PRT station scheduling method and system

Abstract

The invention relates to the technical field of unmanned scheduling, in particular to a PRT station scheduling method and system. The PRT station scheduling system provided by the invention can automatically identify, analyze and process multi-vehicle multi-task logic under the control of the vehicle scheduling system, complete operation tasks such as passenger delivery / reception of passenger-carrying vehicles and passenger reception / reception of empty vehicles, and greatly improve the PRT vehicle utilization and transportation efficiency, so that the PRT vehicle can reliably, safely and efficiently operate at the station.

Description

Technical Field

[0001] The present invention relates to the technical field of driverless scheduling, and particularly to a PRT station scheduling method and system. Background Art

[0002] As a medium and low-capacity rapid transit system, Personal Rapid Transit (PRT) uses autonomous driving technology to independently track in exclusive lanes and realizes multi-vehicle passenger transportation through a scheduling system, and can be applied to scenarios such as airports, large complexes, scenic spots, and industrial parks.

[0003] PRT vehicles operate on one-way lines, and there are local roundabouts and intersections in the line in the station area. Vehicles need to complete operation tasks such as dropping off / picking up passengers by passenger vehicles and picking up / awaiting passengers by empty vehicles under the control of the scheduling system.

[0004] Since the riding factors of people in the PRT system have characteristics such as uncertainty, explosiveness, and unidirectionality, that is, the scheduling of PRT system vehicles is greatly interfered by human factors. Therefore, compared with the traditional public transportation system, the PRT system has the transportation characteristic of "vehicles waiting for people", and cannot use a fixed timetable to organize the transportation scheduling of vehicles like the traditional public transportation system (a fixed timetable cannot meet the needs of "vehicles waiting for people"). Therefore, in order to realize the reliable, safe, and efficient operation of vehicles in the station, there is an urgent need for a station scheduling method and system suitable for PRT. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and provide a PRT station scheduling method and system.

[0006] In order to achieve the above-mentioned invention purpose, the present invention provides the following technical solutions:

[0007] A PRT station scheduling method includes the following steps:

[0008] Continuously monitor whether a PRT vehicle enters the vehicle capture section;

[0009] After a PRT vehicle is captured entering the station in the vehicle capture section, obtain the priority of the task type of the current PRT vehicle;

[0010] Execute the corresponding scheduling process according to the priority of the current PRT vehicle;

[0011] Wherein, the PRT station includes a vehicle capture section, a first scheduling point, a vehicle waiting line, and a circular station arranged in sequence, and the circular station includes a second scheduling point, a station berthing area, and an empty vehicle storage area.

[0012] As a preferred embodiment of the present invention, the priority order of the task types of the PRT vehicle from high to low is as follows: passenger vehicle dropping off passengers, passenger vehicle picking up passengers, empty vehicle picking up passengers, empty vehicle waiting for passengers.

[0013] As a preferred embodiment of the present invention, when the task type of the PRT vehicle is passenger vehicle dropping off passengers or passenger vehicle picking up passengers, the dispatching process corresponding to the target vehicle to be dispatched includes the following steps:

[0014] A1: The target vehicle enters the first dispatching point and checks the real-time occupancy status of the station berth area;

[0015] When there is an unoccupied berth, proceed to A2;

[0016] When there is no unoccupied berth, proceed to A3;

[0017] A2: Issue a berth instruction to the target vehicle, select an unoccupied berth for virtual occupancy with high priority. After the target vehicle passes through the vehicle waiting line and the second dispatching point in sequence, it arrives at the target berth to complete the dispatching task of the target vehicle;

[0018] A3: Order the target vehicle to drive into the vehicle waiting line and check whether there is an empty vehicle between the target vehicle and the second dispatching point;

[0019] If there is, order the corresponding empty vehicle to enter the empty vehicle storage area or drive out of the station through the circular station, and the target vehicle enters the second dispatching point along the vehicle waiting line;

[0020] If there is no empty vehicle, the target vehicle enters the second dispatching point along the vehicle waiting line;

[0021] A4: Check the real-time occupancy status of the station berth area;

[0022] When there is an unoccupied berth, issue a berth instruction to the target vehicle, select an unoccupied berth for virtual occupancy with high priority. After the target vehicle arrives at the target berth, complete the dispatching task of the target vehicle;

[0023] When there is no unoccupied berth, proceed to A5;

[0024] A5: Check whether there is an empty vehicle in the station berth area;

[0025] If there is, select an empty vehicle in the station berth area to enter the empty vehicle storage area or drive out of the station through the circular station, and proceed to A4;

[0026] If there is no empty vehicle, wait until there is an unoccupied berth in the station berth area and then proceed to A4.

