FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENTS RULES, 2003
COMPLETE SPECIFICATION
[See section 10, Rule 13]
FORWARD MONITORING APPARATUS, TRAIN CONTROL SYSTEM, AND
FORWARD MONITORING METHOD;
MITSUBISHI ELECTRIC CORPORATION, A CORPORATION ORGANISED
AND EXISTING UNDER THE LAWS OF JAPAN, WHOSE ADDRESS IS 7-3,
MARUNOUCHI 2-CHOME, CHIYODA-KU, TOKYO 1008310, JAPAN
THE FOLLOWING SPECIFICATION PARTICULARLY DESCRIBES THE
INVENTION AND THE MANNER IN WHICH IT IS TO BE PERFORMED

2
DESCRIPTION
Field
[0001] The present disclosure relates to a forward
5 monitoring apparatus that monitors a situation ahead of a
train, a train control system, and a forward monitoring
method.
Background
10 [0002] Conventionally, there has been known a forward
monitoring apparatus that monitors a situation ahead of a
train by means of a sensor such as a camera installed on
the train, and detects an obstacle on the route of the
train (see, for example, Patent Literature 1). Patent
15 Literature 1 discloses that in a case where, for example,
there is a turnout on a track of a train, information on a
traveling direction of the train flows from an ATC loop
located before the turnout, and is input via an ATC onboard antenna to the forward monitoring apparatus, so that
20 the forward monitoring apparatus recognizes the traveling
direction of the train at the turnout, and changes its own
direction on the basis of the traveling direction.
Citation List
25 Patent Literature
[0003] Patent Literature 1: Japanese Patent Application
Laid-open No. 2019-004587
Summary
30 Technical Problem
[0004] However, since the information on the traveling
direction of the train is acquired from the ATC loop, the
traveling direction cannot be recognized in the forward

3
monitoring apparatus of Patent Literature 1 until the train
arrives at a point located before the turnout. Therefore,
in the case of the technique disclosed in Patent Literature
1, it is difficult to perform processing of appropriately
5 switching the forward monitoring apparatus to a direction
to be monitored on a track on which a plurality of turnouts
is consecutively provided.
[0005] The present disclosure has been made to solve a
problem as described above, and an object of the present
10 disclosure is to provide a forward monitoring apparatus, a
train control system, and a forward monitoring method that
enable appropriate recognition of a traveling direction in
which a train should go after passing through a turnout, so
that a direction to be monitored can be adjusted to the
15 traveling direction of the train even on a track on which a
plurality of turnouts is consecutively provided.
Solution to Problem
[0006] In order to achieve the above-described object, a
20 forward monitoring apparatus according to the present
disclosure is installed on a train, and includes: a
monitoring unit to monitor a situation ahead of the train;
a storage unit to store map information including
information on a position of a track on which the train
25 travels, a shape of the track, and a position of a turnout
provided on the track; a train position acquisition unit to
acquire train position information indicating a position of
the train; a route information acquisition unit to acquire
open route information including information for indicating
30 an open direction of the turnout located ahead of the
train; and a monitoring direction determination unit to
determine a direction to be monitored by the monitoring
unit, by using the open route information, the train

4
position information, and the map information, the open
route information being acquired by the route information
acquisition unit, the train position information being
acquired by the train position acquisition unit, the map
5 information being stored in the storage unit.
[0007] Additionally, a forward monitoring apparatus
according to the present disclosure is installed on a train,
and includes: a monitoring unit to monitor a situation
ahead of the train; a storage unit to store map information
10 including information on a position of a track on which the
train travels, a shape of the track, and a position of a
turnout provided on the track; a train position acquisition
unit to acquire train position information indicating a
position of the train; a schedule information acquisition
15 unit to acquire schedule information including information
on a track number of a track to be used by the train; and a
monitoring direction determination unit to determine a
direction to be monitored by the monitoring unit, by using
the schedule information, the train position information,
20 and the map information, the schedule information being
acquired by the schedule information acquisition unit, the
train position information being acquired by the train
position acquisition unit, the map information being stored
in the storage unit.
25
Advantageous Effects of Invention
[0008] A forward monitoring apparatus according to the
present disclosure is installed on a train, and includes: a
monitoring unit that monitors a situation ahead of the
30 train; a storage unit that stores map information including
information on a position of a track on which the train
travels, a shape of the track, and a position of a turnout
provided on the track; a train position acquisition unit

5
that acquires train position information indicating a
position of the train; a route information acquisition unit
that acquires open route information including information
for indicating an open direction of the turnout located
5 ahead of the train; and a monitoring direction
determination unit that determines a direction to be
monitored by the monitoring unit, by using the open route
information, the train position information, and the map
information, the open route information being acquired by
10 the route information acquisition unit, the train position
information being acquired by the train position
acquisition unit, the map information being stored in the
storage unit. Therefore, it is possible to appropriately
recognize a traveling direction in which a train should go
15 after passing through a turnout, and adjust a direction to
be monitored to the traveling direction of the train even
on a track on which a plurality of turnouts is
consecutively provided.
[0009] Furthermore, a forward monitoring apparatus
20 according to the present disclosure is installed on a train,
and includes: a monitoring unit that monitors a situation
ahead of the train; a storage unit that stores map
information including information on a position of a track
on which the train travels, a shape of the track, and a
25 position of a turnout provided on the track; a train
position acquisition unit that acquires train position
information indicating a position of the train; a schedule
information acquisition unit that acquires schedule
information including information on a track number of a
30 track to be used by the train; and a monitoring direction
determination unit that determines a direction to be
monitored by the monitoring unit, by using the schedule
information, the train position information, and the map

6
information, the schedule information being acquired by the
schedule information acquisition unit, the train position
information being acquired by the train position
acquisition unit, the map information being stored in the
5 storage unit. Therefore, it is possible to appropriately
recognize a traveling direction in which a train should go
after passing through a turnout, and adjust a direction to
be monitored to the traveling direction of the train even
on a track on which a plurality of turnouts is
10 consecutively provided.
Brief Description of Drawings
[0010] FIG. 1 is a block diagram showing an example of a
configuration of a train control system according to a
15 first embodiment of the present disclosure.
FIG. 2 is a diagram showing an example of open route
information.
FIG. 3 is a flowchart showing an example of a flow of
forward monitoring processing to be performed by a forward
20 monitoring apparatus according to the first embodiment of
the present disclosure.
FIG. 4 is a diagram for describing an example of
processing to be performed by the forward monitoring
apparatus according to the first embodiment of the present
25 disclosure, for determining a direction to be monitored by
a monitoring unit.
FIG. 5 is a diagram showing an example in which
processing circuitry included in the forward monitoring
apparatus according to the first embodiment of the present
30 disclosure includes a processor and a memory.
FIG. 6 is a diagram showing an example in which the
processing circuitry included in the forward monitoring
apparatus according to the first embodiment of the present

