ATC device Based on the storage means for storing the length, the distance from the train position by the position detection means to the exit of the blockage section that is on the line, and the train speed by the speed detection means, the estimated time to reach the exit of the blockage section that is on the line When the predicted time calculated by the calculation means is smaller than a preset reference time, the signal display speed of the ATC device is not exceeded until the exit of the blockage section. The constant speed control is performed so as to maintain the train speed obtained by the speed detection means, and when the predicted time is equal to or longer than the reference time, the signal display speed of the ATC device is increased to the exit of the closed section. Control means for controlling the train speed with the increased signal display speed as a target within a range that does not exceed the range.

  Further, the third invention comprises a speed detecting means for detecting the speed of the train, a position detecting means for detecting the position of the train, and a plurality of closed sections having different signal display speeds based on the position of the preceding train, Stores the ATC device that performs brake control when the train speed in the blockage section that is present exceeds the signal display speed in the blockage section, and the signal display speed and blockage length in each of the plurality of blockage sections included in the ATC device Based on the distance from the train position by the position detection means to the exit of the closed section where the line is located and the train speed by the speed detection means, the predicted time until reaching the exit of the closed section where the line is located is calculated. Based on the signal display speed in the respective blockage sections stored in the calculation means and the storage means, the signal display in the next blockage section than the signal display speed in the blockage section in the line When the degree is smaller, when the predicted time calculated by the calculation means is smaller than the preset reference time, the train speed is controlled with the signal display speed of the next closed section as a target, and the predicted time Control means for controlling the train speed as a signal display speed target for the blockage section that is present when the reference time is exceeded is provided.

  In addition, the fourth invention sets a plurality of blocked sections with different speed limits based on the position of the preceding train, and when the signal display speed of the blocked section where the own train is located increases due to the progress of the preceding train, Presence / absence of a forward warning signal obtained when the signal display speed of the next blockage section is lower than the signal display speed of the blockage section where the own train is present, or reach the exit of the blockage section where the own train is present The train speed is controlled by selecting one of the constant speed control, power running control, and brake control of the own train based on the time until it is completed.

  ADVANTAGE OF THE INVENTION According to this invention, the train control apparatus and train control method which can improve the riding comfort of a train and can improve safety | security can be provided.

The block diagram of the train control apparatus which shows Example 1 of this invention. The figure for demonstrating operation | movement of the train control apparatus of FIG. The figure for demonstrating operation | movement of the train control apparatus of Example 2 of this invention. Detailed explanatory drawing of FIG. Detailed explanatory drawing for demonstrating operation | movement of the train control apparatus of Example 3 of this invention. The figure for demonstrating operation | movement of the ATC apparatus in the conventional train control apparatus. The figure for demonstrating operation | movement of the conventional train control apparatus.

[Example 1]
Hereinafter, the train control apparatus of Example 1 based on this invention is demonstrated with reference to FIG. FIG. 1 is a configuration diagram illustrating a train control device according to an embodiment of the present invention.

In the figure, a vehicle 1 is provided with a train control device 2 and a drive / brake device 8 for driving / braking a train based on a power running / brake command from the train control device 2. The wheel is driven / brake by the braking device 8 and travels on the rail 11.

On the other hand, the train control device 2 includes an ATC on-board device 3, an automatic driving device (hereinafter referred to as an ATO device) 4, a storage unit 5, a speed detection unit 6, and a position detection unit 7. When receiving the signal indication speed information transmitted from the ATC ground device (not shown) via the rail 11, the ATC on-board device 3 determines the signal indication speed and the train speed obtained from the speed detection means 6. In comparison, when the train speed exceeds the signal display speed, a brake command is output to the driving / braking device 8.
The ATO device 4 outputs a power running / brake command to the driving / braking device 8 under the ATC on-board device, and is a train position obtained from the position detecting means 7 that receives the information from the ground marker 9. In addition to the information, the storage means 5 is referred to based on the speed information of the speed detection means 6 (for example, the count value of the speed generator pulse) and the travel distance of the train obtained by integrating the speed information. The stored permanent speed limit data at the train position is acquired, and the train is run while being compared with the speed limit based on the ATC signal.

