Operational control for vehicle using magnetic and optical guideway

Abstract

To provide operational control for a vehicle using a magnetic and optical guideway to realize an efficient and safe transportation network.SOLUTION: A total transportation network is formed by displaying an image guideway on a magnetic guideway, comparing the difference between the two to ensure safe operation through feedback loop control, safe braking distance driving by checking obstacles on the route and their distance, allowing some vehicles to enter a branch line while a combination vehicle is traveling at the branch line on the magnetic guideway, and connecting expressways to a general road as a main route. Furthermore, safe driving is achieved by setting speed limits on the whole route using magnetic slits.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] This is a vehicle operation system that uses a dual magnetic and optical guideway system. The system operates using magnetic line directional control, and monitors the image of the route drawn on the magnetic line using route footage captured by a surveillance camera mounted on the vehicle. The difference between the two is controlled by a feedback loop steering mechanism to operate the vehicle. This is a safe operation system that detects obstacles blocking the route and operates at a braking distance speed by detecting the distance to the obstacles. [Background technology]

[0002] Currently, subways, monorails, and buses are the basic means of local transportation in regional cities, but the scale of monorails and subways is too large, and bus operation control is entirely dependent on people, and reform is also required due to the shift to decarbonized energy. In response to this, this system, which uses magnetic and image guidance, aims to increase speeds by organically connecting with some expressways, realizing a transportation network that is efficient and safe. Its features include magnetic induction for directional control and two on-board security cameras, one near and one far, which detect obstacles on the route by monitoring and tracking the image route, and measure the distance to achieve safe operation. In addition, if the obstacle is a preceding vehicle, a safe braking distance is maintained and the vehicles operate at the same speed in a pseudo-coupled manner. Furthermore, when the vehicle deviates from the magnetic guideway due to vehicle slippage, a hydraulic cylinder and a coil spring are used to press the braking pulley against the road surface to prevent slippage, achieving a safe stop function. In addition, the magnetic coupling of cars can be released during operation, allowing some cars to automatically enter the main station via a branch track while the remaining cars go directly via the branch track. [Prior art documents] [Patent documents]

[0003] Patent application 2022-092864 Patent application 2022-030608 Summary of the Invention [Problem to be solved by the invention]

[0004] (a) In urban and rural areas, subways, monorails, buses, etc. are currently available as forms of transportation closely related to daily life. However, the installation costs of the first two are high, so route buses are the norm. (b) Currently, route buses are required to undergo comprehensive improvements in order to create a decarbonized environment, and they also suffer from frequent delays and unstable arrival times. (ii) With the rapid development of AI technology, particularly in mobile phones, in recent years, it has become necessary to establish a transportation network that can obtain the location information of all vehicles operating on the route and display the arrival time of each vehicle at a stop and the estimated arrival time at the destination at all times on a mobile phone or PC. (e) Ensuring safety on congested general roads is a major issue. This will help ease congestion on the roads and provide an overall more efficient form of transportation. [Means for solving the problem]

