KR100961495B1 - Crossroad passing method for a Personal Rapit Transit - Google Patents

Abstract

The present invention relates to a method of passing an intersection of small tracked vehicles, and more particularly, a small tracked vehicle traveling at a short driving time on a guideway having a network structure to effectively pass through an intersection existing on a driving route. The present invention relates to a method of traversing an intersection of small track vehicles, which makes it possible to drive to the destination without a stop.

The present invention provides an intersection entry approval request step of requesting approval for entering an intersection when a small tracked vehicle enters an intersection; An intersection passage permission / non-determination step of judging whether the intersection of the small track vehicle, which is permitted to enter the intersection, can pass through the intersection; And an intersection passage completion recognition step of recognizing the intersection passage completion of the small track vehicle that is permitted to pass the intersection.

Small track vehicle, intersection, passing method, no stop, central control system

Description

Crossroad passing method for small track vehicle {Crossroad passing method for a Personal Rapit Transit}

The present invention relates to a method of passing an intersection of small tracked vehicles, and more particularly, a small tracked vehicle traveling at a short driving time on a guideway having a network structure to effectively pass through an intersection existing on a driving route. The present invention relates to a method of traversing an intersection of small track vehicles, which makes it possible to drive to the destination without a stop.

In Korea, one of the main causes of traffic congestion and congestion in the city can be said to be the rapid increase in automobiles in the past decade. If urban traffic is left without a rapid increase in traffic without a road, the time and economic waste and environmental damage caused by traffic congestion will increase day by day. In addition, the modern information age demands high speed of physical and human transportation throughout the economy, society, and industry, and requires more secure services and user accessibility in the transportation system, but as the speed of urbanization accelerates, Anecdotes have a devastating effect on national economic activity.

As a way to solve the social, economic, and environmental problems caused by traffic jams and congestion in the city, it is relatively expensive to construct new roads for automobiles through the city. It is essential to secure new public transportation that is inexpensive and competitive with existing urban transportation systems in terms of transportation rates.

One example of this is the PRT (Personal Rapit Transit) system, which can replace the use of private cars in urban areas. The small tracked vehicle system is based on the on-demand method of dispatching the vehicle at the starting point to the destination and driving the vehicle at the request of the passenger, and the research on the practical use is being actively conducted all over the world.

The existing train system is a straight track system that does not have an intersection to allow the crossing between trains, and because the train arrives at a predetermined station at a predetermined time and boards passengers and moves to the next station, I don't need it.

On the other hand, since the small tracked vehicle system must travel in a running route having a network structure from the starting point to the destination, it is very important to effectively pass the intersection existing on the running line without interrupting the driving.

In addition, unlike a general railway vehicle, a small track vehicle system runs hundreds of vehicles on a track with a short driving interval, and even in the case of a driving route, it is not composed of a straight line like a general railway vehicle. Have In a small track vehicle system having such a complicated network driving structure, a well-configured driving control method is required to smoothly control each vehicle running on the track through the central control unit, reverse control unit, track side control unit, and vehicle control unit. There must be no way of controlling and passing the intersection of the small tracked vehicle system until now.

The present invention has been made to solve the above problems, an object of the present invention is to enable a small track vehicle operation route having a network structure from the starting point to the destination without a traffic light at the same time for the small track vehicle operation An object of the present invention is to provide a method of passing intersections of small track vehicles that can efficiently control operation at intersections located on a line.

In order to achieve the above object, an intersection passing method of a small track vehicle according to the present invention,

An intersection entry approval request step of requesting approval for entry of an intersection when a small tracked vehicle enters an intersection; An intersection passage permission / non-determination step of judging whether the intersection of the small track vehicle, which is permitted to enter the intersection, can pass through the intersection; And an intersection passage completion recognition step of recognizing the intersection passage completion of the small track vehicle that is permitted to pass the intersection.

At this time, the entrance and exit of the intersection is equipped with sensors for recognizing the entry and exit of the small track vehicle is characterized in that to grasp the position of the small track vehicle in real time.

The sensor may further include a vehicle entry / exit recognition sensor that detects the position of the small track vehicle in the request for intersection entry approval, and a small track vehicle when the small track vehicle waits for permission to cross the intersection at the intersection pass permission / non-determination step. It is characterized in that it comprises a vehicle stop sensor for stopping the vehicle at an appropriate position and a pass complete recognition sensor for recognizing the completion of the intersection of the small track vehicle in the intersection passing completion recognition step.

