A direct-outbound PRT berth plane design method

Abstract

The present invention relates to a PRT station, in particular to a method for designing the plane of a direct-out PRT berth, which comprises the following steps: S1. Determine the size parameters of the PRT vehicle and the minimum turning radius parameter of the PRT vehicle; S2. Calculate the turning parameters of the PRT vehicle according to the Ackerman principle; S3. Determine the limiting conditions of the PRT vehicle berth parameters, and determine the value range of the PRT vehicle berth parameters based on the limiting conditions of the PRT vehicle berth parameters, the size parameters of the PRT vehicle, the minimum turning radius parameter of the PRT vehicle, and the turning parameters of the PRT vehicle; S4. Determine the value range of the total running distance D of the PRT vehicle during the process of the PRT vehicle entering and leaving the PRT vehicle berth based on the value range of the PRT vehicle berth parameters, and select the optimal size combination of the station from the value range of the total running distance D of the PRT vehicle. The method for designing the plane of a direct-out PRT berth described in the present application can select the optimal size combination of the station, so as to make the PRT station occupy less land area while ensuring the function of the PRT station berth.

Description

Technical Field

[0001] The present invention relates to a PRT station, in particular to a method for designing the plane of a direct-out PRT berth. Background Art

[0002] Personal Rapid Transit (PRT) is a personal rapid public transportation system that uses small vehicles with self-navigation functions (each vehicle can carry about 1-8 people), combining the comfort and convenience of cars and the low energy consumption and high transportation efficiency of buses. Each passenger can board at a specific boarding point and go to any destination. The concept of the PRT transportation system originated in 1900, but it was not until 1953 that people began to study modern PRT systems. In 1964, scholars such as Fichter published articles introducing and discussing the application prospects of PRT technology, which has greatly promoted the development of PRT systems. Currently, many countries are conducting relevant research on PRT systems and have made breakthrough progress.

[0003] Some research has also been carried out on the stations for PRT vehicle parking. For example, the patent publication number CN112750334A discloses a method for centralized control of autonomous driving vehicles in a venue based on Petri nets. The PRT vehicle parking station disclosed therein is a very common typical PRT station at present. The PRT vehicle berths are located on one side of the main lane, and both ends of the PRT vehicle berths are connected to the main lane. When a PRT vehicle enters the berth from one end of the PRT vehicle berth and then exits the berth from the other end, since the two ends of the berth are arranged in a trumpet shape, the individual PRT vehicle berths have relatively high requirements for the site, and it is easy for PRT vehicles to interfere with other PRT vehicles that are in the berth during the process of entering and exiting the berth, and there is a risk of collision.

[0004] When using direct-out PRT berths, the above risks can be effectively alleviated. However, there is currently no research in this regard as a construction guide on how to determine the optimal size combination value of the PRT station, so as to make the PRT station occupy less land area while ensuring the functions of the PRT station berths. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for designing the plane of a direct-out PRT berth for the problem that there is currently no research on how to determine the optimal size combination value of the PRT station when using direct-out PRT berths, so as to make the PRT station occupy less land area while ensuring the functions of the PRT station berths.

[0006] In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] A direct-out PRT berth plane design method, based on a direct-out PRT station, the direct-out PRT station includes a main lane, one side of the main lane is provided with a PRT vehicle berth, the edge of the main lane close to the PRT vehicle berth is the inner curb of the main lane, at least one side of the main lane communicates with at least one PRT vehicle berth, the PRT vehicle berth has an inbound edge and an outbound edge, the angle between the inbound edge and the inner curb of the corresponding side of the main lane is θ, 90° < θ < 180°, and the angle between the outbound edge and the inner curb of the corresponding side of the main lane is

[0008] This design method includes the following steps:

[0009] S1. Determine the PRT vehicle size parameters and the minimum turning radius parameters of the PRT vehicle;

[0010] S2. Based on the PRT vehicle size parameters and the minimum turning radius parameters of the PRT vehicle, and calculate the PRT vehicle turning parameters according to the Ackermann principle;

[0011] S3. Determine the PRT vehicle berth parameter limit conditions, and determine the value range of the PRT vehicle berth parameters based on the PRT vehicle berth parameter limit conditions, the PRT vehicle size parameters, the minimum turning radius parameters of the PRT vehicle, and the PRT vehicle turning parameters;

[0012] S4. Based on the value range of the PRT vehicle berth parameters, determine the value range of the total running distance D of the PRT vehicle during the process of the PRT vehicle entering and leaving the PRT vehicle berth, and select the optimal size combination of the station from the value range of the total running distance D of the PRT vehicle.