[0027] As a preferred embodiment of the present invention, when the task type of the PRT vehicle is empty vehicle picking up passengers and empty vehicle waiting for passengers, the scheduling process corresponding to the target vehicle to be scheduled includes the following steps:

[0028] B1: The target vehicle enters the first scheduling point and checks the real-time occupancy status of the station berth area;

[0029] When there is an unoccupied berth, issue a berth instruction to the target vehicle, select an unoccupied berth for virtual occupancy with low priority, and drive into the vehicle waiting line;

[0030] When there is no unoccupied berth, drive into the vehicle waiting line;

[0031] B2: When the target vehicle is in the vehicle waiting line, continuously check whether there is a passenger-carrying vehicle that has not been virtually occupied between the target vehicle and the first scheduling point;

[0032] If there is, the target vehicle enters the empty vehicle storage area or exits the station through the circular station, and the scheduling task of the target vehicle is completed;

[0033] If not, enter B3;

[0034] B3: The target vehicle enters the second scheduling point and detects whether the target vehicle has received a berth instruction;

[0035] If it has received, the target vehicle drives into the virtually occupied berth, and after the target vehicle reaches the target berth, the scheduling task of the target vehicle is completed;

[0036] If not, enter B4;

[0037] B4: Check the real-time occupancy status of the station berth area;

[0038] When there is an unoccupied berth, issue a berth instruction to the target vehicle, select an unoccupied berth for virtual occupancy with low priority, and after the target vehicle reaches the target berth, the scheduling task of the target vehicle is completed;

[0039] When there is no unoccupied berth, wait until an unoccupied berth appears in the station berth area and then re-execute B4.

[0040] A PRT station scheduling system includes a PRT station, a vehicle positioning system, and a vehicle scheduling system;

[0041] The PRT station includes a vehicle capture section, a first scheduling point, a vehicle waiting line, and a circular station arranged in sequence. The circular station includes a second scheduling point, a station berth area, and an empty vehicle storage area;

[0042] The vehicle positioning system includes a number of positioning devices installed on PRT vehicles, which are used to transmit the real-time position of the current PRT vehicle at the PRT station to the vehicle dispatching system;

[0043] The vehicle dispatching system is used to implement any one of the above-mentioned PRT station dispatching methods for PRT vehicles according to the priority of the task type of the PRT vehicle.

[0044] As a preferred embodiment of the present invention, the circular station is an elliptical roundabout.

[0045] As a preferred embodiment of the present invention, the circular station is U-shaped.

[0046] As a preferred embodiment of the present invention, the circular station is a rounded rectangle.

[0047] As a preferred embodiment of the present invention, the number of lanes of the circular station ≥ 2.

[0048] As a preferred embodiment of the present invention, the PRT station is a one-way operation line.

[0049] As a preferred embodiment of the present invention, the length of the vehicle capture interval ∈ [1.5S, 3S], where S is the length of the PRT vehicle.