7
disclosure includes dedicated hardware.
FIG. 7 is a diagram for describing another example of
the processing to be performed by the forward monitoring
apparatus according to the first embodiment of the present
5 disclosure, for determining a direction to be monitored by
the monitoring unit.
FIG. 8 is a block diagram showing an example of a
configuration of a train control system according to a
second embodiment of the present disclosure.
10 FIG. 9 is a flowchart showing an example of a flow of
forward monitoring processing to be performed by a forward
monitoring apparatus according to the second embodiment of
the present disclosure.
FIG. 10 is a diagram for describing an example of
15 processing to be performed by the forward monitoring
apparatus according to the second embodiment of the present
disclosure, for determining a direction to be monitored by
a monitoring unit.
20 Description of Embodiments
[0011] Hereinafter, embodiments of a train control
system including a forward monitoring apparatus according
to the present disclosure will be described with reference
to the drawings.
25 [0012] First Embodiment.
FIG. 1 is a block diagram showing an example of a
configuration of a train control system 1 according to the
present embodiment, that is, a first embodiment. As
illustrated in FIG. 1, the train control system 1 includes,
30 for example, a forward monitoring apparatus 3, an operation
control apparatus 41, a gang control apparatus 42, and an
operation control system 4. The forward monitoring
apparatus 3 is installed on a train 2. The operation

8
control apparatus 41 controls operation of the train 2.
The gang control apparatus 42 controls operation of a
turnout or the like provided on a track on which the train
2 travels. The operation control system 4 includes a
5 ground control apparatus 43 that performs wireless
communication with the train 2.
[0013] The forward monitoring apparatus 3 is installed
on the train 2, and detects an obstacle in the traveling
direction of the train 2. In addition, the forward
10 monitoring apparatus 3 is installed on the train 2 together
with a train control apparatus 5, an on-board wireless
device 6, and an output device 7, and is communicably
connected to the train control apparatus 5, the on-board
wireless device 6, and the output device 7.
15 [0014] The train control apparatus 5 detects the current
position and speed of the train 2 and a direction of train
operation, that is, whether the train 2 is an up train or
down train. Although not illustrated in detail, the train
control apparatus 5 on the train 2 generates train position
20 information indicating the position of the train 2 by
calculating a travel distance from a reference position on
the basis of information on the speed of the train 2
detected by a tacho-generator. For example, a position
where ground coil information on a ground coil installed on
25 a track on which the train 2 travels is detected by a
pickup coil is used as the reference position. The train
position information is information such as one-dimensional
position information called kilometrage or track number
information. Note that a method for obtaining the train
30 position information is not limited thereto, and other
conventionally known methods may be used. For example, the
current position and speed of the train 2 may be detected
on the basis of position information output from a global

9
positioning system (GPS) receiver (not illustrated)
provided on the train 2. Note that since the GPS receiver
may be unable to receive radio waves when the train 2 goes
through a tunnel or the like, the train control apparatus 5
5 may further include an inertia navigation system (INS).
The train control apparatus 5 outputs, to the on-board
wireless device 6 and the forward monitoring apparatus 3,
train position information indicating the detected current
position of the train 2 and train speed information
10 indicating the detected speed of the train 2.
[0015] The on-board wireless device 6 includes an
antenna for wirelessly transmitting and receiving signals
to and from the ground control apparatus 43 provided on a
ground side. The on-board wireless device 6 periodically
15 transmits the train position information and the train
speed information received from the train control apparatus
5 to the ground control apparatus 43 via ground wireless
devices 44. In addition, the on-board wireless device 6
receives information such as train control information for
20 controlling the traveling of the train 2 transmitted from
the ground control apparatus 43 via the ground wireless
devices 44, and outputs the received information to the
train control apparatus 5. The train control apparatus 5
controls the traveling of the train 2 on the basis of, for
25 example, the train control information received from the
ground control apparatus 43 via the on-board wireless
device 6.
[0016] For example, the output device 7 is a device for
presenting, to a user such as a driver of the train 2,
30 obstacle detection information output from the forward
monitoring apparatus 3 when the forward monitoring
apparatus 3 detects an obstacle requiring a collision
avoidance action. Examples of the obstacle include things

10
and persons that may hinder the traveling of the train 2,
such as a fallen rock or fallen tree on or around a track,
a person who has intruded into the track, and a passenger
who has fallen from a platform of a station. Examples of
5 the collision avoidance action include an action in which
the driver stops the train 2 and an action in which the
driver blows a whistle, so as to avoid a collision between
the train 2 and an obstacle. For example, a monitor or an
indicator light installed on a cab of the train 2 can be
10 used as the output device 7, but the output device 7 is not
limited thereto. The output device 7 may output the
obstacle detection information output from the forward
monitoring apparatus 3 as audio output via a speaker or the
like, or may output the obstacle detection information as
15 printed matter. In addition, the output device 7 may
automatically apply an emergency brake when the forward
monitoring apparatus 3 detects an obstacle requiring a
collision avoidance action. Note that the train 2 may be a
train including a plurality of cars, or may be a single-car
20 train including one car as illustrated in FIG. 1.
[0017] As illustrated in FIG. 1, the forward monitoring
apparatus 3 includes a monitoring unit 31, a storage unit
32, a train position acquisition unit 33, a route
information acquisition unit 34, a monitoring direction
25 determination unit 35, and an obstacle determination unit
36. The monitoring unit 31 is installed on a lead car of
the train 2, and monitors a situation ahead of the train 2.
Note that in a case where the train 2 includes a plurality
of cars, the lead car is changed according to the traveling
30 direction of the train 2, and thus the monitoring unit 31
is installed on cars at both ends. For example, in a case
where the train 2 is a ten-car train including first to
tenth cars, the first car or the tenth car serves as a lead

11
car according to the traveling direction. In this case,
the monitoring unit 31 is installed on the first car and
the tenth car of the train 2. The forward monitoring
apparatus 3 uses the monitoring unit 31 installed on a car
5 serving as a lead car in accordance with the traveling
direction of the train 2.
[0018] Various sensors capable of detecting an obstacle
can be used as the monitoring unit 31. For example, a
camera capable of capturing an image of a forward view from
10 the train 2, a stereo camera, and a laser ranging device
such as light detection and ranging (LIDAR) can be used as
the monitoring unit 31. In addition, a single monitoring
unit 31 may be provided. Alternatively, a plurality of the
monitoring units 31 may be provided. For example, two or
15 more cameras having different focal lengths may be used.
Furthermore, an infrared camera may be added so as to
capture images at night or in tunnels. In addition, the
monitoring unit 31 may include two or more different
devices, and may be configured such that, for example, a
20 camera and a laser ranging device are combined and included
in the monitoring unit 31.
[0019] The storage unit 32 stores, for example, map
information including information on the position of a
track on which the train 2 travels, the shape of the track,
25 and the position of a turnout provided on the track. More
specifically, the storage unit 32 stores, as map
information, three-dimensional coordinate data in an x-axis
direction, a y-axis direction, and a z-axis direction such
as positions at prescribed intervals on a track in
30 kilometers. Furthermore, examples of the map information
include route information and linear information. The
route information indicates, for example, the position of
each station, the stop target position of each station, and