[0013] Specifically: when the inbound edge is an arc, the angle θ between the inbound edge and the inner curb of the corresponding side of the main lane is specifically: the tangent line tangent to the inbound edge at the intersection of the inbound edge and the inner curb of the corresponding side of the main lane is defined as the first tangent line, and the angle θ between the inbound edge and the inner curb of the corresponding side of the main lane is the angle between the first tangent line and the inner curb of the corresponding side of the main lane, and the first tangent line passes through the intersection of the inbound edge and the inner curb of the corresponding side of the main lane;

[0014] When the outbound edge is an arc, the angle between the outbound edge and the inner curb of the corresponding side of the main lane Specifically: the tangent line tangent to the outbound edge at the intersection of the outbound edge and the inner curb of the corresponding side of the main lane is defined as the second tangent line, and the angle between the outbound edge and the inner curb of the corresponding side of the main lane is the angle between the second tangent line and the inner curb of the main lane on the corresponding side, and the second tangent line passes through the intersection point of the outbound edge and the inner curb of the main lane on the corresponding side;

[0015] A direct-outbound PRT berth plane design method described in this application is based on the PRT vehicle size parameters and the PRT vehicle minimum turning radius parameters, calculates the PRT vehicle turning parameters according to the Ackerman principle, determines the PRT vehicle berth parameter limit conditions based on the structure of a reverse-outbound PRT station described in this application to obtain the value range of the PRT vehicle berth parameters, and then determines the value range of the total running distance D of the PRT vehicle during the process of the PRT vehicle entering and leaving the PRT vehicle berth based on the value range of the PRT vehicle berth parameters, and selects the optimal size combination of the station from the value range of the total running distance D of the PRT vehicle, so as to make the PRT station occupy less land area while ensuring the function of the PRT station berth.

[0016] Preferably, the PRT vehicle size parameters include the PRT vehicle size parameters and the PRT vehicle minimum turning radius parameters.

[0017] Preferably, the PRT vehicle turning parameters include the inner radius r of the PRT vehicle loop, the outer radius R of the PRT vehicle loop, the minimum inner radius r 0 of the PRT vehicle running road and the minimum outer radius R 0 of the PRT vehicle running road.

[0018] Preferably, the PRT vehicle berth parameters include the PRT vehicle berth width W, the PRT vehicle berth length L, the turning angle β of the PRT vehicle from the inbound edge side to the outbound edge side, the turning angle γ of the PRT vehicle from the outbound edge side to the main lane, and the PRT vehicle berth angle α.

[0019] Preferably, the PRT vehicle berth length L is specifically:

[0020]

[0021] where L: PRT vehicle berth length; r 0 : minimum inner radius of the PRT vehicle running road; α: PRT vehicle berth angle; b: total width of the PRT vehicle; x: safety distance from the outermost point of the PRT vehicle during turning to the outer edge of the PRT vehicle running road; y: safety distance from the innermost point of the PRT vehicle during turning to the inner edge of the PRT vehicle running road; e: rear overhang length of the PRT vehicle; r: inner radius of the PRT vehicle loop; R 0 : minimum outer radius of the PRT vehicle running road.

[0022] Preferably, the PRT vehicle berth width W is specifically:

[0023]

[0024] Among them, W: the width of the PRT vehicle berth; b: the total width of the PRT vehicle; y: the safety distance from the innermost point during the turning of the PRT vehicle to the inner edge of the PRT vehicle running road; e: the overhang length of the PRT vehicle; α: the angle of the PRT vehicle berth; R 0 : the minimum outer radius of the PRT vehicle running road; r: the inner radius of the PRT vehicle loop; x: the safety distance from the outermost point during the turning of the PRT vehicle to the outer edge of the PRT vehicle running road.

[0025] Preferably, the limiting conditions for the PRT vehicle berth parameters include:

[0026] A. The width W' of the main lane should ensure that the PRT vehicle does not interfere with the outer curb of the main lane when turning into the PRT vehicle berth;

[0027] B. The length L of the PRT vehicle berth and the width W of the PRT vehicle berth should ensure that the PRT vehicle parked in the PRT vehicle berth does not affect the passage of the PRT vehicle on the main lane, and the length L of the PRT vehicle berth and the width W of the PRT vehicle berth can ensure that the PRT vehicle has a turning space from the inbound edge side to the outbound edge side;

[0028] C. The distance T between the turning center O of the PRT vehicle during berthing 1 to the inner curb of the main lane 1 , the distance T between the turning center O of the PRT vehicle when turning into the PRT vehicle berth 2 to the inner curb of the main lane 2 , T 1 =T 2 .

