KR101269860B1 - Collision prevention system and method for monorail car on monorail with curved rail - Google Patents

Abstract

The present invention relates to a vehicle collision avoidance system and a vehicle collision avoidance method on a monorail including curved lines. According to an aspect of the present invention, there is provided a driving vehicle including at least one or more subsequent vehicles formed by connecting a lead vehicle with a flexible connection line, wherein the driving of the vehicle on the monorail includes a curved main section. A first step of allowing the vehicle to transmit and store the GPS position coordinates received from the GPS satellites; When the driving vehicle receives an input signal to the first pressure sensor by the pressure stage on the monorail, the second pressure sensor is installed in the connection line to wake up the second pressure sensor recognizing that the curve is mainly a section. Waiting for an input signal to a second step; A third step of transmitting the collision avoidance request to the control server when the vehicle receives an input signal to the second pressure sensor; The control server extracts a proximity vehicle within a preset range of a plurality of vehicles moving on the monorail based on the GPS position coordinates of the driving vehicle at the time of the collision prevention request, and operates the identification data of the proximity vehicle. A fourth step of transmitting to the vehicle; A fifth step of receiving, by the vehicle, the proximity vehicle identification data and measuring a round trip time (RTT) through wireless transmission and reception with the proximity vehicle using the proximity vehicle identification data; And a sixth step of performing a sudden stop to prevent a collision with the adjacent vehicle when the driving vehicle has the measured RTT less than or equal to a preset value. Characterized in that it comprises a.

Description

Collision prevention system and method for monorail car on monorail with curved rail}

The present invention relates to a vehicle collision avoidance system and a vehicle collision prevention method on a monorail including a curved main road, more specifically, a large accident between vehicles when physical space arrangement or visibility is difficult on a monorail including a curved main road section. The present invention relates to a vehicle collision prevention system and a vehicle collision prevention method on a monorail including a curved main road which prevents a collision that can lead to a safe driving in advance.

As shown in FIG. 1 (a), when a vehicle travels at a speed higher than a predetermined speed or an abnormal driving occurs due to an external force, a collision and collision between the vehicles occur and a large casualty accident occurs. Moreover, since monorails are frequently formed in the air rather than on the ground, in this case, large-scale human injury and material damage may occur.

In particular, the monorail is a bi-directional operation divided into an up line and a down line on a single monorail for sightseeing purposes, and as shown in FIG. In the case of the monorail, the viewing angle of the driving vehicle 20a is limited, so it is not easy to prevent accidental accidents for vehicles having different directions.

Meanwhile, a signal control system based on a track circuit is currently used, and the signal control system performs control of an interval between a preceding vehicle and a subsequent vehicle and control of a train path.

However, such a signal control system can not guarantee the safety of the monorail including the above-mentioned curved path to date, and there is a problem of insufficient preparation for abnormal driving.

The present invention is to solve the above problems, a vehicle collision prevention system and a vehicle on a monorail including a curved main road to prevent accidents that may occur due to the overspeed of an abnormal train on a monorail with limited viewing angles, such as a curved main road. It is to provide a collision avoidance method.

In addition, the present invention is to improve the safe operation by performing a pre-control of the collision between the vehicle that can occur due to the failure to recognize the other vehicle in accordance with the building or physical location when operating in the ascending and descending line on the monorail including the curved point An object of the present invention is to provide a vehicle collision prevention system and a vehicle collision preventing method on a monorail including a curved main road.

In addition, the present invention is a vehicle on a monorail including a curved main road to enable the passengers in the traveling vehicle to recognize the accident in advance through the first speed reduction and the second stop when the traveling vehicle finds a proximity vehicle. An anti-collision system and a vehicle collision prevention method are provided.

