automatic vehicle operation control method and system of the confluence confluence control system

摘要

joining control method for joining a plurality of the flow of vehicles to effectively operate the vehicle is started in the automatic system. ; The present invention to achieve this, at least two are joined to one entry track track including at least one junction for making one entry track, automatically moving vehicle system configured to vehicles traveling along In the track for the network, the number of vehicles entering the flow trajectory as the joining control method of an automatic driving system for a vehicle in the vehicle joins the flow of the single entry track, the method comprising the steps of: defining a junction in conjunction with the joining control area, in which the joining control region is to define the respective areas of each entering orbit in front of the confluence; From the entry trajectory of the front of a junction of a series of vehicles comprising the steps of: detecting a stream comprised of one or more of the vehicle entering the merge control zone through the entry track; And assigning a pre-planned travel time to a vehicle that is detected in the vehicle passes through the junction, where the allocation of the transit time is a predetermined set of merge priority rules according to the priority assigned to join on to the vehicle It would put; And the travel time corresponding to the assigned, including the step of controlling the speed of the vehicle, joined to the first control track entry in the first vehicle and the control area for joining the running track above the first entry in the region other include those for monitoring the distance between the at least one second vehicle running track above the second entry, the first vehicle and the second vehicle at least a predetermined distance a distance between these vehicles to control the speed of at least one and to keep the, the minimum distance between the first vehicle and the value that can be determined according to the distance from at least one of the junction of the second vehicle, and is characterized in that the minimum distance increases with distance from the junction of the vehicle Reduced . ; PRT, joining, branching, control, joining control, priority