CN115230781A - PRT virtual turnout control system and method - Google Patents
PRT virtual turnout control system and method Download PDFInfo
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- 238000013475 authorization Methods 0.000 claims abstract description 76
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
- B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
- B61L23/18—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated specially adapted for changing lengths of track sections in dependence upon speed and traffic density
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/70—Details of trackside communication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2210/00—Vehicle systems
- B61L2210/02—Single autonomous vehicles
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to the technical field of personal rapid traffic, in particular to a PRT virtual turnout control system and a PRT virtual turnout control method. The system comprises a virtual turnout controller, a PRT vehicle controller and a train-ground wireless communication system; the virtual turnout controller is used for maintaining the basic information and the state information of a PRT line virtual turnout, generating virtual turnout right information and sending the right information to a PRT vehicle which authorizes the virtual turnout right; the PRT vehicle controller is used for generating PRT vehicle position information in real time, applying for and releasing front virtual turnout right to the virtual turnout controller according to the PRT vehicle position information, and receiving right information sent by the virtual turnout controller to control the PRT vehicle to operate; the train-ground wireless communication system is used for communication between the virtual turnout controller and the PRT vehicle controller. The method adopts a mode of robbing virtual turnout right to orderly organize the PRT vehicles to run in a form of authorization in advance for the PRT vehicles. The invention improves the efficiency of the vehicle passing through the turnout, avoids emergency braking and improves the comfort level of passengers.
Description
Technical Field
The invention relates to the technical field of personal rapid traffic, in particular to a PRT virtual turnout control system and a PRT virtual turnout control method.
Background
The PRT (Personal Rapid Transit) is also called "Personal rail Transit", and is a transportation system in which small vehicles automatically travel on a special rail network or a special road network. The vehicle can be sent out as required without waiting for passengers, the vehicle control system can automatically select an optimal route from a departure place to a destination according to the requirements of guests, the vehicle can stop at a branch platform without stopping in the midway, and the PRT empty vehicle can automatically stop at a special branch for standby operation. The PRT has the advantages of small transportation volume, short transportation time and more convenient and fast taking, simultaneously has lower cost per kilometer and higher line density, and can be used as a passenger transport traffic line in airports, docks and parks to connect traffic lines between large cities and satellite cities.
Currently, the unmanned PRT system at the london Heathrow airport and the heaven airport in england uses a unique road form for the right of way, with the position detection of the vehicle being achieved by LOOP coils. The operation protection function of the PRT vehicle is realized by adopting an AVP system, a processing mechanism of 'first come first get' is adopted at a virtual turnout, namely, whether the PRT vehicle occupies the turnout is detected through a LOOP coil at the virtual turnout, if the occupancy of the PRT vehicle is detected by the LOOP coil at the turnout, an entrance prohibition signal is sent to an adjacent LOOP coil through a GEE box, and the operation protection of the PRT vehicle is realized. The adoption of the AVP system in the article of "automatic protection system based on PRT traffic system" and during operation of track segment vehicles, as described in the AVP system, may cause that when two PRT vehicles are about to enter a virtual switch (or located LOOP coil) at the same time, one PRT vehicle occupies the virtual switch, and the LOOP coil movement authorization of the other PRT vehicle is changed from abrupt change to prohibition, resulting in emergency stop of the vehicle, and in the most dangerous case, because the braking distance of the PRT vehicle is too large, another PRT vehicle may rush into the virtual switch, which may affect the driving efficiency and reduce the comfort level of passengers.
Disclosure of Invention
The invention aims to: aiming at the problems that the position of a vehicle is detected through an LOOP coil in the prior art, and the PRT vehicle is emergently braked and the driving efficiency is low due to the adoption of a 'first come first get' mode at a virtual turnout, and meanwhile, the comfort level of passengers is reduced due to emergency braking, a PRT virtual turnout control system and a method are provided.