However, the objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, a vehicle collision preventing method on a monorail including a curved main road according to an embodiment of the present invention, a driving vehicle including at least one or more subsequent vehicles formed by connecting the leading vehicle with a flexible connection line, A method of preventing a vehicle collision on a monorail including a curved main section, the method comprising: a first step of allowing the driving vehicle moving on the monorail to transmit and store a GPS position coordinate received from a GPS satellite; When the driving vehicle receives an input signal to the first pressure sensor by the pressure stage on the monorail, the second pressure sensor is installed in the connection line to wake up the second pressure sensor recognizing that the curve is mainly a section. Waiting for an input signal to a second step; A third step of transmitting the collision avoidance request to the control server when the vehicle receives an input signal to the second pressure sensor; The control server extracts a proximity vehicle within a preset range of a plurality of vehicles moving on the monorail based on the GPS position coordinates of the driving vehicle at the time of the collision prevention request, and operates the identification data of the proximity vehicle. A fourth step of transmitting to the vehicle; A fifth step of receiving, by the vehicle, the proximity vehicle identification data and measuring a round trip time (RTT) through wireless transmission and reception with the proximity vehicle using the proximity vehicle identification data; And a sixth step of performing a sudden stop to prevent a collision with the adjacent vehicle when the driving vehicle has the measured RTT less than or equal to a preset value. Characterized in that it comprises a.

In a vehicle collision prevention method on a monorail including a curved main road according to another embodiment of the present invention, the fourth step is performed by the control server based on the GPS position coordinates of the driving vehicle at the time of the collision prevention request. Extracting a target vehicle having a component in which directionality is symmetrical with the driving vehicle among a plurality of other vehicles moving on the monorail; Extracting, by the control server, the proximity vehicle within a preset range with a running vehicle of the target vehicle; And transmitting, by the control server, identification data indicating a wireless transmission / reception unit of the proximity vehicle to the driving vehicle. Characterized in that it comprises a.

In a method of preventing a vehicle collision on a monorail including a curved main road according to another embodiment of the present invention, the fourth step may include: after the speed is reduced when the driving vehicle receives the proximity vehicle identification data, It is characterized by measuring the RTT.

A vehicle collision avoidance system on a monorail including a curved main road according to an embodiment of the present invention includes at least one subsequent vehicle formed by connecting a leading vehicle and a flexible connection line, and moves on a monorail including a curved main road section. And a second pressure that is capable of receiving GPS position coordinates from a GPS satellite in real time, and is installed inside the connection line when the input signal is received by the first pressure sensor by the pressure stage on the monorail. A driving vehicle that wakes up a sensor and generates a collision avoidance request when an input signal is input to the second pressure sensor; And receiving and storing GPS position coordinates from a plurality of vehicles including the traveling vehicle moving on the monorail, and receiving a collision preventing request from the driving vehicle, the GPS position of the driving vehicle at the time of the collision preventing request. A control server extracting a proximity vehicle within a preset range of the plurality of vehicles based on coordinates and transmitting identification data of the proximity vehicle to the driving vehicle; The driving vehicle may include receiving the proximity vehicle identification data, measuring RTT (Round Trip Time) through wireless transmission and reception with the proximity vehicle using the proximity vehicle identification data, and based on the measured RTT. It is characterized by preventing the collision by determining the distance to the adjacent vehicle.

In a vehicle collision avoidance system on a monorail including a curved main road according to another embodiment of the present invention, the control server is based on the GPS position coordinates of the driving vehicle at the time of the collision avoidance request. After extracting the target vehicle having a component in which the driving vehicle and the directionality is symmetrical, the proximity vehicle within the predetermined range of the target vehicle is extracted.

In a vehicle collision avoidance system on a monorail including a curved main road according to another embodiment of the present invention, the identification data of the proximity vehicle represents a radio transmission / reception unit of the proximity vehicle, and the radio transmission / reception unit of the proximity vehicle is operated. Characterized in that the transmission and reception of the radio signal and data with the wireless transmission and reception unit of the vehicle.

In a vehicle collision avoidance system on a monorail including a curved main road according to another embodiment of the present invention, when the vehicle receives the proximity vehicle identification data, the vehicle first decreases speed and then measures the RTT. Characterized in that.

In a vehicle collision prevention system on a monorail including a curved main road according to another embodiment of the present invention, the head vehicle is characterized in that the pressure sensor is formed below the lower end.

A vehicle collision avoidance system on a monorail comprising a curved main road according to another embodiment of the present invention, wherein the head vehicle comprises: a GPS receiver for receiving GPS position coordinates from the GPS satellite in real time; A wireless transmitter and receiver for transmitting and receiving signals and data with the control server and the proximity vehicle; A speed control device for controlling a speed of the vehicle; And after transmitting the GPS position coordinates received from the GPS receiver to the control server, an input signal is received by the first pressure sensor to wake up the second pressure sensor, and then an input signal is input to the second pressure sensor. When received, the collision prevention request is transmitted to the control server to control the wireless transmitter and receiver to receive the proximity vehicle identification data from the control server, and in accordance with the reception of the proximity vehicle identification data, the speed control device primarily. A control unit for controlling the speed to reduce the speed; Characterized in that it comprises a.