12
the inclination (gradient), degree of curve (curvature
radius), and the like of a track on a travel route. The
linear information indicates, for example, a turnout ID for
identifying each of a plurality of turnouts provided on a
5 track, the position of each turnout, and a track diverging
from or merging with another track.
[0020] For example, the train position acquisition unit
33 is an interface for acquiring information output from
the train control apparatus 5. The train position
10 acquisition unit 33 acquires train position information and
train speed information output from the train control
apparatus 5. The train position information indicates the
current position of the train 2. The train speed
information indicates the speed of the train 2. The train
15 position acquisition unit 33 outputs the acquired train
position information and train speed information to the
monitoring direction determination unit 35.
[0021] For example, the route information acquisition
unit 34 is an interface for acquiring, via the on-board
20 wireless device 6, information transmitted from the ground
side. The route information acquisition unit 34 acquires
open route information from the ground control apparatus 43
via the ground wireless devices 44 and the on-board
wireless device 6.
25 [0022] FIG. 2 is a diagram showing an example of the
open route information. The open route information
includes information for indicating an open direction of a
turnout located ahead of the train 2. As illustrated in
FIG. 2, the open route information includes open direction
30 information indicating, for example, a turnout ID for
identifying each turnout provided on a track on which the
train 2 travels and an open direction of each turnout. FIG.
2 shows an example of the open direction information in

13
which the open direction of each turnout is represented as
a normal position or reverse position. Note that the open
route information may include information other than the
information illustrated in FIG. 2, and may include, for
5 example, turnout position information indicating the
position of each turnout. Furthermore, the open route
information is not limited to the above. For example, the
route information acquisition unit 34 may acquire, as the
open route information, stop limit point information from
10 the ground control apparatus 43 via the ground wireless
devices 44 and the on-board wireless device 6. The stop
limit point information indicates a limit point at which
the train 2 should stop. The route information acquisition
unit 34 outputs the acquired open route information to the
15 monitoring direction determination unit 35. Note that the
turnout changes the route of the train 2. The turnout is
provided in such a way as to correspond to a diverging
point of the track, and is operation-controlled by the gang
control apparatus 42 to change and lock the route of the
20 train 2.
[0023] The monitoring direction determination unit 35
determines a direction to be monitored by the monitoring
unit 31, by using the open route information acquired by
the route information acquisition unit 34, the train
25 position information acquired by the train position
acquisition unit 33, and the map information stored in the
storage unit 32. The direction determined by the
monitoring direction determination unit 35, which is a
direction to be monitored by the monitoring unit 31, is a
30 direction based on the traveling direction of the train 2.
When the direction to be monitored by the monitoring unit
31 is determined, the monitoring direction determination
unit 35 generates a monitoring direction control signal for

14
adjusting the direction to be monitored by the monitoring
unit 31 to the traveling direction of the train 2, and
outputs the generated signal to the monitoring unit 31.
The monitoring unit 31 adjusts the monitoring direction on
5 the basis of the monitoring direction control signal
acquired from the monitoring direction determination unit
35 such that the monitoring direction matches a direction
based on the traveling direction of the train 2, and
monitors a situation ahead of the train 2. The monitoring
10 unit 31 outputs, to the obstacle determination unit 36, a
monitoring result obtained as a result of the monitoring of
the situation ahead of the train 2.
[0024] The obstacle determination unit 36 determines
whether there is an obstacle in the traveling direction of
15 the train 2 on the basis of the monitoring result acquired
from the monitoring unit 31. For example, in a case where
the monitoring unit 31 is a camera, the obstacle
determination unit 36 acquires, as a monitoring result, an
image of an area corresponding to a monitoring range,
20 captured by the camera. Then, the obstacle determination
unit 36 determines whether there is an obstacle in an area
in the traveling direction of the train 2 by using the
captured image that has been acquired. When it is
determined that there is an obstacle in the area in the
25 traveling direction of the train 2, the obstacle
determination unit 36 determines whether a collision
avoidance action for avoiding collision with the obstacle
needs to be taken by the train 2. When determining that
the collision avoidance action needs to be taken by the
30 train 2, the obstacle determination unit 36 outputs, to the
output device 7, an instruction to urge the train 2 to take
a collision avoidance action together with information on
the obstacle, as the obstacle detection information. The

15
information on the obstacle is, for example, information
indicating the position of the obstacle, the size of the
obstacle, and the type of the obstacle, but is not
particularly limited thereto. In addition, when the
5 monitoring unit 31 is, for example, a laser ranging device,
the obstacle determination unit 36 may acquire, as a
monitoring result, a scanning result obtained by
application of a laser to a specific object and the
measuring of a distance from the forward monitoring
10 apparatus 3 to the object, and may determine whether there
is an obstacle in the area in the traveling direction of
the train 2 by using the scanning result.
[0025] The operation control apparatus 41 is an
apparatus that controls operation of a plurality of the
15 trains 2 traveling on tracks. As illustrated in FIG. 1,
the operation control apparatus 41 is connected to the gang
control apparatus 42 and the ground control apparatus 43
via a network 8 such that the operation control apparatus
41 can intercommunicate with the gang control apparatus 42
20 and the ground control apparatus 43. In addition, the
ground control apparatus 43 and a plurality of the ground
wireless devices 44 are communicably connected to each
other via a network 9. The plurality of ground wireless
devices 44 is arranged along the track on which the train 2
25 travels. The ground wireless device 44 relays transmission
and reception of information between the train control
apparatus 5 installed on the train 2 and the ground control
apparatus 43. The ground wireless device 44 receives, for
example, a wireless signal transmitted from the train
30 control apparatus 5 via the on-board wireless device 6, and
transmits train position information included in the
wireless signal to the ground control apparatus 43. In
addition, the ground wireless device 44 transmits a

16
wireless signal including train control information
acquired from the ground control apparatus 43 to the train
2 located within its own wireless communication range.
[0026] The ground control apparatus 43 acquires the
5 train position information from the train control apparatus
5 via the on-board wireless device 6 and the ground
wireless devices 44, and grasps the current position of the
train 2 on the basis of the acquired train position
information. In addition, the ground control apparatus 43
10 transmits the train position information to the operation
control apparatus 41 via the network 8. Furthermore, for
example, the ground control apparatus 43 receives operation
control information on the train 2 from the operation
control apparatus 41, and transmits the received operation
15 control information to the train 2 via the network 9.
[0027] The gang control apparatus 42 controls operation
of a turnout on the basis of the control information output
from the operation control apparatus 41 to form a route of
the train 2. In addition, the gang control apparatus 42
20 grasps the state of each turnout operation-controlled by
the gang control apparatus 42, and transmits, to the ground
control apparatus 43, open route information including open
direction information indicating each turnout ID and the
open direction of each turnout. Then, the ground control
25 apparatus 43 transmits the open route information to the
forward monitoring apparatus 3 via the ground wireless
devices 44 and the on-board wireless device 6. Note that,
for example, the ground control apparatus 43 may transmit,
as the open route information, each piece of train position
30 information and stop limit point information to the forward
monitoring apparatus 3. Each piece of train position
information is acquired from the train control apparatus 5
on the train through wireless communication. The stop