On the other hand, the storage means 5 also stores signal display speed information and blockage length (blockage interval distance) of each blockage section. That is, the signal display speed of the blockage section that is present changes according to the distance from the preceding train. As an example, the maximum value (normal value) is 60 km / h when there is no preceding train in the closed section up to six ahead of the existing closed section, and 50 km when there is a preceding train in the fifth closed section The time is successively reduced as / h, and 20 km / h is set when the preceding train is in the second blocked section, and 0 (stop signal is displayed) when the preceding train is in the next blocked section. Accordingly, the signal display speed information in each block section stored in the storage unit 5 is, for example, a maximum value (normal value) or a speed change pattern.

Furthermore, the ATO device 4 of the first embodiment is a receiving means provided in the ATC on-board device 3, for example, and when the signal display speed of the next blockage section is smaller than the signal display speed of the next blockage section. A train obtained from the speed detection means 6 within a range that does not exceed the signal display speed when the obtained front warning signal is received and the signal display speed of the blockage section that is in line is increased by the advance of the preceding train. The constant speed control of the driving / braking device 8 is performed so as to maintain the speed.

Next, a specific train control operation of the train control device according to the first embodiment will be described with reference to FIG. FIG. 2 is a diagram for explaining the operation of the train control apparatus according to the first embodiment of the present invention.

According to the same figure, in (A), when the preceding train is present in the next three blocked sections, the signal display speed in the next blocked section becomes smaller because it approaches the preceding train. After that, as shown in (B), when the preceding train advances and moves to the next blocked section, because the distance from the preceding train is increased, the signal display speed of the blocked section that is on the line increases. Since the receiving means provided in the ATC on-board device 3 receives the forward notice signal, the ATO device 4 performs constant speed control so as to maintain the current train speed. After that, when moving to the next blockage section as shown in (C), the preceding train is in the three blockage section ahead and approaches the preceding train more, so the signal display speed in the blockage section is small. However, as shown in (B), since the train speed is controlled at a constant speed, the ATC brake is not applied because the signal display speed in the closed section is not exceeded. On the other hand, the ATO device 4 performs constant speed control so as to continue to maintain the current train speed in a range that does not exceed the signal display speed in the closed section. After that, as shown in (D), when the preceding train advances and moves to the fourth blocked section, the distance from the preceding train increases, so the signal display speed of the blocked section that is on the line increases. Since the receiving means provided in the ATC on-board device 3 receives the forward notice signal, the ATO device 4 performs constant speed control so as to maintain the current train speed.

Thus, according to the train control device of the first embodiment, even when the preceding train is delayed, power running control and brake control are performed as in the conventional train control device as shown in FIG. By repeating the above, that is, by repeating acceleration and deceleration, it is possible to prevent the ride comfort from being deteriorated and to prevent an accident such as a passenger falling. Also, even when the preceding train is stopped, the ATC brake operation is performed from a relatively small train speed, so the jerk is smaller than the ATC brake operation from the power running (acceleration) control state, and the ride comfort is deteriorated. Can be suppressed.

In addition, about the control of the train speed in the ATO apparatus 4, it is not limited to the said Example. For example, referring to FIG. 3, even when the signal display speed V1 of the existing blockage section increases from V1 to V2 and a forward warning signal is received by the receiving means, the train speed v and the signal display are shown. From the relationship between the speeds V1 and V2, the train speed v may be controlled as follows.

(1) If v ≦ V1, power running (acceleration) control of the train speed v is performed with V1 as a target.

(2) If V1 <v ≦ V2, constant speed control is performed so as to maintain the train speed v.

(3) If v> V2, the brake (deceleration) control of the train speed v is performed with V2 as a target.

  Even if it does in this way, while a ride comfort does not worsen by repeating acceleration and deceleration, generation | occurrence | production of accidents, such as a passenger falling, can be prevented beforehand. Also, even when the preceding train is stopped, the ATC brake operation is performed from a relatively small train speed, so the jerk is smaller than the ATC brake operation from the power running (acceleration) control state, and the ride comfort is deteriorated. Can be suppressed.