In the vehicle collision avoidance system on a monorail including a curved main road according to another embodiment of the present invention, the control unit, if the RTT measured between the adjacent vehicle is less than a preset value, the speed control secondary It is characterized in that the sudden stop by controlling the device.

In a vehicle anti-collision system on a monorail comprising a curved main road according to another embodiment of the present invention, the connection line is connected with the second pressure sensor to transmit an input signal from the shell to the second pressure sensor. At least one pressure supply stage formed at the; Further comprising:

In a vehicle anti-collision system on a monorail comprising a curved main road according to another embodiment of the present invention, the pressure supply stage is a four-axis surface (up, down, left, right) or six-axis (up, down) on the shell. , Left, right, front, back) characterized in that it comprises a curve mainly characterized in that formed.

In a vehicle anti-collision system on a monorail comprising a curved main road according to another embodiment of the present invention, the pressure supply end is joined to the outer shell so that when the connecting line enters the curved main section (P) A pressure transfer end receiving an external force using a folding property: an elastic member for transmitting an external force from the pressure transfer end; and a pressure contact end for pressing the second pressure sensor with an external force received from the elastic member; And a control unit.

In the vehicle collision avoidance system on a monorail including a curved main road according to another embodiment of the present invention, the control server, the second pressure sensor for receiving the directionality of the 4 axis or 6 axis by the input signal From the driving vehicle, the directional data is received together with the collision avoidance request and used to extract a target vehicle having a component in which the directionality is symmetrical.

The vehicle collision prevention system and the vehicle collision prevention method on the monorail including the curved track according to the embodiment of the present invention, it is possible to prevent accidents that may occur due to the overspeed of the abnormal train on the monorail with limited viewing angle, such as the curved track. have.

In addition, the vehicle collision prevention system and vehicle collision prevention method on a monorail including a curved main road according to another embodiment of the present invention, when traveling up and down on a monorail including a curved point according to the building or physical location Enhance safe driving by preliminary control of collision between cars which can be caused by not recognizing vehicle.

In addition, the vehicle collision avoidance system and the vehicle collision avoidance method on the monorail including a curved main road according to another embodiment of the present invention, when the driving vehicle finds a proximity vehicle, the driving through the primary speed reduction and the secondary stop It provides the effect that passengers on board the vehicle are aware of the accident in advance.

1 is a view for explaining the risk of accident occurrence on a monorail having a conventional curved section.
2 is a view for explaining a vehicle collision prevention system on a monorail including a curved main road according to an embodiment of the present invention.
3 is a view showing the configuration of a traveling vehicle on a monorail including a curved main road according to an embodiment of the present invention.
4 is a view for explaining an interlocking relationship between the second pressure sensor and the connection line of FIG.
FIG. 5 is a view for explaining the case of 4-axis recognition and the case of 6-axis recognition of the second pressure sensor of FIG. 3; FIG.
6 is a flowchart illustrating a method for preventing a vehicle collision on a monorail including a curved main road according to an exemplary embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of preferred embodiments of the present invention will be given with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In the present specification, when any one element 'transmits' data or signals to another element, the element can transmit the data or signal directly to the other element, and through at least one other element Data or signal can be transmitted to another component.

2 is a view for explaining a vehicle collision avoidance system on a monorail including a curved main road according to an embodiment of the present invention. Referring to FIG. 2, a vehicle collision prevention system on a monorail including a curved main road includes a monorail 10, a driving vehicle 20a, a proximity vehicle 20b, a pressure stage 30, and a control server 40. .

The monorail 10 includes at least one or more branch points 11, and a plurality of vehicles may be operated in both directions by dividing the rails into an upward line and a downward line by using a rail branched by the branch point 11.

On the other hand, the monorail 10 includes at least one or more curve sections (P) from the point P1 to the point P2. As shown in the figure, a plurality of buildings may be located next to the curved main section P, and thus, it may be assumed that the driving vehicle 20a and the adjacent vehicle 20b are not observed to be close to each other. Here, the curve mainly section P is an example of bending on a left and right plane, but is not limited thereto. The concept includes a vertical area and a twisted area.