17
limit point information is calculated on the basis of the
state of a turnout, and the like. The stop limit point
information is information indicating a stop limit point at
which the train 2 should stop, that is, information
5 indicating a stop limit point that is a point through which
the train 2 can travel. In addition, while an example has
been described in which the ground control apparatus 43
transmits open route information to the train 2 through
wireless communication in the train control system 1
10 according to the present embodiment, the train control
system 1 may be configured such that the open route
information is transmitted from the operation control
apparatus 41 to the train 2 through wireless communication.
[0028] FIG. 3 is a flowchart showing an example of a
15 flow of forward monitoring processing to be performed by
the forward monitoring apparatus 3 according to the first
embodiment of the present disclosure. Hereinafter, an
example of the flow of forward monitoring processing to be
performed by the forward monitoring apparatus 3 according
20 to the first embodiment of the present disclosure will be
described with reference to the flowchart of FIG. 3. As
illustrated in FIG. 3, in step S101, the forward monitoring
apparatus 3 acquires, by means of the train position
acquisition unit 33, train position information and train
25 speed information respectively indicating the current
position of the train 2 and the speed of the train 2
detected by the train control apparatus 5.
[0029] In step S102, the forward monitoring apparatus 3
acquires, by means of the route information acquisition
30 unit 34, open route information from the ground control
apparatus 43 via the ground wireless devices 44 and the onboard wireless device 6. The open route information
includes information for indicating the open direction of a

18
turnout located ahead of the train 2. Note that FIG. 3
shows an example in which the forward monitoring apparatus
3 acquires the train position information and the train
speed information by means of the train position
5 acquisition unit 33 in step S101, and acquires the open
route information by means of the route information
acquisition unit 34 in step S102. However, the processing
in steps S101 and S102 need not be performed in this order,
and may be performed in reverse order or simultaneously.
10 Furthermore, the forward monitoring apparatus 3 may be
configured such that the route information acquisition unit
34 acquires the open route information not from the onboard wireless device 6 but via the train control apparatus
5.
15 [0030] Next, in step S103, the forward monitoring
apparatus 3 causes the monitoring direction determination
unit 35 to determine a direction to be monitored by the
monitoring unit 31, by using the open route information
acquired by the route information acquisition unit 34, the
20 train position information acquired by the train position
acquisition unit 33, and the map information stored in the
storage unit 32.
[0031] FIG. 4 is a diagram for describing an example of
processing to be performed by the forward monitoring
25 apparatus 3 according to the first embodiment of the
present disclosure, for determining a direction to be
monitored by the monitoring unit 31. In FIG. 4, B1001 to
B1010 represent block numbers uniquely assigned to a
plurality of divided blocks on a track. Note that the
30 starting points and ending points of the blocks B1001 to
B1010 are indicated by open circles. In addition, three
turnouts P1 to P3 are provided on tracks illustrated in FIG.
4. FIG. 4 shows an example in which the turnout P1 is

19
located at the ending point of the block B1002, the turnout
P2 is located at the ending point of the block B1004, and
the turnout P3 is located at the ending points of the block
B1007 and the block B1009. For example, when the train 2
5 travels on a track provided with a plurality of turnouts as
illustrated in FIG. 4, the monitoring direction
determination unit 35 recognizes the traveling direction of
the train 2 by collating the open route information and the
train position information with the map information, and
10 determines a direction to be monitored by the monitoring
unit 31 on the basis of the traveling direction of the
train 2. For example, as illustrated in FIG. 2, the open
route information includes open direction information
indicating a turnout ID for identifying each of a plurality
15 of turnouts provided on a track on which the train 2
travels and the open direction of each turnout. In
addition, the map information includes information on the
position of the track, the shape of the track, and the
position of each turnout provided on the track. The
20 monitoring direction determination unit 35 can recognize
the position and open direction of a turnout corresponding
to each turnout ID by collating, with the map information,
the turnout ID included in the open route information
acquired by the route information acquisition unit 34. In
25 addition, the monitoring direction determination unit 35
can recognize where the train 2 is located on the track by
collating the current position of the train 2 indicated by
the train position information with the map information.
As a result, the monitoring direction determination unit 35
30 can recognize the traveling direction of the train 2 from
the current position of the train 2, the position of the
turnout located ahead of the train 2, and the open
direction of the turnout. Then, the monitoring direction

20
determination unit 35 determines a direction to be
monitored by the monitoring unit 31 on the basis of the
traveling direction of the train 2. In addition, the
monitoring direction determination unit 35 generates a
5 monitoring direction control signal for adjusting the
direction to be monitored by the monitoring unit 31 to the
traveling direction of the train 2, and outputs the
generated signal to the monitoring unit 31.
[0032] In step S104, based on the monitoring direction
10 control signal output from the monitoring direction
determination unit 35, the monitoring unit 31 adjusts the
direction to be monitored by itself to the traveling
direction of the train 2. As a result, the forward
monitoring apparatus 3 can appropriately recognize a
15 direction in which the train 2 will travel after the track
diverges, in advance of arrival of the train 2 at a point
located before each turnout, so that the direction to be
monitored by the monitoring unit 31 can be adjusted to the
traveling direction of the train 2. For example, in a case
20 where the train 2 is located in the block B1002 located
before the turnout P1 as illustrated in FIG. 4, when the
train 2 travels in the direction of the block B1004, that
is, when a route is changed by the turnout P1, the forward
monitoring apparatus 3 adjusts the direction to be
25 monitored by the monitoring unit 31 to the shape of the
track of the block B1004 located ahead of the turnout P1.
[0033] Next, in step S105, the forward monitoring
apparatus 3 monitors a situation ahead of the train 2 by
means of the monitoring unit 31. For example, in a case
30 where the monitoring unit 31 is a camera, the forward
monitoring apparatus 3 acquires, as a monitoring result, an
image of an area corresponding to a monitoring range,
captured by the camera, and outputs the acquired image to

21
the obstacle determination unit 36. Note that when the
monitoring unit 31 is a laser ranging device, the forward
monitoring apparatus 3 just needs to acquire, as a
monitoring result, a scanning result obtained by
5 application of a laser to a specific object and the
measuring of a distance from the forward monitoring
apparatus 3 to the object, and output the scanning result
to the obstacle determination unit 36.
[0034] In step S106, when a captured image is input as a
10 monitoring result, the obstacle determination unit 36 uses
the captured image to determine whether there is an
obstacle in an area in the traveling direction of the train
2. In step S106, when no obstacle is detected in the
captured image (No), the obstacle determination unit 36
15 returns to step S101, and performs the same processing as
described above. In step S106, when an obstacle is
detected in the captured image (Yes), the obstacle
determination unit 36 determines in step S107 whether a
collision avoidance action for avoiding collision with the
20 obstacle needs to be taken by the train 2, on the basis of
the captured image.
[0035] When it is determined on the basis of the
captured image that the detected obstacle is, for example,
a bird or a small animal, the obstacle determination unit
25 36 determines in step S107 that the collision avoidance
action is not necessary (No) in view of the behavior of
birds, small animals, or the like escaping from the
monitoring area as the train 2 moves forward, and returns
to step S101 to perform the same operation as described
30 above. When it is determined on the basis of the captured
image that the detected obstacle is, for example, a fallen
rock, a fallen tree, or a person who has intruded into the
track, the obstacle determination unit 36 determines in

