Abstract: A remote control system for a locomotive. The remote control system includes a lead controller and follower controller connected to one another over a wireless communication link. The lead controller issues commands over the wireless communication link and those commands are implemented by the follower controller mounted on-board the locomotive. The lead controller is responsive to voice commands uttered by the operator.

Abstract: A method and system for automatically activating a train warning device that uses a positioning system such as a global positioning system (GPS) receiver or an inertial navigation system (INS) to determine the train's position. The system further includes a database containing locations of grade crossings and other locations at which a train is required to give a warning signal and what regulations govern activation of the warning device at such locations.

Abstract: The present invention provides methods for preventing low train voltages and managing interference, thereby improving the efficiency, reliability, and passenger comfort associated with commuter trains. An algorithm implementing neural network technology is used to predict low voltages before they occur. Once voltages are predicted, then multiple trains can be controlled to prevent low voltage events. Further, algorithms for managing inference are presented in the present invention. Different types of interference problems are addressed in the present invention such as “Interference During Acceleration”, “Interference Near Station Stops”, and “Interference During Delay Recovery.” Managing such interference avoids unnecessary brake/acceleration cycles during acceleration, immediately before station stops, and after substantial delays.

Abstract: A system and method for removing cross-talk in measured forces between a railway wheel set and the railhead of underlying track such as found in angle of attack measurements for shallow curvature track. The angle of attack for the leading and trailing sets of wheels in trucks of rail vehicles is measured traveling over track in a wayside system. At a first point on the outside rail of a track vertical force is measured with a first vertical strain gage, lateral force is measured with a first lateral strain gage and an outside angle of attack timing signal is measured with a first angle of attack strain gage. This process is repeated on the inside track so that a raw angle of attack for each set of wheels can be determined based upon speed and time difference. Position signals obtained from position strain gages are used to remove cross-talk thereby improving accuracy. The sensed position signals are calibrated to known forces on the railhead.

Abstract: A method of upgrading control software on a first locomotive. The first locomotive includes a first locomotive interface. A first computer is coupled to the first locomotive interface, and a first communicator is coupled to the first computer. The first computer is programmed for operation on the first locomotive. The method includes loading a first version of control software onto the first computer, loading a second version of control software onto the first computer, and using data included in a link message to determine whether the first version or the second version of the control software is used.

Abstract: A remote control unit for controlling a locomotive is provided. The remote control unit includes a manually operable control device, a brake setting display and a display controller. The control device allows an operator to select a level of brake application. The brake setting display includes an array of discrete display elements. The display controller actuates a first display element when a first level of brake application is selected on the control device. The display controller actuates a second display element adjacent to the first display element when a third level of brake application is selected on the control device. The display controller actuates the first and that second display elements of the array when a second level of brake application that is intermediate to the first and third levels of brake application is selected on the control device.

Abstract: Method and system for determining a reference speed indicative of true ground speed of a vehicle having a plurality of axles are provided. The reference speed for a designated one of the axles is dynamically adjusted to account for changes in vehicular acceleration that may occur while determination of the reference speed is being performed. The method allows collecting a stream of samples over respective sampling intervals of at least one motion-indication parameter corresponding to a respective axle of the vehicle. In one aspect thereof, one may use a torque reduction rulebase configured to avoid high torque reduction, and inaccuracies in the motion-indication parameter due to high levels of creep, if any, in a wheel of the respective axle. The method further allows estimating an inertia value for the vehicle based on respective changes in tractive effort and acceleration over each sampling interval.

Abstract: A method of optimizing train operation includes determining conditions of location, track profile and train forces of the train. Next, a set of preliminary train restraint operating parameters are determined from the determined conditions. Also, at least one of a set of preliminary train optimizable operating parameters to minimize train forces, to maximize fuel efficiency and to minimize time to destination is determined. The determined set of preliminary train operating parameters are weighted and combined. Optimized train operating parameters are determined from the weighted and combined preliminary train operating parameters. Engineering train and access is also performed.

Abstract: A method for increasing efficiency of operation of trains includes operating a plurality of trains as a moving sequence and regulating distances between the trains to eliminate distances in excess of safe minimum distances between the trains. Distance between a preceding train and a following train is regulated by varying speed of the following train to minimize an excess distance between the two trains. A safe minimum distance includes a safe braking distance for the following train. In a further embodiment the safe braking distance is determined based on train weight distribution. Distributed weight is determined using measurements of train position, speed, acceleration and tractive effort to estimate forces affecting the train. The forces are related to one another to obtain a matrix equation expressing the forces in terms of car weight and train weight. The equation is solved to determine car weight and train weight.

