Algorithm for PRT vehicle running in the asynchronous control system

초록

A new algorithm for the PRT(personal rapids transit) vehicle control is proposed in this paper. The algorithm proposed in this paper is based on the asynchronous vehicle control method. But it uses quite different approaches from other asynchronous vehicle control methods. First the method to control vehicles in merge and diverging zones is different from others. It estimates vehicle’s merge point passing times and makes the order of vehicles to pass the merge point. Second it can have two leader-follower relations. In asynchronous car control method, cars should have a leader-follower relation with leading and following cars which they must maintain safety distances between them. In this algorithm cars in the merge zone or diverging zone may need to have another leading car. It has leading car in its own track and another leading car in other merging track. Third it calculates jerk rate every time step which satisfy the safety distance from the leading car. It does not need to make a complicated trajectory. This makes the system operation more efficient. A simulator was developed with this algorithm. Problems and countermeasures are also presented.