A Design Method for the Plane of a Reverse Exit PRT Station and Berth

Abstract

The present invention relates to a PRT station, in particular to a reverse exit type PRT station and a berth plane design method. The reverse exit type PRT station comprises a main lane, at least one side of the main lane is connected to at least one PRT vehicle berth, only one end of the PRT vehicle berth is connected to the main lane, and there is an angle α between the PRT vehicle berth and the main lane, 0°≤α<90°. The reverse exit type PRT station described in the present application can reduce the site width required for RT vehicles to enter and exit the PRT vehicle berth, and can greatly reduce the site space required for PRT vehicles to turn in the PRT vehicle berth, thereby saving space, while avoiding the occurrence of interference with other PRT vehicles that are berthed during the process of PRT vehicles entering and exiting the PRT vehicle berth.

Description

Technical Field

[0001] The present invention relates to a PRT station, in particular to a reverse-exiting PRT station and a berth plane design method thereof. Background Art

[0002] Personal Rapid Transit (PRT) is a personal rapid public transportation system that uses small self-navigating vehicles (each vehicle can carry about 1 - 8 people), combining the comfort and convenience of cars with 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 wasn't 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 the PRT system. Currently, many countries are conducting relevant research on the PRT system 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 centralized control method for autonomous driving vehicles in a venue based on Petri nets. The PRT vehicle parking station disclosed therein is a very common typical PRT station currently. 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 exits from the other end, since both ends of the berth are trumpet-shaped, 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, posing a risk of mutual collision. Summary of the Invention

[0004] The purpose of the present invention is to provide a reverse-exiting PRT station and a berth plane design method thereof for the problems existing in the prior art that both ends of the PRT vehicle berths are trumpet-shaped, 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, posing a risk of mutual collision.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A reverse-exiting PRT station includes a main lane, at least one PRT vehicle berth is communicated with at least one side of the main lane, only one end of the PRT vehicle berth is connected to the main lane, and there is an included angle α between the PRT vehicle berth and the main lane, where 0° ≤ α < 90°.

[0007] A reverse-out PRT station described in this application. There is an included angle α between the PRT vehicle berth and the main lane, where 0° ≤ α < 90°. Compared with the case where the PRT vehicle berth is perpendicular to the main lane, it can reduce the site width required for RT vehicles to enter and exit the PRT vehicle berth. Only one end of the PRT vehicle berth is connected to the main lane. After the PRT vehicle enters the PRT vehicle berth and needs to drive out, it reverses out of the PRT vehicle berth, greatly reducing the site space required for the PRT vehicle to turn within the PRT vehicle berth, thereby saving the site and avoiding interference with other PRT vehicles in the berth during the process of the PRT vehicle entering and exiting the PRT vehicle berth.

[0008] Preferably, the included angle α between the PRT vehicle berth and the main lane is such that 15° ≤ α ≤ 45°.

[0009] Preferably, a PRT vehicle berth is connected to one side of the main lane.

[0010] Preferably, the edge of the main lane close to the PRT vehicle berth is the inner curb of the main lane, and a rounded corner is provided between the inner curb of the main lane and the edge of the PRT vehicle berth.

[0011] This application also discloses a method for designing the plane of a reverse-out PRT station berth. Based on a reverse-out PRT station described in this application, this design method includes the following steps:

[0012] S1. Determine the PRT vehicle size parameters and the minimum turning radius parameters of the PRT vehicle;

[0013] S2. Based on the PRT vehicle size parameters and the minimum turning radius parameters of the PRT vehicle, calculate the PRT vehicle turning parameters according to the Ackermann principle;

[0014] S3. Determine the parameter limit conditions of the PRT vehicle berth, and determine the value range of the PRT vehicle berth parameters based on the parameter limit conditions of the PRT vehicle berth, the PRT vehicle size parameters, the minimum turning radius parameters of the PRT vehicle, and the PRT vehicle turning parameters;

[0015] S4. Determine that the number of PRT vehicle berths is n, the spacing between PRT vehicle berths is Δt, and calculate the value range of the PRT vehicle berth floor area parameters and the value range of the PRT vehicle passing distance parameters based on the value range of the PRT vehicle berth parameters, the number of PRT vehicle berths being n, and the spacing between PRT vehicle berths being Δt;

[0016] The parameter value ranges of the occupied area of the PRT vehicle berth and the passing distance parameter of the PRT vehicle determine the optimal size combination value of the station.