Abstract: A method and apparatus for determining whether a railroad locomotive is configured with the correct software versions. The version numbers for software on board the vehicle are periodically determined by an on-board monitoring system. This information is later transmitted to a remote monitoring and diagnostic center, where the actual software version numbers are compared to the expected software versions. If there is a mismatch, personnel at the remote monitoring and diagnostic center are alerted to resolve the mismatch.

Abstract: A method of optimizing train operation includes determining conditions of location, track profile and train forces of the train. Next, a set of preliminary train restraint operating parameters are determined from the determined conditions. Also, at least one of a set of preliminary train optimizable operating parameters to minimize train forces, to maximize fuel efficiency and to minimize time to destination is determined. The determined set of preliminary train operating parameters are weighted and combined. Optimized train operating parameters are determined from the weighted and combined preliminary train operating parameters. Engineering train and access is also performed.

Abstract: The invention flexibly controls intervals between trains, and provides a train control system and method therefore with a less amount of cables and without relays. The invention discloses a train control system for controlling trains comprising base stations at predetermined intervals along a train rail. Each base station consists of a radar which detects data of distance between the base station and trains moving on the train rail, a traveling command calculator which calculates a traveling command based on the data of distance, and a traveling command providing means which provides the traveling command calculated by the traveling command calculator to the trains.

Abstract: A semiautomatic control system or control method ensures a driving method which is as energy-saving as possible. In the system, there is both a) manual inputting of control data, for example a definition of a vehicle speed specified value, by the driver of the vehicle and b) automatic determination of the most energy-saving vehicle speed as a function of predefined peripheral conditions, for example a general travel schedule, the topology of a route, vehicle-specific peripheral conditions and the like. An inference system determines which of these two values is smaller, and the smaller value is used to make possible safe and at the same time energy-saving travel (or journey). A safety check of the manual travel speed input value and of the automatically determined travel speed specified value can also be performed to reliably prevent a maximum permissible travel speed value from being exceeded.

Abstract: The communication and control system is for use in a railway train with at least one engine and a plurality of wagons or carriages. This system comprises first and second bi-directional transmission lines which extend along the train; a main control unit installed on the main engine and connected, in this engine, to both the transmission lines and to brake control devices or systems of the train; and a plurality of slave control units, each of which is installed on a respective wagon or carriage and is connected, in the respective carriage or wagon, to both transmission lines, to solenoid valve units associated with pneumatic brake actuators, as well as two sensor devices associated with the wagon or carriage. The main control unit and the slave control units are arranged to talk to one another through the transmission lines according to a serial protocol.

Abstract: The behavior of the bogie of a muliple-axle vehicle is monitored. Accelerations of at least two axles of the bogie are measured with acceleration sensors allocated to the axles. The sensor signals are subjected to a Fourier transformation in FFT units. The frequency profiles resulting from the Fourier transform are compared with profiles that are stored in memory. Differences that are detected are compared with threshold values and messages are correspondingly sent to the system that controls the vehicle. The monitoring system allows mechanical operating errors of the bogie to be detected independently of effects caused by the running surface upon which the vehicle travels.

Abstract: New methods and techniques are presented for utilizing digital information transmitted by a moving device (such as a model locomotive on a model railroad) to allow the moving device to itself influence the way it is controlled and allowing a moving device (such as model locomotive on a model railroad) to itself send specific instructions or cause others to send specific instructions to other devices on the model railroad for the purpose of controlling or influencing their behavior. These methods and techniques can be employed in the control, automation and operation of scale model railroad layouts to permit significant increases in the level of automation that can be utilized on a model railroad and with this increase the illusion of operating a real locomotive.

Abstract: An exemplary embodiment of the invention is a method for detecting a potentially locked axle on a vehicle propelled by an AC motor. The method includes conducting a speed test by estimating axle speed and comparing estimated axle speed to measured vehicle speed. The existence of a potential locked axle condition is determined based on the comparing of estimated axle speed to measured vehicle speed. Additional tests are disclosed for determining a potential locked axle condition and a sensor fault condition.