Further, when the ATO device 4 performs the power running control, an output to the drive / brake device 8 is made so that the sum of the acceleration by the drive control for increasing the train speed and the acceleration by the gradient does not exceed a preset reference acceleration. The power running command may be suppressed or the power running command may be suppressed in accordance with the difference even when the difference between the signal display speed and the train speed in the existing closed section is small.

In this way, the ride comfort during powering control can be improved, and further the ride comfort of the train can be improved.

[Example 2]
When operating a train, it is necessary to improve the ride comfort of the train to improve safety and to suppress disturbance of the train schedule.

  For this reason, in the ATO device 4 in the second embodiment with respect to the train control device in FIG. 1, the distance from the train position detected by the position detection means 7 to the exit of the closed section existing in the line will be described with reference to FIG. 3. l is obtained, and the distance t is divided by the train speed v detected by the speed detecting means 6 to calculate the time t until the exit of the closed section is reached. Then, when the signal display speed in the blockage section where the line is present increases from V1 to V2, the train speed v is controlled as follows in comparison with a preset reference time T.

(4) If t <T, constant speed control is performed so as to maintain the train speed v.

(5) If t ≧ T, the power running control of the train speed v is performed with the signal display speed V2 as a target.

  That is, when the signal display speed of the current blockage section is V2, the ATO device 4 has the signal display speed Va in the next blockage section, even if the front notice signal is received by the receiving means of the ATC on-board device 3. It is not possible to determine whether it is Vb, Vc, or Vd. Therefore, when the arrival time to the exit of the current closed section is relatively short, if the signal display speed in the next closed section is Vc or Vd, the power running control is performed with the signal display speed V2 in the current closed section as a target. If this is the case, the ATC brake is suddenly applied and deceleration control is performed, so that the ride comfort is deteriorated, which may lead to a passenger falling accident.

On the other hand, when the arrival time to the exit of the closed section is relatively long, assuming that the signal display speed in the next closed section is Va or Vb, constant speed control is performed so as to maintain the current train speed v in the current closed section. If this is done, the time to reach the exit of the current blockage section will be unnecessarily lengthened, which will cause disturbance of the train schedule.

On the other hand, in the train control device of the second embodiment, the above-described (4) will be described with reference to FIG. 4 (a). When the arrival time to the exit of the existing blockage section is relatively short, that is, the signal The constant speed control is performed so that the ATO device 4 maintains the current train speed v without performing the power running control when the next blockage section is reached while the train speed is being accelerated with the indicated speed V2 as a target. I do.

  The above-described (5) will be described with reference to FIG. 4B. When the arrival time to the exit of the existing blockage section is relatively long, that is, the train speed is increased to the signal display speed V2. The ATO device 4 performs power running control with the signal display speed V2 as a target.

  Thus, if the speed control of the train is performed according to the arrival time to the exit of the current closed section as described in (4) and (5) above, not only the ride comfort can be improved, but also the train Disturbance of the diamond can also be suppressed.

  Here, the reference time T is preferably a time during which acceleration can be completed before the exit of the current blockage section. For example, the time until the train speed v reaches the increased signal display speed V2, that is, (V2- v) is a time divided by a predetermined acceleration (for example, acceleration when flat and full power running control is performed). Moreover, it is good also as time until power running torque settles. In this way, the generation of jerk can be suppressed and the ride comfort can be further improved.

  Further, the reference time T may be determined based on where the blockage section is located between the stations, and the storage unit 5 may store the reference time T for each blockage section in advance. Further, if the ATC brake is applied during the power running control at the exit of the current closed section, the reference time T stored in the storage means 5 is increased. Conversely, if the signal display speed does not decrease at the exit of the current closed section, the storage means. Means for automatically adjusting the reference time T stored in step 5 may be provided.

  In this way, since the train speed can be controlled more precisely, the riding comfort can be further improved.

Further, when the ATO device 4 performs the power running control, an output to the drive / brake device 8 is made so that the sum of the acceleration by the drive control for increasing the train speed and the acceleration by the gradient does not exceed a preset reference acceleration. The power running command may be suppressed or the power running command may be suppressed in accordance with the difference even when the difference between the signal display speed and the train speed in the existing closed section is small.

In this way, the ride comfort during powering control can be improved, and further the ride comfort of the train can be improved.