[0017] A method for designing the plane of a reverse-exiting PRT station berth according to the present application is based on the size parameters of the PRT vehicle and the minimum turning radius parameter of the PRT vehicle, calculates the turning parameters of the PRT vehicle according to the Ackermann principle, and determines the parameter limit conditions of the PRT vehicle berth based on the structure of a reverse-exiting PRT station according to the present application to obtain the parameter value range of the PRT vehicle berth. Then, in combination with the number n of PRT vehicle berths and the spacing Δt between the PRT vehicle berths, the parameter value range of the occupied area of the PRT vehicle berth and the passing distance parameter of the PRT vehicle are calculated to determine the optimal size combination value of the station, so as to make the PRT station occupy less area while ensuring the function of the PRT station berth.

[0018] Preferably, the size parameters of the PRT vehicle include the size parameters of the PRT vehicle and the minimum turning radius parameter of the PRT vehicle.

[0019] Preferably, the turning parameters of the PRT vehicle include the inner radius r of the PRT vehicle loop, the outer radius R of the PRT vehicle loop, and the minimum inner radius r 0 of the running road of the PRT vehicle and the minimum outer radius R 0 .

[0020] Preferably, the PRT vehicle berth parameters include the width W of the PRT vehicle berth 2 , the length L of the PRT vehicle berth 2 and the angle α of the PRT vehicle berth.

[0021] Preferably, the parameter limit conditions of the PRT vehicle berth include:

[0022] A. The width W of the main lane 1 should ensure that the PRT vehicle does not interfere with the outer edge of the main lane when turning into the PRT vehicle berth;

[0023] B. The length L of the PRT vehicle berth 2 should ensure that the PRT vehicle parked in the PRT vehicle berth does not affect the passing of the PRT vehicle on the main lane;

[0024] C. The width W of the PRT vehicle berth 2 should ensure that the PRT vehicle does not interfere with the inner edge of the main lane when turning out of the PRT vehicle berth.

[0025] Preferably, the optimal size combination of the station includes the angle α of the PRT vehicle berth, the length L of the PRT vehicle berth 2 , the width W of the PRT vehicle berth2 , the station length L s and the station width W s .

[0026] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows:

[0027] 1. For a reverse-exiting PRT station described in the present application, there is an included angle α between the PRT vehicle berth and the main lane, where 0° ≤ α < 90°. Compared with the case where the PRT vehicle berth is perpendicular to the main lane, it can reduce the site width required for RT vehicles to enter and exit the PRT vehicle berth. Only one end of the PRT vehicle berth is connected to the main lane, so that after the PRT vehicle enters the PRT vehicle berth and needs to drive out of the PRT vehicle berth, it reverses out of the PRT vehicle berth, greatly reducing the site space required for the PRT vehicle to turn within the PRT vehicle berth, thus saving the site and avoiding interference with other PRT vehicles in the berth during the process of the PRT vehicle entering and exiting the PRT vehicle berth.

[0028] 2. For a method for designing the plane of a reverse-exiting PRT station berth described in the present application, based on the PRT vehicle size parameters and the PRT vehicle minimum turning radius parameters, and calculating the PRT vehicle turning parameters according to the Ackerman principle, determining the PRT vehicle berth parameter limit conditions based on the structure of a reverse-exiting PRT station described in the present application to obtain the value range of the PRT vehicle berth parameters, and then combining the number n of PRT vehicle berths and the spacing Δt between PRT vehicle berths to calculate the value range of the PRT vehicle berth floor area parameters and the value range of the PRT vehicle passing distance parameters, so as to determine the optimal size combination value of the station, thereby making the PRT station occupy less land area while ensuring the function of the PRT station berth. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic structural diagram of a reverse-exiting PRT station of the present invention.

[0030] Figure 2 is a schematic diagram of the PRT vehicle size parameters of the present invention.

[0031] Figure 3 is the minimum turning radius r of the PRT vehicle of the present invention 1 parameter schematic diagram.

[0032] Figure 4 is a schematic diagram of the PRT vehicle turning parameters of the present invention.