Abstract: The present invention provides a method and system for determining “engine on” status in a Hybrid Electric Vehicle. A controller determines the engine is necessary and then checks the current “engine on” status. If the engine is not currently running, the controller proceeds to start the engine by commanding the generator to spin or “motor” the engine. The controller then starts fuel flow and spark within the engine to create combustion. A measuring device is then used to determine the crankshaft speed. The controller receives this measurement and determines whether the measured variations in crankshaft speed exceed a calibratable threshold. If the calibratable threshold is exceeded, combustion is determined to be occurring and the engine is on. The controller then turns on the “engine on” status flag.

Abstract: A transponder-based distributed power train control system using a plurality of transponders located between the track rails or along the track wayside for setting the control functions, for example the brake or throttle controls of the remote power units in a train. Each remote power unit includes a transponder reader and the transponder return signal provides a pointer into a look-up table. The look-up table value represents the control setting for the remote power unit for the read transponder.

Abstract: The method of controlling travel speed of a vehicle includes controlling vehicle travel speed according to a set vehicle speed given by a driver of the controlled vehicle in a speed control mode; detecting at least one object present in front of the controlled vehicle and measuring distance to and relative speed of the at least one object when present in front of the controlled vehicle; determining whether or not a preceding vehicle is among the at least one object present in front of the controlled vehicle; controlling the vehicle travel speed according to a set distance to the preceding vehicle in a distance control mode when the preceding vehicle is present in front of the controlled vehicle; establishing whether or not a stationary object is among the at least one object present in front of the controlled vehicle; when a stationary object is found to be present, calculating a predicted travel path of the controlled vehicle and determining if the stationary object is located in the predicted travel path; w

Abstract: A method of transitioning between the pneumatic and electric modes of an integrated pneumatic/electro-pneumatic train brake system which includes a brake control having a common operator brake controller. Initially, the control applies the brakes in response to the operator brake controller in the present mode. The control enables the next mode upon request from the operator and applies the brakes in the next mode to match the applied brakes in the present mode. Once the present mode brake is released, the control and system switch to the next mode. Other brake controllers monitor the network and automatically switches modes based on the status of the network.

Abstract: A method using the position data being determined on the train to determine characteristics of the train and/or the track. This is achieved by providing position determining devices at two or more spaced locations along the train. The position of the two locations are determined by the position determining devices. A processor determines the difference between the two locations from the positions determined by the position determining devices and determines the characteristics of the train from the determined difference between the two locations.

Abstract: A remote control system for a locomotive. The remote control system includes a lead controller and follower controller connected to one another over a wireless communication link. The lead controller issues command over the wireless communication link and those commands are implemented by the follower controller mounted on-board the locomotive. The lead controller is responsive to voice commands uttered by the operator.

Abstract: An improved communications for an electrified monorail includes an off-board programmable logic controller having at least one output electrically coupled to a buss bar of the electrified monorail. At least one other programmable logic controller is mounted on a vehicle that travels on the electrified monorail and includes at least one input in electrical contact with the buss bar. The off-board programmable logic controller is programmed to set its output at a series of high and low voltages corresponding to a message. The on-board programmable logic controller is programmed to detect the series of high and low voltages, store them at least temporarily in memory, and act accordingly upon the transmitted message.

Abstract: A method is provided for controlling movement of a plurality of vehicles over a guideway partitioned into a plurality of guideway blocks. The method uses a control system including an onboard computer (OBC) located on board each vehicle, at least one server for communicating with the OBCs, and a vehicle tracking system. The method including the steps of determining a composite block status for all guideway blocks, broadcasting the composite block status to the OBCs, and controlling movement of each vehicle based on the composite block status.

Abstract: A system for detecting a failure of a speed sensor on a locomotive propelled by an AC traction motor is disclosed. The system includes a locomotive including a processor for executing a detection method. The method comprises conducting an evaluation of symptoms exhibited by a speed sensor. A health value representative of health of the speed sensor is generated and modified as a function of an evaluation, and as a result from the modification of the health value, a modified health value is generated. A motor control methodology responsive to the modified health value is selected.

Abstract: A system of controller modules allowing to remotely control a train having a first locomotive and a second locomotive separated from one another by at least one car is provided. The system of controller modules comprises a first controller module associated to the first locomotive and a second controller module associated to the second locomotive. One of said controller modules has a lead operational status and the other has a trail operational status. The controller module having the lead operational status receives a master control signal for signaling the train to move in a desired direction and releases in response to the master control signal a first local command signal. The first local command signal is operative to cause displacement of the locomotive associated with the controller module having the lead operational status.