The driving vehicle 20a and the proximity vehicle 20b are vehicles that run along the monorail 10, and are operated through control by wireless transmission and reception with the control server 40, and by the control server 40 according to the present invention. Control is provided to prevent collisions with other vehicles running along the monorail 10, in particular collisions in curves.

For example, the driving vehicle 20a is a vehicle entering the curved main road section P of FIG. 2, and is located at a place where an accident may occur due to a distance from the adjacent vehicle 20b heading toward the curved main road section P from the opposite side. .

In other words, if the driving vehicle 20a running on one monorail 10 is a vehicle traveling downhill, the proximity vehicle 20b located close to the driving vehicle 20a is curved as a vehicle riding uphill. It can be defined mainly as a situation where there is a risk of mutual collision in the interval P.

Pressure stage 30 is installed at the inlet to enter the curve mainly section (P), as shown in Figure 2, but may be installed on the opposite side of the inlet to enter the curve mainly section (P) as needed.

When the driving vehicle 20a enters the curved main section P, the pressure stage 30 receives an input signal to the first pressure sensor Sensor1: 28 (see FIG. 3) of the first driving vehicle 20a which will be described later. It is used to touch the first pressure sensor 28 to be received. On the other hand, since the process according to the input to the input signal to the first pressure sensor 28 will be described in detail with reference to Figure 3 will not be described in detail. Here, the first pressure sensor 28 and the pressure stage 30 normally cuts off the power supply to the second pressure sensor 29, and only when the input signal is received by the first pressure sensor 28 20a) It is used to prevent waste of power by performing power supply internally.

Accordingly, the first pressure sensor 28 may be a mechanical sensor such as a switch, the second pressure sensor 29 is preferably an electronic sensor.

The control server 40 receives and stores the GPS position coordinates from the vehicle on the monorail 10 including the driving vehicle 20a and the proximity vehicle 20b.

Hereinafter, for convenience of description, the driving vehicle 20a will be described as a reference, but the viewpoint of understanding can be changed to a plurality of vehicles running on the proximity vehicle 20b and the other monorail 10.

When the control server 40 receives the collision avoidance request after detecting that the driving vehicle 20a is traveling on the curved main section P after input by the pressure stage 30 to the driving vehicle 20a, the driving vehicle ( Based on the GPS position coordinates at the time of the collision avoidance request of 20a), a target vehicle having a symmetrical direction with the driving vehicle 20a is extracted. Herein, the components having the symmetrical directionality are, for example, when the traveling vehicle 20a proceeds to the left in the upper direction, and the adjacent vehicle 20b proceeds to the left in the downward direction. This may be because there is a risk of collision.

In the same way, when there is a traveling vehicle 20a proceeding to the left in the upward direction, and the adjacent vehicle 20b proceeding to the right in the upward direction, the left side and the right side may have components having symmetrical directions. .

Thereafter, the control server 40 extracts the proximity vehicle 20b within a preset range of the target vehicle based on the driving vehicle 20a.

The control server 40 transmits the identification data or the response signal of the proximity vehicle 20b to the driving vehicle 20a. Here, the response signal is a signal transmitted to the driving vehicle 20a when the control server 40 fails to extract the proximity vehicle based on the driving vehicle 20a.

Thereafter, when the vehicle 20a receives the proximity vehicle identification data, the driving vehicle 20a decelerates the speed primarily, and then measures the RTT (Round Trip Time) with the proximity vehicle 20, which is less than or equal to a preset value. In this case, a sudden stop is performed as a secondary operation to prevent a collision with the proximity vehicle 20.

3 is a diagram illustrating a configuration of a traveling vehicle 20a on a monorail including a curved main road according to an embodiment of the present invention. 2 and 3, the driving vehicle 20a includes a first vehicle 21, a subsequent vehicle 22, a connection line 23, a GPS receiver 24, a wireless transmitter and receiver 25, and a controller 26. , A speed controller 27, a first pressure sensor 28, and a second pressure sensor 29. On the other hand, the following vehicle 22 is shown as one, but may be modified in two or more.

The first vehicle 21 and the subsequent vehicle 22 are connected to each other through a connection line 23, and there is a second pressure sensor (Sensor2) 29 inside the connection line 23, and the GPS receiver ( 24, the wireless transmission and reception unit 25, the control unit 26, the speed control device 27 and the first pressure sensor 28 is formed.