[0033] Figure 5 is a schematic diagram of the size parameters of the PRT vehicle berth of the present invention.

[0034] Figure 6 It is a schematic diagram of the turning of the PRT vehicle of the present invention when entering the PRT vehicle berth.

[0035] Figure 7 It is a schematic diagram after the PRT vehicle of the present invention completely enters the PRT vehicle berth.

[0036] Figure 8 It is a schematic diagram of the turning of the PRT vehicle of the present invention when driving out of the PRT vehicle berth.

[0037] Figure 9 It is a schematic diagram of the safety distance after the PRT vehicle of the present invention completely enters the PRT vehicle berth.

[0038] Figure 10 It is the minimum outer radius R of the running road of the PRT vehicle when the PRT vehicle of the present invention turns and drives out of the PRT vehicle berth 0 Schematic diagram of the intersection with the inner curb of the main lane.

[0039] Figure 11 It is l of the present invention 1 、l 2 Schematic diagram of the dimensional parameter model.

[0040] Figure 12 It is l of the present invention 1 、l 2 Simplified schematic diagram of the dimensional parameter model.

[0041] Figure 13 It is the width W of the PRT vehicle berth of the present invention 2 Parameter and the length L of the PRT vehicle berth 2 Schematic diagram of the parameter range model.

[0042] Figure 14 It is a schematic diagram of the calculation of the dimensional parameter model of the PRT station of the present invention.

[0043] Figure 15 It is a schematic diagram of the dimensional parameter model of the PRT station of the present invention.

[0044] Figure 16 It is the length L of the PRT vehicle berth of the present invention 2 、the width W of the PRT vehicle berth 2 Schematic diagram of the curve relationship with the angle α of the PRT vehicle berth.

[0045] Figure 17 It is the total length L of the PRT vehicle berth of the present invention s 、the total width W of the PRT vehicle berth s Schematic diagram of the curve relationship with the angle α of the PRT vehicle berth.

[0046] Figure 18 It is a schematic diagram of the curve relationship between the running distance D of the PRT vehicle entering and leaving the station and the berthing angle α of the PRT vehicle of the present invention.

[0047] 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; 8 - front wheel; 9 - rear wheel. Detailed implementation mode

[0048] The present invention will be described in detail below with reference to the accompanying drawings.

[0049] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying 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.

[0050] Embodiment 1

[0051] As Figure 1 shown, a PRT station with reverse exit, including a main lane 2, at least one PRT vehicle berth 5 is connected to at least one side of the main lane 2. Only one end of the PRT vehicle berth 5 is connected to the main lane 2. There is an included angle α between the PRT vehicle berth 5 and the main lane 2, where 0° ≤ α < 90°.

[0052] On the above basis, in a further preferred manner, the included angle α between the PRT vehicle berth 5 and the main lane 2: 15° ≤ α ≤ 45°.

[0053] On the above basis, in a further preferred manner, a PRT vehicle berth 5 is connected to one side of the main lane 2.

[0054] On the above basis, in a further preferred manner, the inner edge of the main lane 2 close to the PRT vehicle berth 5 is the inner curb 4 of the main lane, and a rounded corner is provided between the inner curb 4 of the main lane and the edge of the PRT vehicle berth 5.

[0055] A reverse-exiting PRT station described in this embodiment. There is an included angle α between the PRT vehicle berth 5 and the main lane 2, where 0° ≤ α < 90°. Compared with the case where the PRT vehicle berth is perpendicular to the main lane, it can reduce the site width required for RT vehicles to enter and exit the PRT vehicle berth 5. Only one end of the PRT vehicle berth 5 is connected to the main lane 2. After the PRT vehicle enters the PRT vehicle berth 5 and needs to drive out, it reverses out of the PRT vehicle berth 5, greatly reducing the site space required for the PRT vehicle to turn within the PRT vehicle berth 5, thus saving the site and avoiding interference with other PRT vehicles in the berth during the process of the PRT vehicle entering and exiting the PRT vehicle berth 5.

[0056] Embodiment 2

[0057] As Figures 1-18 shown, a method for designing the berth plane of a reverse-exiting PRT station described in this embodiment is based on a reverse-exiting PRT station described in Embodiment 1. This design method includes the following steps:

[0058] Determine the size parameters of the PRT vehicle 1 and the minimum turning radius parameter of the PRT vehicle 1:

[0059] Determine the size parameters of the PRT vehicle 1:

[0060] 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.