On the other hand, the intersection entry approval request step, the step of recognizing the small track vehicle reaching the intersection entry approval request region; Transmitting a crossroad entry approval request signal to the central control system via the trackside controller using the on-vehicle computer installed in the small track vehicle; And analyzing the state of the corresponding intersection in the central control system and transmitting whether to approve the entry of the intersection to the vehicle-mounted computer via the trackside controller.

In this case, the determination of the permission / non-availability for the intersection entry approval request is determined by whether the small track vehicle waiting to receive the intersection crossing permission command in front is stopped.

In addition, the central control system determines whether the vehicle is a vehicle that can pass through the intersection without stopping before reaching the intersection passing permission / non-determination area for the small track vehicle received the intersection entry permission command. Characterized in that delivered to.

In addition, the crossing pass permission / non-determination step may include checking the state information of the vehicle before the small track vehicle reaches the intersection pass permission / non-determination area in the central control system, and checking the state information of the vehicle. Determining the priority of the intersection crossing for the vehicle; and determining whether to permit or disallow passage of the intersection with respect to the vehicle whose priority has been determined, and transmitting whether to approve the passage to the vehicle-mounted computer via the trackside controller. Characterized in that the configuration.

In this case, the checking of the state information of the small tracked vehicle includes: checking whether the vehicle is carrying a passenger, and checking whether the vehicle is driving a path previously set by the central control system. It is characterized by.

In addition, the central control system is characterized in that the vehicle passing the passengers preferentially pass, and to the mutual vehicle that is not carrying the passengers to grant the intersection passage permission in the order of intersection entry.

In addition, the central control system analyzes the reason why the small track vehicle that is not operating the set route is going to cross the intersection, the analysis criteria for this, the problem that the vehicle has already bypassed the route due to the problem on the established route Whether; Whether it is an emergency and must cross the intersection; And whether the vehicle must pass through the intersection in order to get off the passenger to the nearest station due to the failure of the vehicle.

In the intersection passing completion recognition step, the on-vehicle computer recognizes the sensor signal while the small track vehicle passes the passage completion recognition sensor installed at the intersection exit, and the intersection passing completion signal in the on-vehicle computer line And transmitting to the central control system via the side controller.

According to the intersection passing method of the small track vehicle according to the present invention, the small track vehicle operating route having a network structure can be operated without a stop from the starting point to the destination, and maximizes the use efficiency of the small track vehicle without the traffic light. It has an effect that can be done.

Hereinafter, with reference to the accompanying drawings it will be described in detail a preferred embodiment of the intersection passing method of the small track vehicle according to the present invention.

1 is a conceptual diagram showing an intersection to be applied to the intersection of the small track vehicle according to the present invention, Figure 2 is a flow chart showing a method of passing through the intersection of the small track vehicle according to the present invention, Figure 3 is a view shown in FIG. 4 is a flowchart showing in detail the step of requesting the intersection entry approval in the present invention, FIG. 4 is a flowchart showing in detail the step of allowing or not determining the intersection passing in the present invention shown in FIG. 2, and FIG. It is a flow chart which shows the passing method entirely.

The problem of efficiently passing the intersection 10 on the driving route in the small tracked vehicle system is very important to guarantee the uninterrupted driving from the starting point to the destination, which is the basic concept of the small tracked vehicle system. No method has been suggested.

The present invention enables a small track vehicle that runs at a short driving time on a guide way having a network structure to effectively pass through an intersection 10 existing on a driving route, and thus, to travel uninterrupted from a starting point to a destination. It relates to a method of passing the intersection of the small track vehicle to enable the configuration, the configuration is largely the intersection entry approval request step (S70) of the small track vehicle, the intersection pass permission / non-determination step (S80), the intersection passing completion recognition step ( S90) is configured to include.

In order to implement the intersection passing method of the small track vehicle proposed by the present invention, a configuration of a central control system, a track controller, a vehicle computer, and a wired / wireless communication system is required.

Briefly, first, the central control system analyzes the state information of the small track vehicle requesting permission to enter the intersection while communicating with the track controller, and transmits whether to pass / exit the intersection to the track controller. The track controller transmits the intersection entry permission request required by the onboard computer to the central control system and transmits information about whether the central control system passes or not through the intersection to the onboard computer. A commercial computer is installed in a small track vehicle to make a crossroad entry request and receive a signal from a central control system through a track controller. In addition, the wired / wireless communication system serves to connect the central control system, the lineside controller and the onboard computer.

