KR100961497B1 - control method of personal rapid transit - Google Patents

Abstract

The present invention relates to a control method of a small track vehicle; A first step of transmitting the state and control information to the reverse controller when the vehicle enters the jurisdiction along the guideway; After the first step, the reverse controller analyzes the state and control information, and if the vehicle is a vehicle that is transporting passengers and requires securing of a stop provided at the station of the jurisdiction, the station of the jurisdiction A second step of monitoring whether there is an empty stop in the vehicle; After the second step, the station controller, if there is no empty stop at the station of the jurisdiction, the third step of applying the control information to the vehicle that does not transport the passengers stopped at the station to start another station without passengers; After the third step, the station controller transmits the stop approval information indicating that the stop is secured to the vehicle carrying the passenger when an empty stop is generated at the station of the jurisdiction; After the fourth step, the vehicle transporting the passenger moves to an empty stop at the station of the jurisdiction to control the operation of the small track vehicle according to the present invention, but minimizing the driving time from the starting point to the destination and minimizing the vehicle waiting time of the passenger. By separating the vehicle carrying the passenger and the vehicle not carrying the passenger so as to grasp the state information and controlling the operation of the vehicle, there is an advantage that can efficiently control the operation of the vehicle. A fifth step of stopping; characterized in that comprises a.

According to the present invention, by controlling the operation of the small tracked vehicle to separate the vehicle carrying the passenger and the vehicle not carrying the passenger so as to enable the uninterrupted operation from the starting point to the destination and minimizing the waiting time of the passenger to grasp the state information By controlling the driving of the vehicle, there is an advantage that can efficiently control the driving of the vehicle.

Compact, Tracked Vehicles, Passenger, Reverse Controller, Guideway

Description

Control method of small track vehicle {control method of personal rapid transit}

1 is a system configuration diagram of a small track vehicle according to the present invention,

2 is a diagram illustrating an example of a driving route of a small track vehicle according to the present invention.

*** Description of the symbols for the main parts of the drawings ***

10: guideway 14: stop guide

20: Stop 100: Onboard controller

200,200 ': Reverse controller 300: Central control center

310: central controller A, B, C, D: jurisdiction

S1, S2, S3, S4: Station T1: Vehicles carrying passengers

T2: Vehicles that do not carry passengers

The present invention relates to a control method for a small track vehicle, and more particularly, to efficiently control a small track vehicle that travels from a starting point to a destination in a short driving interval on a guideway having a network structure. A control method for a small track vehicle.

In general, a small tracked vehicle system travels uninterrupted from a starting point to a destination with a short driving interval along a guideway having a network structure, and a new concept of traffic driven by fully automated driverless driving. Means.

In order to ensure smooth transportation of passengers in a networked driving route, such a small tracked vehicle system must be managed through proper monitoring and control of vehicles stopped at stations and vehicles running along guideways.

Nevertheless, conventionally, there have been no reported methods and algorithms for efficiently operating and managing vehicles operating along guideways in a small track vehicle system capable of stopping and autonomous driving from a starting point to a destination. .

The reason for this is that the existing train control system is scheduled on the passenger's side of the train, whereas the small tracked vehicle system has to be operated on-demand by the vehicle. This is because it is difficult to apply and use the schedule method used in the train control system.

In addition, since the guideway proceeds to each destination in a state where a vehicle carrying passengers and an empty vehicle not carrying passengers are mixed, the schedule method applied to the existing train control system implements such a complicated algorithm. It has a difficult problem.

Therefore, it is urgent to develop a vehicle control method suitable for a small track vehicle system.

Accordingly, to solve these problems, an object of the present invention is to distinguish between a vehicle carrying a passenger on a guideway and a vehicle not carrying a passenger in order to efficiently control the operation of a small tracked vehicle. It is to provide a control method of a small track vehicle that can be controlled so that.