[0061] 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 support plane when the steering angle reaches the limit position and the PRT vehicle 1 steers and travels at the lowest stable speed. It is determined by the steering mechanism of the PRT vehicle 1, the position of the outer steering wheel, and the size of the PRT vehicle 1, and is a known parameter during design).

[0062] Calculate the turning parameters of the PRT vehicle 1 according to the Ackermann principle:

[0063] Deduction of the turning parameters of the PRT vehicle 1

[0064] As Figure 4 shown, according to the Ackermann steering geometry principle, assume:

[0065] The safety distance x from the outermost point of PRT vehicle 1 during turning to the outer edge of the road on which PRT vehicle 1 runs;

[0066] and

[0067] The safety distance y from the innermost point of PRT vehicle 1 during turning to the inner edge of the road on which PRT vehicle 1 runs;

[0068] The following turning parameters can be obtained:

[0069] The inner radius r of the loop of PRT vehicle 1:

[0070]

[0071] The outer radius R of the loop of PRT vehicle 1:

[0072]

[0073] The minimum inner radius r of the road on which PRT vehicle 1 runs 0 :

[0074]

[0075] The minimum outer radius R of the road on which PRT vehicle 1 runs 0 :

[0076]

[0077] Determine the value range of the parameters of PRT vehicle berth 5:

[0078] Identification of the parameters of PRT vehicle berth 5:

[0079] Such as Figure 5 shown, the dimensional parameters that determine PRT vehicle berth 5 are: the width W of the main lane 2 1 , the width W of PRT vehicle berth 5 2 , the length L of PRT vehicle berth 5 2 , the angle α of PRT vehicle berth 5. Among them, the angle α of PRT vehicle berth 5 is a design value, and different values of α determine the values of the width W 2 and the length L 2 of PRT vehicle berth 5.

[0080] Parameter limit conditions of PRT vehicle berth 5:

[0081] A. The width W of the main lane 2 1 should ensure that PRT vehicle 1 does not interfere with the outer road edge 3 of the main lane when turning into PRT vehicle berth 5, as Figure 6 shown;

[0082] B. The length L of PRT vehicle berth 5 2It should be ensured that the PRT vehicle 1 parked at the PRT vehicle berth 5 does not affect the passage of the PRT vehicle 1 on the main lane 2, as Figure 7 shown;

[0083] C. Width W of the PRT vehicle berth 5 2 It should be ensured that when the PRT vehicle 1 turns out of the PRT vehicle berth 5, it does not interfere with the inner curb 4 of the main lane, as Figure 8 shown.

[0084] Calculation of the parameters of the PRT vehicle berth 5:

[0085] Based on the above parameter limitation conditions of the PRT vehicle berth 5, the deduction of the parameters of the PRT vehicle berth 5 is as follows.

[0086] Width W of the main lane 2 1 :

[0087]

[0088] Length L of the PRT vehicle berth 5 2 :

[0089] As Figure 9 shown, for the convenience of calculation, ΔS 1 , ΔS 2 two safety distance parameters are introduced. The first safety distance parameter ΔS 1 determines that after the PRT vehicle 1 completely enters the PRT vehicle berth 5 for parking, it does not affect the normal passage of the PRT vehicle 1 on the main lane 2. The second safety distance parameter ΔS 2 is the safety distance from the PRT vehicle 1 to the end of the PRT vehicle berth 5 after the PRT vehicle 1 completely enters the PRT vehicle berth 5 for parking, and it is a known value during design.