[Example 3]
In the first embodiment and the second embodiment described above, the train control device that appropriately controls the train speed when the signal display speed in the blocked section where the line is located has changed due to the delay of the preceding train, etc. is stored in advance. The train speed may be controlled based on the signal display speed of each block section stored in the means 5.

That is, with respect to the difference from the train control device described in the second embodiment, the ATO device 4 in the third embodiment will be described with reference to FIG. When the normal signal display speed in the section is set to Vc smaller than the normal signal display speed V2 in the current closed section, the train speed v is controlled as follows.

(6) If t <T, the train speed v is controlled with the signal display speed Vc of the next blockage section as a target.

(7) If t ≧ T, the train speed v is controlled with the signal display speed V2 in the currently closed section as a target.

  That is, when the arrival time to the exit of the current blockage section is relatively short, the ATO device 4 controls the train speed v in advance with the signal display speed Vc in the next blockage section as a target, as described above (6). Therefore, even if power running control or brake control is performed at the exit of the current closed section, it can be suppressed with relatively small speed control, so that the riding comfort can be improved.

On the other hand, when the arrival time to the exit of the blockage section is relatively long, the train speed v is controlled with the signal display speed V2 in the current blockage section as a target as described in (7) above. The time required to reach the exit is not unnecessarily prolonged, and disturbance of the train schedule can be suppressed.

  Furthermore, it is also possible to control the train speed based on whether or not the front notice signal is received by the receiving means of the ATC on-board device 3.

  For example, the front notice signal is received and the signal display speed of the blockage section where the line is present increases from V1 to V2, and the signal display speed V2 is equal to the signal display speed stored in the storage means 5, and It is assumed that the signal display speed V3 stored in the storage means 5 in the next closed section is smaller than V2. At this time, the ATO device 4 controls the train speed by recognizing that the received forward warning signal is not a temporary signal due to the delay of the preceding train, and the signal display speed of the next blockage section is V3. You can also

  In other words, when the arrival time to the exit of the existing blockage section is smaller than the reference time, the ATO device 4 stores the signal display speed V1 before the increase in the existing blockage section or the signal display speed of the next blockage section. The power running control of the train speed is performed with the target of V3 being larger, which is larger. If it does in this way, riding comfort can also be improved, suppressing the disturbance of a train diagram rather than the train speed control demonstrated in (4) in the train control apparatus of Example 2. FIG.

About other things, it is the same as that of the train control apparatus demonstrated in Example 2. FIG.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Train control apparatus 3 ATC on-board apparatus 4 Train automatic operation apparatus 5 Memory | storage means 6 Speed detection means 7 Position detection means 8 Drive / control apparatus

Claims (11)