22
step S107 that the collision avoidance action is necessary
(Yes), and outputs, to the output device 7, an instruction
or the like to urge the train 2 to take a collision
avoidance action together with information on the obstacle,
5 as obstacle detection information from the obstacle
determination unit 36 in step S108.
[0036] Note that while an example has been described in
which processing is performed by the obstacle determination
unit 36 by use of a captured image as a monitoring result
10 in step S106 and the subsequent steps, a scanning result
obtained by a laser ranging device or both a captured image
and a scanning result may be used as the monitoring result.
In addition, in a case where the forward monitoring
apparatus 3 includes both a camera and a laser ranging
15 device as the monitoring unit 31, when it is difficult to
detect an obstacle on the basis of a captured image in a
situation where, for example, visibility is poor at night
or in bad weather such as rain or fog, priority may be
given to monitoring performed by the laser ranging device.
20 In addition, in a case where the forward monitoring
apparatus 3 includes a plurality of the monitoring units 31,
the forward monitoring apparatus 3 may adjust a direction
to be monitored by at least one of the monitoring units 31
to the traveling direction of the train 2, and a direction
25 to be monitored by another monitoring unit 31 may be
adjusted such that the another monitoring unit 31 monitors
an area in a direction opposite to the traveling direction
of the train 2, the area being adjusted to the front
direction or traveling direction of the train 2.
30 Furthermore, the forward monitoring apparatus 3 may change
the area to be monitored by the monitoring unit 31, by also
using the train speed information.
[0037] Next, a hardware configuration of the forward

23
monitoring apparatus 3 will be described. In the forward
monitoring apparatus 3, the storage unit 32 is a memory.
The monitoring unit 31 is a sensor. In the forward
monitoring apparatus 3, the other constituent elements are
5 implemented by processing circuitry. The processing
circuitry may be a memory and a processor that executes
programs stored in the memory, or may be dedicated hardware.
[0038] FIG. 5 is a diagram showing an example in which
processing circuitry included in the forward monitoring
10 apparatus 3 according to the first embodiment of the
present disclosure includes a processor and a memory. In a
case where the processing circuitry includes a processor 10
and a memory 11, each function of the processing circuitry
of the forward monitoring apparatus 3 is implemented by
15 software, firmware, or a combination of software and
firmware. The software or firmware is described as a
program, and stored in the memory 11. The processor 10
reads and executes the program stored in the memory 11 to
implement each function of the processing circuitry. That
20 is, the processing circuitry includes the memory 11 for
storing programs. As a result of execution of the programs,
the forward monitoring apparatus 3 is caused to perform
processing. In addition, it can also be said that these
programs cause a computer to execute a procedure and a
25 method for the forward monitoring apparatus 3.
[0039] Here, the processor 10 may be a central
processing unit (CPU), a processing device, an arithmetic
device, a microprocessor, a microcomputer, a digital signal
processor (DSP), or the like. Furthermore, for example, a
30 nonvolatile or volatile semiconductor memory such as a
random access memory (RAM), a read only memory (ROM), a
flash memory, an erasable programmable ROM (EPROM), or an
electrically EPROM (EEPROM) (registered trademark), a

24
magnetic disk, a flexible disk, an optical disk, a compact
disk, a mini disk, or a digital versatile disc (DVD) is
applicable to the memory 11.
[0040] FIG. 6 is a diagram showing an example in which
5 the processing circuitry included in the forward monitoring
apparatus 3 according to the first embodiment of the
present disclosure includes dedicated hardware. In a case
where processing circuitry 12 includes dedicated hardware,
for example, a single circuit, a composite circuit, a
10 programmed processor, a parallel-programmed processor, an
application specific integrated circuit (ASIC), a field
programmable gate array (FPGA), or a combination thereof is
applicable to the processing circuitry 12 illustrated in
FIG. 6. The functions of the forward monitoring apparatus
15 3 may be separately implemented by the processing circuitry
12, or may be collectively implemented by the processing
circuitry 12. Note that some of the functions of the
forward monitoring apparatus 3 may be implemented by
dedicated hardware, and some of the other functions thereof
20 may be implemented by software or firmware. Thus, the
processing circuitry 12 can implement each of the abovedescribed functions by means of dedicated hardware,
software, firmware, or a combination thereof.
[0041] The forward monitoring apparatus 3 according to
25 the first embodiment of the present disclosure is installed
on the train 2, and includes: the monitoring unit 31 that
monitors a situation ahead of the train 2; the storage unit
32 that stores map information including information on a
position of a track on which the train 2 travels, a shape
30 of the track, and a position of a turnout provided on the
track; the train position acquisition unit 33 that acquires
train position information indicating a position of the
train 2; the route information acquisition unit 34 that

25
acquires open route information including information for
indicating an open direction of the turnout located ahead
of the train 2; and the monitoring direction determination
unit 35 that determines a direction to be monitored by the
5 monitoring unit 31, by using the open route information,
the train position information, and the map information,
the open route information being acquired by the route
information acquisition unit 34, the train position
information being acquired by the train position
10 acquisition unit 33, the map information being stored in
the storage unit 32. Therefore, it is possible to
appropriately recognize a traveling direction in which the
train 2 should go after passing through a turnout, and
adjust a direction to be monitored to the traveling
15 direction of the train 2 even on a track on which a
plurality of turnouts is consecutively provided.
[0042] In the forward monitoring apparatus 3 according
to the first embodiment of the present disclosure, the
route information acquisition unit 34 acquires the open
20 route information transmitted from the ground side via the
on-board wireless device 6 installed on the train 2.
Therefore, even when a plurality of turnouts is
consecutively provided, it is also possible to recognize
the open directions of a plurality of turnouts located
25 ahead. As a result, in a case where a plurality of
turnouts is consecutively provided, the forward monitoring
apparatus 3 can adjust a direction to be monitored by the
monitoring unit 31 also in consideration of the open
directions of the plurality of turnouts located ahead.
30 [0043] In addition, an example has been described in
which information including open direction information
indicating a turnout ID for identifying each of a plurality
of turnouts provided on a track and the open direction of