[0090] L 2 = Δs 1 + Δs 2 + 2a - e

[0091] Therefore, the length L of the PRT vehicle berth 5 2 needs to calculate the expression of ΔS 1 :

[0092]

[0093] Therefore:

[0094]

[0095] Width W of the PRT vehicle berth 5 2 :

[0096] As Figure 10 shown, the width W of the PRT vehicle berth 52 Determines the range that satisfies the outer contour of the PRT vehicle 1 when the PRT vehicle 1 turns out of the PRT vehicle berth 5. Therefore, the minimum outer radius R of the PRT vehicle running road when the PRT vehicle 1 turns out of the PRT vehicle berth 5 0 The intersection point 6 with the inner curb of the main lane determines the minimum width of the PRT vehicle berth 5, that is, W 2 The minimum value of

[0097] Further simplify the model:

[0098] For ease of calculation, as Figure 11 shown, introduce l 1 、l 2 Two dimensional parameters:

[0099]

[0100]

[0101] Further simplify the model. As Figure 12 shown, the equation can be obtained:

[0102]

[0103] Solve the equation, and it can be obtained:

[0104]

[0105] Substitute l 1 、l 2 , and it can be obtained:

[0106]

[0107] Determine the value range of the size and angle of the PRT vehicle berth 5:

[0108] As Figure 13 shown, the width W of the PRT vehicle berth 5 2 Value range:

[0109] For the width W of the PRT vehicle berth 5 2 , its minimum size should be the width of the PRT vehicle 1 plus the safety distances on both sides, that is:

[0110] W 2 ≥b + x + y

[0111] Therefore, for engineering considerations, if the width W of the PRT vehicle berth 5 2 does not meet the above range and is less than the width of the PRT vehicle 1 plus the safety distances on both sides, directly take the value of the width W of the PRT vehicle berth 5 2 as:

[0112] W 2 = b + x + y

[0113] As Figure 13 shown, the length L of the PRT vehicle berth 5 2 has a value range of:

[0114] According to the geometric relationship of the PRT vehicle berth 5, there should be:

[0115]

[0116] Otherwise, the width at the entrance of the PRT vehicle berth 5 will be greater than the calculated width W of the PRT vehicle berth 5 2 , resulting in ineffective utilization of the space of the PRT vehicle berth 5. Thus, the value range of the length of the PRT vehicle berth 5 can be obtained:

[0117]

[0118] Therefore, for engineering considerations, if the length L of the PRT vehicle berth 5 2 does not meet the above range, directly take the length L of the PRT vehicle berth 5 2 as:

[0119]

[0120] Design of the station plane size for multiple PRT vehicle berths 5:

[0121] As Figure 14 and 15 shown, a general PRT station is composed of multiple PRT vehicle berths 5 arranged. Take the number of PRT vehicle berths 5 as n and the spacing between PRT vehicle berths 5 as Δt. Then the total length L of the station s is:

[0122]

[0123] The total width W of the station s is:

[0124] W s = L 2 sinα + r 0 - r 0 cosα + W 1

[0125] Calculation of the traveling distance of the PRT vehicle 1 entering and leaving the PRT vehicle berth 5:

[0126] The PRT vehicle 1 entering and leaving the station is divided into:

[0127] 1. Turning and entering the PRT vehicle berth 5,

[0128] 2 Straight-ahead entry into PRT vehicle berth 5,

[0129] 3 Straight-ahead exit from PRT vehicle berth 5,

[0130] 4 Turning out of PRT vehicle berth 5,

[0131] 5 Straight-ahead departure from the station, a total of 5 steps.

[0132] The running distances of the above 5 steps are respectively:

[0133] 1 Turning into PRT vehicle berth 5:

[0134]

[0135] 2 Straight-ahead entry into PRT vehicle berth 5:

[0136] D 2 = L 2 - ΔS 2 - L - d

[0137] 3 Straight-ahead exit from PRT vehicle berth 5:

[0138] D 3 = L 2 - Δs 2 - L - d

[0139] 4 Turning out of PRT vehicle berth 5:

[0140]

[0141] 5 Straight-ahead departure from the station;

[0142]

[0143] The total running distance is:

[0144]

[0145] Among them, the angle α of the above PRT vehicle berth 5 is in radians.

[0146] Reasonable selection of the dimensions of PRT vehicle berth 5 and the station:

[0147] According to the above dimension calculations, the width W of the main lane 2 1 is independent of the angle α of PRT vehicle berth 5; the width W of PRT vehicle berth 5 2 , the length L of PRT vehicle berth 5 2 is closely related to the angle α of PRT vehicle berth 5; therefore, how to select a reasonable angle α of PRT vehicle berth 5 to make the land occupation of PRT vehicle berth 5 and the station more economical and applicable is an important objective of a reverse-departure PRT station berth plane design method of this application.