Abstract: A method and apparatus for determining whether a railroad locomotive is configured with the correct software versions. The version numbers for software on board the locomotive are periodically determined by an on-board monitoring system. This information is later transmitted to a remote monitoring and diagnostic center, where the actual software version numbers are compared to the expected software versions. If there is a mismatch, personnel at the remote monitoring and diagnostic center are alerted to resolve the mismatch.

Abstract: A system for determining the status of a railyard includes a locomotive itinerary, a computer configured with a comparator algorithm used to compare a locomotive location to the locomotive itinerary, and at least one manager console configured to communicate with the computer. Railcar information is input to the manager console and communicated to the computer, which generates a locomotive task list from the railcar information. The computer then generates a locomotive itinerary, tracks the location of the locomotive and uses the comparator algorithm to determine the schedule status of the railcar.

Abstract: In a railway information transmission method and system wherein information is transmitted by a consecutive transmission mode between on-vehicle control equipment and ground control equipment, a redundant code which is updated in accordance with a predetermined procedure every transmission processing is affixed to information to-be-communicated, the information being then transmitted, and on a reception side, a logical operation is performed on the redundant code which is contained in the received information and a redundant code which is created on this side and which is updated in a predetermined procedure. Thus, the trouble of a transmission path can be simply found, and further, the safety. of train service based on an automatic train control or the like can be enhanced.

Abstract: A grade speed control system and method for a railway freight vehicle can include a microprocessor receiving input from, for example, the dynamic and independent brakes on the locomotive, and the brakes on each rail car. The microprocessor can store values for desired train speed and actual train speed as well as constants and equations for converting raw data to derive brake cylinder pressure adjustments for implementing train speed control functions. The grade speed control system can also include communicate with brake cylinder control devices on articulated rail cars to increase or decrease the brake cylinder pressures to control the train speed. If actual speed differs from target speed by more than a predetermined amount, a target acceleration can be calculated and brake cylinder pressures adjustments can be derived to achieve the target acceleration to bring the actual speed of the train to the target speed in a reasonably brief time period.

Abstract: The present invention provides methods for preventing low train voltages and managing interference, thereby improving the efficiency, reliability, and passenger comfort associated with commuter trains. An algorithm implementing neural network technology is used to predict low voltages before they occur. Once voltages are predicted, then multiple trains can be controlled to prevent low voltage events. Further, algorithms for managing inference are presented in the present invention. Different types of interference problems are addressed in the present invention such as “Interference. During Acceleration”, “Interference Near Station Stops”, and “Interference During Delay Recovery.” Managing such interference avoids unnecessary brake/acceleration cycles during acceleration, immediately before station stops, and after substantial delays.

Abstract: In addition to two rotation angle sensors which output a signal corresponding to each notch position representing “power”, “neutral” and “brake” and are interlocked to rotation of a handle of the master controller, a position sensor for detecting the “neutral” position is provided separately. When the handle is set to the “neutral” position, it is determined whether the rotation angle sensor detects the “neutral” position or not based on the output of the position sensor, and an output of the rotation angle sensor which does not detect the “neutral” position is released.

Abstract: A connection unit is adapted to be connected to train line and brake line connectors of a locomotive as part of a remote control system for the locomotive. The connection unit includes a receiver for receiving remote control instructions, an interface for connection to the train line and brake line connectors, and a microprocessor. The microprocessor is arranged to determine the locomotive's configuration, interpret the received remote control instructions, modify said instructions dependent on the locomotive's configuration, and operate the interface such that the locomotive is controlled according to the locomotive configuration and the remote control instructions.

Abstract: A vehicle brake control wherein a driver generated braking prompt signal is compared with a measured deceleration signal and, according to which, a correction signal is generated. The correction signal is processed with the braking prompt signal into an output signal. The correction signal is constantly maintained over one or more clock pulses when the value of the deceleration signal lies within a given value range or tolerance band. However, the correction signal is changed from one plus to the next when the instantaneous deceleration lies outside said tolerance band.

Abstract: A system which operates a digitally controlled model railroad transmitting a first command from a first client program to a resident external controlling interface through a first communications transport. A second command is transmitted from a second client program to the resident external controlling interface through a second communications transport. The first command and the second command are received by the resident external controlling interface which queues the first and second commands. The resident external controlling interface sends third and fourth commands representative of the first and second commands, respectively, to a digital command station for execution on the digitally controlled model railroad.