26
each turnout is used as open route information in the
above-described forward monitoring apparatus 3 according to
the first embodiment of the present disclosure. However,
the forward monitoring apparatus 3 may use, as the open
5 route information, stop limit point information acquired
from the ground control apparatus 43 via the ground
wireless devices 44 and the on-board wireless device 6. In
addition, route information represented as an arrangement
of blocks illustrated in FIG. 4 may be used as the open
10 route information.
[0044] FIG. 7 is a diagram for describing another
example of the processing to be performed by the forward
monitoring apparatus 3 according to the first embodiment of
the present disclosure, for determining a direction to be
15 monitored by the monitoring unit 31. FIG. 7 shows an
example in which a stop limit point that is a point through
which the train 2 can travel is set in the block B1009. In
this case, in step S102 of the flowchart illustrated in FIG.
3, the route information acquisition unit 34 of the forward
20 monitoring apparatus 3 acquires stop limit point
information as open route information from the ground
control apparatus 43 through wireless communication, and
outputs the stop limit point information to the monitoring
direction determination unit 35.
25 [0045] Then, in step S103 of the flowchart illustrated
in FIG. 3, the monitoring direction determination unit 35
recognizes the traveling direction of the train 2 by
collating the stop limit point information (open route
information) and the train position information with the
30 map information, and determines a direction to be monitored
by the monitoring unit 31 on the basis of the traveling
direction of the train 2. Specifically, the monitoring
direction determination unit 35 can recognize that the

27
train 2 can travel to the position of the stop limit point
illustrated in FIG. 7 by collating the stop limit point
information acquired from the route information acquisition
unit 34 with the map information. In addition, the
5 monitoring direction determination unit 35 can recognize
where the train 2 is located on the track by collating the
current position of the train 2 indicated by the train
position information acquired from the train position
acquisition unit 33 with the map information. As a result,
10 the monitoring direction determination unit 35 can
recognize a travel route R1 indicated by a dashed arrow in
FIG. 7 from the current position of the train 2 to the stop
limit point that is a point through which the train 2 can
travel, and thus can recognize the traveling direction of
15 the train 2 at the current position of the train 2. Then,
the monitoring direction determination unit 35 determines a
direction to be monitored by the monitoring unit 31 on the
basis of the traveling direction of the train 2. In
addition, the monitoring direction determination unit 35
20 generates a monitoring direction control signal for
adjusting the direction to be monitored by the monitoring
unit 31 to the traveling direction of the train 2, and
outputs the generated signal to the monitoring unit 31.
Note that subsequently, processing is performed which is
25 the same as the processing in step S104 and the subsequent
steps of the flowchart illustrated in FIG. 3, and
description thereof is thus omitted.
[0046] According to the forward monitoring apparatus 3
of the first embodiment of the present disclosure, since
30 the open route information includes the stop limit point
information indicating the limit point at which the train 2
should stop, it is possible to adjust the direction to be
monitored by the monitoring unit 31 to the traveling

28
direction of the train 2 by using information received
through communications based train control (CBTC) or the
like.
[0047] Furthermore, for example, the forward monitoring
5 apparatus 3 may use, as the open route information, stop
track circuit information included in an ATC message used
in a single-stage pattern ATC system (hereinafter, referred
to as a single-stage ATC). Although not illustrated in
detail, in the case of a single-stage ATC, an ATC message
10 is transmitted from the ground side to the train 2 through
rails on which the train 2 travels. The stop track circuit
information indicates a train and a track circuit ID to be
stopped, and a track circuit (stop track circuit) of the
entry limit for a following train is determined by, for
15 example, a track circuit where the end of the preceding
train is located. Therefore, the train 2 just needs to be
equipped with an ATC receiver for receiving an ATC message
including stop track circuit information so that the route
information acquisition unit 34 of the forward monitoring
20 apparatus 3 can acquire stop track circuit information
received by the ATC receiver as open route information, and
output the stop track circuit information to the monitoring
direction determination unit 35.
[0048] Then, in step S103 of the flowchart illustrated
25 in FIG. 3, the monitoring direction determination unit 35
recognizes the traveling direction of the train 2 by
collating the stop track circuit information (open route
information) and the train position information with the
map information, and determines a direction to be monitored
30 by the monitoring unit 31 on the basis of the traveling
direction of the train 2. Specifically, the monitoring
direction determination unit 35 can recognize a track
circuit of the entry limit of the train 2 by collating the

29
stop track circuit information acquired from the route
information acquisition unit 34 with the map information.
In addition, the monitoring direction determination unit 35
can recognize where the train 2 is located on the track by
5 collating the current position of the train 2 indicated by
the train position information acquired from the train
position acquisition unit 33 with the map information. As
a result, since the monitoring direction determination unit
35 can recognize a travel route from the current position
10 of the train 2 to a track circuit through which the train 2
can travel, it is possible to recognize the traveling
direction of the train 2 at the current position of the
train 2. Then, the monitoring direction determination unit
35 determines a direction to be monitored by the monitoring
15 unit 31 on the basis of the traveling direction of the
train 2. In addition, the monitoring direction
determination unit 35 generates a monitoring direction
control signal for adjusting the direction to be monitored
by the monitoring unit 31 to the traveling direction of the
20 train 2, and outputs the generated signal to the monitoring
unit 31. Note that subsequently, processing is performed
which is the same as the processing in step S104 and the
subsequent steps of the flowchart illustrated in FIG. 3,
and description thereof is thus omitted.
25 [0049] Note that, in Patent Literature 1 (Japanese
Patent Application Laid-open No. 2019-004587), since it is
necessary to give information on the traveling direction of
a train, which is different from information to be
transmitted in a normal ATC loop, a process of separately
30 generating the information on the traveling direction of
the train is newly required on the ground side. That is, a
process for newly adding information on the traveling
direction of the train at a diverging point is required in

30
the ATC system of Patent Literature 1.
[0050] Meanwhile, use of stop track circuit information
included in an ATC message that is usually used in a
single-stage ATC, as open route information as described
5 above allows the forward monitoring apparatus 3 to adjust a
direction to be monitored by the monitoring unit 31 to the
traveling direction of the train 2 without providing new
processing or an additional installation on the ground side.
[0051] Second Embodiment.
10 Next, a train control system according to a second
embodiment of the present disclosure will be described.
FIG. 8 is a block diagram showing an example of a
configuration of a train control system according to the
present embodiment, that is, the second embodiment. Note
15 that the same constituent elements and the like as those of
the train control system 1 according to the first
embodiment of the present disclosure are denoted by the
same reference numerals, and a detailed description thereof
will be omitted. As illustrated in FIG. 8, in a train
20 control system 1a according to the second embodiment, a
ground control apparatus 43a of an operation control system
4a is configured to acquire schedule change information
from an operation control apparatus 41a, and transmit the
schedule change information to a train control apparatus 5a
25 of the train 2 via the ground wireless devices 44 and the
on-board wireless device 6 when the schedule of the train 2
is changed by the operation control apparatus 41a.
[0052] Although not illustrated in detail, the operation
control apparatus 41a includes a schedule database that
30 stores schedule information. The schedule information
includes, for example, information such as the train number
and train car type of each train scheduled to travel on a
track, a distinction as to whether the train is an up train