The GPS receiver 24 receives the real-time GPS position coordinates from a GPS satellite (not shown) and transmits the coordinates to the controller 26.

The wireless transmitter / receiver 25 performs signal and data transmission and reception with the control server 40 and the proximity vehicle 20b.

More specifically, the wireless transmitter / receiver 25 transmits the GPS position coordinates received from the GPS receiver 24 to the control server 40 under the control of the controller 26.

The controller 26 controls the wireless transmitter / receiver 25 to transmit the GPS position coordinates received through the GPS receiver 24 to the control server 40 in real time.

Thereafter, when the input signal is received by the first pressure sensor 28, the controller 26 wakes up the second pressure sensor 29 and waits for the input signal to the second pressure sensor 29. .

The control unit 26 transmits a collision avoidance request to the control server 40 when the input signal is received by the second pressure sensor 29, and identifies the proximity vehicle extracted based on the driving vehicle 20a from the control server 40. The radio transmitter and receiver 25 is controlled to receive data.

The controller 26 primarily controls the speed control device 27 to reduce the speed of the traveling vehicle 20a in accordance with the reception of the proximity vehicle identification data.

Thereafter, the controller 26 controls the radio transceiver 25 to measure a round trip time (RTT) with the proximity vehicle 20b.

Accordingly, the controller 26 determines whether the measured RTT is less than or equal to a preset value, and as a result of the determination, the driving vehicle 20a prevents collision with the proximity vehicle 20b when the measured RTT is less than or equal to the preset value. In order to stop suddenly through the control of the speed control device (27). Since the RTTs measured in this case are determined to be in close proximity to each other, measurement errors due to external interference may be minimized.

The speed controller 27 receives a signal from the controller 26 and controls the speed of the traveling vehicle 20a.

The first pressure sensor 28 is formed below the lower end of the head vehicle 21 and transmits an input signal input by the pressure stage 30 to the controller 26.

The second pressure sensor 29 is provided inside the connection line 23 made of a flexible material, and may sense an input signal according to pressure from a direction with respect to four or six axes.

4 is a view for explaining an interlocking relationship between the second pressure sensor 29 and the connection line 23 of FIG. Looking at the second pressure sensor 29 in more detail with reference to Figure 4, connected to the outer shell of the connecting line 23, the pressure supply stage 50 for transmitting the pressure to the second pressure sensor 29 is a four-axis (Left, right, up, down, see FIG. 4).

The pressure supply stage 50 includes a pressure transfer stage 51, an elastic member 52, and a pressure contact stage 53. The pressure transfer stage 51 receives the folding property of the connection line 23 when the outer shell of the connecting line 23 is mainly curved to provide an external force to the pressure contact end 53 via the elastic member 52.

More specifically, the elastic member 52 when the outer shell is folded to press the pressure transfer end 51, the force of the pressure transfer end 51 is transmitted to the pressure contact end (53).

Accordingly, the pressure contact end 53 applies a pressure to the second pressure sensor 29 by the force transmitted from the elastic member 52 so that the pressed portion is input as an input signal to the second pressure sensor 29.

4 illustrates the second pressure sensor 29 recognizing four axes (up, down, left, right), the six axes (up, down, left, right, front, as shown in FIG. 5 (b)). And a second pressure sensor 29 which recognizes the back).

Here, the second pressure sensor 29, which receives the directionality on the 4 axis or 6 axis as an input signal, transmits the directional data to the control server 40 together with the aforementioned collision avoidance request, thereby having a symmetrical component. Use it to extract the target vehicle.

6 is a flowchart illustrating a method of preventing a vehicle collision on a monorail including a curved main road according to an exemplary embodiment of the present invention. 1 to 6, the driving vehicle 20a receives the GPS position coordinates in real time (S1), and transmits the GPS position coordinates to the control server 40 (S2).

Subsequently, when the vehicle 20a receives an input signal to the first pressure sensor 28, the driving vehicle 20a transmits a wake-up signal to the second pressure sensor 29 formed as a four-axis or six-axis pressure sensor. To operate (S3).

According to step S3, the driving vehicle 20a waits to receive an input signal to the second pressure sensor 29 (S4).

When the input signal to the second input sensor 29 is received in step S4, the driving vehicle 20a transmits a collision avoidance request to the control server 40 (S5).

