JPS603642B2 - Travel control devices for various vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a travel control device for a transportation trolley used in an automatic transportation system, etc., in which an induction coil is simply arranged on the ground side along the travel route. Although the configuration is extremely simple, no matter where on the driving route the leading tactician is stopped, the following vehicle that enters the zone to which the leading tactician belongs will surely stop and prevent a rear-end collision. It is an object of the present invention to provide a device that can prevent collisions and perform automatic travel control without causing rear-end collisions even when branching and merging between the main travel route and each branch route.

Preferred embodiments of the present invention will be described below based on the attached illustrative drawings. In FIG. 1, reference numeral 1 denotes a self-propelled vehicle that travels along the main traveling route x and each branch route Y1, Y2, Y3.

3 and 4 are transfer coil rows, and the induction coil row 3 includes induction coils 3a to 3d configured in an endless loop in the length direction of the main travel path X, with appropriate intervals between adjacent ends of each induction coil. The transfer coil row 4 also has similar induction coils 4a to 4c arranged in series, but the induction coil separation points 5 and 6 of each row are located along the main traveling route. The induction coils 4a to 4c of the other row 4 are arranged side by side so as to face each other in the length direction (so that the dividing point 5 in one row 3 is located at the center in the length direction of each induction coil 4a to 4c in the other row 4).

The carriage 1 shown in this embodiment includes a loading platform 7 that moves up and down as shown in FIGS. 2 and 3, and vertical shafts 8 at the front and rear.
Each bogie 10, 11 has a pair of wheels 12 that roll on the floor.
, 13, and guide rollers 14, 15 which are iron-coupled with the guide rail 2 buried under the floor surface are supported pivotally.

One pair of wheels 12 is driven by a DC motor 16 mounted on the bogie 10, and the motor 16 is driven by a battery 17 mounted on the axle 1. The two parallel induction coil rows 3 and 4 are buried under the floor surface on one side of the rail 2, as shown in FIG. Transmitting/receiving means 18, 19 and 20, 21 are attached to both the bogies 10, 11 at symmetrical positions in the front, rear, left and right, respectively, and each of these transmitting and receiving means has a transmitting coil 18a.
, 19a, 20a, 21a and receiving coils 18b, 19
b, 20b, and 21b, and these four transmitting coils and four receiving coils are respectively connected in parallel.

Each branch route YI to Y3 is connected from the branch point 22 to the relay section 2.
3, an exit section 26 from the relay section 23 to the confluence point 25, and a warehousing section 28 and an unloading section 29 extending in a bifurcated manner from the relay section 23 through a branch point 27. The inlet section 24 has an inlet induction coil 30, and the outlet section 26 has two rows of parallel outlet induction coils 31a.
31b, and induction coils 32 and 33 for occupancy detection are disposed along the guide rail 2 in the loading and unloading work sections 28 and 29, respectively. The inlet induction coil 30 and the outlet induction coils 31a and 31b are located on the same side of the guide rail 2 when viewed from the running direction of the car copper running through the inlet 24 and outlet 26, and Induction coil rows 3 and 4 in
The induction coils 32 and 33 for occupancy detection are arranged at opposite left and right positions with the guide rail 2 at the center. The entrance metropolitan guide coil 30 and the presence detection induction coils 32 and 33 of each branch route YI to Y3 are yield coils that cover a certain area on the upper side of the main travel route X from the branch point 22 of the branch route. 4a, 3b, 4b by connection conductor coils 34, 35, and the outlet induction coils 31a, 31b of each branch route YI to Y3 are connected to the upper side of the main running route x from the confluence 25 of the branch route. Each of the two transfer coils 3b, 4b, 3c, 4b and 3c, 4c covering a certain area on the lower side is connected to the connecting induction coils 36, 37, respectively. As shown in FIGS. 4 and 5, the exit section induction coils 31a, 31b and the occupancy detection induction coil 3
2 and 33 on the side of the relay section 23 extend to a position corresponding to the transmitting/receiving means 18 to 201 of the vehicle steel 1 when the vehicle steel 1 arrives at the intermediate position E of the relay section 23. The three metropolitan guide coils are configured to be short so as to be removed from the transmitting/receiving means 21.