On the other hand, in order to efficiently pass through the intersection 10 of the small tracked vehicle, the area around the intersection 10 is divided into the intersection entry approval request region 50 and the intersection passage permission / non-determination determination region 60 which are allocated to each vehicle. The priority and the state of the intersection 10 are analyzed to determine whether the vehicle enters the intersection 10 in the central control system.

In more detail, the intersection passing method of the small track vehicle according to the present invention is the intersection entry approval request step (S70), the intersection passing permission / non-determination step (S80) and the intersection passage completion recognition step ( S90), wherein the intersection entry approval request step (S70), when the small track vehicle in operation enters the intersection 10, approves the entrance of the intersection 10 using a vehicle computer installed in the vehicle. Request step.

In addition, the intersection passing permission / non-determination step (S80) is a step of determining whether the intersection 10 of the small track vehicle that is permitted to enter the intersection in the central control system is passable, and the intersection passing completion recognition step (S90) is performed. Recognizing that the small track vehicle, which is permitted to pass through the intersection 10, has completed the passage of the intersection 10, it is possible to determine whether the intersection 10 can pass through to the next vehicle.

At this time, the entrance and exit of the intersection 10, the sensor is installed for recognizing the entry and exit of the small tracked vehicle to determine the location of the small tracked vehicle passing through the intersection 10 in real time, the sensor The vehicle entry / exit recognition sensor 20, the vehicle stop sensor 30, and the pass completion recognition sensor 40 are used.

That is, the vehicle entrance / exit recognition sensor 20 is installed at the entrance intersection entry approval request region 50 of the intersection 10 to determine the position of the small track vehicle in the intersection entry approval request step S70. The vehicle stop sensor 30 is installed in the entrance intersection pass permission / disallow determination region 60 of the intersection 10, the small track vehicle passes through the intersection in the intersection passage permission / impossibility determination step (S80). In the case of waiting for permission, the small track vehicle stops at an appropriate position. The passage completion recognition sensor 40 is installed at the exit of the intersection 10 and the small track vehicle in the intersection passing completion recognition step S90. The role of recognizing that the intersection 10 has passed.

Accordingly, the signals generated from the sensors are recognized by the onboard computer installed in the small track vehicle and transmitted to the track controller, and the track controller transmits the received signals back to the central control system to pass through the intersection 10. It is possible to determine the location of the small track vehicle in real time.

Meanwhile, the intersection entry approval request step S70 may be further subdivided as shown in FIG. 3, which will be described in detail as follows.

First, when the small track vehicle reaches the intersection entry approval request area 50, the on-vehicle computer recognizes a signal generated by the vehicle entry / exit recognition sensor 20 installed on the track side, and the small track vehicle enters the intersection entry approval request area. Recognize that 50 has been reached (S72).

Next, the small tracked vehicle transmits an intersection entry approval request signal to the track controller using the onboard computer, and the track controller sends this signal back to the central control system (S74).

The central control system analyzes the state of the corresponding intersection 10 in which the intersection entry request is requested, and transmits the approval of the intersection entry to the line side controller, and the line side controller transmits this signal to the on-board computer through the wired / wireless communication system. (S76)

At this time, the determination of the permission / non-approval of the intersection entry approval request is determined by whether the vehicle waiting to receive the intersection passage permission command in front is stopped at the intersection passage permission / non-determination determination area 60.

That is, when the small track vehicle stops at the intersection allow / disable determination region 60, the central control system transmits a command to not enter the intersection, and the small track vehicle passes to the intersection allow / disable determination region 60. If it is not stopped, the command to enter the intersection is transmitted.

In this way, the small tracked vehicle that receives the intersection entry permission command enters the intersection 10 and reaches the intersection passing permission / non-determination determination area 60. At this time, the vehicle stops at the intersection passing permission / not allowed determination area 60. Since it is not present, the intersection 10 can be basically passed.

In addition, when the small track vehicle gets permission to enter the intersection, the central control system determines whether the vehicle can pass through the intersection 10 without stopping before the vehicle reaches the intersection permit / disallow determination area 60. It is possible to increase the route operating efficiency of the small track vehicle by transmitting the command to the vehicle through the onboard computer.