[0148] The following is an example for illustration:

[0149] Relationship between the size and angle of PRT vehicle berth 5:

[0150] The basic parameters of PRT vehicle 1 are as shown in Table 1 below:

[0151] Table 1

[0152]

[0153] Take the minimum turning radius r of PRT vehicle 1 1 as 5 m, and the safety distances x and y are both 0.2 m. The following turning parameters of PRT vehicle 1 can be obtained, as shown in Table 2:

[0154] Table 2

[0155]

[0156] Substitute the above values into W 2 and L 2 in the corresponding calculation formulas, and the width W of PRT vehicle berth 5 2 and the length L of PRT vehicle berth 5 2 at different angles α (15° - 45°) of PRT vehicle berth 5 can be obtained. The engineering values (safety distance ΔS 2 is taken as 0.3 m) are shown in Table 3:

[0157] Table 3

[0158]

[0159]

[0160] As Figure 16 shown, the length L of PRT vehicle berth 5 2 shows a downward trend with the increase of the angle α of PRT vehicle berth 5, that is, the larger the angle of PRT vehicle berth 5, the smaller the length of PRT vehicle berth 5, but the decreasing trend weakens as the angle of PRT vehicle berth 5 increases; the width W of PRT vehicle berth 5 2 shows an upward trend with the increase of the angle α of PRT vehicle berth 5, that is, the larger the angle of PRT vehicle berth 5, the larger the width of PRT vehicle berth 5.

[0161] Among them, when the angle α of PRT vehicle berth 5 < 20°, the value of the width W of PRT vehicle berth 5 2 is:

[0162] W 2 = b + x + y

[0163] When the angle α of the PRT vehicle berth 5 > 34°, the width L of the PRT vehicle berth 5 2 takes the value of:

[0164]

[0165] Therefore, for this PRT vehicle model, the reasonable range of the angle value of the PRT vehicle berth 5 is 20° ≤ α ≤ 34°. The space utilization of the PRT vehicle berth 5 outside this angle range is not good.

[0166] Relationship between the station size and the angle of the PRT vehicle berth 5:

[0167] For the PRT vehicle model listed in the above scheme, within the reasonable range of the angle value of the PRT vehicle berth 5, the basic dimensions of the PRT station design are as follows: the spacing Δt between the PRT vehicle berths 5 is taken as 0.3 m, and the number n of the PRT vehicle berths 5 is taken as 4, as shown in Table 4:

[0168] Table 4

[0169]

[0170]

[0171] As Figure 17 shown, according to the calculation, within the reasonable range of the angle value of the PRT vehicle berth 5, the total length L of the PRT vehicle berth 5 s increases with the increase of the angle of the PRT vehicle berth 5, and the total width W of the PRT vehicle berth 5 s increases at a slow rate and can be regarded as basically unchanged.

[0172] Relationship between the traveling distance of the PRT vehicle 1 entering and leaving the station and the angle of the PRT vehicle berth 5:

[0173] For the PRT vehicle model and the PRT station listed in this embodiment, within the reasonable range of the angle value of the PRT vehicle berth 5, the traveling distance of the PRT vehicle 1 entering and leaving the station is shown in Table 5:

[0174] Table 5

[0175]

[0176]

[0177] As Figure 18 shown, according to the calculation, within the reasonable range of the angle value of the PRT vehicle berth 5, the traveling distance D of the PRT vehicle 1 entering and leaving the station increases with the increase of the angle α of the PRT vehicle berth 5, which means that the time for the PRT vehicle 1 to enter and leave the station also increases with the increase of the angle of the PRT vehicle berth 5.

[0178] Reasonable selection results for the berth 5 and station size of PRT vehicles:

[0179] Based on the above calculations, for the PRT vehicle models listed in this embodiment, the most reasonable and economical choice for the angle α of berth 5 of PRT vehicles is 20° (the smallest land occupation and the shortest passing time of PRT vehicle 1). The optimal size combination values of the station of berth 5 of PRT vehicles are shown in Table 6:

[0180] Table 6

[0181]