As shown in FIG. 6, each axle 1 has a rear-end collision prevention signal fa having a different frequency, an incoming occupancy signal ratio, and an outgoing occupancy signal fc.
, a transmission frequency selection circuit 38 for selectively transmitting the branching signal fd and the branching path internal signal fe from the transmission coils 18a to 21a, and further includes a reception coil 18b.
The frequency selection circuit 39 for the signals received at
A self-transmission frequency cut-off filter 40 that cuts off signals transmitted from 8a to 21a, and the same filter 4.
The brake means 41 is actuated by a signal passing through zero. Only the rear-end collision prevention signal fa is a signal with a unique frequency that differs for each driver.

Although various types of braking means 41 are conceivable, one that electrically performs deceleration and braking by controlling the voltage of the DC motor 16 is common. Note that circuit breakers 42 to 46 are interposed in the input system of each signal fa to fe from the frequency selection circuit 39 to the filter 40, and circuit breakers 43, 45, 46 is a preset branch route (for example, Y2
) corresponding to the branch route selection position (position Y2 shown in Fig. 4).
1F), and the signals fc, fd and f
The circuit switches 44 to 46 in the input system of e are closed at the same time when the vehicle leaves the warehouse.

The circuit switches 43 to 45 are opened when the vehicle steel 1 is on the main traveling route
This is done when the intermediate position E is reached when merging into the road. The circuit switch 42 in the input system of the signal fa is opened when the driver 1 reaches the intermediate position E when branching to the branch route, and when the driver 1 reaches the intermediate position E when joining the main route X. It is closed when it reaches E. First, to explain the effect of preventing a rear-end collision between the front and rear axles when the vehicle steel 1 is traveling straight on the main traveling route x based on FIGS. 1 and 6, when the axle 1 is on the main traveling route x, frequency selection A current as a rear-end collision prevention signal fa having a frequency specific to each wheel is applied to each of the transmitting coils 18a to 21a by the circuit 38, and a circuit breaker 42 for inputting the same signal is closed.

In such a state, if the vehicle steel 1 is stopped at position A for some reason, the transmitting coils of the transmitting/receiving means 18, 19 of the tactician are connected to the corresponding induction coils 3c, 4b below the axle. Since a rear-end collision prevention signal with a unique frequency (induced current with a unique frequency) is induced, the following car steel 1
When the position is reached, the receiving coil of the transmitting/receiving means 18 in front of it detects the induced magnetic field of the induction coil 4b (a signal for preventing a rear-end collision of the vehicle at the A position Z), and the self-transmission frequency cut-off/
The braking means 41 is actuated by a control signal from the filter 40, and the following vehicle steel performs deceleration and braking operations. Therefore, the vehicle word 1 travels by inertia Z by a distance L from the B position and stops at the C position.

The inertial travel distance L at this time varies depending on the loaded load and the preceding traveling speed, so taking these things into account, even under conditions where the inertia travel distance L is maximum, a safe following distance between the vehicle and the preceding stopped vehicle is maintained. The lengths of the respective induction coils 3a to 3d and 4a to 4c may be set so that the following car pieces can stop while securing 11. The braking resistance for the motor 16 can be automatically or artificially switched depending on the amount or presence of the load.
In the example shown in Figure 2, the preceding stopping driver 1 at position A is stopped at a position immediately after the rear transmitting/receiving means 19 leaves the induction coil 3b, so the inter-vehicle distance 11 between it and the following stopping driver 1 is is the minimum. If induction coil 3b
If the preceding car has stopped at a position where the rear-end collision prevention signal can be induced by the rear transmitting/receiving means 19 (a position approaching position C from position A), the following car has stopped at a position where the rear transmitting/receiving means 19 can induce a rear-end collision prevention signal. 18 corresponds to the induction coil 3b, the vehicle receives deceleration and braking action, so that the vehicle comes to a stop while maintaining a larger inter-vehicle distance 11 with respect to the preceding stopped vehicle. Since the inter-vehicle distance 11 is preferably set to the minimum value within a safe range, when the vehicle steel travels a predetermined inertial travel distance L and stops as shown in the figure, the rear transmitting/receiving means 19 of the tactician is connected to the induction coil. The induction coil is configured to correspond to the dividing point 5 or 6 between the two or to a position further forward than this, and receives an induced current by the rear transmitting/receiving means 19 of the preceding stopped vehicle steel. It is desirable that the inductive effect of the transmitter coil does not affect subsequent transfer coils in the same row.