Abstract: A method of optimizing train operation and training in a moving train includes determining the train's conditions and calculating a desired response to the present conditions of the train to achieve a goal. The engineer's response is determined and the train's conditions resulting from the engineer's response is determined and may be displayed on the train. The desired response, for example brake and propulsion settings, may be displayed after determining the engineer's response. The engineer is qualified from the comparison of the engineer's response to the desired response to the condition. Access to the locomotive controls may be controlled using a user identification and determining the qualification level of the user. The qualification level can be updated based on the training session.

Abstract: A vehicle traffic control apparatus includes a vehicle location detection unit for detecting the locations of vehicles within a track, a track monopolized state control unit for storing and controlling the monopolized state of the track which is monopolized by the vehicles, an allocation request unit for requesting allocation of a dynamic monopolized section as a range, in which each vehicle can freely run in both inbound and outbound directions, on the basis of the locations of the vehicles which are detected by the vehicle location detection unit, and an allocation unit for collating the allocation of the dynamic monopolized section to each vehicle with the track monopolized state control unit, executing actual allocation of dynamic monopolized sections on the basis of a collation result, and causing the track monopolized state control unit to store the allocation result.

Abstract: A device for monitoring the passage of a train traveling through a rail way crossing, said device including a first and second sensors for sensing the presence of the train on a rail track when the train is in proximity to the sensors, said first and second sensors positioned adjacent the track, first and second processors opperatively coupled to the first and second sensors, respectively, the processors adapted to monitor the sensors and determine the speed and direction of the train when the train passes the sensors. The device also includes a signal positioned adjacent the crossing for signaling the public that a train is about to enter the rail way crossing, and a third processor operatively coupled to the signal and operatively coupled to the first and second processors, the third processor adapted to activate the signal when the train is within a predetermined time interval from entering the crossing.

Abstract: In a railway information transmission method and system wherein information is transmitted by a consecutive transmission mode between on-vehicle control equipment and ground control equipment, a redundant code which is updated in accordance with a predetermined procedure every transmission processing is affixed to information to-be-communicated, the information being then transmitted, and on a reception side, the redundant code which is contained in the received information is correlated with a redundant code which is created on this side and which is updated in a predetermined procedure. Thus, the trouble of a transmission path can be simply found, and further, the safety of train service based on an automatic train control or the like can be enhanced.

Abstract: A remotely operated rail car status monitor and control system including a plurality of handbrake status and release monitors (HSRMs), each of which is mounted to an individual rail car of a train, and a handheld data terminal (HDT). The HSRMs are self-contained electronic sensing and control devices capable of short range radio frequency (RF) communication with the HDT, and are mounted to rail car handbrakes configured for remote release. Each HSRM is programmed with a unique ID code which corresponds to the rail car's identifier. The HSRMs monitor and record the operational state of systems on the rail car such as the handbrake, load weight and refrigerator car temperature. Operating characteristics of the train such slid wheel events and handling impacts can be monitored and stored. Systems of the rail car such as the handbrake can also be released or otherwise controlled.

Abstract: A method and apparatus for wheel diameter calibration in a vehicle of the type having a plurality of independently powered wheel-axle sets which can be implemented as a forced calibration while the vehicle is in either a tractive effort or an electrical braking mode. The process includes the steps of determining if vehicle tractive effort would be effected if one wheel-axle set were disabled and, if not, selectively disabling one of the wheel-axle sets, calculating vehicle speed from a present value of wheel diameter for the disabled axle and wheel revolutions per unit time, establishing a true value of vehicle speed from an independent measurement, computing the error between calculated vehicle speed and the true value of vehicle speed, and adjusting the present value of wheel diameter so as to minimize the computed speed error.

Abstract: A method of optimizing train operation includes determining conditions of location, track profile and train forces of the train. Next, a set of preliminary train restraint operating parameters are determined from the determined conditions. Also, at least one of a set of preliminary train optimizable operating parameters to minimize train forces, to maximize fuel efficiency and to minimize time to destination is determined. The determined set of preliminary train operating parameters are weighted and combined. Optimized train operating parameters are determined from the weighted and combined preliminary train operating parameters. Engineering train and access is also performed.