[0029] Preferably, the optimal size combination of the station includes the PRT vehicle berth angle α, the PRT vehicle berth length L, the PRT vehicle berth width W, the turning angle β of the PRT vehicle from the inbound edge side to the outbound edge side, the turning angle γ of the PRT vehicle from the outbound edge side to the main lane, and the total travel distance D of the PRT vehicle.

[0030] Preferably, the maximum value α of the PRT vehicle berth angle α max Specifically:

[0031]

[0032] Among them, α max : the maximum value of the PRT vehicle berth angle α; r 0 : the minimum inner radius of the PRT vehicle running road; r: the inner radius of the PRT vehicle loop; b: the total width of the PRT vehicle; e: the overhang length of the PRT vehicle.

[0033] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows:

[0034] 1. The direct-outbound PRT berth plane design method described in the present application is based on the PRT vehicle size parameters and the minimum turning radius parameters of the PRT vehicle, calculates the turning parameters of the PRT vehicle according to the Ackerman principle, determines the PRT vehicle berth parameter limit conditions based on the structure of the reverse-outbound PRT station described in the present application to obtain the value range of the PRT vehicle berth parameters, and then determines the value range of the total running distance D of the PRT vehicle during the process of the PRT vehicle entering and exiting the PRT vehicle berth based on the value range of the PRT vehicle berth parameters, and selects the optimal size combination of the station from the value range of the total running distance D of the PRT vehicle, so as to make the PRT station occupy less land area while ensuring the function of the PRT station berth. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic structural diagram of a direct-outbound PRT station of the present invention (the outbound edge is an arc).

[0036] Figure 1-1 It is a schematic structural diagram of a direct-outbound PRT station of the present invention (the outbound edge is a straight line).

[0037] Figure 2 It is a schematic diagram of the PRT vehicle size parameters of the present invention.

[0038] Figure 3 It is the minimum turning radius r of the PRT vehicle of the present invention 1 Schematic diagram of parameters.

[0039] Figure 4 It is a schematic diagram of the PRT vehicle turning parameters of the present invention.

[0040] Figure 5 It is a schematic diagram of the size parameters of the PRT vehicle berth of the present invention.

[0041] Figure 6 It is a schematic diagram of the PRT vehicle turning when entering the PRT vehicle berth of the present invention.

[0042] Figure 7 It is a schematic diagram of the PRT vehicle turning when exiting the PRT vehicle berth of the present invention.

[0043] Figure 8 It is a schematic diagram of the safety distance after the PRT vehicle completely enters the PRT vehicle berth of the present invention.

[0044] Figure 9 It is a schematic diagram of the calculation of the PRT vehicle berth length L of the present invention.

[0045] Figure 10 It is a schematic diagram for calculating the berth width W of the PRT vehicle of the present invention.

[0046] Figure 11 It is a schematic diagram of the trend of the value range of the berth angle α of the PRT vehicle of the present invention.

[0047] Figure 12 It is a schematic diagram of the curve relationship between the berth width L of the PRT vehicle, the berth width W of the PRT vehicle and the berth angle α of the PRT vehicle of the present invention.

[0048] Figure 13 It is a schematic diagram of the curve relationship between the turning angle β of the PRT vehicle from the inbound edge side to the outbound edge side, the turning angle γ of the PRT vehicle from the outbound edge side to the main lane and the berth angle α of the PRT vehicle of the present invention.

[0049] Figure 14 It is a schematic diagram of the curve relationship between the total running distance D of the PRT vehicle and the berth angle α of the PRT vehicle of the present invention.

[0050] Icon: 1 - PRT vehicle; 2 - Main lane; 3 - Outer curb of the main lane; 4 - Inner curb of the main lane; 5 - PRT vehicle berth; 6 - Intersection of the minimum outer radius R0 of the PRT vehicle running road and the inner curb of the main lane; 7 - Rounded corner; 8 - Front wheel; 9 - Rear wheel; 10 - Inbound edge; 11 - Outbound edge; 12 - Second tangent. Detailed implementation manners

[0051] The present invention will be described in detail below with reference to the drawings.

