JPS615400A - Traffic control system for unmanned vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a traffic control system for unmanned vehicles used in a transportation system for transporting people or goods by unmanned vehicles. In systems that transport people or goods, the path of an unmanned vehicle toward a preset destination is controlled. There are passage sections (hereinafter defined as intersection blocks in this specification) that compete with other unmanned vehicles traveling in different directions, such as passages designated as traffic zones.

When traveling along a path with such intersection blocks, conventionally, when approaching an intersection block, the unmanned vehicle issues a request to acquire the right of passage for this intersection block, and furthermore, K issues a request to acquire this right of passage. After determining whether the unmanned vehicle is traveling straight or turning, the system transmits to the unmanned vehicle via a predetermined communication means whether or not it is possible to enter the intersection block, and grants the right of passage to the unmanned vehicle that has requested the right of passage. I'm trying to get it to its destination.

[Problem that the invention seeks to solve]

However, in conventional traffic control systems, the right-of-way is granted in the order in which the right-of-way acquisition requests for intersection blocks occur. Therefore, if a vehicle traveling on a curve requests a right-of-way earlier than a vehicle traveling straight, the right-of-way is granted to the vehicle traveling on a right-of-way, even though the vehicle traveling straight ahead occupies the intersection block for a short time. Therefore, the problem has arisen that the operation of intersection blocks is not efficient.

That is, since a vehicle traveling on a curve approaches an intersection block while decelerating, the occupancy time of the intersection block is longer than the occupancy time of a vehicle that approaches a straight vehicle without decelerating. Nevertheless, conventionally, the right of way is granted in the order in which requests for the right of way are made, so if a request to acquire the right of way for a vehicle on a turn occurs earlier, the right of way is given priority to the vehicle on the turn. rights are given.

For this reason, a problem arises in that the operation of intersection blocks is not efficient.

[Means for Solving the Problems 1 Effect] The present invention has been made to solve the above-mentioned problems, and the request for the right-of-way acquisition of the straight-going vehicle after the request for the right-of-way acquisition of the vehicle proceeding on the curve is delayed for a predetermined period of time. By installing a new means of determining whether a request is made within a specified period of time, and by controlling traffic so that if a request is made within a specified period of time, vehicles proceeding straight are given the right of way first, making the operation of intersection blocks more efficient. This provides a traffic control system for unmanned vehicles that can be

〔Example〕

Hereinafter, the present invention will be described in detail based on examples.

Figure 1 shows a cross-shaped intersection block, where unmanned vehicle A enters intersection block 1 from the south and turns east, and unmanned vehicle B enters intersection block 1 from the east and heads west. This example shows the case where the driver goes straight to

Figure 2 shows check-in posts P, ~P4, which detect the presence or absence of a right-of-way acquisition request at a cross-shaped intersection block 1.
and whether or not unmanned vehicles A and H can enter intersection block 1.
This is a diagram showing the arrangement of signal transmission loops SG, ~SG, which transmit signals to the terminals, and in this case, the check-in posts P1 to P4 are two check-in posts whose light-receiving surfaces face the aisle side, as shown in a specific example in Figure 3. unmanned vehicle A,
Receives light signals from two light emitters (not shown) installed on the side of the vehicle body of H. If light signals are received from two light emitters at the same time, the vehicle will go straight ahead, and from only one light emitter. If a light signal is received, it is determined that the vehicle is a curved vehicle, and furthermore, any light sensor i:'s,,ps.

The driver is configured to determine that the unmanned vehicle issuing a request to obtain the right of way does not exist when the driver does not receive a light signal.

On the other hand, the signal transmission loop SG, ~8G, sends a signal to the unmanned vehicle indicating whether or not it is possible to enter the intersection block 1, such that if current is flowing in the loop-shaped signal line, the degree of intrusion is determined, and if no current is flowing, it is impossible to enter. configured to be transmitted.

FIG. 4 is a circuit diagram showing an embodiment of a control section that receives detection signals from check-in posts P, -P4 and controls signal transmission loops SG1 -SG. This control unit is configured based on the following control logic.

Namely.

(g) If there is a conflict in requests for the right of way among vehicles traveling straight, the right of way will be given to the first driver.

(q) Even in the case of competing requests for the right of way between drivers, the right of way will be given to the first applicant.

G9 If there is a conflict between requests for the right of way between a straight vehicle and a curved vehicle, if the straight vehicle requests the right of way early, the straight vehicle's right of way will be given priority, but the straight vehicle's request for the right of way will take priority If the request is issued early, it is determined whether the request for the right of way for the straight vehicle following the request for the right of way for the curved vehicle is made within a predetermined time, and if it is within the predetermined time, the request for the right of way for the straight vehicle is issued. Priority will be given to requests for right-of-way acquisition.

It is constructed based on the control logic.

It should be noted that among the above management logics, h) and (n) have been implemented in the past, so only the configuration corresponding to the logic of e''9 is shown here.