When the vehicle driver 1 that has been stopped at position A starts and reaches position D, where the rear transmitting/receiving means 19 is removed from the induction coil 4b, the following vehicle driver 1 that has stopped at position C is attached to the induction coil 4b.
Since only the induced current of the rear-end collision prevention signal frequency induced by the transmitting coil of the forward transmitting/receiving means 18 flows, the receiving coil of the transmitting/receiving means 18 of the following stopped vehicle only transmits the rear-end collision prevention signal transmitted by the own vehicle. As a result, the braking signal from the filter 40 disappears, the braking action is released, and the subsequent stopped vehicle 1 at the C position starts moving.

According to the above embodiment using the two induction coil rows 3 and 4, the lengths of the induction coils 3a to 3d and 4a to 4c in each row are As a result, the minimum inter-vehicle distance 12 in a state where both the front and rear axles can travel becomes relatively long as shown in the figure.

In order to shorten this, three induction coil rows 47 to 49 are arranged in parallel as shown in FIG.
7a......, 48a......, 49
a... If the length is shortened and the distance between the induction coil dividing points 50 to 52, which are equally spaced in the direction of the path length, is half of the same distance shown in FIG. The minimum inter-vehicle distance 12 when restarting (during normal driving) can be significantly shortened without changing the minimum inter-vehicle distance 11 when stopped to prevent a rear-end collision. For the same purpose, it is also possible to use four or more induction coil arrays. o Next, to explain the action at the time of branching based on FIGS. 4 and 6, each car steel 1 has a destination (branch route) and target work (warehousing and unloading work) set in advance, and While traveling on route x, each branch route YI ~
Branch route selection position corresponding to each of Y3 1-F~
When passing through Y3-F (YI-F is not shown), the set branch route and the detected branch route are compared, and if they match, the branch point 22,
The route switching rail at 27 is automatically switched.

0 Now, assuming that the vehicle steel 1 to be branched off for warehousing work on the branch route Y2 is traveling on the main travel route X,
When the chapter 1 passes through the branch route selection position Y2-F, the route switching rails at the branch points 22 and 27 on the branch route Y2 are automatically switched by a signal from the tactician 1 or a signal from the central control device. At this time, the transmission frequency selection circuit 38 operates, and in addition to the rear-end collision prevention signal fa, the branching signal fd is also transmitted from the transmission coils 18a to 21a, and the circuit switch 43 in the input system of the signals fd and fe is also transmitted.
, 45, 46 are closed.

The driver enters branch route Y2 from branch point 22, but
Until this tactician reaches the intermediate position E of the relay section 23 via the entrance section 24, the entrance section guiding coil 3 is connected to the transmitting/receiving main 20.
or 21 correspondingly transmits the rear-end collision prevention signal fa to the induction coil 3b on the upstream side of the branching point via the induction coil 30 and the connection induction coil 34, so that the main traveling route This will prevent rear-end collisions caused by wheels traveling straight ahead.

When the branch car steel reaches the E position, the transmission frequency selection circuit 3
8, the branching route internal signal fe is sent to the transmitting coils 18a to 2 instead of the rear-end collision prevention signal fa and the branching signal fd.
It is transmitted from 1a.

This signal is transmitted from the transmitting coils of the transmitting/receiving means 18 and 19 to the guidance coil 32 for presence detection until the tactician reaches the work position G of the warehousing work section 28 via the branch point 27, and is further transmitted to the guidance coil 32 for connection detection. Attendance induction coil 33 via coil 35
and is also transmitted to the induction coil 3b on the main travel route X. On the other hand, when the E position is reached, the circuit breaker 42 of the input system for the rear-end collision prevention signal is opened, and the rear-end collision prevention signal fa transmitted from another vehicle traveling straight on the main travel route X is used to detect the presence of a passenger. There is no fear that the signal will be stopped due to reception from the induction coil 32.

Further, as described above, the branch route seat signal fe from the vehicle steel traveling from the E position to the G position is transmitted to the seat presence detection induction coil 33 on the delivery work section 29 side and the induction coil 3b on the main travel route X.
By transmitting the information to the warehousing unit 29, it is possible to prevent the Kuruma-sardine from starting from the unloading work position date of the unloading work unit 29, and to select a branching route for the following Kuruma-sardine to be branched for entering or leaving the warehouse on this branch route Y2. It will automatically stop and stand by at the standby position Y2-1, which is separated by an inertial travel distance from the position Y2-F. That is, as explained above, when the tactician who is to be branched to the branch route Y2 reaches this branch route selection position Y2-F, the circuit switch 46 of the input system of the signal fe is closed, so that the route is not guided. The receiving coil 18b of the transmitting/receiving means 18 detects the branch route internal signal fe flowing through the coil 3b',
A braking signal is output to the braking means 41 to cause a deceleration and braking action, and the vehicle travels by inertia for a predetermined distance and then stops and waits at the standby position Y2-1. However, in this way, the standby position Y
When waiting at 2-1, the branching signal f is sent as described above.
d is not transmitted.