[0005] Magnetic sensors are installed on both sides of the lower front of the vehicle, a short-distance image route monitoring camera is installed on the lower front of the vehicle, a long-distance image route monitoring camera is installed on the upper part, and a route monitoring camera is installed on the lower part of the vehicle. The road surface is centered on an induction magnetic material, and an image route is displayed on the upper part with two different colors of luminous paint on the left and right. In addition, two induction routes are buried on the left and right, with LED luminous bodies of the same color as the route display color densely placed on the curved parts of the route and at intervals of several tens of meters on the straight parts. The display image of the vehicle monitoring camera, which changes and is displayed repeatedly as the vehicle travels, is the product of the calculation time for one screen and the number of times it is displayed = the vehicle travel time per unit distance, and the display range of one surveillance camera is determined by the speed of the vehicle equipped with it, and the number of times it is displayed is limited. In addition, the long-distance image route monitoring camera is displayed by sharing two surveillance cameras to ensure the necessary surveillance distance. In addition, the long-distance surveillance camera reduces the distance resolution and expands the screen display distance to obtain the necessary surveillance distance when the vehicle is traveling at high speed. The route monitoring camera is placed in the center of the two magnetic sensors and measures the center point of the image route that cannot be normally monitored under the vehicle. This image route center point is half the sum of the lengths from the left edge of the screen to the left and right routes, and the near and far monitoring camera narrows the viewing angle with an emphasis on the image route portion to calculate the image route center point, and the calculation result is sent as numerical data to the general display and displayed. The basis of vehicle guidance is the operation of a two-line magnetic route, and in order to eliminate the route deviation, the route monitoring camera finds the center of the image route, and the image route center point and the magnetic sensor direction are compared with the left and right center point of the vehicle and the vehicle operation direction obtained from the last image scanning surface, respectively, and these deviations are controlled by a feedback loop that corrects them with the vehicle steering mechanism, maintaining reliable air route operation and ensuring safe vehicle operation. The LED light is turned on by installing a coiled magnetic transmitter at the rear of the vehicle, facing the magnetic track, at the front of the vehicle, which transmits magnetic flux magnetized by AC power to the magnetic track. This is detected and received by a magnetic receiving coil wrapped around the magnetic track and buried, and the lighting is controlled by switching the LED on and off. The lights are flashing, and when a vehicle passes, they are switched on and off in sequence to flash in front of the vehicle. However, in the part where the LED emitters are buried closely together, all the LED emitters are flashing simultaneously. On all routes in the vehicle operation area, a maximum travel speed is set for each section, and at the points where the maximum speed changes on all routes, each vehicle receives information on the maximum speed for that section as an intermittent signal from the slits in the magnetic track, and each vehicle operates within this maximum speed. The surveillance camera image will have a resolution of 17 m / sec when the vehicle is traveling at 60 km / h and 28 m / sec at 100 km / h, which distance will be the maximum surveillance distance range. If the display range for one screen at close range is 17 m and the display range for one screen at long range is 28 m, and the line center calculation for both near and far is 30 ms (30 divisions), then the near range resolution will be 0.56 m and the long range resolution will be 0.93 m.

[0006] From the start point of the screen scanning by the near and far surveillance cameras, the screen output is repeated as the vehicle moves, and the image route center point is calculated for each successive screen by checking the colors of the pixels at two points of the image route output on the azimuth scanning line, and the calculated center point is sent sequentially to the general display as numerical data of the allocated distance range. The route color pixels on the azimuth scanning line are detected by comparing the left and right vehicle width ranges from the route center point with the reference color. If the route color is not detected after several screens, it is assumed to be obstructed by an obstacle, and the obstacle distance is calculated as the product of the number of azimuth lines of the distance scanning counter and the screen distance resolution. The obstacle distance data changes rapidly as the vehicle moves, but the vehicle slows down or stops while maintaining the speed brake distance set at each speed. If there is a vehicle ahead on the route, the vehicle will continue to move at the same speed while maintaining the speed brake distance. When the vehicle deviates from the magnetic line due to slippage, etc., a deviation pulse is generated due to discrepancy with the image line, causing the vehicle to stop or slow down, and the general display confirms the straight line direction connecting the center of the line and the misaligned left and right direction of the vehicle, and then repairs it. At important lines such as intersections, the vehicle slows down using a deceleration slit generated by the magnetic line when approaching the intersection, and if necessary, a line change signal is sent for the vehicle. If there is a preceding vehicle on the line, the vehicle detects the distance that the vehicle blocks the left and right image lines, and stops at the appropriate distance. If there is no preceding vehicle, the vehicle detects the blocking of the left and right image lines by a white stop line, and when stopped, the LED light-emitting elements are turned off by the vehicle rear line AC magnetization signal. When starting, the lights are turned on after passing the stop line based on the section speed information from the intermittent pulse of the image line. The distance to an obstacle on the route is calculated on the display screen at 30 ms intervals regardless of the vehicle's movement, as the product of the distance counter value and distance resolution from the time when the first direction of each image data is output to the time when the route center cannot be calculated due to an obstacle. However, this time increases with the deceleration of the vehicle.