Next, the intersection pass permission / non-determination step (S80) may be subdivided as shown in FIG. 4 as a step of determining whether the intersection of the small track vehicle that is permitted to enter the intersection is possible.

First, the central control system checks the state information of the vehicle before the small track vehicle entering the intersection 10 reaches the intersection pass permission / deny determination region 60. At this time, the state information of the vehicle to be checked Includes whether the vehicle is carrying a passenger and whether the vehicle is operating a route previously set by the central control system (S82).

Next, the priority of passing the intersection 10 is determined for the vehicle for which the status information has been checked, and the priority is determined according to the design requirements of the designer, but basically the vehicle carrying the passenger to the vehicle not carrying the passenger. Compared to pass first. (S84)

As such, the central control system transmits a command to the trackside controller by determining whether to allow or not pass through the intersection with respect to the vehicle whose priority has been determined, and the trackside controller receives this and receives the vehicle-based information through the wired / wireless communication system. By transmitting to the computer, the decision on whether or not to pass the intersection is completed. (S86)

At this time, when the vehicle receives the command to pass through the intersection and needs to stop at the intersection passing permission / non-determination determination area 60 and wait for the intersection passing permission, the vehicle stopping sensor 30 installed at the entrance of the intersection 10. ) Signal is recognized by the onboard computer to stop the vehicle in the proper position.

In addition, since the vehicle passing through the intersection entry approval request point 50 is running at a constant speed, the determination of whether to permit or disallow the intersection passing is completed, so that the vehicle stopping sensor 30 is installed to secure a safe vehicle stopping distance. The maximum safety distance from the point to the front shall be determined by the central control system.

On the other hand, in the intersection pass permission / non-determination step (S80) there is a difference in the method depending on whether or not the small track vehicle is transporting passengers, first of all for the vehicle transporting passengers that the vehicle has already set in the central control system Check whether the vehicle is driving on the route.

At this time, if the vehicle is driving the route set in advance in the central control system, since the route that the vehicle must travel from the point of departure from the starting point to the destination is secured, the vehicle is at the intersection 10. You are granted permission to cross the road immediately without stopping at.

On the other hand, if the vehicle attempting to pass through the intersection 10 is a vehicle that does not travel the route set in advance in the central control system, the central control system analyzes why the vehicle is not operating the set route. In this case, the check list to be considered as an analysis criterion may include the following situations.

What problem occurs on the route already established for the vehicle and is it bypassing the route?

Do you have to cross the intersection because it is an emergency?

Do I have to go through the intersection to get off the passenger to the nearest station due to a vehicle breakdown?

In addition, more items may be included depending on the system design, and the central control system grants permission to pass through the intersection by analyzing the above check list items and priorities determined by the designer's design requirements. will be.

On the other hand, when a small track vehicle that is not carrying passengers attempts to pass through the intersection 10, the central control system analyzes the priority of the intersection intersection and determines whether to permit the passage of the intersection. Vehicles not carrying passengers have a lower priority than vehicles carrying passengers. In addition, for vehicles that are not carrying passengers, permission to pass through the intersection is granted to the vehicles in the order of entering the intersection 10.

Finally, the intersection passing completion recognition step (S90) is a step for confirming the completion of the intersection of the small track vehicle that is permitted to pass through the intersection. After confirming that the vehicle has completely passed the intersection 10, the central control system next vehicle It is intended to be able to determine whether or not to cross an intersection.

In the intersection passing completion recognition step (S90), the on-vehicle computer installed in the vehicle is passed through the passage completion recognition sensor 40 installed on the exit side track side of the small track vehicle corresponding to the passage completion recognition sensor ( Recognizing a signal generated from the 40), and transmitting the intersection crossing completion signal recognized by the on-vehicle computer to the line side controller and the line side controller to transmit it to the central control system.

At this time, the central control system recognizes the intersection crossing completion signal of the vehicle and at the same time determines whether to pass or not the intersection of the next vehicle to the intersection.

Therefore, according to the method of passing the intersection of small tracked vehicles according to the present invention as described above, the small tracked vehicle traveling route having a network structure not only enables uninterrupted operation from the starting point to the destination, but also for the small tracked vehicle having no traffic light. There is an advantage to maximize the use efficiency.

Although the above embodiments have been described with respect to the most preferred examples of the present invention, it is not limited to the above embodiments, and it will be apparent to those skilled in the art that various modifications are possible without departing from the technical spirit of the present invention.