When the standby condition is resolved and the vehicle starts branching, the signal frequency selection circuit 38 sends out the branching signal fd together with the rear-end collision prevention signal fa. 0 When the vehicle steel reaches the G position and is stopped, the transmission frequency selection circuit 38 transmits the in-vehicle presence signal fb from the transmitting coils 18a to 21a, and the signal fb is transmitted from the transmitting/receiving means 19 to the presence detection signal. The signal is transmitted to the induction coil 3b on the main travel route via the conduction coil 32 and the connection induction coil 35.

Therefore, the subsequent wheels to be branched off to enter the warehouse on this branch route Y2 are stopped and waited at the standby position Y2-1,
The following vehicle steel, which should be branched for leaving the warehouse, is allowed to enter the branch route Y2 (the circuit breaker 43 of the input system for the signal ratio applied to the entering vehicle steel is opened, and the signal at the leaving wheel is not opened). fb input system circuit switch 43 is not opened). Of course, in this case, when a car steel is present at the H position of the delivery work section 29, the delivery presence signal f transmitted from the car steel is
Since c is also transmitted to the induction coil 3b, even if the vehicle is to be separated for delivery, it is stopped and waited at the standby position Y2-1.

In this way, when the following wheels that are to be branched to the branch route Y2 are stopped at the waiting position Y2-1 and the vehicle is stopped, the rear-end collision prevention signal fa is transmitted from the waiting vehicle steel to the induction coil 3b. As explained based on FIG. 1, a rear-end collision between a following vehicle and the waiting wheel is prevented. After the warehousing work is completed, the condition for starting the wheels in the G position is that the branch route in-seat signal and the branching signal fd are not transmitted to the presence detection guiding coil 32 on the warehousing work section 28 side. It is. When this condition and other necessary conditions are satisfied and the tactician 1 is started from the G position of the warehousing work section 28 (the direction of movement is reversed), the transmission frequency selection circuit 38 replaces the signal fd with A branch route internal seat signal fe is transmitted, and the branch route seat signal fe is transmitted to the transmitting/receiving means 18, 1.
9 to the presence detection service conduction coil 32, and is further transmitted to the induction coil 3 of the main travel route X via the connection induction coil 35.
b and to the presence detection induction coil 33 on the delivery work unit 29 side, so as explained earlier, this branch route Y2
The wheels can be automatically stopped and waited at the standby position Y2-1 irrespective of whether the work is in or out, and the wheels in the H position of the out work section 29 are prevented from starting. When the merging wheel 1 reaches the intermediate position E of the relay section 23 as shown in FIG. 5, the exit section induction coil 31a,
Receiving coil 19 of transmitting/receiving means 19 corresponding to the end of 31b
The input system from b to the frequency selection circuit 39 and the input system for the rear-end collision prevention signal fa from the same circuit 39 to the filter 40 are closed, and the receiving coil 19b receives the rear-end collision prevention signal fa from another aircraft. The induction coils 3c and 4b in the main traveling route Route Y
It is determined whether or not there is another priority traveling tactician in the zone to which the exit section mysterious guidance coil 31b of I belongs, and if such priority traveling vehicle steel exists, a deceleration/braking action is performed at the intermediate position E. Then, the tactician stops and waits at a standby position J separated by an inertial travel distance from the intermediate position E until the tactician leaves the zone to which the induction coil 3c belongs, and then outputs the branch route in-seat signal f.
e is continuously transmitted to the induction coil 3b on the main travel route X as described above.

Then, in a state where the priority running vehicle steel does not exist, the transmission frequency selection circuit 38 transmits a rear-end collision prevention signal fa instead of the branch route in-seat signal fe (preferably, the exit section induction coils 31a and 31b until the junction merges). A specific transmitting coil 19 is selected so that the signal fa can be transmitted only to
It is better to make calls only from a).
Further, the merging wheel is started with only the circuit switch 42 of the input system of the signal fa closed and the circuit switches 43 to 46 of the other signal input systems open, and the merging point 25 is started from the exit section 26. After that, it joins the main travel route X.