[0050] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0051] The present invention proposes a PRT station dispatching method and system, which can automatically identify, analyze and process the multi-vehicle and multi-task logic under the control of the vehicle dispatching system, and complete the operation tasks such as the passenger-carrying vehicle sending off / picking up passengers and the empty vehicle picking up passengers / awaiting passengers, greatly improving the utilization and transportation efficiency of PRT vehicles, and enabling the PRT vehicles to operate reliably, safely and efficiently at the station. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a schematic flow chart of a PRT station dispatching method described in Embodiment 1 of the present invention;

[0053] Figure 2 It is a schematic structural diagram of a PRT station dispatching system described in Embodiment 2 of the present invention;

[0054] Figure 3 It is a schematic operation diagram of the vehicle dispatching system in a PRT station dispatching system described in Embodiment 3 of the present invention;

[0055] Figure 4 It is a working logic diagram when the task type of the PRT vehicle in a PRT station dispatching system described in Embodiment 3 of the present invention is a passenger-carrying vehicle sending off / picking up passengers;

[0056] Figure 5This is a working logic diagram of a PRT station dispatching system according to embodiment 3 of the present invention when the PRT vehicle task type is an empty vehicle picking up / waiting passengers;

[0057] Figure 6 A schematic diagram of the structure of a PRT station and the operation of vehicles within the station in a PRT station dispatching system according to Example 4 of the present invention;

[0058] Figure 7 A schematic diagram of the structure of a PRT station and the operation of vehicles within the station in a PRT station dispatching system according to Example 5 of the present invention;

[0059] Figure 8 This is a schematic diagram of the structure of a PRT station and the operation of vehicles within the station in a PRT station dispatching system described in Example 6 of the present invention. DETAILED DESCRIPTION

[0060] The present invention will be further described in detail below in conjunction with test examples and specific embodiments. However, this should not be understood as limiting the scope of the present invention to the following embodiments, and all technologies implemented based on the present invention fall within the scope of the present invention.

[0061] Example 1

[0062] like Figure 1 As shown, a PRT station scheduling method is provided, wherein the PRT station includes a vehicle capture section, a first scheduling point, a vehicle waiting line, and a circular station arranged in sequence, wherein the circular station includes a second scheduling point, a station berth area, and an empty vehicle storage area. Specifically, the scheduling method includes the following steps:

[0063] Continuously monitor the vehicle capture zone to see if there are PRT vehicles entering;

[0064] When the vehicle capture interval captures a PRT vehicle entering the station, the priority of the task type of the current PRT vehicle is obtained;

[0065] According to the priority of the current PRT vehicle, the corresponding scheduling process is executed.

[0066] Furthermore, the priority order of the task types of the PRT vehicles is from high to low: passenger-carrying vehicles sending passengers, passenger-carrying vehicles picking up passengers, empty vehicles picking up passengers, and empty vehicles waiting for passengers.

[0067] When the mission type of a PRT vehicle is passenger drop-off or passenger pick-up, the dispatch process for the target vehicle to be dispatched includes the following steps:

[0068] A1: The target vehicle enters the first dispatching point and checks the real-time occupancy status of the station berth area;

[0069] When there are unoccupied berths, enter A2;

[0070] When there are no unoccupied berths, enter A3;

[0071] A2: Issue a berth instruction to the target vehicle, select an unoccupied berth for virtual occupation with high priority. After the target vehicle passes through the vehicle waiting line and the second dispatching point in sequence, it arrives at the target berth to complete the dispatching task of the target vehicle;

[0072] A3: Let the target vehicle drive into the vehicle waiting line and check whether there are empty vehicles between the target vehicle and the second dispatching point;

[0073] If there are, let the corresponding empty vehicle enter the empty vehicle storage area through the circular station or drive out of the station, and the target vehicle enters the second dispatching point along the vehicle waiting line;

[0074] If there are not, the target vehicle enters the second dispatching point along the vehicle waiting line;

[0075] A4: Check the real-time occupancy status of the station berth area;

[0076] When there are unoccupied berths, issue a berth instruction to the target vehicle, select an unoccupied berth for virtual occupation with high priority. After the target vehicle arrives at the target berth, complete the dispatching task of the target vehicle;

[0077] When there are no unoccupied berths, enter A5;

[0078] A5: Check whether there are empty vehicles in the station berth area;

[0079] If there are, select an empty vehicle in the station berth area to enter the empty vehicle storage area through the circular station or drive out of the station, and enter A4;

[0080] If there are not, wait until there are unoccupied berths in the station berth area and then enter A4.