Abstract: A positive-feedback go/no-go control system for an electric-vehicle ride (10) at an amusement park reliably communicates motion commands, vehicle-presence signals, and vehicle-status signals in the presence of high electrical noise and does so without the addition of expensive add-on equipment. The railway electric-vehicle ride includes an outbus (16) and an inbus (18) running along a railway (14). The positive-feedback go/no-go control system comprises a wayside control board (22) that provides a bipolar pulse-width-modulated command signal (26) to the outbus. A control circuit (24) onboard the electric vehicle receives the bipolar pulse-width-modulated command signal, amplitude modulates it at different frequencies that represent the electric vehicle's intended action, and provides the processed bipolar pulse-width-modulated command signal (30, 32) to the inbus.

Abstract: A method and an apparatus for generating a sensor signal related a track-banking angle of a banked section of track traversed by a train car wherein a track-banking angle value basically is determined from measured values of the rolling angular speed and yaw speed of the car chassis. A track-banking angle (.PHI.g) is determined in an observer unit (2), preferably estimated by use of an inverse gyro system simulation (10) of a measured-value generator (6), and compared, as an estimated track-banking angle (.PHI.gb), to a track-banking angle (.PHI.gs) determined from the transverse acceleration (aq), the yaw speed (.omega.G) and the train speed (v), as information about the track-banking angle (.PHI.g). A resulting difference (.DELTA..PHI.g) is filtered via a regulating circuit formed by a feedback from a comparator (11) to the inverse gyro system simulator (10). This signal, in the form of a track-banking angle (.PHI.b), as the signal representing the real track-banking angle (.PHI.

Abstract: A signal comparator receives switch-created signals from two stations manned by an engineer and a trainman in a locomotive and compares the signals for a match. The signals are an implementation and acknowledgement of wayside signals. One station is used to acknowledge a signal and unless a match is determined by the other operator entering the same acknowledgement within a preset time interval the system will automatically stop the train. Alarm functions and speed monitoring functions based on matched station signals are also provided. The system is automatically activated anytime a switch is operated or the speed of the train exceeds 15 mph. Signal matching is also required at period time intervals. If such acknowledgement is not forthcoming, the system assumes crew incapacitation and will automatically stop the train.

Abstract: A process and a device for the control and/or regulation of a wagon body tilt system (1) for a railed vehicle, e.g., a train. Limit values with respect to comfort are taken into consideration for this purpose. In an equivalent way, these limit values preset a comfort scale for a rail camber or tilt (.phi..sub.c) as desired tilt values (.phi..sub.desired, .phi..sub.des. Speed, .phi..sub.des. accel.) for the control and/or regulation of a wagon body (2) as relevant value based on the system limits and permit a subsequent regulation within the adjustment system (4) of the wagon body (2) only within these limits. If at least one limit value for comfort and/or parameters describing the system is exceeded, these desired tilt values (.phi..sub.desired, .phi..sub.des. speed, .phi..sub.des. accel.) are then adapted by taking into account this at least one exceeded limit value and are converted to adapted desired tilt values (.phi.'.sub.desired, .phi.'.sub.des. speed, .phi.'.sub.des. accel.

Abstract: A system which operates a digitally controlled model railroad transmitting a first command from a first client program to a resident external controlling interface through a first communications transport. A second command is transmitted from a second client program to the resident external controlling interface through a second communications transport. The first command and the second command are received by the resident external controlling interface which queues the first and second commands. The resident external controlling interface sends third and fourth commands representative of the first and second commands, respectively, to a digital command station for execution on the digitally controlled model railroad.

Abstract: At least one individual car that can be identified individually is contained in the consist. The configuration of an actually observed consist is determined and checked to see whether it matches relevant information data sets. If there is an exact match with one information data set, the latter is assigned to the consist. If there are multiple matches or no matches, the information data set associated with the consist is determined by identification of the individual car.

Abstract: A position recognition apparatus for personal rapid transit. The personal rapid transit system comprises a chassis (40) for moving at the inside of a guideway (10) and a chamber for passengers being mounted on the chassis (40) at the outside of the guideway (10). The chassis (40) is provided with guidance wheels (41 and 42), electric linear motors (44a and 44b), a switching device, brakes, a control apparatus (70) and electric power supply devices. Bar code scanners (60a and 60b) are installed at both sides of the chassis (40) in the inside of the guideway (10). Bar codes include figures and letters indicating sections and positions at a certain interval on the guideway (10), and are printed on bar code members (50a and 50b) having a predetermined width which is made of plastics. The plastic bar code members (50a and 50b) on which the same bar codes are printed are attached to both sides of the guideway (10).