In particular, the present invention provides a control method for a small track vehicle that can be appropriately controlled when the vehicle carrying the passenger and the vehicle not carrying the passenger are running on the guideway in a mixed state. .

The present invention for achieving the above object;

A first step of transmitting the state and control information to the reverse controller when the vehicle enters the jurisdiction along the guideway; After the first step, the station controller analyzes the state and control information, and if the vehicle is a vehicle carrying a passenger and requires securing a stop provided at a station of the jurisdiction, A second step of monitoring whether there is an empty stop at the station; After the second step, the station controller, if there is no empty stop at the station of the jurisdiction, the third step of applying the control information to the vehicle that does not transport the passengers stopped at the station to start another station without passengers; After the third step, the station controller transmits the stop approval information indicating that the stop is secured to the vehicle carrying the passenger when an empty stop is generated at the station of the jurisdiction; And after the fourth step, a fifth step of the vehicle carrying the passengers moving to an empty stop at the station of the jurisdiction to stop the vehicle.

In this case, after the fifth step, when the vehicle carrying the passenger stops at an empty stop at the station of the jurisdiction, the reverse controller is a central controller of the central control center that monitors and controls a plurality of reverse controllers. And transmitting status and control information.

And after the first step, the reverse controller analyzes the state and control information, but if the vehicle does not carry passengers, the reverse controller monitors a state of whether the station is empty; Characterized in that further comprises.

In this case, after the sixth step, the station controller may further include a seventh step of transmitting the state information to move to another station adjacent to the vehicle that does not transport the passenger if the station is not empty at the station of the jurisdiction. Characterized in that the configuration.

In addition, after the seventh step, the station controller transmits the status information to the central control center if the station is not empty at the station of the jurisdiction, and the central control center transmits the state information to the station controller of another adjacent jurisdiction. The eighth step of requesting; characterized in that it further comprises.

On the other hand, after the sixth step, if the station of the station is empty, the station controller informs the vehicle that does not transport the passengers that the station is empty and transmits the station approval information to allow entry to the station of the station Step 9; characterized in that further comprises.

In this case, after the ninth step, if the vehicle which does not transport the passengers stops at the station stop of the jurisdiction, the station controller transmits the state information of the station to the central controller of the central control center. Characterized in that the configuration.

In addition, the vehicle is provided with a vehicle controller is responsible for the driving state and control of the vehicle, characterized in that for transmitting and receiving the state and control information of the vehicle and the reverse controller of the jurisdiction.

Hereinafter, with reference to the accompanying drawings, a method for controlling a small track vehicle according to the present invention will be understood by the embodiments described in detail below.

1 is a system configuration diagram of a small track vehicle according to the present invention, and FIG. 2 is a view showing an example of a running route of the small track vehicle according to the present invention.

First, according to FIG. 1, a system of a small track vehicle according to the present invention is mounted on vehicles T1 and T2 moving on a guideway, and controls a vehicle controller 100 for controlling and monitoring the vehicle's operation, and the station of the relevant jurisdiction. And a reverse controller 200 configured to control and monitor the departure / arrival and stop of the vehicles T1 and T2 and to collect status and control information about the vehicles T1 and T2 in operation or to transmit control commands. Central control center 300 for receiving information about the vehicle (T1, T2) running in the relevant jurisdiction 200 from the station controller 200 and transmits the control information for the vehicle (T1, T2) and jurisdiction ) Is composed of a central controller 310.

At this time, the vehicle (T1, T2) is a concept that includes both the vehicle (T1) that is carrying passengers and the vehicle (T2) that does not carry passengers, in this case transports the vehicle (T1) and passengers carrying the passengers Vehicles T2 that do not do so are separated and controlled differently.

On the other hand, the departure and arrival of the vehicle (T1, T2) through the reverse controller 200, the management of the vehicle (T1, T2) in the relevant jurisdiction is very important, and stops from the starting point to the destination, which is the basic concept of a small track vehicle It plays an indispensable role in achieving operation and minimizing passenger waiting times.