[0052] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0053] Embodiment 1

[0054] As Figure 1-14 shown, a direct-out PRT berth plane design method described in this embodiment is based on as Figure 1The direct-outbound PRT station shown in Fig. 1-1, the direct-outbound PRT station includes a main lane 2, on one side of the main lane 2 there is a PRT vehicle berth 5, the inner edge of the main lane 2 close to the PRT vehicle berth 5 is the inner curb 4 of the main lane, at least one side of the main lane 2 communicates with at least one PRT vehicle berth 5, the PRT vehicle berth 5 has an inbound edge 10 and an outbound edge 11, the angle between the inbound edge 10 and the inner curb 4 of the corresponding side of the main lane is θ, 90° < θ < 180°, the angle between the outbound edge 11 and the inner curb 4 of the corresponding side of the main lane is Wherein, when the inbound edge 10 is an arc, the angle θ between the inbound edge 10 and the inner curb 4 of the corresponding side of the main lane is specifically: the tangent line tangent to the inbound edge 10 at the intersection of the inbound edge 10 and the inner curb 4 of the corresponding side is defined as the first tangent line, the angle θ between the inbound edge 10 and the inner curb 4 of the corresponding side is the angle between the first tangent line and the inner curb 4 of the corresponding side, and the first tangent line passes through the intersection of the inbound edge 10 and the inner curb 4 of the corresponding side; when the outbound edge 11 is an arc, the angle between the outbound edge 11 and the inner curb 4 of the corresponding side Specifically: the tangent line tangent to the outbound edge 11 at the intersection of the outbound edge 11 and the inner curb 4 of the corresponding side is defined as the second tangent line 12, the angle between the outbound edge 11 and the inner curb 4 of the corresponding side Is the angle between the second tangent line 12 and the inner curb 4 of the corresponding side, and the second tangent line 12 passes through the intersection of the outbound edge 11 and the inner curb 4 of the corresponding side;

[0055] This design method includes the following steps:

[0056] Determine the size parameters of the PRT vehicle 1 and the minimum turning radius parameter of the PRT vehicle 1:

[0057] Determine the size parameters of the PRT vehicle 1:

[0058] 1. As Figure 2 Shown, the size parameters of the PRT vehicle 1 include the total length a of the PRT vehicle 1, the wheelbase l of the PRT vehicle 1, the front overhang length d of the PRT vehicle 1, the rear overhang length e of the PRT vehicle 1, the total width b of the PRT vehicle 1, the wheel track n of the front wheels 8 of the PRT vehicle 1, and the wheel track m of the rear wheels 9 of the PRT vehicle 1.

[0059] 2. As Figure 3 Shown, determine the minimum turning radius parameter of the PRT vehicle 1: Given the minimum turning radius r of the PRT vehicle 1 1

The minimum turning radius refers to the radius of the trajectory circle rolled by the center of the outer front wheel 8 on the supporting plane when the PRT vehicle 1 is turning at the lowest stable speed with the steering angle turned to the limit position. It is determined by the steering mechanism of the PRT vehicle 1, the position of the outer steering wheel, and the dimensions of the PRT vehicle 1, and is a known parameter in the design.

[0060] Calculate the turning parameters of the PRT vehicle 1 according to the Ackermann principle:

[0061] Deduction of the turning parameters of the PRT vehicle 1

[0062] As Figure 4 shown, according to the Ackermann steering geometry principle, assume that:

[0063] The safety distance x from the outermost point of the PRT vehicle 1 to the outer edge of the running road of the PRT vehicle 1 when turning;

[0064] And

[0065] The safety distance y from the innermost point of the PRT vehicle 1 to the inner edge of the running road of the PRT vehicle 1 when turning;

[0066] The following turning parameters can be obtained:

[0067] The inner radius r of the loop of the PRT vehicle 1:

[0068]

[0069] The outer radius R of the loop of the PRT vehicle 1:

[0070]

[0071] The minimum inner radius r of the running road of the PRT vehicle 1 0 :

[0072]

[0073] The minimum outer radius R of the running road of the PRT vehicle 1 0 :

[0074]

[0075] Determine the value range of the parameters of the PRT vehicle berth 5:

[0076] Identification of the parameters of the PRT vehicle berth 5:

[0077] As Figure 5As shown in the figure, the dimensional parameters determining the PRT vehicle berth 5 are: the width W' of the main lane 2, the width W of the PRT vehicle berth 5, the length L of the PRT vehicle berth 5, the angle α of the PRT vehicle berth 5, the turning angle β of the PRT vehicle from the inbound edge 10 side to the outbound edge 11 side, and the turning angle γ of the PRT vehicle from the outbound edge 11 side to the main lane 2. Among them, the angle α of the PRT vehicle berth 5 is a design value, and different values of α determine the values of the width W and the length L of the PRT vehicle berth 5; the width W' of the main lane 2 is a fixed value, which is only related to the size of the PRT vehicle and has nothing to do with the angle α of the PRT vehicle berth 5; the width W and the length L of the PRT vehicle berth 5 are variables, which are related to the value of the angle α of the PRT vehicle berth 5; the turning angle β of the PRT vehicle from the inbound edge 10 side to the outbound edge 11 side and the turning angle γ of the PRT vehicle from the outbound edge 11 side to the main lane 2 are variables, which are related to the value of the angle α of the PRT vehicle berth 5. The turning angle β of the PRT vehicle from the inbound edge 10 side to the outbound edge 11 side and the turning angle γ of the PRT vehicle from the outbound edge 11 side to the main lane 2 are used to guide the PRT vehicle to automatically drive out of the berth.

[0078] Parameter limit conditions for the PRT vehicle berth 5:

[0079] A. As Figure 6 shown in the figure, the width W' of the main lane 2 should ensure that the PRT vehicle 1 does not interfere with the outer road edge 3 of the main lane when turning into the PRT vehicle berth 5;

[0080] B. As Figure 7 shown in the figure, the length L and the width W of the PRT vehicle berth 5 should ensure that the PRT vehicle 1 parked in the PRT vehicle berth 5 does not affect the passage of the PRT vehicle 1 on the main lane 2, and the length L and the width W of the PRT vehicle berth 5 should ensure that the PRT vehicle has a turning space from the inbound edge 10 side to the outbound edge 11 side;

[0081] C. As Figure 8 shown in the figure, the turning angle β of the PRT vehicle from the inbound edge 10 side to the outbound edge 11 side and the turning angle γ of the PRT vehicle from the outbound edge 11 side to the main lane 2 should ensure that the turning center O 1 of the PRT vehicle when turning out of the PRT vehicle berth 5 is 2 at the same horizontal position as the turning center O 1 of the PRT vehicle when turning into the PRT vehicle berth 5. Only in this way can it be ensured that the vehicle can drive in smoothly, that is, the distance T 1 between the turning center O 2 of the PRT vehicle when turning into the PRT vehicle berth 5 and the inner road edge 4 of the main lane, and the distance T between the turning center O of the PRT vehicle when turning into the PRT vehicle berth 5 and the inner road edge 4 of the main lane2 , T 1 = T 2 .

[0082] Calculation of the 5 parameters of the PRT vehicle berth:

[0083] Based on the above 5-parameter limit conditions of the PRT vehicle berth, the deduction of the 5 parameters of the PRT vehicle berth is as follows.

[0084] Width W' of the main lane 2:

[0085]

[0086] Length L of the PRT vehicle berth 5:

[0087] As Figure 9 shown, for the convenience of calculation, the length L of the PRT vehicle berth 5 is divided into four sections, which are as follows Figure 9 shown L 1 , L 2 , L 3 and L 4 .

[0088] According to geometric calculations, it can be obtained that:

[0089]

[0090]

[0091]

[0092] According to the vertical diameter theorem, it can be obtained that:

[0093]

[0094] Therefore:

[0095]

[0096] Width W of the PRT vehicle berth 5:

[0097] According to the trigonometric function theorem and appendix Figure 10 analysis, it can be obtained that:

[0098]

[0099] Turning angle β of the PRT vehicle from the inbound edge 10 side to the outbound edge 11 side and turning angle γ of the PRT vehicle from the outbound edge 11 side to the main lane 2:

[0100] According to the trigonometric function theorem, it can be obtained that:

[0101]

[0102]

[0103] The value range of the angle α of the PRT vehicle berth 5:

[0104] The entry and exit of the PRT vehicle from the PRT vehicle berth 5 includes 5 steps, including the step of the vehicle going straight into the berth, which is to allow the inner rear part of the PRT vehicle to enter the berth completely, so as to give the main channel to other PRT vehicles passing straight through this berth.