[0007] This is a processing method that disconnects some of the connected vehicles while they are traveling, and separates the straight-going vehicles and the left-braking vehicles into the appropriate lanes. For the junction route, the left direct route is cut off immediately after the junction, and the left guide route is cut off immediately after the junction of the right-hand guide route. Vehicles operating at the junction are disconnected by a magnetic slit pulse just before the junction, and at the same time, the direct-going vehicles are controlled by the right magnetic sensor to go straight, and the left-braking vehicles are controlled by the left magnetic sensor to enter the left lane. The same processing is performed when some of the vehicles are forced to branch off to the right.

[0008] ) A support pole fixed to the anti-slip plate is attached parallel to the vehicle path at the bottom of the front of the vehicle by a bearing base with a limited rotation angle. The anti-slip plate is provided with brake pulleys that move up and down individually within the left and right fitting guides inside. The brake pulleys are composed of multiple brake blocks that are restricted in rotation, and coil springs and hydraulic cylinders that press them against the road surface, and are attached to the upper anti-slip plate frame via hydraulic cylinders. Normally, the brake pulleys are raised and kept away from the road surface by hydraulic cylinders. The brake blocks of the brake pulleys are provided with vertical grooves to prevent lateral skids. When the vehicle slips, the brake pulleys are pressed against the road surface by the hydraulic cylinders, but depending on the deviation direction information from the vehicle's normal path, the right brake pulley is pressed against the road surface when the vehicle deviates to the left, and the left brake pulley is pressed against the road surface when the vehicle deviates to the right. The brake pulleys are operated by this operation, and the support pole rotating part of the anti-slip plate rotates within a specified angle range and stops. Furthermore, in the case of front slip, the brake pulleys on both sides are pressed against the road surface to stop the vehicle. After that, the vehicle slowly returns to the normal line direction on the overall screen. Effect of the Invention

[0009] (a) Each station on the expressway will be connected to ordinary roads at main stations, and on the expressway, vehicles will be operated automatically, with passengers boarding according to their destination. At each main station leading to the destination, the vehicles will be coupled out sequentially just before the branch road while traveling, and will automatically enter the destination station, providing high-speed operation that takes passengers directly to their destinations. (b) The direction of each vehicle running on a magnetic track is monitored using an image track, and any deviations are controlled by a feedback loop including a steering mechanism to ensure safe operation. (c) Slits will be installed in the magnetic induction route at key acceleration and deceleration points along the route, and pulse signals from magnetic sensors will be used to give each vehicle the maximum operating speed for each route. The operating position of each vehicle on the route will also be transmitted and recorded at the management center. (2) In order to show the route location at night and in the rain, route image displays on public roads will embed LED lights in the route indication color at intervals of several tens of meters to indicate the route location and to alert public vehicles. [Brief description of the drawings]

[0010] [Figure 1] Magnetic and image route confirmation driving method [Diagram 2] Image processing and operation control [Diagram 3] Line configuration of main stations [Figure 4] Slip prevention plate DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Magnetic sensors 3 are installed on both sides of the lower front of the vehicle 2, a short-distance image route monitoring camera 4 is installed at the bottom of the front of the vehicle, and a long-distance image route monitoring camera 5 and a route monitoring camera 6 are installed at the top. As shown in the route cross-section diagram 8, the road surface is centered on an induction magnetic body 10, and an image route display 9 is made of luminous paint with two different colors on the left and right at the top. Furthermore, LED light-emitting bodies 7 of the same color as the route display color are placed densely on the curved parts of the route and at intervals of several tens of meters on the straight parts, and two induction routes are buried on the left and right. The display image of the vehicle monitoring camera, which changes depending on the running of the vehicle 2 and is displayed repeatedly, is the product of the calculation time for one screen and the number of times of display = the vehicle running time per unit distance, and the display range of one monitoring camera is determined by the speed of the vehicle equipped with it, and the number of times of display is also limited. In addition, the long-distance route monitoring camera is displayed by sharing two monitoring cameras to ensure the necessary monitoring distance. In addition, the long-distance monitoring camera 5 reduces the distance resolution and expands the screen display distance to obtain the necessary monitoring distance when the vehicle is running at high speed. The line monitoring camera 6 is placed in the center of the left and right magnetic sensors 3, and measures the center point 15 of the image line 16, which cannot be normally monitored under the vehicle. This image line center point 15 is half the sum of the lengths from the left edge of the screen to the left and right lines, and the near and far monitoring camera narrows its viewing angle with an emphasis on monitoring the image line 16, calculates the image line center point 15, and sends the calculation result as numerical data to the general display and displays it. The basis of vehicle guidance is operation along the two-line magnetic line 1, and in order to eliminate the line deviation, the line monitoring camera 6 determines the center point 15 of the image line 8, and compares the image line center point 16 and the magnetic sensor direction with the left and right center point of the vehicle and the vehicle operation direction obtained from the last image scanning screen, respectively, and controls the deviation with a feedback loop that corrects it with the vehicle steering mechanism 19, maintaining reliable air line operation and ensuring safe vehicle operation.