[0182] 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 method for the planar design of a PRT station berth for backing out of the station, characterized in that, Based on a reverse-out PRT station, the reverse-out PRT station includes a main lane (2), at least one PRT vehicle berth (5) is connected to at least one side of the main lane (2), only one end of the PRT vehicle berth (5) is connected to the main lane (2), and there is an included angle between the PRT vehicle berth (5) and the main lane (2). α , 0° ≤ α <90°; this design method comprises the following steps: S1. Determine the dimensional parameters of the PRT vehicle (1) and the parameter of the minimum turning radius of the PRT vehicle (1); S2. Based on the dimensional parameters of the PRT vehicle (1) and the parameter of the minimum turning radius of the PRT vehicle (1), and 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 based on the parameter limit conditions of the PRT vehicle berth (5), the dimensional parameters of the PRT vehicle (1), the parameter of the minimum turning radius of the PRT vehicle (1), and the turning parameters of the PRT vehicle (1), determine the value range of the parameters of the PRT vehicle berth (5); S4. Determine that the number of PRT vehicle berths (5) is n , and the spacing between PRT vehicle berths (5) is Δ t , and based on the parameter value range of PRT vehicle berths (5) and the number of PRT vehicle berths (5) being n , and the spacing between PRT vehicle berths (5) is Δ t calculate the parameter value range of the floor area of PRT vehicle berths (5) and the parameter value range of the passing distance of PRT vehicles (1); S6. Determine the optimal dimensional combination value of the station based on the value range of the floor area parameter of the PRT vehicle berth (5) and the value range of the passing distance parameter of the PRT vehicle (1); The parameters of the PRT vehicle berth (5) include the width of the PRT vehicle berth (5) W 2 and the length of the PRT vehicle berth (5) L 2 and the included angle between the PRT vehicle berth (5) and the main lane (2) α ; ； ； Wherein: L 2 is the length of the PRT vehicle berth (5); r is the inner radius of the circle of the PRT vehicle (1); b is the total width of the PRT vehicle (1); α is the included angle between the PRT vehicle berth (5) and the main lane (2); a is the total length of the PRT vehicle (1); e is the overhang length of the PRT vehicle (1); r 0 is the minimum inner radius of the running road of the PRT vehicle (1); ΔS2 is the safety distance from the end of the PRT vehicle berth (5) after the PRT vehicle (1) completely enters the PRT vehicle berth (5) and stops; R 0 is the minimum outer radius of the running road of the PRT vehicle (1); W 2 is the width of the PRT vehicle berth (5).

2. A method for the planar design of a PRT station berth for backing out of the station according to claim 1, characterized in that, The included angle between the PRT vehicle berth (5) and the main lane (2) α : 15° ≤ α ≤ 45°.

3. A method for the planar design of a PRT station berth for backing out of the station according to claim 1, characterized in that, One side of the main lane (2) is connected to the PRT vehicle berth (5).

4. A method for the planar design of a PRT station berth for backing out of the station according to claim 3, characterized in that, One side edge of the main lane (2) close to the PRT vehicle berth (5) is the inner curb (4) of the main lane, and a rounded corner part is arranged between the inner curb (4) of the main lane and the edge of the PRT vehicle berth (5).

5. A method for the planar design of a PRT station berth for backing out of the station according to claim 1, characterized in that, The dimensional 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).

6. A method for the planar design of a PRT station berth for backing out of the station according to claim 1, characterized in that, 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 .

7. A method for the planar design of a PRT station berth for backing out of the station according to claim 1, characterized in that, The parameter limit conditions of the PRT vehicle berth (5) include: A. Width of the main lane (2) W 1 It shall be ensured that there is no interference between the PRT vehicle (1) turning into the PRT vehicle berth (5) and the outer edge of the main lane (3). Length of the PRT vehicle berth (5) L 2 It shall be ensured that the PRT vehicle (1) parked at the PRT vehicle berth (5) does not affect the passage of the PRT vehicle (1) on the main lane (2). Width of the PRT vehicle berth (5) W 2 It can ensure that when the PRT vehicle (1) turns and drives out of the PRT vehicle berth (5), it will not interfere with the inner curb (4) of the main lane.

8. A method for the planar design of a PRT station berth for backing out of the station according to any one of claims 1-7, characterized in that, The optimal size combination of the station includes the included angle between the PRT vehicle berth (5) and the main lane (2) α , the length of the PRT vehicle berth (5) L 2 , the width of the PRT vehicle berth (5) W 2 , the length of the station L s and the width of the station W s .

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