In order to achieve the purpose, the invention adopts the technical scheme that:
a PRT virtual turnout control system comprises a virtual turnout controller, a PRT vehicle controller and a train-ground wireless communication system;
the virtual turnout controller is configured to maintain basic information and state information of a PRT line virtual turnout, generate virtual turnout right information, and send the right information to a PRT vehicle applying for the virtual turnout right;
the train-ground wireless communication system is configured to enable communication between the virtual turnout controller and the PRT vehicle controller;
the PRT vehicle controller is configured to generate position information of the PRT vehicle in real time, apply for and release front virtual turnout right to the virtual turnout controller according to the position information of the PRT vehicle, and meanwhile receive right-of-way information sent by the virtual turnout controller to control the PRT vehicle to operate.
As a preferable aspect of the present invention, in the PRT virtual switch control system, the virtual switch controller is further configured to store a PRT route electronic map.
As a preferable aspect of the present invention, in the PRT virtual turnout control system, the PRT vehicle controller is further configured to generate the position information of the PRT vehicle in real time by using a speed sensor, an induction loop, a groove detection sensor, a route tracking, and a PRT route electronic map.
A PRT virtual turnout control method comprises the following steps:
s1, comparing PRT vehicle position information generated in real time with a PRT line electronic map, and sending a virtual turnout right authorization request when the PRT vehicle is N meters away from a front virtual turnout;
s2, based on the received virtual turnout right authorization request, authorizing request information including a virtual turnout request mark, a vehicle request number, a virtual turnout request number and request time, and inquiring the state of the virtual turnout according to the virtual turnout request;
s3, judging the state of the virtual turnout; if the state is an unauthorized state, binding the request vehicle number and the virtual turnout number, updating the virtual turnout state to be an authorized state, generating authorization information and sending the authorization information to the PRT vehicle; if the train is in an authorized state, inquiring the train number according to the virtual turnout number to obtain authorization information of the authorized train; the authorization information comprises an authorization virtual turnout sign, an authorization vehicle number, an authorization virtual turnout number and authorization time;
s4, the PRT vehicle receives the authorization information and judges whether the number of the authorized vehicle is consistent with that of the PRT vehicle; if the virtual turnout right is consistent with the virtual turnout right, the PRT vehicle obtains the front virtual turnout right, operates to the front virtual turnout and stops sending the virtual turnout right authorization request; if not, entering step S5;
and S5, the PRT vehicle decelerates to stop, and sends a virtual turnout road right authorization request in real time until the authorized vehicle number in the authorization information is consistent with the PRT vehicle number, the PRT vehicle obtains the front virtual turnout road right, and the PRT vehicle runs to the front virtual turnout and stops sending the virtual turnout road right authorization request.
As a preferred scheme of the present invention, a PRT virtual switch control method further includes the following steps:
s11, comparing the PRT vehicle position information generated in real time with a PRT line electronic map, and sending an authorized virtual turnout right release request when the PRT vehicle drives away from a rear virtual turnout by M meters;
s22, based on the received authorized virtual turnout right release request, the release request information comprises a release request mark, a release vehicle number and a release virtual turnout number, and the bound authorized vehicle number is inquired according to the virtual turnout number;
s33, judging whether the number of the released vehicle is consistent with that of the authorized vehicle; the number of the released vehicle is consistent with that of the authorized vehicle, the virtual turnout state is updated to be an unauthorized state, release information is generated and sent to the PRT vehicle, and S44 is entered, wherein the release information comprises a release mark, the number of the released vehicle and the number of the released virtual turnout; releasing the inconsistency between the vehicle number and the authorized vehicle number, and generating alarm information;
s44, the PRT vehicle receives the release information and judges whether the number of the release vehicle is consistent with that of the PRT vehicle; if the virtual turnout right is consistent with the authorized turnout right, the PRT vehicle stops sending the authorized virtual turnout right release request; and if the two are inconsistent, generating alarm information.