The present invention relates to a method of passing an intersection of small tracked vehicles, and more particularly, a small tracked vehicle traveling at a short driving time on a guideway having a network structure to effectively pass through an intersection existing on a driving route. The present invention relates to a method of traversing an intersection of small track vehicles, which makes it possible to drive to the destination without a stop.

1 is a conceptual diagram showing an intersection to apply the intersection passing method of a small track vehicle according to the present invention.

Figure 2 is a flow chart showing a method of passing through the intersection of the small track vehicle according to the present invention.

3 is a flow chart showing in detail the step of entering intersection approval request step of the present invention shown in FIG.

FIG. 4 is a flow chart showing details of an intersection pass permission / non-determination step of the present invention shown in FIG.

Figure 5 is a flow chart showing the overall method of passing through the intersection of the small track vehicle according to the present invention.

Explanation of symbols on the main parts of the drawings

10: intersection 20: vehicle entrance / exit recognition sensor

30: vehicle stop sensor 40: passing completion recognition sensor

50: intersection entry approval request area 60: intersection pass permission / non-judgment area

Claims (11)

An intersection entry approval request step of requesting approval for entry of an intersection when a small tracked vehicle enters an intersection; An intersection passage permission / non-determination step of judging whether the intersection of the small track vehicle, which is permitted to enter the intersection, can pass through the intersection; An intersection passing completion recognition step of recognizing the completion of the intersection of the small tracked vehicle that is permitted to pass through the intersection; intersection passing method of the small tracked vehicle comprising a. The method of claim 1, Sensors for recognizing the entry and exit of the small orbital vehicle at the entrance and exit of the intersection is installed to grasp the position of the small orbital vehicle in real time. 3. The method of claim 2, The sensor may be a vehicle entry / exit recognition sensor that detects the position of the small track vehicle at the intersection entry approval request step, and the small track vehicle is properly positioned when the small track vehicle waits for permission to cross the intersection at the intersection pass permission / non-determination step. And a passing completion recognition sensor for recognizing the intersection passing completion of the small track vehicle at the intersection passing completion recognition step of stopping the vehicle at the intersection. The method of claim 1, The intersection entry approval request step, Recognizing a small track vehicle having reached the intersection entry approval request area; Transmitting a crossroad entry approval request signal to the central control system via the trackside controller using the on-vehicle computer installed in the small track vehicle; Analyzing the state of the intersection in the central control system and transmitting whether or not to approve the entry into the intersection via the track side controller; and passing through the track computer. The method of claim 4, wherein The decision of whether to permit or not to approve an intersection entry approval request is determined by whether or not the small track vehicle waiting to receive an intersection crossing permission command ahead stops. The method of claim 4, wherein The central control system determines whether the vehicle is a vehicle capable of passing through the intersection without stopping before reaching the intersection passage permit / non-determination area for the small tracked vehicle that has received the intersection entry permission command and transmits it to the onboard computer. An intersection passing method of a small track vehicle, characterized in that. The method of claim 1, The intersection pass permission / non-determination step, Checking the state information of the small tracked vehicle before reaching the intersection permit / non-determination determination area in the central control system; Determining an intersection passing priority for the vehicle having checked the status information; Determining whether or not to allow passing through the intersection with respect to the priority-determined vehicle and transmitting whether to approve the passage to the on-vehicle computer via the trackside controller; Way through the intersection. The method of claim 7, wherein Checking the state information of the small track vehicle, Checking whether the vehicle is carrying a passenger; And a step of checking whether or not the vehicle is driving a predetermined route in the central control system. The method of claim 8, And said central control system preferentially passes a vehicle carrying passengers, and grants permission to pass through intersections in the order of intersection entry for vehicles not carrying passengers. The method of claim 8, If the small tracked vehicle is not traveling on a preset route, The central control system analyzes the reason why the small track vehicle that is not operating the set route is going to cross the intersection, but the analysis criteria for this is Whether the vehicle is bypassing the route because of a problem on the route already established; Whether it is an emergency and must cross the intersection; And And whether the vehicle must pass through the corresponding intersection in order to get off the passenger to the nearest station due to the failure of the vehicle. The method of claim 1, The intersection passing completion recognition step, The on-vehicle computer recognizes the sensor signal while the small tracked vehicle passes through the passage completion recognition sensor installed at the exit of the intersection; And transmitting, at the on-vehicle computer, an intersection crossing completion signal to a central control system via a lineside controller.

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