[0081] When the task type of the PRT vehicle is picking up passengers for an empty vehicle and waiting for passengers for an empty vehicle, the dispatching process corresponding to the target vehicle to be dispatched includes the following steps:

[0082] B1: The target vehicle enters the first dispatching point and checks the real-time occupancy status of the station berth area;

[0083] When there are unoccupied berths, issue a berth instruction to the target vehicle, select an unoccupied berth for virtual occupation with low priority, and drive into the vehicle waiting line;

[0084] When there are no unoccupied berths, drive into the vehicle waiting line;

[0085] B2: When the target vehicle is at the vehicle waiting line, real-time check whether there are any passenger-carrying vehicles that have not virtually occupied the area between the target vehicle and the first scheduling point;

[0086] If there are, the target vehicle enters the empty vehicle storage area or exits the station through the circular station, and the target vehicle completes the scheduling task;

[0087] If not, proceed to B3;

[0088] B3: The target vehicle enters the second scheduling point and checks whether the target vehicle has received a berth instruction;

[0089] If it has received, the target vehicle drives into the virtually occupied berth. After the target vehicle reaches the target berth, the scheduling task of the target vehicle is completed;

[0090] If not, proceed to B4;

[0091] B4: Check the real-time occupancy status of the station berth area;

[0092] When there is an unoccupied berth, issue a berth instruction to the target vehicle, select an unoccupied berth for virtual occupancy with low priority. After the target vehicle reaches the target berth, the scheduling task of the target vehicle is completed;

[0093] When there is no unoccupied berth, wait until an unoccupied berth appears in the station berth area and then re-execute B4.

[0094] Embodiment 2

[0095] As Figure 2 shown, a PRT station scheduling system includes a PRT station, a vehicle positioning system, and a vehicle scheduling system.

[0096] The PRT station includes a vehicle capture section, a first scheduling point, a vehicle waiting line, and a circular station arranged in sequence. The circular station includes a second scheduling point, a station berth area, and an empty vehicle storage area.

[0097] Further, the PRT station is a one-way operation line; the vehicle capture section is a preset length area before the first scheduling point of the station. The first scheduling point is a preset control point. The vehicle waiting line is the area between the first scheduling point and the second scheduling point. The preset length of the vehicle capture section ∈ [1.5S, 3S], where S is the length of the PRT vehicle.

[0098] Further, the circular station is an elliptical roundabout (as well as U-shaped, rounded rectangle, etc.), and the number of lanes of the circular station ≥ 2. The second scheduling point is a preset control point. The station berth area is set on one side outside the lane of the circular station. The empty vehicle storage area is set in the inner ring area of the opposite lane of the station berth area.

[0099] The vehicle positioning system includes a number of positioning devices installed on PRT vehicles, which are used to transmit the real-time position of the current PRT vehicle at the PRT station to the vehicle dispatching system.

[0100] The vehicle dispatching system is used to perform a PRT station dispatching method described in Embodiment 1 on PRT vehicles according to the priority of the task types of the PRT vehicles.

[0101] Embodiment 3

[0102] This embodiment is a dispatching process of the vehicle dispatching system in a PRT station dispatching system described in Embodiment 2, and includes the following steps:

[0103] As Figure 3 shown, the dispatching system monitors in real time whether there is a vehicle entering the vehicle capture area. If not, the dispatching system maintains the capture state; if so, it identifies the task type of the vehicle. The task types include passenger vehicles dropping off / picking up passengers and empty vehicles picking up / dropping off passengers.

[0104] The priority of the task types decreases in turn according to the order of passenger vehicles dropping off / picking up passengers - empty vehicles picking up / dropping off passengers.