At this time, the on-vehicle controller 100 mounted on the vehicle (T1, T2), the reverse controller 200 provided in the station of the relevant jurisdiction, and the central controller 310 of the central control center 300 mutually It is natural to have a known wired / wireless interface for data transmission, and a detailed description thereof will be omitted below.

Hereinafter, a system of a small track vehicle will be described in more detail with reference to FIGS. 1 and 2.

Referring to the drawings, a small track vehicle running route and a running vehicle T1 and T2 in a network structure are mixed on a plurality of vehicles T1 carrying passengers and vehicles T2 not carrying passengers, respectively. It is preferable to control the operation of the crowded vehicles T1 and T2 in an appropriate manner.

In particular, in order to appropriately manage and control the vehicle T1 carrying the passenger and the vehicle T2 not carrying the passenger, the current jurisdiction and current state information of the vehicles T1 and T2 are continuously controlled without interruption. A communication system capable of transmitting to the reverse controller 200 should be secured, and in the present invention, the reliability of the wired / wireless communication system is considered to be secured.

First, a plurality of stations S1, S2, S3, and S4 are stopped by a vehicle T1 carrying passengers and a vehicle T2 not carrying passengers along the guideway 10 through which the vehicles T1 and T2 move. This exists.

At this time, each of the stations (S1, S2, S3, S4) has a certain number of vehicle stops 20 for waiting for the passengers of the vehicle (T2) that does not carry passengers.

Such a stop 20 is present on the guide 14 for stopping connected to one side of the guideway 10 through which the vehicles T1 and T2 pass.

That is, the guideway 10 is a main path through which the vehicle T1 carrying passengers can move to the destination without obstacles, and the vehicle T1 carrying passengers arrives at the destination station (for example, S1). When the vehicle is to be stopped, it is moved to the stop guide 14 for branching to one side from the guideway 10 to stop at the stop 20.

Of course, when the vehicle T1 that is transporting the passenger stopped at the stop 20 or the vehicle T2 that does not transport the passenger moves to another station (for example, S2), it joins the guideway 10. Will move.

At this time, the station controller 200 secures the jurisdiction (A, B, C, D) jurisdiction of each station (S1, S2, S3, S4), the jurisdiction (A, B, C, D) The state information and control information of the vehicle (T1, T2) in the guideway 10 or the stop 20 in the ()) is controlled.

On the other hand, the vehicle T1 carrying passengers does not stop at the station 20 existing at the station (eg, S1) in the jurisdiction, but simply passes through it or at another station (eg, S2) at the station 20. In the case of departure to the stop 20 of the) should be involved in the station controller 200 of at least two jurisdictions, which is to be made through the monitoring and control through the central controller 310 of the central control center 300 do.

That is, when the vehicle T1 carrying passengers simply passes through the guideway 10 in the corresponding control right, the station controller 200 of the corresponding jurisdiction has an empty stop at the station (for example, S1). Even if 20 is absent, the on-vehicle controller of the vehicle T2 that does not transport the passenger so that the vehicle T2 that does not carry the passenger stopped at the stop 20 moves to another station (for example, S2). The control signal is not transmitted to 100.

On the other hand, the vehicle (T1) that is transporting the passenger is a vehicle to stop at the station (for example, S1) in the control area, if the station (for example, S1) there is no empty stop 20 in the station (for example, S1) (20) The vehicle T2 which does not carry the foremost passenger is controlled to be forcibly moved to the stop of another station (for example, S2).

In this case, the reverse controller 200 of the station (for example, S1) transmits state information to the central controller 310, and the central controller 310 is a reverse controller of another adjacent station (for example, S2). By grasping the state information received from the (200 ') to transmit the information about the empty station (for example, S1) to the reverse controller 200 of the station (for example, S1), the reverse controller ( The control unit 200 applies a control signal to the vehicle T2 which does not carry the passenger, and moves the selected signal to another station (for example, S2).