Incidentally, the signal reception at the time of merging is also performed by the exit section guiding coil 31a.
, 31b only from the specific receiving coil 19b.
It is preferable to use only the At the time of the above-mentioned merging, the collision prevention signal fa transmitted from the transmitting coil 19a of the transmitting/receiving means 19 to the exit section induction coils 31a, 31b is transmitted to the induction coils 3c, 4b, so that the vehicle travels straight on the main traveling route X. The vehicle steel automatically stops at the entrance (K position) of the zone to which the induction coil 4b belongs, preventing accidents such as rear-end collisions with merging wheels, and further improving the exit direction of the front and rear branching routes Y1 and Y3. Coil 31b or 31a
Since the rear-end collision prevention signal fa is transmitted to the branch routes Y1 and Y3, the cars are prevented from merging from these branch routes Y1 and Y3.

In addition, when merging, as mentioned above, the specific transmitter/receiver coil 1
In the case of 0, in which only 9a and 19b are activated, the transmitting and receiving coils correspond to other transmitting and receiving coils, preferably induction coil rows 3 and 4, before these transmitting and receiving coils are removed from the exit section induction coils 31a and 31b. 20a, 20
b, 21a, and 21b may be switched to work.

T If there is a military commander who stopped at the standby position Y2-1 on the branching vehicle to the branching route Y2, the branch that was transmitted to the induction coil 3b by the merging vehicle starting from the intermediate position E. Since the seat signal heron on the route disappears, the waiting tactician automatically starts, and as with the straight vehicle, the merging vehicle Tai leaves the zone to which the induction coil 4b belongs until the merging vehicle Tai leaves the zone to which the induction coil 4b belongs. Collision prevention signal f
It receives signal a, runs inertia, and stops again at position K. When the merging vehicle steel leaves the zone to which the induction coil 4b belongs, the vehicle steel that was stopped at the K position starts, and the strategy to be branched to the branch route Y2 is made to branch as described above. Since the front and rear of the vehicle steel 1 that merges into the main traveling route .

As described above, travel control is performed during branching and merging, but depending on the travel direction, travel area, stopping position, etc.
Of the receiving coil routers 8a to 21a and the receiving coil routers 8b to 21b, it is desirable to configure so that only those necessary for transmitting and receiving signals are automatically connected to the transmitting frequency selection circuit 38 and the frequency selection circuit 39 to prevent malfunctions.

In this embodiment, the standby position Y2-1 on the main travel route is
The rear-end collision prevention signal fa sent from the vehicle that stops at
It is necessary that the signal is not transmitted to the induction coil 4b in the main travel route that connects to the exit induction coil 31b of the corresponding branch route Y2 (to prevent merging from occurring due to the steel of the waiting vehicle). Branch route selection positions YI-F to Y3-F must be set so that the conditions are satisfied.

If it is possible to determine whether there is a priority running tactician at the time of merging, and if it is possible to determine whether the vehicle waiting at the waiting position Y2-1 on the upstream side of the merging point is a copper or a straight-running wheel, then the waiting position Y2-1 is at branch point 2 from the position shown in the diagram.
The branch route selection position Y2-F can be set so as to be close to the second side (located within the zone to which the induction coil 4b belongs). Such a method is particularly desirable in the embodiment shown in FIG. The present invention can be implemented as described above, and its characteristics are {a} An induction coil array in which induction coils of an appropriate length are arranged in a straight line is used as a guide line laid on the vehicle travel route side. , multiple rows are arranged in parallel along the running route of the tactician so that the cut points of the induction coils in each row simulate each other in the length direction of the route, 'b} At the entrance of the branch route from the main running route, An inlet induction coil is arranged to connect via a connection induction coil to a concession coil that covers a certain area upstream from a branch point in the main travel route, and an inlet induction coil is provided at an exit part of the branch route. The point where the exit induction coil is connected to the induction coil that covers a certain area on the upstream and downstream sides from the confluence point through the connecting coil, 'c} at two locations on the front and rear of the wheel. The provided transmitting means includes a transmission frequency selection circuit for selectively transmitting a rear-end collision prevention signal, a branching signal, etc. each having a different frequency, and at least the rear-end collision prevention signal has a unique frequency different for each vehicle steel. point, and [d
- The receiving means provided at two locations in the front and rear of the driver are provided with means for receiving each of the above-mentioned signals other than the signal frequency being transmitted from the eyepiece, and the braking means is actuated by the receiving action of the receiving means. The point is that I did it like this.

