AUTOMATIC TRAIN OPERATION DEVICE

PROBLEM TO BE SOLVED: To provide an automatic train operation device capable of preventing deterioration in followability and enhancing stop position accuracy as well as comfort of ride.SOLUTION: In an automatic train operation device 501, a vehicle characteristics learning part 505 for learning vehicle characteristics according to a speed of an own vehicle and a brake command to control travel state of the own vehicle, comprises: a vehicle characteristics estimation part 507 for estimating the vehicle characteristics; and a vehicle characteristics reflection part 508 for reflecting the vehicle characteristics onto a brake command planned to be calculated. The vehicle characteristics estimation part calculates a generated deceleration speed actually generated in the own vehicle, while calculating a commanded deceleration speed commanded to the own vehicle according to the brake command, derives an evaluation function which is a difference between a waveform representing the calculated generated deceleration speed traveling in time axis and deceleration axis directions and a waveform representing the commanded deceleration speed, and calculates a travel amount in time axis and deceleration axis directions that makes the evaluation function minimum, as a vehicle characteristic value.SELECTED DRAWING: Figure 5 【課題】追従性の悪化を防止して、停止位置精度及び乗り心地を向上し得る自動列車運転装置を提供する。【解決手段】自動列車運転装置５０１において、自列車の速度と、自列車の走行を制御するための制動指令とに基づいて、車両特性を学習する車両特性学習部５０５は、車両特性を推定する車両特性推定部５０７と、車両特性を新たに算出予定の制動指令に反映させる車両特性反映部５０８とを備える。車両特性推定部は、自列車に実際に発生した発生減速度を算出し、一方で制動指令に基づいて、自列車に指令された指令減速度を算出し、算出した発生減速度を時間軸方向及び減速度軸方向に移動させたときの波形と、指令減速度の波形との差分を評価関数とし、評価関数が最小となる時間軸方向及び減速度軸方向の移動量を車両特性値として算出する。【選択図】図５