In Fig. 4, when an unmanned vehicle enters the intersection block 1 from each direction (north, south, east, west,
Exclusive OR gates EX1 to EXn that receive the output signals of S,
x,, detected by the AND gate AG, ~AG,
If the vehicle is traveling on a curve, the flip-flops F++ to F14 are set by the output pressure of the gates EX, ~EX, and if the vehicle is traveling straight, the flip-flops F't+ to F24 are set by the output of AG, -AG4. .

When any of the flip-flops F11 to FI4 is set, the set signal is an OR gate OG.

The signal is given as a start signal to the timer TM via the timer TM.

As a result, the timer TM set to the timer time of the predetermined time Δt is activated. When the timer TM is activated, the output signal of the exclusive OR game 1-EX, which receives the output signal of the timer TM and the output signal of the OR game OG, changes △ to a "1" signal for a period of time. Become. At this time, when any of the flip-flops F'tt to Ft4 is set (that is, when a straight vehicle approaches the intersection block from any direction and requests the right of way), this flip-flop F
The set signal 'ts~pta is input to the AND gate AG via the OR gate OG2. The output signal of the exclusive OR gate EX4, which is a "1" signal during the activation time Δt of the timer TM, is input to the AND gate AG. For this reason, if a request for the right-of-way for a straight vehicle occurs within △ time following a curved vehicle, the AND gate A
The output signal of G is 11''.

The output signal of this AND gate A() is OR game)OG
3 to OG, but these OR gates O
G3~OG is an AND gate AG that becomes "0" when there is no turning vehicle from each of the north, south, east, and west intrusion directions, and 1 when there is.
, 1-AG, are input. Therefore, the output signal of this or game 1-OG, ~OG, will be "0" if the request for the right of way of a straight vehicle following a curved vehicle is not issued within Δ time, but if Δ is not issued within time, the output signal will be "0". If a right-of-way signal for a vehicle going straight is issued in

The output signals of the OR gates OG3 to OG6 are connected to the ant game 1-A which receives the output signals of the flip-flops 21 to 24.
G, . . . ~AG, 3. Here, a request to acquire a straight right of way and a request to acquire a curved right of passage from one of the east, west, north, south, and north directions will not occur at the same time. For this reason, for example, if an unmanned vehicle entering from the east direction is turning, the output signal of the flip-flop F1 is 60''.

At this time, if there are no vehicles coming straight from other intruding directions,
The output signal of OR gate OG is "0#". Therefore, the output signal of AG+o becomes "1" signal, and a current is passed through the signal transmission loop 8G in the direction of intrusion of the bundle to the east. The right of way will be given to unmanned vehicles from

However, if the unmanned vehicle coming from the east is proceeding in a curved direction, and a vehicle proceeding straight from another direction approaches within the △ time following this vehicle and requests the right of way, the output signal of OG (or game) Since the output signal of AND gate AG becomes "1", @
Therefore, the output signal of AG) becomes a "0" signal, and the signal transmission loop SG in the east intrusion direction becomes a "1" signal.

is no longer driven, and the signal transmission loop in the direction of intrusion of the straight-ahead vehicle is driven instead.

In this way, if the right-of-way acquisition request for a straight vehicle that follows the right-of-way acquisition request for a one-turn vehicle is within the time period Δ, the right-of-way acquisition request for a straight vehicle is given priority. Therefore, the operation of the intersection block becomes more efficient and the efficiency of the system as a whole can be improved.

〔Effect of the invention〕

As is clear from the above description, the present invention has the effect of promoting efficient operation of intersection blocks and improving the efficiency of the entire system.

[Brief explanation of drawings]

Fig. 1 is a diagram showing an example of an intersection block, Fig. 2 is a diagram showing the arrangement of means for detecting a right-of-way acquisition request and a communication means for transmitting whether or not an intrusion is possible, and Fig. 3 is a diagram showing a detection means for detecting a right-of-way acquisition request. The figure which shows an example of a means. FIG. 4 is a logic circuit diagram showing one embodiment of a control section for realizing the traffic control logic of the present invention. 1... Intersection block, P, -P,... Check import), 8G, ~S04... Signal transmission loop, TM
...Timer. Figure 1 (redundant)

Claims (1)

[Claims] a detection means for detecting the presence or absence of an unmanned vehicle requesting acquisition of the right of way at an intersection block; a determination means for determining whether the unmanned vehicle requesting acquisition of the right of way is a straight vehicle or a curved vehicle; In a traffic control system for unmanned vehicles, which is provided with a communication means for transmitting to an unmanned vehicle whether or not an intrusion into the block is possible, and which grants the right of way to an intersection block in the order in which requests to acquire the right of way occur, A second determination means is provided to determine whether or not the subsequent right-of-way request for a straight vehicle is within a predetermined time period, and if the request is within a predetermined time period, priority is given to a curved vehicle and the straight vehicle is blocked from the intersection. A traffic control system for unmanned vehicles that is characterized by giving the right of way.