According to the configuration of the present invention, compared to the conventional case in which only one transfer coil row in which induction coils of appropriate length are arranged in a straight line is arranged along the traveling route of the car bream. By considering the length and number of induction coils in each row of parallel yielding coils, no matter where the vehicle stops on the travel route, the following vehicle can be automatically guided while maintaining the minimum safe following distance. Not only can the vehicle be stopped, but also the inter-vehicle distance between the front and rear wheels when restarting can be arbitrarily shortened.

Moreover, due to the configuration of the present invention {c} and [state], there is no fear of malfunction such as the reception means of the own aircraft receiving the collision prevention signal of the own aircraft and braking being activated.

Further, according to the present invention configurations 'c} and (d}, an induction coil for preventing rear-end collisions is transmitted from the vehicle steel during branching or after the branching is completed to the following vehicle steel on the main line, such as a branching signal other than the rear-end collision prevention signal. It is possible to avoid an inconvenient situation such as a rear-end collision between a preceding vehicle and a preceding vehicle that is branching, and to ensure that the desired branching and merging is always carried out safely and efficiently. Note that the branch route may consist of a single line used for both loading and unloading operations, or it may be one that merges with the original main travel route in the evening after making a U-turn.

In addition, when the following vehicle steel automatically stops due to the preceding stopping tactic, it is thought that it is impossible for the preceding stopped vehicle to start running because it is receiving signals from the following stopped wheels, but the preceding stopping tactic If the configuration is such that only the rear receiving means among the front and rear receiving means receives the signal from the following stop tactician, a circuit is also used that allows the vehicle to start running when only the rear receiving means is receiving the signal. By doing so, the above problems can be solved. Brief explanation of the data drawings Figure 1 is a schematic plan view illustrating the effect of preventing rear-end collisions between wheels on the main travel route, Figure 2 is a plan view of the bogie section showing an example of vehicle steel, and Figure 3 is a schematic plan view of the vehicle steel. 4 and 5 are schematic plan views illustrating the actions of 0 at the time of branching and merging; FIG. 6 is a block diagram illustrating the driver's control device;
FIG. 7 is a schematic plan view showing another embodiment.

1... Axle, 2... Guide rail, 3, 4
, 47-49... Induction coil row, 3a-3d,
4a-4tac, 47a-47d, 48a-48d, 49
a~49d...Induction coil, 5,6,50~52・
...Induction coil division point, 10, 11...
・Bogie truck, 12, 13...wheel pair, 14,
15...Guide low hood, 16'''' motor, 18~21...0 transmitting/receiving means, 18a~21a...
・Transmission coil, 18b to 21b...Reception coil, X...
...Main traveling route, YI to Y3... Branch route, 22, 27... Branch point, 28... Warehousing work section, 29... Warehousing work section, 30. ... Entrance metropolitan guide coil, 31a, 31b... Exit section induction coil, 32, 33... Induction coil for presence detection, 3
4 to 37...Induction coil for connection, 38...Transmission frequency selection circuit, 39...Frequency selection circuit, 4
0... Eye device oscillation frequency cut-off filter, 41... Braking means, 42-46... Circuit breakers for each signal input system.

Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7

Claims (1)

[Claims] 1. A plurality of induction coil rows in which induction coils of appropriate length are lined up in a straight line at appropriate intervals between adjacent ends of each induction coil, such that the induction coil division points of each row are inconsistent with each other in the path length direction, An induction coil is installed in parallel along the main travel route of the vehicle, and at the entrance of a branch route from the main travel route, an induction coil is connected to an induction coil that covers a certain area on the upper side of the branch point in the main travel route. An inlet induction coil is disposed at the outlet of the branch route, and an induction coil for connection is provided at the outlet of the branch route to an induction coil that covers a certain area upstream and downstream from the confluence in the main traveling route. An exit induction coil is provided at the front and rear of the vehicle, and transmitting means for inducing an induced current in each corresponding parallel induction coil and detecting the induced magnetic field of each corresponding parallel induction coil are provided at two locations in the front and rear of the vehicle. and the transmitting means includes a transmission frequency selection circuit for selectively transmitting a rear-end collision prevention signal, a branching signal, etc. each having a different frequency, and at least the rear-end collision prevention signal is a signal unique to each vehicle. Let the frequency be
The traveling control device for various vehicles, wherein the receiving means includes means for receiving each of the signals other than the signal frequency being transmitted from the own vehicle, and the braking means is actuated by the receiving action of the receiving means.