31
or down train, the travel section of the train, the arrival
time and departure time of the train at each station, and a
track number of a track to be used by the train on a travel
route. When there is a schedule change, the operation
5 control apparatus 41a generates schedule change information
including information on the schedule change, updates
schedule information stored in the schedule database with
the schedule change information, and transmits the schedule
change information to the ground control apparatus 43a.
10 When acquiring the schedule change information from the
operation control apparatus 41a, the ground control
apparatus 43a transmits the schedule change information to
the train control apparatus 5a of the train 2 via the
ground wireless devices 44 and the on-board wireless device
15 6. Note that the schedule change information is
information corresponding to schedule information updated
in such a way as to reflect details of the schedule change,
and includes information such as the train number and train
car type of each train scheduled to travel on a track, a
20 distinction as to whether the train is an up train or down
train, the travel section of the train, the arrival time
and departure time of the train at each station, and a
track number of a track to be used by the train on a travel
route, as with the schedule information.
25 [0053] The train control apparatus 5a includes a
schedule information update unit 51 and a schedule
information storage unit 52. When schedule change
information is acquired from the ground control apparatus
43a via the ground wireless devices 44 and the on-board
30 wireless device 6, the schedule information update unit 51
updates schedule information stored in advance in the
schedule information storage unit 52 with the schedule
change information. The schedule information storage unit

32
52 stores in advance schedule information indicating a prechange operation schedule. When schedule information is
updated with schedule change information by the schedule
information update unit 51, the schedule information
5 storage unit 52 stores the schedule change information as
new schedule information.
[0054] A forward monitoring apparatus 3a includes a
schedule information acquisition unit 37 instead of the
route information acquisition unit 34 of the forward
10 monitoring apparatus 3 according to the first embodiment.
The schedule information acquisition unit 37 acquires
schedule information from the schedule information storage
unit 52 of the train control apparatus 5a. When schedule
information stored in the schedule information storage unit
15 52 is changed to schedule change information by the
schedule information update unit 51, the schedule
information acquisition unit 37 acquires the schedule
change information from the schedule information storage
unit 52 as new schedule information, and outputs the
20 schedule change information to a monitoring direction
determination unit 35a. The monitoring direction
determination unit 35a determines a direction to be
monitored by the monitoring unit 31 by using the schedule
information acquired by the schedule information
25 acquisition unit 37, train position information acquired by
the train position acquisition unit 33, and map information
stored in the storage unit 32.
[0055] FIG. 9 is a flowchart showing an example of a
flow of forward monitoring processing to be performed by
30 the forward monitoring apparatus 3a according to the second
embodiment of the present disclosure. Hereinafter, an
example of the flow of forward monitoring processing to be
performed by the forward monitoring apparatus 3a according

33
to the second embodiment of the present disclosure will be
described with reference to the flowchart of FIG. 9. As
illustrated in FIG. 9, in step S201, the forward monitoring
apparatus 3a acquires, by means of the train position
5 acquisition unit 33, train position information and train
speed information respectively indicating the current
position of the train 2 and the speed of the train 2
detected by the train control apparatus 5.
[0056] In step S202, the forward monitoring apparatus 3a
10 acquires, by means of the schedule information acquisition
unit 37, schedule information including information on the
track number of a track to be used by the train 2 from the
schedule information storage unit 52. Note that when the
schedule of the train 2 is changed by the operation control
15 apparatus 41a on the ground side, schedule information
stored in the schedule information storage unit 52 is
updated with schedule change information by the schedule
information update unit 51 as described above. Therefore,
when the operation control apparatus 41a changes the
20 schedule of the train 2, the schedule information
acquisition unit 37 acquires the schedule change
information as new schedule information from the schedule
information storage unit 52. In addition, while FIG. 9
shows an example in which the forward monitoring apparatus
25 3a acquires the train position information and the train
speed information by means of the train position
acquisition unit 33 in step S201, and acquires the schedule
information by means of the schedule information
acquisition unit 37 in step S202, the processing in steps
30 S201 and S202 need not be performed in this order, and may
be performed in reverse order or simultaneously.
[0057] Next, in step S303, the forward monitoring
apparatus 3a causes the monitoring direction determination

34
unit 35 to determine a direction to be monitored by the
monitoring unit 31, by using the schedule information
acquired by the schedule information acquisition unit 37,
the train position information acquired by the train
5 position acquisition unit 33, and the map information
stored in the storage unit 32.
[0058] FIG. 10 is a diagram for describing an example of
processing to be performed by the forward monitoring
apparatus 3a according to the second embodiment of the
10 present disclosure, for determining a direction to be
monitored by the monitoring unit 31. FIG. 10 shows an
example in which the block B1003 corresponds to track 1,
the block B1008 corresponds to track 2, and the block B1005
corresponds to track 3. When schedule information acquired
15 from the schedule information acquisition unit 37 includes
information indicating that a track to be used by the train
2 is, for example, track 2, the monitoring direction
determination unit 35a can recognize that the train 2
travels on track 2 (a route including the block B1008) in
20 FIG. 10 by collating the schedule information with the map
information. In addition, the monitoring direction
determination unit 35a can recognize where the train 2 is
located on the track by collating the current position of
the train 2 indicated by the train position information
25 acquired from the train position acquisition unit 33 with
the map information. As a result, since the monitoring
direction determination unit 35a can recognize that the
train 2 travels on a travel route R2 indicated by a dashed
arrow in FIG. 10 on the basis of information on the current
30 position of the train 2 on the track and the track number
of a track to be used by the train 2, that is, track 2 on
which the train 2 travels, it is possible to recognize the
traveling direction of the train 2 at the current position

35
of the train 2. Then, the monitoring direction
determination unit 35a determines a direction to be
monitored by the monitoring unit 31 on the basis of the
traveling direction of the train 2. In addition, the
5 monitoring direction determination unit 35a generates a
monitoring direction control signal for adjusting the
direction to be monitored by the monitoring unit 31 to the
traveling direction of the train 2, and outputs the
generated signal to the monitoring unit 31. Note that the
10 processing in steps S204 to S208 of the flowchart
illustrated in FIG. 10 is the same as the processing in
steps S104 to S108 of the flowchart illustrated in FIG. 3,
respectively, and description thereof is thus omitted.
[0059] Note that while an example has been described
15 above in which the ground control apparatus 43a transmits
the schedule change information to the train 2 through
wireless communication in the train control system 1a
according to the present embodiment, that is, the second
embodiment, the train control system 1a may be configured
20 such that the schedule change information is transmitted
from the operation control apparatus 41a to the train 2
through wireless communication. In addition, while an
example has been described above in which the train control
apparatus includes the schedule information update unit and
25 the schedule information storage unit in the train control
system 1a according to the present embodiment, that is, the
second embodiment, the train control system 1a may be
configured such that the schedule information update unit
and the schedule information storage unit are included in
30 the forward monitoring apparatus.
[0060] The forward monitoring apparatus 3a according to
the second embodiment of the present disclosure is
installed on the train 2, and includes: the monitoring unit