As a preferred scheme of the invention, the PRT virtual turnout control method is characterized in that a PRT vehicle is N meters away from a virtual turnout ahead, wherein N is greater than the sum of a PRT vehicle service braking distance and a safety protection distance.
As a preferred scheme of the invention, the PRT virtual turnout control method is characterized in that a PRT vehicle drives away from a rear virtual turnout by M meters, wherein M is the control range of the virtual turnout.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the invention is based on a PRT virtual turnout control system, adopts a speed sensor and combines technologies such as an induction loop and the like to generate the accurate position of a vehicle in real time, obtains the distance between the vehicle and a front virtual turnout in real time through a stored PRT line electronic map, combines a method of robbing the virtual turnout right, applies for the front virtual turnout right according to the distance, organizes the stop and the running of the PRT vehicle in a mode of authorization in advance, improves the running efficiency, and simultaneously avoids the problem of reducing the comfort level of passengers caused by emergency braking.
Drawings
Fig. 1 is a schematic diagram of the configuration of the PRT virtual switch control system according to the present invention.
Fig. 2 is an authorization flow diagram of the present invention.
Fig. 3 is a release flow diagram of the present invention.
Fig. 4 is a schematic diagram of the PRT vehicle of the present invention driving into the virtual switch authorized range.
Fig. 5 is a schematic diagram of the PRT vehicle driving off the virtual switch authorization zone of the present invention.
Icon: 1-a virtual switch controller; 2-a PRT vehicle controller; 3-vehicle-ground wireless communication system.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Example 1
In order to achieve the above purpose, the invention provides the following technical scheme:
as shown in fig. 1, the PRT virtual switch control system includes: the system comprises a virtual turnout controller 1, a PRT vehicle controller 2 and a train-ground wireless transmission system 3;
the virtual turnout controller 1 is used for maintaining virtual turnout basic information and state information of a PRT (private branch exchange) line, generating virtual turnout road right information, and sending the road right information to a virtual turnout road right application vehicle through a vehicle-ground wireless communication system 3, wherein the virtual turnout basic information comprises a virtual turnout number, and the virtual turnout state information comprises an unauthorized state and an authorized state, namely a release state and an authorized state; the virtual switch controller 1 may be installed in a vehicle central control center as a server, or may be installed in a control box beside each switch.
The PRT vehicle controller 2 stores a PRT line electronic map, generates the accurate position of the vehicle in real time by the modes of a speed sensor, an induction loop, a groove detection sensor, line tracking, an electronic map and the like, combines the stored PRT line electronic map, and can obtain the distance from a front virtual turnout in real time, apply and release the front virtual turnout right to the virtual turnout control 1 through a vehicle-ground wireless communication system 3 according to the position of the vehicle, and simultaneously receives the right-of-way information sent by the virtual turnout controller 1 to control the vehicle to run;
the method for generating the accurate position of the vehicle in real time comprises the following steps: the method comprises the steps of utilizing induction loop lines to generate an alternating magnetic field, enabling a vehicle-mounted receiving antenna of the PRT vehicle to receive the alternating magnetic field to generate pulse signals, combining the loop line position of each induction loop line recorded in advance, achieving the function of absolute positioning according to a joint between each crossed loop of the induction loop lines to obtain the accurate absolute position of the PRT vehicle, calculating the relative movement distance through the wheel revolution number based on a speed sensor, and summing the absolute position and the relative movement distance to obtain the accurate position of the PRT vehicle.
The train-ground wireless transmission system 3 realizes the communication between the virtual turnout controller 1 and the PRT vehicle controller 2, the virtual turnout controller 1 and the PRT vehicle controller 2 keep continuous communication in the whole course, and also can keep continuous communication between the virtual turnout controller 1 and the PRT vehicle controller 2 when the PRT vehicle enters a station, so that the PRT vehicle at the virtual turnout can control the brake of the PRT vehicle in a form of authorization in advance.