[0105] As the angle of the berth increases, the distance for the vehicle to go straight into the berth will shorten accordingly. When the angle of the berth is large enough, the PRT vehicle has completely entered the berth when turning into the berth, so there is no need to go straight into the berth anymore, as shown by the trend in views A - D in Figure 11 :

[0106] This also means that when the angle α of the PRT vehicle berth 5 is greater than a certain value, as the angle α of the PRT vehicle berth 5 increases, it will only make the running distance of the PRT longer and the berth area larger, which is obviously not an economically reasonable approach. Therefore, the maximum value of the angle α of the PRT vehicle berth 5 should be: when the PRT vehicle turns into the berth, the inner rear part of the vehicle is just at the boundary of the main lane 2.

[0107] Through geometric analysis, when the angle α of the PRT vehicle berth 5 takes the maximum value, there is:

[0108]

[0109] After calculation, the maximum value of the angle α of the PRT vehicle berth 5 is:

[0110]

[0111] Calculation of the total running distance D of the PRT vehicle during the process of entering and exiting the PRT vehicle berth 5

[0112] The entry and exit of the PRT vehicle from the PRT vehicle berth 5 are divided into: 1. The PRT vehicle turns into the berth, 2. The PRT vehicle goes straight into the berth, 3. The PRT vehicle makes the first turn out of the berth, 4. The PRT vehicle makes the second turn out of the berth, 5. The PRT vehicle goes straight out of the berth, a total of 5 steps. Among them, the last step has nothing to do with the angle α of the PRT vehicle berth 5 and is not included in the calculation of the running distance.

[0113] The running distances of the first 4 steps are respectively:

[0114] 1. The PRT vehicle turns into the berth:

[0115]

[0116] 2. The PRT vehicle goes straight into the berth:

[0117]

[0118] The first turn of the 3PRT vehicle out of the berth:

[0119]

[0120] The second turn of the 4PRT vehicle out of the berth:

[0121]

[0122] The total running distance of the PRT vehicle is:

[0123]

[0124] Among them, the angle α of the above PRT vehicle berth 5 is in radians.

[0125] Reasonable selection of the PRT vehicle berth 5 and the station size:

[0126] According to the above size calculation, the width W' of the main lane 2 has nothing to do with the angle α of the PRT vehicle berth 5; the width W and the length L of the PRT vehicle berth 5 are closely related to the angle α of the PRT vehicle berth 5; the turning angle β of the PRT vehicle from the inbound edge 10 side to the outbound edge 11 side, the turning angle γ of the PRT vehicle from the outbound edge 11 side to the main lane 2, and the total running distance D of the PRT vehicle are also closely related to the angle α of the PRT vehicle berth 5. Therefore, how to select a reasonable angle α of the PRT vehicle berth 5 to make the occupied area of the PRT vehicle berth 5 and the station more economical and applicable is an important purpose of the direct-outbound PRT berth plane design method described in this application.

[0127] The following is an example:

[0128] The relationship between the size of the PRT vehicle berth 5 and the angle of the PRT vehicle berth:

[0129] The following basic parameters of the PRT vehicle 1 are used as shown in Table 1:

[0130] Table 1

[0131]

[0132] Take the minimum turning radius r of the PRT vehicle 1 1 as 5m, and the safety distances x and y are both 0.2m. The following turning parameters of the PRT vehicle 1 can be obtained as shown in Table 2:

[0133] Table 2

[0134]

[0135] First, substitute the above values into the formula for calculating the maximum value of the angle α of the PRT vehicle berth 5, and we can get α max = 60.58°

[0136] Then, substitute the above values into the calculation formulas corresponding to W and L, and the values of the width W and length L of the PRT vehicle berth 5 at different PRT vehicle berth 5 angles α (1° to 60.58°) can be obtained as shown in Table 3:

[0137] Table 3

[0138]

[0139] As Figure 12 shown, the length L of the PRT vehicle berth 5 shows a downward trend with the increase of the PRT vehicle berth 5 angle α. When the PRT vehicle berth 5 angle α is small (α < 20°), the length L of the PRT vehicle berth 5 decreases exponentially with the increase of the PRT vehicle berth 5 angle α; when the PRT vehicle berth 5 angle α ≥ 20°, the value of the length L of the PRT vehicle berth 5 is basically stable, and the width W of the PRT vehicle berth 5 shows an overall upward trend with the increase of the PRT vehicle berth 5 angle α, and the upward trend is basically consistent..