In order to control the operation of the vehicles T1 and T2, the vehicle T1 carrying the passenger has the highest priority in setting the course and entering the destination in order to achieve the non-stop operation from the starting point to the destination, and the station of the relevant jurisdiction. Periodic communication with the controller 200 determines the entry status of the destination station.

On the other hand, the vehicle (T2) that does not transport the passenger should be waiting for the passenger at the stop 20 in the current jurisdiction, when the vehicle (T1) transporting the passenger enters the station without the empty stop It is necessary to secure a stop in the vehicle T1 that is transporting the passenger who wants to stop at the current station (for example, S1) without carrying passengers.

In this case, the vehicle T2 that does not transport the passengers passes the right to enter the intersection at the intersection such as to the vehicle T1 that is transporting the passengers so as not to interfere with the course of the vehicle T1 that is transporting the passenger moving to the destination on the driving route. It should yield, and through periodic communication with the station controller in the relevant jurisdiction of the region to search whether there is an empty station that can be stopped at the station, and obtain the right to enter the station from the station.

On the other hand, the station controller 200 provided in the station (for example, S1) of each jurisdiction (for example, A) is the state information and control information of all the vehicles (T1, T2) in the jurisdiction in charge. When the vehicle (T1, T2) moves to another area, and transmits all the information of the vehicle (T1, T2) to the station controller 200 'of the jurisdiction where the vehicle (T1, T2) is to move.

Hereinafter, a control process of a small track vehicle according to the present invention will be described in detail with reference to FIGS. 1 to 2.

At this time, the vehicle controller 100 is installed in each of the vehicles (T1, T2), the station controller 200 is installed in the station (for example, S1), and the central controller 310 of the central control center 300. Naturally, since the vehicle T1 and T2, the reverse controller 200, and the central control center 300 are naturally described, detailed descriptions thereof will be omitted below, and the vehicle T1 and T2 and the station (example For example, only the organic vehicle control process of S1) and the central control center 300 will be described.

First, the stop 20 of each station (for example, S1) does not carry a passenger waiting for a passenger without an empty stop in an initial state for controlling the operation of the vehicles T1 and T2 under the preceding conditions. It must be filled with vehicles T2.

In this state, when the vehicle T1 or T2 enters the jurisdiction, the vehicle T1 or T2 transmits the status and control information regarding the presence or absence of the passenger transport and the stop request to the corresponding station controller 200. S100)

In this case, when the vehicle T1 or T2 is a vehicle T1 carrying passengers and requests to secure a stop, the reverse controller 200 must first secure a stop for the vehicle T1 carrying passengers. .

To this end, after going through the step (S100), the reverse controller 200 monitors the state of whether the stop 20 is empty (S102).

After the step (S102), if the stop 20 is not empty, the control information is applied to the vehicle T2 that does not carry passengers so as to start immediately to another adjacent station (for example, S2) without passengers. When the vehicle T2, which does not transport passengers, moves, the state and control information are transmitted to the central control center 300. (S104)

After passing through the step (S104), when the empty stop 20 is generated at the station, the vehicle T1 is carrying the passengers by transmitting stop approval information indicating that the stop is secured to the vehicle T1 carrying the passengers. The vehicle stops at the station 20 of the station, and when the vehicle T1 that is transporting the passenger stops at the station 20 of the station, the state and control by the central controller 310 of the central control center 300 are performed. Send the information (S106).

On the other hand, after the step (S100), if the station controller 200 receives the status information indicating that the vehicle (T2 or T2) does not carry passengers, the reverse controller 200 is The stop 20 is monitored to see if it is empty. (S108)

After the step S108, if the station 20 of the station is not empty, the station controller 200 informs the vehicle T2 that does not transport passengers to inform that the station 20 is not empty. The control unit transmits control information to move to another station adjacent to the terminal and transmits its state and control information to the central control center 300 (S110).