A PRT virtual turnout control method is to control the brake of a PRT vehicle in a form of authorization in advance to the PRT vehicle passing through a virtual turnout in a mode of 'snatching the virtual turnout right of way', and specifically comprises a method for requesting the virtual turnout right of way authorization from a virtual turnout controller by the PRT vehicle and a method for requesting the virtual turnout authorization right of way release from the virtual turnout controller by the PRT vehicle;
specifically, as shown in the authorization flow chart of fig. 2, the method for applying for virtual switch right and authorization in PRT virtual switch control includes the following steps:
s1, a PRT vehicle controller 2 generates position information of a PRT vehicle in real time, and compares PRT line electronic maps at the same time, and the PRT vehicle applies for a front virtual turnout road right to a virtual turnout controller 1 through a train-ground wireless communication system 3 at a position N meters away from the front virtual turnout;
wherein N is greater than the sum of the service braking distance and the safety protection distance of the PRT vehicle; since the performance of the PRT vehicle is determined according to different manufacturers, the service braking distance and the safety protection distance are determined according to specific items, and it should be noted that one item generally uses the PRT vehicle with the same performance.
S2, after receiving a virtual turnout right authorization request sent by a PRT vehicle, the virtual turnout control 1 inquires the state of the virtual turnout according to the virtual turnout number after request information comprises a virtual turnout request mark, a vehicle request number, a virtual turnout request number and request time;
s3, judging the virtual turnout state: if the virtual turnout state is unauthorized or released, binding the request vehicle number and the virtual turnout number, changing the virtual turnout state into an authorized state, generating authorization information and sending the authorization information to the PRT vehicle, wherein the authorization information comprises an authorization request virtual turnout sign, an authorization vehicle number, an authorization turnout number and authorization time; if the virtual turnout state is an authorized state, inquiring an authorized vehicle through the virtual turnout number to generate authorization information of the authorized vehicle;
s4, the PRT vehicle receives the authorization information, and whether the number of the authorization vehicle in the authorization information is consistent with the number of the PRT vehicle is judged: if the current virtual turnout right is consistent with the authorization request, the PRT vehicle obtains the front virtual turnout right, the PRT vehicle operates to the front virtual turnout according to the speed limit requirement, and stops sending the authorization request, and the operation is finished; if not, jumping to S5;
and S5, when the authorized vehicle number in the authorization information is inconsistent with the PRT vehicle, decelerating the PRT vehicle to stop according to the service brake, sending a virtual turnout road right request to the virtual turnout controller 1 through the train-ground wireless communication system 3 in real time until the authorized vehicle number in the received road right information is consistent with the PRT vehicle number, then the PRT vehicle operates to the virtual turnout according to the speed limit requirement, stops sending the authorization application, and ends.
Specifically, as shown in the release flowchart in fig. 3, the method for releasing the authorized right-of-way of the virtual switch in the PRT virtual switch control includes the following steps:
s11, the PRT vehicle control 2 generates position information of the vehicle in real time, and compares PRT line electronic maps at the same time, and the PRT vehicle sends an authorized virtual turnout road right release request to the virtual turnout controller 1 through the train-ground wireless communication system 3 at a position M meters away from the rear virtual turnout;
wherein, M meters is the virtual switch control range, and different virtual switch models have different M values.
S22, the virtual turnout controller 1 receives an authorized virtual turnout right release request sent by a PRT vehicle, the release request information comprises a release request mark, a release vehicle number and a release virtual turnout number, and a bound authorized vehicle number is inquired according to the virtual turnout number;
s33, judging whether the released vehicle number is consistent with the authorized vehicle number: the virtual turnout state is an authorized state, the number of the released vehicle is consistent with that of the authorized vehicle, the virtual turnout state is updated to be an unauthorized or released state, the release information is sent to the PRT vehicle through the train-ground wireless communication system 3, and the release information comprises a release mark, a number of the released vehicle and a number of the released virtual turnout, and then S44 is skipped; if not, generating inconsistent alarm information, prompting alarm and ending;
s44, the PRT vehicle obtains the release information, and whether the number of the release information is consistent with that of the PRT vehicle is judged: if the vehicle information is consistent with the vehicle information, the PRT vehicle stops sending a release request to the ground; if not, generating alarm information, and prompting alarm, and ending.