Accordingly, the control server 40 extracts a target vehicle having a symmetrical component with the driving vehicle 20a among the plurality of other vehicles based on the GPS position coordinates of the driving vehicle 20a (S6). The reason for extracting the target vehicle having the symmetry of the directionality is that even when the vehicle is close to the driving vehicle 20a, the risk of mutual collision is reduced when the directionality is the same.

Thereafter, the control server 40 extracts a proximity vehicle within a preset range of the target vehicle based on the driving vehicle 20a (S7).

The control server 40 transmits the identification data or the response signal of the proximity vehicle to the driving vehicle 20a (S8). The response signal transmitted by the control server 40 is a signal transmitted to the driving vehicle 20a when the control server 40 does not extract the proximity vehicle based on the driving vehicle 20a in step S6.

Accordingly, the driving vehicle 20a determines whether the proximity vehicle identification data is received (S9).

As a result of the determination in step S9, when the driving vehicle 20a receives the proximity vehicle identification data, the speed is decelerated (S10).

Thereafter, the driving vehicle 20a measures a round trip time (RTT) with the adjacent vehicle (S11).

The driving vehicle 20a determines whether the measured RTT is equal to or less than a preset value (S12). For example, the RTT may be set to 0.1 micro second (μS) as a quantitative value.

As a result of the determination in step S12, the driving vehicle 20a stops suddenly to prevent a collision with the adjacent vehicle when the measured RTT is less than or equal to a preset value (S13).

The present invention can also be embodied as computer-readable codes on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device and the like, and also implemented in the form of a carrier wave (for example, transmission over the Internet) .

The computer readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers skilled in the art to which the present invention pertains.

As described above, preferred embodiments of the present invention have been disclosed in the present specification and drawings, and although specific terms have been used, they have been used only in a general sense to easily describe the technical contents of the present invention and to facilitate understanding of the invention , And are not intended to limit the scope of the present invention. It is to be understood by those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

10: monorail 11: bifurcation
20b: Close-up vehicle 21: Driving vehicle
22: follow-up vehicle 23: connection line
24: GPS receiver 25: wireless transmitter and receiver
26: control unit 27: speed control device
28: first pressure sensor 29: second pressure sensor
30: pressure stage 40: control server

Claims (14)

In a vehicle collision prevention method on a monorail comprising a curve mainly section, the vehicle includes at least one successive vehicle formed connected to the leading vehicle and the flexible connecting line,
A first step of allowing the driving vehicle moving on the monorail to transmit and store a GPS position coordinate received from a GPS satellite to a control server;
When the driving vehicle receives an input signal to the first pressure sensor by the pressure stage on the monorail, the second pressure sensor is installed in the connection line to wake up the second pressure sensor recognizing that the curve is mainly a section. Waiting for an input signal to a second step;
A third step of transmitting the collision avoidance request to the control server when the vehicle receives an input signal to the second pressure sensor;
The control server extracts a proximity vehicle within a preset range of a plurality of vehicles moving on the monorail based on the GPS position coordinates of the driving vehicle at the time of the collision prevention request, and operates the identification data of the proximity vehicle. A fourth step of transmitting to the vehicle;
A fifth step of receiving, by the vehicle, the proximity vehicle identification data and measuring a round trip time (RTT) through wireless transmission and reception with the proximity vehicle using the proximity vehicle identification data; And
A sixth step of performing a sudden stop to prevent a collision with the adjacent vehicle when the driving vehicle is less than or equal to a predetermined value; Vehicle collision prevention method on a monorail comprising a curve mainly comprising a.
4. The method of claim 1,
Extracting, by the control server, a target vehicle having a symmetrical component with the driving vehicle among a plurality of other vehicles moving on the monorail based on the GPS position coordinates of the driving vehicle when the collision prevention request is made;
Extracting, by the control server, the proximity vehicle within a preset range with a running vehicle of the target vehicle; And
Transmitting, by the control server, identification data indicating a wireless transmission / reception unit of the proximity vehicle to the driving vehicle; Vehicle collision prevention method on a monorail comprising a curve mainly comprising a.
4. The method of claim 1,
And the driving vehicle decelerates the speed when receiving the proximity vehicle identification data, and measures the RTT.
It includes at least one or more subsequent vehicles formed by connecting the leading vehicle and the flexible connection line, moving on a monorail including a curve mainly section, can receive the GPS position coordinates from the GPS satellites in real time, and at the pressure stage on the monorail When the input signal is received by the first pressure sensor by the wake up the second pressure sensor installed in the connection line recognizes that the curve is mainly the section, generates a collision avoidance request when the input signal is input to the second pressure sensor Driving vehicle; And
Receiving and storing GPS position coordinates from a plurality of vehicles including the traveling vehicle moving on the monorail, and receiving a collision preventing request from the driving vehicle, the GPS position coordinates of the driving vehicle at the time of the collision preventing request. A control server which extracts a proximity vehicle within a preset range from among the plurality of vehicles and transmits identification data of the proximity vehicle to the driving vehicle based on the reference; Including;
The driving vehicle may receive the proximity vehicle identification data, measure a round trip time (RTT) through wireless transmission and reception with the proximity vehicle using the proximity vehicle identification data, and measure the round trip time with the proximity vehicle based on the measured RTT. Vehicle collision prevention system on a monorail comprising a curved main road characterized in that the distance is determined to prevent the collision.