[0105] As Figure 4As shown, when the task type of the target vehicle is a passenger vehicle for dropping off / picking up passengers, when the target vehicle arrives at the first dispatching point of the station, according to the real-time occupancy status of the station berths, if there are unoccupied berths, the dispatching system issues a travel instruction for the berth where the target vehicle is to dock after entering the station to the target vehicle, and virtually occupies this berth (with high priority). The target vehicle drives into the waiting line, passes through the second dispatching point of the station, and arrives at the target berth. If all berths are occupied, the target vehicle drives into the waiting line. Before the target vehicle enters the waiting line and arrives at the second dispatching point of the station, if there are no empty vehicles in front of the target vehicle on the waiting line, the target vehicle arrives at the second dispatching point of the station; if there are empty vehicles in front of the target vehicle on the waiting line, the dispatching system sends all vehicles with a task type with a lower priority than the target vehicle task type among all the vehicles in front of the target vehicle (including) on the waiting line into the empty vehicle storage area through the circular station or drives them out of this station to ensure that vehicles with a higher priority task type are placed in the front and quickly arrive at the second dispatching point of the station. When the target vehicle arrives at the second dispatching point of the station, if there are unoccupied berths, the dispatching system issues a travel instruction for the berth where the target vehicle is to dock after entering the station to the target vehicle, and virtually occupies this berth. The target vehicle arrives at the target berth and completes the task of dropping off / picking up passengers for the passenger vehicle; if all berths are occupied, the target vehicle stops at the second dispatching point of the station. The dispatching system sends the target vehicle and all vehicles with a task type with a lower priority than the target vehicle task type of the occupied berths into the empty vehicle storage area through the circular station or drives them out of this station to quickly ensure that there are unoccupied berths for the dispatching system to issue an instruction for the berth where the target vehicle is to dock. After the target vehicle arrives at the target berth, the task of dropping off / picking up passengers for the passenger vehicle is completed.

[0106] As Figure 5As shown in the figure, when the task type of the target vehicle is an empty vehicle picking up / dropping off passengers, the target vehicle arrives at the first dispatching point of the station. According to the real-time occupancy status of the station berths, if there are unoccupied berths, the dispatching system sends a travel instruction to the target vehicle for the berth to be docked after entering the station, and virtually occupies the berth (with a lower priority than the passenger-carrying vehicle dropping off / picking up passengers). The target vehicle drives into the waiting line. If there is no passenger-carrying vehicle behind the target vehicle on the waiting line, it passes through the second dispatching point of the station and arrives at the target berth. If there is a passenger-carrying vehicle dropping off / picking up passengers among the vehicle task types behind the target vehicle on the waiting line and this passenger-carrying vehicle did not receive a travel instruction for the berth to be docked at the first dispatching point of the station, the dispatching system will dispatch the target vehicle to enter the empty vehicle storage area or leave the station through the circular station to ensure that the vehicles with higher-priority task types are in the front. If all berths are occupied, the target vehicle drives into the waiting line. Before the target vehicle enters the waiting line and arrives at the second dispatching point of the station, if there is no passenger-carrying vehicle behind the target vehicle on the waiting line, the target vehicle stops at the second dispatching point of the station and waits for an unoccupied berth for the dispatching system to send an instruction for the target vehicle to dock at the target berth. If there is a passenger-carrying vehicle dropping off / picking up passengers among the vehicle task types behind the target vehicle on the waiting line and this passenger-carrying vehicle did not receive a travel instruction for the berth to be docked at the first dispatching point of the station, the dispatching system will dispatch the target vehicle to enter the empty vehicle storage area or leave the station through the circular station to ensure that the vehicles with higher-priority task types are in the front.

[0107] Embodiment 4

[0108] This embodiment is a simulation operation example of a PRT station dispatching system described in Embodiment 2 or 3 when the task type is a passenger-carrying vehicle and there are unoccupied berths.

[0109] As Figure 6 shown in the figure, vehicle 00 is obtained as the target vehicle in the vehicle capture area, and the task type of vehicle 00 is identified as a passenger-carrying vehicle dropping off passengers. Vehicle 00 arrives at the first dispatching point. The real-time occupancy status of the station berths is that vehicle 01 is docked at berth A, vehicle 02 is docked at berth B, and berths C and D are unoccupied. The dispatching system issues a travel instruction, and vehicle 00 virtually occupies berth C. Vehicle 00 drives into the waiting line, arrives at the second dispatching point, and vehicle 00 arrives at berth C and docks to complete the task of dropping off passengers for the passenger-carrying vehicle.