Speed detection means for detecting the speed of the train;
Position detection means for detecting the position of the train;
An ATC device that includes a plurality of blocked sections with different signal display speeds based on the position of the preceding train, and that performs brake control when the train speed in the blocked section in the line exceeds the signal display speed in the blocked sections;
Storage means for storing a signal display speed and a block length in each of a plurality of block sections included in the ATC device;
Receiving means for receiving a forward notice signal when the signal display speed in the next blockage section is smaller than the signal display speed in the blockage section that is present,
When the reception notice signal is received by the receiving means, and the signal display speed of the blockage section existing due to the advance of the preceding train is increased, the signal display speed of the ATC device is not exceeded until the exit of the blockage section. A train control device comprising: control means for performing constant speed control so as to maintain the train speed obtained by the speed detection means within a range.   The control means receives the forward notice signal by the receiving means, and when the signal display speed of the blockage section that is on line is increased by the advance of the preceding train, the signal display speed increases in the blockage section. The train control device according to claim 1, wherein the train speed is controlled with the previous signal display speed as a target.   The control means receives the forward notice signal by the receiving means, and the train speed obtained by the speed detecting means when the signal indication speed of the blockage section that is in the line due to the advance of the preceding train increases from V1 to V2. 2. The train control apparatus according to claim 1, wherein the train speed is controlled by targeting V1 if v is V1 or less, v if it is greater than V1 and less than V2, and V2 if it is greater than V2. Speed detection means for detecting the speed of the train;
Position detection means for detecting the position of the train;
An ATC device that includes a plurality of blocked sections with different signal display speeds based on the position of the preceding train, and that performs brake control when the train speed in the closed block section exceeds the signal display speed in the blocked sections;
Storage means for storing a signal display speed and a block length in each of a plurality of block sections included in the ATC device;
Calculation means for calculating a predicted time to reach the exit of the existing blockage section based on the distance from the train position by the position detection means to the exit of the blockage section being present and the train speed by the speed detection means; ,
When the predicted time calculated by the calculation means is smaller than a preset reference time, the train obtained by the speed detection means within a range not exceeding the signal display speed of the ATC device until the exit of the blockage section The constant speed control is performed so as to maintain the speed, and when the predicted time is equal to or longer than the reference time, the increase is made within a range not exceeding the signal display speed of the ATC device until the exit of the blockage section. A train control device comprising: control means for controlling the train speed with the signal display speed as a target. Speed detection means for detecting the speed of the train;
Position detection means for detecting the position of the train;
An ATC device that includes a plurality of blocked sections with different signal display speeds based on the position of the preceding train, and that performs brake control when the train speed in the closed block section exceeds the signal display speed in the blocked sections;
Storage means for storing a signal display speed and a block length in each of a plurality of block sections included in the ATC device;
Calculation means for calculating a predicted time to reach the exit of the existing blockage section based on the distance from the train position by the position detection means to the exit of the blockage section being present and the train speed by the speed detection means; ,
Based on the signal display speed in each block section stored in the storage means, when the signal display speed in the next block section is smaller than the signal display speed in the existing block section, the calculation means When the calculated predicted time is smaller than the preset reference time, the train speed is controlled with the signal display speed of the next closed section as a target, and when the predicted time is equal to or longer than the reference time, the closed block section And a control means for controlling the train speed as a signal display speed target. Speed detection means for detecting the speed of the train;
Position detection means for detecting the position of the train;
An ATC device that includes a plurality of blocked sections with different signal display speeds based on the position of the preceding train, and that performs brake control when the train speed in the closed block section exceeds the signal display speed in the blocked sections;
Storage means for storing a signal display speed and a block length in each of a plurality of block sections included in the ATC device;
Receiving means for receiving a forward notice signal when the signal display speed in the next blockage section is smaller than the signal display speed in the blockage section that is present,
Calculation means for calculating a predicted time to reach the exit of the existing blockage section based on the distance from the train position by the position detection means to the exit of the blockage section being present and the train speed by the speed detection means; ,
When the reception means receives the forward notice signal, the signal display speed in the blockage section that is in the line increases from V1 to V2, and the signal display speed in the blockage section in which the signal display speed V2 is stored in the storage means. If the signal display speed V3 in the next blockage section stored in the storage means is smaller than the signal display speed V2, the predicted time calculated by the calculation means is smaller than a preset reference time. A control means for performing power running control of the train speed with the target of the signal display speed V1 or the signal display speed V3 of the next blockage section, whichever is greater, .   7. The reference time according to claim 4, wherein the reference time is a time required for the train speed to reach a signal display speed that is increased in the blocked section until the exit of the blocked section in the line. Train control device.   The reference time is set according to the position between the stations, and when the ATC device receives brake control during power running control by the control means at the exit of the closed block section, the reference time is increased, The train control device according to any one of claims 4 to 7, further comprising adjusting means for adjusting the reference time to be reduced when a signal display speed by the ATC device does not become small.   The control means suppresses the power running control so that the sum of the acceleration when increasing the train speed and the acceleration due to the gradient does not exceed a preset reference acceleration when performing the power running control. The train control device according to any one of claims 4 to 8.   5. The power control according to claim 4, wherein the control means suppresses the power running control when the difference between the signal display speed and the train speed in the closed section where the line is present is small when performing the power running control. The train control device according to any one of 9.   When a plurality of blocked sections with different speed limits are set based on the position of the preceding train, and the signal display speed of the blocked section where the own train is located increases due to the advance of the preceding train, Based on the presence or absence of reception of a forward warning signal obtained when the signal display speed of the next blockage section is smaller than the signal display speed or the time until the exit of the blockage section where the own train is located, A train control method characterized in that the train speed is controlled by selecting one of constant speed control, power running control or brake control of the own train.

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