[0012] Magnetic sensors 3 are installed on both sides of the lower front of the vehicle 2, a short-distance image route monitoring camera 4 is installed at the bottom of the front of the vehicle, and a long-distance image route monitoring camera 5 is installed at the top. The road surface is centered on an induction magnetic body 10, and an image route display 9 is made of luminous paint with two different colors on the left and right at the top. Furthermore, two induction routes are buried on the left and right, with LED light-emitting bodies 7 of the same color as the route display color densely placed on the curved parts of the route and at intervals of several tens of meters on straight parts. The surveillance camera image 14, which changes as the vehicle 2 travels and is displayed repeatedly, is the product of the calculation time for one screen and the number of times it is displayed = the vehicle travel time per unit distance, and the display range of one surveillance camera is determined by the speed of the vehicle 2 on board, and the number of times it is displayed is limited. Therefore, in order to secure the necessary surveillance distance, two surveillance cameras, one near and one far, are used for the display. In addition, the long-distance surveillance camera 5 reduces the distance resolution and expands the screen display distance in order to obtain the necessary surveillance distance when the vehicle is traveling at high speed. The image route center point 15 is half the sum of the lengths from the left edge of the screen to the left and right routes, and the far-sighted monitoring camera narrows the viewing angle with an emphasis on the center of the image route to calculate the image route center point 15, and the calculation result is sent as numerical data to the general display and displayed in conjunction. During operation on the two-line magnetic route 1 that is the basis of vehicle guidance, the route center point 15 of the magnetic route is found from the route position, and the route center point 15 and the magnetic sensor 3 direction are compared with the left and right center point of the vehicle 2 and the vehicle operation direction of the immediately preceding monitoring camera image 14, and the deviation between them is controlled by a feedback loop that corrects the vehicle steering mechanism 18, and the magnetic route 1 is reliably maintained on the magnetic route 1 to ensure safe operation of the vehicle. The LED light emitters 7 are lit by installing a coiled magnetic transmission coil 11 facing the magnetic track 1 at the rear of the vehicle, which transmits magnetic flux magnetized by AC power to the magnetic inductor 10 of the track. This is detected and received by a magnetic reception coil 12 wrapped around and buried in the magnetic inductor 10 of the track, and the lighting is controlled by an LED lighting switch 13. The lights are flashing, and when a vehicle passes, they are switched on and off in front of the vehicle. However, in the part where the LED emitters 7 are buried closely together, all the LED emitters 7 are flashing at the same time. An upper limit travel speed is set for each section on all routes in the vehicle operation area, and at the upper limit speed change points on all routes, each vehicle 2 receives section upper limit speed information as an intermittent signal from the slits in the magnetic track 1, and each vehicle 2 operates within this upper limit speed. The number of times the left and right image routes 16 are displayed while the vehicle 2 is traveling varies depending on the speed of the vehicle 2. If one screen scan takes 30 ms, the resolution is 0.56 m / s at 60 km and 0.92 m / s at 100 km. If the vehicle speed decreases, the overall processing time increases, and the distance resolution improves. Note that the screen scanning start distance of the distance monitoring camera 4 is fixed, and this fixed distance is added when measuring distance with the close-range camera 4.