[0140] Therefore, the reasonable value range of the PRT vehicle berth 5 angle α should be 20° ≤ α ≤ 60.58°. Within this range, the smaller the PRT vehicle berth 5 angle α, the smaller the width W and length L of the PRT vehicle berth 5.

[0141] Relationship between the vehicle turning angle and traveling distance and the berth angle: For the PRT vehicle within the reasonable range of the berth angle value, the turning angle and traveling distance required for the PRT vehicle to drive out of the berth are shown in Table 4:

[0142] Table 4

[0143]

[0144]

[0145] According to the calculation, within the reasonable range of the PRT vehicle berth 5 angle α, the turning angle β of the PRT vehicle from the inbound edge 10 side to the outbound edge 11 side and the turning angle γ of the PRT vehicle from the outbound edge 11 side to the main lane 2 both increase with the increase of the PRT vehicle berth 5 angle α, and the increase rate is basically unchanged; the total traveling distance D of the PRT vehicle first decreases and then increases with the increase of the PRT vehicle berth 5 angle α. When the PRT vehicle berth 5 angle α is 25° ≤ α ≤ 28°, the total traveling distance D of the PRT vehicle is basically the same, which is the relative minimum value.

[0146] Reasonable selection result of the PRT vehicle berth 5 angle α:

[0147] According to the above calculations, when the angle α of the PRT vehicle berth 5 is 25° ≤ α ≤ 28°, the running distance of the PRT vehicle is the shortest; considering the relationship between the length L, width W of the PRT vehicle berth 5 and the angle α of the PRT vehicle berth 5, the smaller the angle α of the PRT vehicle berth 5, the smaller the length L and width W of the PRT vehicle berth 5; therefore, the reasonable value of the angle α of the PRT vehicle berth 5 is 25°. At this time, the length L, width W of the PRT vehicle berth 5, the turning angle β of the PRT vehicle from the inbound edge 10 side to the outbound edge 11 side, the turning angle γ of the PRT vehicle from the outbound edge 11 side to the main lane 2, and the total running distance D of the PRT vehicle are shown in Table 5 as follows:

[0148] Table 5

[0149]

[0150] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A direct-outbound PRT berth plane design method, characterized in that, based on a direct-outbound PRT station, the direct-outbound PRT station includes a main lane (2), one side of the main lane (2) is provided with a PRT vehicle berth (5), the side edge of the main lane (2) close to the PRT vehicle berth (5) is the inner curb of the main lane (4), at least one PRT vehicle berth (5) is connected to at least one side of the main lane (2), the PRT vehicle berth (5) has an inbound edge (10) and an outbound edge (11), the angle between the inbound edge (10) and the inner curb of the main lane (4) on the corresponding side is θ, 90° < θ < 180°, and the angle between the outbound edge (11) and the inner curb of the main lane (4) on the corresponding side is φ, 90° < φ < 180°. This design method includes the following steps: S1. Determine the size parameters of the PRT vehicle (1) and the minimum turning radius parameters of the PRT vehicle (1); S2. Based on the size parameters of the PRT vehicle (1) and the minimum turning radius parameters of the PRT vehicle (1), calculate the turning parameters of the PRT vehicle (1) according to the Ackermann principle; S3. Determine the parameter limit conditions of the PRT vehicle berth (5), and determine the value range of the parameters of the PRT vehicle berth (5) based on the parameter limit conditions of the PRT vehicle berth (5), the size parameters of the PRT vehicle (1), the minimum turning radius parameters of the PRT vehicle (1), and the turning parameters of the PRT vehicle (1); S4. Determine the range of the total travel distance of the PRT vehicle during the process of the PRT vehicle entering and leaving the PRT vehicle berth (5) based on the parameter value range of the PRT vehicle berth (5). D And select the optimal size combination of the station from the range of the total travel distance D of the PRT vehicle. wherein The turning parameters of the PRT vehicle (1) include the inner radius of the loop of the PRT vehicle (1) r , the outer radius of the loop of the PRT vehicle (1) R , the minimum inner radius of the road on which the PRT vehicle (1) runs r 0 and the minimum outer radius of the road on which the PRT vehicle (1) runs R 0 ; The parameters of the PRT vehicle berth (5) include the width of the PRT vehicle berth (5) W , the length of the PRT vehicle berth (5) L , the turning angle β of the PRT vehicle from the side of the inbound edge (10) to the side of the outbound edge (11), the turning angle γ of the PRT vehicle from the side of the outbound edge (11) to the main lane (2), and the angle of the PRT vehicle berth (5) α ; PRT vehicle parking space (5) angle α The maximum value α max Specifically: Among them, α max : The maximum value of the angle of the PRT vehicle berth (5); α The maximum value; r 0 : The minimum inner radius of the running road of the PRT vehicle (1); r: The inner radius of the loop of the PRT vehicle (1); b : The total width of the PRT vehicle (1); e : The length of the rear overhang of the PRT vehicle (1).