On the other hand, after the step (S110), if the station 20 of the station is empty, the station controller 200 notifies the vehicle (T2) that does not transport the passenger station 20 is empty and corresponding The vehicle T2 which does not transport the passengers stops at the station 20 of the corresponding station by transmitting the stop approval information that permits entry to the station 20 of the station, and the vehicle T2 not carrying the passengers. When it stops at the station 20 of the corresponding station, the state and control information are transmitted to the central control center 300. (S112)

Although the preferred embodiment of the present invention has been described above, the scope of the present invention is not limited thereto, and the scope of the present invention extends to the scope of the present invention to be substantially equivalent to the embodiment of the present invention. Various modifications can be made by those skilled in the art without departing from the scope of the present invention.

As can be seen from the above description, according to the present invention, the operation of the small tracked vehicle is controlled but does not transport the passenger vehicle and the passenger so that it is possible to operate the vehicle from the starting point to the destination and minimize the waiting time of the passenger. By separating the vehicle and grasping the state information to control the driving of the vehicle, there is an advantage that can efficiently control the driving of the vehicle.

In addition, in managing the operation of a small tracked vehicle, when a vehicle that does not carry passengers is biased at a specific stop, when the vehicle carrying the passenger requests a stop, it not only prevents the passenger from biasing a specific area of the vehicle. It also has the advantage of minimizing vehicle waiting time.

Claims (8)

A first step of transmitting the state and control information to the reverse controller when the vehicle enters the jurisdiction along the guideway; After the first step, the reverse controller analyzes the state and control information, and if the vehicle is a vehicle that is transporting passengers and requires securing of a stop provided at the station of the jurisdiction, the station of the jurisdiction A second step of monitoring whether there is an empty stop in the vehicle; After the second step, the station controller, if there is no empty stop at the station of the jurisdiction, the third step of applying the control information to the vehicle that does not transport the passengers stopped at the station to start another station without passengers; After the third step, the station controller transmits the stop approval information indicating that the stop is secured to the vehicle carrying the passenger when an empty stop is generated at the station of the jurisdiction; And a fifth step of stopping and stopping the vehicle that is transporting the passenger to an empty stop at a station of the jurisdiction after the fourth step. The method of claim 1, After the fifth step, when the vehicle carrying the passenger stops at an empty stop at a station in the jurisdiction, the reverse controller is a central controller of a central control center that monitors and controls a plurality of reverse controllers. Transmitting control information; Control method for a small track vehicle, characterized in that it further comprises. The method of claim 1, After the first step, the reverse controller analyzes the state and control information, and if the vehicle does not carry passengers, the reverse controller monitors a state of whether the station is empty; After the sixth step, the station controller further comprises a seventh step of transmitting the status information to move to another station adjacent to the vehicle that does not transport the passenger if the station is not empty at the station of the jurisdiction; A control method for a small track vehicle, characterized in that. delete The method of claim 3, wherein After the seventh step, the station controller transmits the status information to the central control center if the station is not empty at the station of the jurisdiction, and the central control center requests the state information of the station to the station controller of another adjacent jurisdiction. The eighth step; The control method of the small track vehicle, characterized in that it further comprises. The method of claim 3, wherein After the sixth step, when the station of the station is empty, the station controller notifies the vehicle that does not transport the passenger that the station is empty, and transmits the station approval information to permit entry to the station of the station. Control method for a small track vehicle, characterized in that it further comprises. The method of claim 6, After the ninth step, if the vehicle that does not transport the passenger stops at the station stop of the jurisdiction, the station controller further comprises a tenth step of transmitting the status information of the station to the central controller of the central control center; Control method for a small track vehicle, characterized in that the. The method of claim 1, The vehicle is provided with a vehicle controller is in charge of the driving state and control of the vehicle control method for a small track vehicle, characterized in that for transmitting and receiving the state and control information of the vehicle and the reverse controller in the jurisdiction.

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