[0013] In the operation control 20 on the right side of Figure 2, ● indicates repetition of screen processing, and ● shows the processing contents of one screen on the right. In the figure, for m pixels on the distance axis and n pixels on the azimuth axis (total number m x n), the route dye 21 on the azimuth axis is detected by comparing it with the reference pixel at two points, and the center point 15 of the image route 16 is calculated. If the route dye 21 cannot be detected several times on the azimuth scanning line due to an obstacle 24 on the screen, the distance counter 23 that counts the number of scanning lines on the azimuth axis from the scanning start point is stopped, and the obstacle distance on the screen is calculated as the product of that value and the distance resolution determined by the vehicle speed. If the obstacle is a preceding vehicle, a safe stopping distance can be taken and driving at the same speed can be continued. At the end point of the distance scanning, the distance axis operation of all the route monitoring cameras is reset and the next screen scanning begins. When the vehicle 2 deviates from the magnetic line 1 due to slippage 25, etc., the vehicle transmits a deviation pulse because both the image and magnetic lines cannot be detected, and stops. The vehicle manually returns to the straight line 26 by checking the straight line direction connecting the line center 15 and the left and right direction deviation direction of the vehicle on the general display. At important lines such as intersections, the vehicle slows down due to the proximity magnetic slit 27 caused by the magnetic line when approaching the intersection, and transmits a right turn signal 29 if necessary. If there is a preceding vehicle on the line, the vehicle detects the blocking distance of the left and right image lines by that vehicle, and stops at the appropriate distance. If there is no preceding vehicle, the vehicle detects the blocking of the left and right image lines by the white stop line 28, and stops. When the vehicle stops, the LED light 7 is turned off due to the disconnection of both image lines 16. The vehicle then starts moving, and after passing the stop line 28, the LED light 7 is turned on due to the return of both image lines. When vehicle 2 changes direction by 90° along a circular arc course 30 with a radius of 8 m at an intersection, the travel distance is (8 m x 1.57 rad = 12.6 m), and assuming the vehicle speed is 2.8 m / s (10 km / s), the time required to pass is 4.5 seconds. With a calculation interval of 30 ms, the distance resolution is 8.4 cm, and the angle conversion rate for vehicle 2's direction of 90° is 16° / s. Long-range camera 5 controls the monitoring direction in accordance with the vehicle's turning.

[0014] Figure 3 is an example of the operation diagram of the left turn junction 31 for vehicle 2. The connected vehicle 2 proceeding from the right end of line 1 slows down at the junction approach slit 31 and breaks the magnetic coupling, and the leading vehicle 2 proceeds straight under the guidance of the right magnetic sensor 3, and the following vehicle enters the station platform 34 of the left line at the junction 32 of the line with the left magnetic sensor 3 and line cutoff 33. It enters the station platform 35. The waiting line 34 enters by moving backward under the guidance of the left magnetic sensor 3, and it can also go forward and exit the general road exit junction 36 by moving straight with the left sensor. When exiting the high-speed line from the platform exit junction 36, the right magnetic sensor 3 and line cutoff 33 cause the exit junction 38 to proceed, and the main line waiting slit 38 is stopped. After that, it switches to the guidance of both magnetic sensors 3, confirms that there are no nearby vehicles on the main line, and starts at the instruction of the station staff. After entering the main line, the speed is changed according to the upper limit speed slit. The upper speed limit at the required points is set for all vehicles on the line, except when stopped at platform 35. The route setting for all vehicles on the expressway is set by the program before starting.

[0015] A support 40 fixed to a slip prevention plate 42 is attached parallel to the vehicle path at the bottom front of the vehicle 2 by a bearing base 41 with a limited rotation angle. A brake pulley 44 is provided on the slip prevention plate 42, which moves up and down independently within left and right fitting guides 43 inside. The brake pulley 44 is composed of multiple brake blocks 47 whose rotation is restricted, a coil spring 46 that presses the brake blocks against the road surface, and a hydraulic cylinder 45, and is attached to the structural frame of the upper slip prevention plate 42 via the hydraulic cylinder 45. Normally, the brake pulley 44 is raised by the hydraulic cylinder 45 and kept apart from the road surface. The brake blocks 47 of the brake pulley 44 are provided with vertical grooves to prevent skidding. When the vehicle slips, the hydraulic cylinder 45 presses the brake pulley 44 against the road surface, but depending on the information on the deviation direction from the normal route of the vehicle 2, the right brake pulley 44 is pressed against the road surface if the vehicle deviates to the left, and the left brake pulley 44 is pressed against the road surface if the vehicle deviates to the right, causing the vehicle to move slowly. This operation of the brake pulley 44 rotates the support rotating part of the slip prevention plate 42 within a specified angle range, and the vehicle 2 is controlled to the normal route direction, but after confirming that the vehicle 2 is in the normal route direction on the overall display image, the vehicle returns by slowing down. At the same time, the vehicle steering unit 19 also takes in the same direction signal and performs steering processing to quickly return the vehicle to the normal route. [Explanation of symbols]