[0110] Embodiment 5

[0111] This embodiment is a simulation operation example of a PRT station dispatching system described in Embodiment 2 or 3 when the task type is a passenger-carrying vehicle and there are no unoccupied berths.

[0112] As Figure 7As shown in the figure, vehicle 00 is obtained as the target vehicle in the vehicle capture area, and the task type of vehicle 00 is identified as a passenger vehicle dropping off passengers. Vehicle 00 arrives at the first dispatching point. The real-time occupancy status of the station berths is that vehicle 02 is parked at berth A, vehicle 03 is parked at berth B, vehicle 04 is parked at berth C, and vehicle 05 is parked at berth D, that is, all berths are occupied. Vehicle 00 drives into the waiting line, and vehicle 01 is captured in front of vehicle 00 on the waiting line. The task type of vehicle 01 is an empty vehicle waiting for passengers, and its priority is lower than that of vehicle 00's task type. Vehicle 01 arrives at the second dispatching point, and the dispatching system dispatches vehicle 01 to enter the empty vehicle storage line or leave the station through the circular station. Vehicle 00 arrives at the second dispatching point. The real-time occupancy status of the station berths is still that all berths are occupied. Vehicle 00 stops at the second dispatching point, and the task types of vehicles 02, 03, and 04 are identified as passenger vehicles dropping off passengers. The task type of vehicle 05 is an empty vehicle waiting for passengers, and its priority is lower than that of vehicle 00's task type. After the dispatching system dispatches vehicle 05 to enter the empty vehicle storage line or leave the station through the circular station, the dispatching system dispatches vehicle 00 to dock at berth D to complete the task of dropping off passengers for the passenger vehicle.

[0113] Embodiment 6

[0114] This embodiment is a simulation operation example of a PRT station dispatching system described in Embodiment 2 or 3 when there is only one unoccupied berth for multiple types of vehicles in terms of task type.

[0115] As Figure 8 shown in the figure, vehicle 00 is obtained as the target vehicle in the vehicle capture area, and the task type of vehicle 00 is identified as an empty vehicle waiting for passengers. Vehicle 00 arrives at the first dispatching point. The real-time occupancy status of the station berths is that vehicle 02 is parked at berth A, vehicle 03 is parked at berth B, vehicle 04 is parked at berth C, and berth D is unoccupied. The dispatching system issues a trip instruction for vehicle 00 to virtually occupy berth D. Vehicle 00 drives into the waiting line, and vehicle 01 is captured behind vehicle 00 on the waiting line. The task type of vehicle 01 is a passenger vehicle dropping off passengers, and its priority is higher than that of vehicle 00's task type. Vehicle 00 arrives at the second dispatching point, and the dispatching system cancels the virtual occupancy of berth D by vehicle 00 and dispatches vehicle 00 to enter the empty vehicle storage line or leave the station through the circular station. Vehicle 01 arrives at the second dispatching point, and the dispatching system issues a trip instruction for vehicle 01 to virtually occupy berth D. Vehicle 01 arrives at berth D and docks to complete the task of dropping off passengers for the passenger vehicle.

[0116] 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 principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A PRT station scheduling method, characterized in that, The following steps are involved: Continuously monitor the vehicle capture zone to see if there are PRT vehicles entering; When the vehicle capture interval captures a PRT vehicle entering the station, the priority of the task type of the current PRT vehicle is obtained; Execute the corresponding dispatch process according to the current priority of the PRT vehicle; The PRT station includes a vehicle capture section, a first dispatching point, a vehicle waiting line and a circular station arranged in sequence, and the circular station includes a second dispatching point, a station berth area and an empty vehicle storage area.

2. The PRT station scheduling method according to claim 1, wherein The priority order of the task types of the PRT vehicles from high to low is: passenger-carrying vehicles sending passengers, passenger-carrying vehicles picking up passengers, empty vehicles picking up passengers, and empty vehicles waiting for passengers.