36
31 that monitors a situation ahead of the train 2; the
storage unit 32 that stores map information including
information on a position of a track on which the train 2
travels, a shape of the track, and a position of a turnout
5 provided on the track; the train position acquisition unit
33 that acquires train position information indicating a
position of the train 2; the schedule information
acquisition unit 37 that acquires schedule information
including information on a track number of a track to be
10 used by the train 2; and the monitoring direction
determination unit 35a that determines a direction to be
monitored by the monitoring unit 31, by using the schedule
information, the train position information, and the map
information, the schedule information being acquired by the
15 schedule information acquisition unit 37, the train
position information being acquired by the train position
acquisition unit 33, the map information being stored in
the storage unit 32. Therefore, it is possible to
appropriately recognize a traveling direction in which the
20 train 2 should go after passing through a turnout, and
adjust a direction to be monitored to the traveling
direction of the train 2 even on a track on which a
plurality of turnouts is consecutively provided.
[0061] Furthermore, in the forward monitoring apparatus
25 3a according to the second embodiment of the present
disclosure, the schedule information acquisition unit 37
acquires schedule change information including information
on a schedule change when the schedule of the train 2 is
changed by the operation control apparatus 41a, and the
30 monitoring direction determination unit 35a determines a
direction to be monitored by the monitoring unit 31, by
using the schedule change information acquired by the
schedule information acquisition unit 37, the train

37
position information acquired by the train position
acquisition unit 33, and the map information stored in the
storage unit 32. Therefore, even when there is a sudden
route change or the like due to the schedule change, the
5 traveling direction of the train 2 can be appropriately
recognized, and the direction to be monitored can be
adjusted to the traveling direction of the train 2.
[0062] In addition, the present disclosure is not
limited to the above embodiments, and each embodiment can
10 be appropriately changed or omitted without departing from
the scope of the idea of the present disclosure.
Reference Signs List
[0063] 1 to 1a train control system; 2 train; 3 to 3a
15 forward monitoring apparatus; 4 to 4a operation control
system; 31 monitoring unit; 32 storage unit; 33 train
position acquisition unit; 34 route information
acquisition unit; 35 monitoring direction determination
unit; 41 operation control apparatus; P1 to P3 turnout.
20

38
We Claim:
1. A forward monitoring apparatus to be installed on a
5 train, the apparatus comprising:
a monitoring unit to monitor a situation ahead of the
train;
a storage unit to store map information including
information on a position of a track on which the train
10 travels, a shape of the track, and a position of a turnout
provided on the track;
a train position acquisition unit to acquire train
position information indicating a position of the train;
a route information acquisition unit to acquire open
15 route information including information for indicating an
open direction of the turnout located ahead of the train;
and
a monitoring direction determination unit to determine
a direction to be monitored by the monitoring unit, by
20 using the open route information, the train position
information, and the map information, the open route
information being acquired by the route information
acquisition unit, the train position information being
acquired by the train position acquisition unit, the map
25 information being stored in the storage unit.
2. The forward monitoring apparatus according to claim 1,
wherein the route information acquisition unit acquires the
open route information via an on-board wireless device
30 installed on the train, the open route information being
transmitted from a ground side.
3. The forward monitoring apparatus according to claim 1

39
or 2, wherein the open route information includes stop
limit point information indicating a limit point at which
the train should stop.
5 4. A train control system comprising: the forward
monitoring apparatus according to any one of claims 1 to 3;
and an operation control system to transmit the open route
information to the forward monitoring apparatus.
10 5. A forward monitoring apparatus to be installed on a
train, the apparatus comprising:
a monitoring unit to monitor a situation ahead of the
train;
a storage unit to store map information including
15 information on a position of a track on which the train
travels, a shape of the track, and a position of a turnout
provided on the track;
a train position acquisition unit to acquire train
position information indicating a position of the train;
20 a schedule information acquisition unit to acquire
schedule information including information on a track
number of a track to be used by the train; and
a monitoring direction determination unit to determine
a direction to be monitored by the monitoring unit, by
25 using the schedule information, the train position
information, and the map information, the schedule
information being acquired by the schedule information
acquisition unit, the train position information being
acquired by the train position acquisition unit, the map
30 information being stored in the storage unit.
6. The forward monitoring apparatus according to claim 5,
wherein

40
when an operation control apparatus makes a schedule
change for the train, the schedule information acquisition
unit acquires schedule change information including
information on the schedule change, and
5 the monitoring direction determination unit determines
a direction to be monitored by the monitoring unit, by
using the schedule change information, the train position
information, and the map information, the schedule change
information being acquired by the schedule information
10 acquisition unit, the train position information being
acquired by the train position acquisition unit, the map
information being stored in the storage unit.
7. A train control system comprising: the forward
15 monitoring apparatus according to claim 5 or 6; and an
operation control system to transmit the schedule
information or schedule change information to the forward
monitoring apparatus.
20 8. A forward monitoring method to be performed by a
forward monitoring apparatus installed on a train, the
forward monitoring apparatus including a monitoring unit to
monitor a situation ahead of the train, the method
comprising:
25 a train position acquisition step of acquiring train
position information indicating a position of the train;
a route information acquisition step of acquiring open
route information including information for indicating an
open direction of the turnout located ahead of the train;
30 and
a monitoring direction determination step of
determining a direction to be monitored by the monitoring
unit, by using the open route information, the train

41
position information, and map information, the open route
information being acquired in the route information
acquisition step, the train position information being
acquired in the train position acquisition step, the map
5 information including information on a position of a track
on which the train travels, a shape of the track, and a
position of the turnout provided on the track.
9. The forward monitoring method according to claim 8,
10 wherein in the route information acquisition step, the open
route information transmitted from a ground side is
acquired via an on-board wireless device installed on the
train.
15 10. The forward monitoring method according to claim 8 or
9, wherein the open route information includes stop limit
point information indicating a limit point at which the
train should stop.
20 11. A forward monitoring method to be performed by a
forward monitoring apparatus installed on a train, the
forward monitoring apparatus including a monitoring unit to
monitor a situation ahead of the train, the method
comprising:
25 a train position acquisition step of acquiring train
position information indicating a position of the train;
a schedule information acquisition step of acquiring
schedule information including information on a track
number of a track to be used by the train; and
30 a monitoring direction determination step of
determining a direction to be monitored by the monitoring
unit, by using the schedule information, the train position
information, and map information, the schedule information
being acquired in the schedule information acquisition step,
the train position information being acquired in the train
position acquisition step, the map information including
information on a position of the track on which the train
5 travels, a shape of the track, and a position of a turnout
provided on the track.
12. The forward monitoring method according to claim 11,
comprising:
10 a schedule change information acquisition step of
acquiring schedule change information including information
on a schedule change when an operation control apparatus
makes the schedule change for the train, the information on
the schedule change being different from the schedule
15 information, wherein
a direction to be monitored by the monitoring unit is
determined in the monitoring direction determination step
by use of the schedule change information, the train
position information, and the map information, the schedule
20 change information being acquired in the schedule change
information acquisition step.