2. According to the direct-outbound PRT berth plane design method described in claim 1, characterized in that, the size parameters of the PRT vehicle (1) include the total length a of the PRT vehicle (1), the wheelbase l of the PRT vehicle (1), the front overhang length d of the PRT vehicle (1), the rear overhang length e of the PRT vehicle (1), the total width b of the PRT vehicle (1), the wheel track n of the front wheels (8) of the PRT vehicle (1), and the wheel track m of the rear wheels (9) of the PRT vehicle (1).

3. According to the direct-outbound PRT berth plane design method described in claim 2, characterized in that, the length L of the PRT vehicle berth (5) is specifically: Among them, L : The length of the PRT vehicle berth (5); r 0 : The minimum inner radius of the running road of the PRT vehicle (1); α : The angle of the PRT vehicle berth (5); b : The total width of the PRT vehicle (1); x : The safety distance from the outermost point of the PRT vehicle (1) during turning to the outer edge of the running road of the PRT vehicle (1); y : The safety distance from the innermost point of the PRT vehicle (1) during turning to the inner edge of the running road of the PRT vehicle (1); e : The length of the rear overhang of the PRT vehicle (1); r: The inner radius of the PRT vehicle (1) ring; R 0 : The minimum outer radius of the running road of the PRT vehicle (1).

4. According to the direct-outbound PRT berth plane design method described in claim 2, characterized in that, Width of the parking space (5) for PRT vehicles W Specifically: Among them, W : Width of the PRT vehicle berth (5); b : Total width of the PRT vehicle (1); y : Safety distance from the innermost point of the PRT vehicle (1) during turning to the inner edge of the running road of the PRT vehicle (1); e : Rear overhang length of the PRT vehicle (1); α : Angle of the PRT vehicle berth (5); R 0 : Minimum outer radius of the running road of the PRT vehicle (1); r: Inner radius of the PRT vehicle (1) loop; x : Safety distance from the outermost point of the PRT vehicle (1) during turning to the outer edge of the running road of the PRT vehicle (1).

5. According to the direct-outbound PRT berth plane design method described in claim 1, characterized in that, the parameter limit conditions of the PRT vehicle berth (5) include: A. Width of the main lane (2) W It should be ensured that when the PRT vehicle (1) turns into the PRT vehicle berth (5), there is no interference with the outer curb (3) of the main lane. Length of the PRT vehicle berth (5) L and width of the PRT vehicle berth (5) W It shall be ensured that the PRT vehicles (1) parked in the PRT vehicle berth (5) do not affect the passage of the PRT vehicles (1) on the main lane (2), and the length of the PRT vehicle berth (5) L and width of the PRT vehicle berth (5) W shall be able to ensure that the PRT vehicle has a turning space from the side of the inbound edge (10) to the side of the outbound edge (11); The turning center O of the PRT vehicle (1) when it is in the vehicle berth (5) 1 The distance T between the turning center O of the PRT vehicle (1) when it turns into the PRT vehicle berth (5) and the inner edge of the main lane (4) 1 The turning center O of the PRT vehicle (1) when it turns into the PRT vehicle berth (5) 2 The distance T between the turning center O and the inner edge of the main lane (4) 2 , T 1 =T 2 .

6. According to the direct-outbound PRT berth plane design method described in claim 1, characterized in that, The optimal size combination of the station includes the angle of the PRT vehicle berth (5) α , the length of the PRT vehicle berth (5) L , the width of the PRT vehicle berth (5) W , the turning angle β of the PRT vehicle from the side of the inbound edge (10) to the side of the outbound edge (11), the turning angle γ of the PRT vehicle from the side of the outbound edge (11) to the main lane (2), and the total running distance of the PRT vehicle D .

Images