3. The PRT station scheduling method according to claim 2, characterized in that, When the mission type of a PRT vehicle is passenger drop-off or passenger pick-up, the dispatch process for the target vehicle to be dispatched includes the following steps: A1: The target vehicle enters the first dispatching point and checks the real-time occupancy status of the station berth area; When there is an unoccupied berth, proceed to A2; When there is no unoccupied berth, proceed to A3; A2: A parking instruction is issued to the target vehicle, and an unoccupied parking space is selected for virtual occupation with high priority. The target vehicle passes through the vehicle waiting line and the second dispatch point in sequence, and arrives at the target parking space, completing the dispatch task of the target vehicle. A3: Drive the target vehicle into the waiting line and check whether there is an empty vehicle between the target vehicle and the second dispatch point. If there is one, the corresponding empty vehicle is ordered to pass through the circular station and enter the empty vehicle storage area or drive out of the station, and the target vehicle enters the second dispatching point along the vehicle waiting line; If it does not exist, the target vehicle enters the second dispatching point along the vehicle waiting line; A4: Check the real-time occupancy status of the station berth area; When there is an unoccupied berth, a berth instruction is issued to the target vehicle, and an unoccupied berth is selected for virtual occupation with high priority. After the target vehicle arrives at the target berth, the scheduling task of the target vehicle is completed; When there are no unoccupied berths, proceed to A5; A5: Check whether there are any empty vehicles in the station berth area; If it exists, select an empty vehicle in the station berth area and pass through the circular station into the empty vehicle storage area or exit the station and enter A4; If it does not exist, wait for an unoccupied berth to appear in the station berth area and then enter A4.

4. A PRT station scheduling method according to claim 2, characterized in that, When the mission type of a PRT vehicle is empty vehicle picking up passengers or empty vehicle waiting for passengers, the dispatch process corresponding to the target vehicle to be dispatched includes the following steps: B1: The target vehicle enters the first dispatching point and checks the real-time occupancy status of the station berth area; When there is an unoccupied berth, a berth instruction is issued to the target vehicle, which selects an unoccupied berth for low-priority virtual occupancy and enters the vehicle waiting line; When there is no unoccupied berth, enter the vehicle waiting line; B2: When the target vehicle is at the vehicle waiting line, check in real time whether there is a passenger vehicle that has not been virtually occupied between the target vehicle and the first dispatch point; If it exists, the target vehicle passes through the circular station and enters the empty vehicle storage area or drives out of the station, and the target vehicle completes the dispatching task; If it does not exist, go to B3; B3: The target vehicle enters the second dispatching point and checks whether the target vehicle has received the berth instruction; If received, the target vehicle drives into the virtual occupied berth. After the target vehicle reaches the target berth, the dispatching task of the target vehicle is completed; If not received, enter B4; B4: Check the real-time occupancy status of the station berth area; When there is an unoccupied berth, issue a berth instruction to the target vehicle, select an unoccupied berth for virtual occupancy with low priority. After the target vehicle reaches the target berth, complete the dispatching task of the target vehicle; When there is no unoccupied berth, wait until an unoccupied berth appears in the station berth area and then re-execute B4.

5. A PRT station scheduling system, characterized in that, Including PRT station, vehicle positioning system and vehicle dispatching system; The PRT station includes a vehicle capture section, a first dispatching point, a vehicle waiting line and a circular station arranged in sequence. The circular station includes a second dispatching point, a station berth area and an empty vehicle storage area; The vehicle positioning system includes a number of positioning devices arranged on PRT vehicles, which are used to transmit the real-time position of the current PRT vehicle in the PRT station to the vehicle dispatching system; The vehicle dispatching system is used to implement a PRT station dispatching method according to any one of claims 1-4 for PRT vehicles according to the priority of the task type of PRT vehicles.

6. The PRT station scheduling system according to claim 5, wherein The circular station is an elliptical roundabout.

7. A PRT station scheduling system according to claim 5, wherein The circular station is a rounded rectangle.

8. A PRT station scheduling system according to any one of claims 6-7, characterized in that, The number of lanes of the circular station is ≥ 2.

9. The PRT station scheduling system according to claim 5, characterized in that, The PRT station is a one-way operation line.

10. A PRT station scheduling system according to claim 5, characterized in that, The length of the vehicle capture section ∈ [1.5S, 3S], where S is the length of the PRT vehicle.

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