[0016] 1 Magnetic track 2 vehicles 3. Magnetic Sensor 4. Close-range surveillance cameras 5. Long-distance surveillance cameras 6 Route Surveillance Cameras 7 LED light source 8 Route cross section 9-image route display 10 Magnetic Inductors 11 Magnetic transmitting coil 12 magnetic receiving coil 13 LED lighting switching 14 Surveillance camera images 15 Image Route Center Point 16 image routes 17-azimuth scanning starting point, 18 Magnetic and image tracking feedback control 19 Vehicle steering mechanism 20 Operation Control 21 route pixels 22-direction scanning completed (reset pulse) 23 Distance Counter 24 Obstacles 25 Slip misalignment 26 Return to Straight Course 27 Proximity magnetic slit 28 stop line 29 Right turn signal 30 circular curved lines 31 Branching Slit 32 Left Entrance Junction 33 lines cut off 34 departure waiting routes 35 Station Platform 36 Platform Junction 37 General road departure waiting line Exit fork for platform 37 38 Main Line Departure Waiting Slit 39 Upper Speed ​​Limit 40 Slip prevention plate support 41 Rotating bearing base 42 Slip prevention plate 43 Braking pulley guide 44 brake pulley 45 hydraulic cylinder 46 Road surface compression coil 47 rotation suppression top

Claims

1. Magnetic sensors are installed on both sides of the lower front of the vehicle, a short-distance image route monitoring camera is installed on the lower front of the vehicle, a long-distance image route monitoring camera is installed on the upper part, and a route monitoring camera is installed on the lower part of the vehicle. The road surface is centered on an induction magnetic material, and an image route is displayed on the upper part with two different colors of luminous paint on the left and right. In addition, two induction routes are buried on the left and right, with LED luminous bodies of the same color as the route display color densely placed on the curved parts of the route and at intervals of several tens of meters on the straight parts. The display image of the vehicle monitoring camera, which changes and is displayed repeatedly as the vehicle travels, is the product of the calculation time for one screen and the number of times it is displayed = the vehicle travel time per unit distance, and the display range of one monitoring camera is determined by the speed of the vehicle equipped with it, and the number of times it is displayed is limited. In addition, the long-distance image route monitoring camera is displayed by two monitoring cameras in order to secure the necessary monitoring distance. In addition, the long-distance monitoring camera reduces the distance resolution and expands the screen display distance in order to obtain the necessary monitoring distance when the vehicle is traveling at high speed. The route monitoring camera is placed in the center of the two magnetic sensors and measures the center point of the image route that cannot be normally monitored under the vehicle. This image route center point is half the sum of the lengths from the left edge of the screen to the left and right routes, and the near and far monitoring camera narrows the viewing angle with an emphasis on the image route portion to calculate the image route center point, and the calculation result is sent as numerical data to the general display and displayed. The basis of vehicle guidance is the operation of a two-line magnetic route, and in order to eliminate the route deviation, the route monitoring camera finds the center of the image route, and the image route center point and the magnetic sensor direction are compared with the left and right center point of the vehicle and the vehicle operation direction obtained from the last image scanning surface, respectively, and these deviations are controlled by a feedback loop that corrects them with the vehicle steering mechanism, maintaining reliable air route operation and ensuring safe vehicle operation. The LED light is turned on by installing a coiled magnetic transmitter at the rear of the vehicle, facing the magnetic track 1, at the front of the vehicle, which transmits magnetic flux magnetized by AC power to the magnetic track material. This is detected and received by a magnetic receiving coil wrapped around the magnetic track material and buried, and the lighting is controlled by switching the LED on and off. The lights are flashing, and when a vehicle passes, they are switched on and off in sequence to flash in front of the vehicle. However, in the part where the LED emitters are buried closely together, all the LED emitters are flashing simultaneously. On all routes in the vehicle operation area, a maximum travel speed is set for each section, and at the points where the maximum speed changes on all routes, each vehicle receives information on the maximum speed for that section as an intermittent signal from the slits in the magnetic track, and each vehicle operates within this maximum speed.