Example 2
As shown in fig. 4, the PRT vehicle enters the virtual switch authorization range, where at the virtual switch DC03, point AB is an authorization application starting point, point C is a release application starting point, and the virtual switch controller maintains a virtual switch state data table 1 as follows.
TABLE 1
| Serial number | Virtual switch numbering | State of state | |
|
| 1 | | Releasing | NULL | |
| 2 | | Releasing | NULL | |
| 3 | DC03 | Authorization | P103 | |
| … | … | … | … | |
| n | DC0n | Releasing | NULL |
As shown in fig. 5, vehicle P103 exits the DC103 authorized range to travel to C, and vehicle P103 sends a release request SFQQMsg (1, dc103, P103) to virtual switch controller 1; after the virtual turnout controller 1 receives the SFQQMSg, the DC103 data information in the virtual turnout state data table 1 is inquired, the vehicle number bound by the DC103 data information in the turnout state data table 1 is consistent with the information in the SFQQQMSg, namely P103, the virtual turnout controller 1 updates the DC103 data information in the virtual turnout state data table 1, the state is changed into a release state, the bound vehicle number is NULL, confirmed release information SFQRg (1, DCQRg, P103) is sent to the vehicle P103, and after the P103 vehicle receives the SFQRmsg information, the sending of a release request SFQMSg is stopped.
As shown in fig. 4, vehicle P101 is moving towards DC103, and when moving to a, vehicle P101 sends an authorization request sqqmsg (1, dc103, P101) to virtual switch controller 1; if the authorization of the vehicle P103 at the DC103 is released before this time, the virtual switch controller receives the authorization request sqqmsg, then queries the DC103 data information in the virtual switch state data table 1, the virtual switch controller 1 updates the DC103 data information in the virtual switch state data table 1, changes the state to authorization, binds the vehicle number to P101, and sends the confirmation authorization information sqqrsg (1, dc103, P101) to the vehicle P101, after the vehicle P101 receives the confirmation authorization information sqrmsg, it determines whether the confirmation authorization information sqrmsg corresponds to the vehicle P101, and if so, stops sending the authorization request sqqmsg.
As shown in fig. 4, the vehicle P101 travels to the DC103 authorized range, and when traveling to B, the vehicle P102 sends an authorization request sqqmsg (1, dc103, P102) to the virtual switch controller 1; if the authorization of the vehicle P101 at the DC103 is not released at this time, the virtual switch controller 1 obtains the DC103 data information of the virtual switch state data table 1 after receiving the authorization request sqqmsg, and transmits the confirmation authorization information SQQRMsg (1, dc103, P101) to the vehicle P102, and the vehicle P102 determines whether the vehicle number in the confirmation authorization information sqrmsg is consistent with the vehicle P102 after receiving the confirmation authorization information sqrmsg, and continues to transmit the authorization request sqqmsg if the vehicle number in the confirmation authorization information sqrmsg is not consistent with the vehicle P102.
In conclusion, the invention realizes the control of the PRT vehicle through the virtual turnout controller, the PRT vehicle controller and the train-ground wireless communication system, adopts the mode of robbing the virtual turnout road right to orderly organize the PRT vehicle operation to the PRT vehicle in a form of authorization in advance, improves the running efficiency of the vehicle passing the turnout, and simultaneously avoids the emergency braking of the vehicle, thereby improving the comfort level of passengers.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A PRT virtual turnout control system is characterized by comprising a virtual turnout controller (1), a PRT vehicle controller (2) and a train-ground wireless communication system (3);
the virtual turnout controller (1) is configured to maintain PRT line virtual turnout basic information and state information, generate virtual turnout right information and send right information to PRT vehicles authorized with virtual turnout rights;
the PRT vehicle controller (2) is configured to generate position information of a PRT vehicle in real time, apply for and release front virtual turnout right to the virtual turnout controller according to the position information of the PRT vehicle, and receive right-of-way information sent by the virtual turnout controller to control the PRT vehicle to operate;
the train-ground wireless communication system (3) is configured to enable communication between the virtual switch controller (1) and the PRT vehicle controller (2).