The method according to claim 4, wherein the control server,
After extracting a target vehicle having a symmetrical direction of the driving vehicle and the plurality of other vehicles on the basis of the GPS position coordinates of the driving vehicle at the time of the collision avoidance request,
A vehicle collision avoidance system on a monorail comprising a curved main road, characterized in that for extracting said proximity vehicle within a predetermined range with said running vehicle of said target vehicle.
The method of claim 5, wherein the identification data of the proximity vehicle,
Represents a wireless transmission and reception unit of the proximity vehicle,
The wireless transmission and reception unit of the adjacent vehicle, the vehicle collision prevention system on a monorail comprising a curved path, characterized in that capable of transmitting and receiving radio signals and data with the wireless transmission and reception unit of the driving vehicle.
The method of claim 5, wherein the vehicle is
When the proximity vehicle identification data is received, the vehicle collision prevention system on a monorail comprising a curved path, characterized in that the first step is to decelerate the speed, and then measure the RTT.
The method of claim 7, wherein the head vehicle,
Vehicle anti-collision system on a monorail comprising a curve mainly characterized in that the pressure sensor is formed below the bottom.

The method of claim 8, wherein the head vehicle,
A GPS receiver for receiving GPS position coordinates from the GPS satellite in real time;
A wireless transmitter and receiver for transmitting and receiving signals and data with the control server and the proximity vehicle;
A speed control device for controlling a speed of the vehicle; And
After transmitting the GPS position coordinates received from the GPS receiver to the control server, an input signal is received by the first pressure sensor to wake up the second pressure sensor, and then an input signal is received by the second pressure sensor. In response to the collision avoidance request to the control server to control the wireless transmission and reception unit to receive the proximity vehicle identification data from the control server, according to the reception of the proximity vehicle identification data, the speed control device primarily A control unit for controlling the speed to decelerate; Vehicle collision prevention system on a monorail comprising a curve mainly characterized in that it comprises a.
The method of claim 9, wherein the control unit,
And a curve main road to control the speed control device to stop suddenly when the RTT measured between the adjacent vehicle is less than or equal to a preset value.
The method of claim 9, wherein the connection line,
At least one pressure supply stage formed between the second pressure sensor and an input signal from the outer shell to the second pressure sensor; Vehicle collision prevention system on a monorail comprising a curve mainly characterized in that it further comprises.
The method of claim 11, wherein the pressure supply stage,
Vehicle collision prevention system on a monorail comprising a curved main road, characterized in that formed on the four axis surface (up, down, left, right) or six axes (up, down, left, right, front, back) on the outer shell.
The method of claim 12, wherein the pressure supply stage,
When the connection line is joined to the shell and the connection line enters the main section (P) of the curve, the pressure transfer stage receives the external force using the folding property:
Elastic member for transmitting the external force from the pressure transfer end: And
A pressure contact end for pressing the second pressure sensor with an external force received from the elastic member; Vehicle collision prevention system on a monorail comprising a curve mainly characterized in that it comprises a.
The method of claim 13, wherein the control server,
Receiving direction data along with the collision avoidance request from the traveling vehicle that receives the directionality of the 4th axis or the 6th axis as an input signal by the second pressure sensor, and extracts a target vehicle having a symmetrical component. A vehicle anti-collision system on a monorail comprising a curved main road, characterized in that it is used.

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