2. From the start point of the screen scanning by the near and far surveillance cameras, the image route center point is calculated for each successive screen by checking the color of the pixels of two points of the image route output on the azimuth scanning line with the screen output repeated along with the vehicle operation, and is sequentially sent to the general display as numerical data of the allocated distance range. The detection of the route color pixels on the azimuth scanning line is detected by comparing the left and right vehicle width ranges from the route center point with the reference color. If the line color is not detected for several screens, it is assumed to be obstructed by an obstacle, and the obstacle distance is calculated as the product of the number of azimuth lines of the distance scanning counter and the screen distance resolution. Obstacle distance data changes rapidly as the vehicle travels, but the vehicle slows down or stops while maintaining the speed brake distance set for each scene. If there is a vehicle ahead on the route, the vehicle will travel at the same speed while maintaining the speed braking distance. When the vehicle deviates from the magnetic line due to slippage, etc., a deviation pulse is generated due to discrepancy with the image line, causing the vehicle to stop or slow down, and the general display is used to check and correct the straight line direction connecting the center of the line and the vehicle's left and right misaligned direction. At important lines such as intersections, the vehicle slows down using a deceleration slit generated by the magnetic line when approaching the intersection, and a right turn signal is sent if necessary. If there is a preceding vehicle on the line, the vehicle detects the distance that the vehicle blocks the left and right image lines and stops at the appropriate distance. If there is no preceding vehicle, the vehicle detects the blocking of the left and right image lines by a white stop line and stops, and when stopped, the LED light-emitting elements are turned off by the vehicle rear line AC magnetization signal. After that, when starting, the lights are turned on after passing the stop line based on the section speed information generated by the intermittent pulse of the image line.

3. This is a processing method that disconnects some of the connected vehicles while they are traveling, and separates the straight-going vehicles and the left-braking vehicles into the appropriate lanes. For the junction route, the left direct route is cut off immediately after the junction, and the left guide route is cut off immediately after the junction of the right-hand guide route. Vehicles operating at the junction are disconnected by a magnetic slit pulse just before the junction, and at the same time, the direct-going vehicles are controlled by the right magnetic sensor to go straight, and the left-braking vehicles are controlled by the left magnetic sensor to enter the left lane. The same processing is performed when some of the vehicles are forced to branch off to the right.

4. A support pole fixed to the anti-slip plate is attached parallel to the vehicle path at the bottom of the front of the vehicle by a bearing base with a limited rotation angle. The anti-slip plate is provided with brake pulleys that move up and down individually within the left and right fitting guides inside. The brake pulleys are composed of multiple brake blocks that are restricted in rotation, and coil springs and hydraulic cylinders that press them against the road surface, and are attached to the upper anti-slip plate frame via hydraulic cylinders. Normally, the brake pulleys are raised and kept away from the road surface by hydraulic cylinders. The brake blocks of the brake pulleys are provided with vertical grooves to prevent lateral skids. When the vehicle slips, the brake pulleys are pressed against the road surface by the hydraulic cylinders, but depending on the deviation direction information from the vehicle's normal path, the right brake pulley is pressed against the road surface when the vehicle deviates to the left, and the left brake pulley is pressed against the road surface when the vehicle deviates to the right. The brake pulleys are operated by this operation, and the support pole rotating part of the anti-slip plate rotates within a specified angle range and stops. Furthermore, in the case of front slip, the brake pulleys on both sides are pressed against the road surface to stop the vehicle. After that, the vehicle is returned to the normal track direction slowly on the overall screen.

Images