2. A PRT virtual switch control system according to claim 1, characterized in that said virtual switch controller (1) is further configured to store PRT line electronic map.
3. The PRT virtual switch control system according to claim 1, wherein said PRT vehicle controller (2) is further configured to generate position information of PRT vehicle in real time using speed sensor, inductive loop, notch detection sensor, track tracking, PRT track electronic map.
4. A PRT virtual turnout control method is characterized by comprising the following steps:
s1, comparing PRT vehicle position information generated in real time with a PRT line electronic map, and sending a virtual turnout right authorization request when the PRT vehicle is N meters away from a virtual turnout ahead;
s2, based on the received virtual turnout right authorization request, the authorization request information comprises a virtual turnout request sign, a vehicle request number, a virtual turnout request number and request time, and the virtual turnout state is inquired according to the virtual turnout number;
s3, judging the state of the virtual turnout; if the state is an unauthorized state, binding the request vehicle number and the virtual turnout number, updating the virtual turnout state to be an authorized state, generating authorization information and sending the authorization information to the PRT vehicle; if the train is in an authorized state, inquiring the train number according to the virtual turnout number to obtain authorization information of the authorized train; the authorization information comprises an authorization virtual turnout sign, an authorization vehicle number, an authorization virtual turnout number and authorization time;
s4, the PRT vehicle receives the authorization information and judges whether the number of the authorized vehicle is consistent with that of the PRT vehicle; if the virtual turnout right is consistent with the virtual turnout right, the PRT vehicle obtains the front virtual turnout right, and the PRT vehicle runs to the front virtual turnout and stops sending the virtual turnout right request; if not, entering step S5;
and S5, the PRT vehicle decelerates to stop, and sends a virtual turnout road right authorization request in real time until the number of the authorized vehicle in the authorization information is consistent with that of the PRT vehicle, the PRT vehicle obtains a front virtual turnout road right, and the PRT vehicle runs to the front virtual turnout and stops sending the virtual turnout road right request.
5. The PRT virtual switch control method according to claim 4, characterized by further comprising the steps of:
s11, comparing the PRT vehicle position information generated in real time with a PRT line electronic map, and sending an authorized virtual turnout right release request when the PRT vehicle drives away from a rear virtual turnout by M meters;
s22, based on the received authorized virtual turnout road right release request, the release request information comprises a release request mark, a release vehicle number and a release virtual turnout number, and the bound authorized vehicle number is inquired according to the virtual turnout number;
s33, judging whether the number of the released vehicle is consistent with the number of the authorized vehicle; the number of the released vehicle is consistent with that of the authorized vehicle, the virtual turnout state is updated to be an unauthorized state, release information is generated and sent to the PRT vehicle, and S44 is entered, wherein the release information comprises a release mark, the number of the released vehicle and the number of the released virtual turnout; the released vehicle number is inconsistent with the authorized vehicle number, and warning information is generated;
s44, the PRT vehicle receives the release information and judges whether the number of the release vehicle is consistent with that of the PRT vehicle; if the virtual turnout right is consistent with the authorized turnout right, the PRT vehicle stops sending the authorized virtual turnout right release request; and if the two are not consistent, generating alarm information.
6. The method for controlling the virtual switch of the PRT according to the claim 4, characterized in that the PRT vehicle is N meters away from the virtual switch ahead, N is larger than the sum of the service braking distance and the safety protection distance of the PRT vehicle.
7. The PRT virtual switch control method according to claim 5, characterized in that the PRT vehicle drives M meters away from the rear virtual switch, M being the control range of the virtual switch.
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