Method of controlling a direction of a trajectory of a vehicle

A control system for controlling a direction of a trajectory of a vehicle moving in a vehicle guidance system comprising:

• a switch comprising a first tube, a second tube and a third tube, a first guidance track ranging from the first tube to the second tube, and a second guidance track, ranging from the first tube to the third tube;
• the control system comprising:
• a processing module, arranged to:
• determine a first distance between a first lateral side of the vehicle and the first guidance track that corresponds to a first trajectory from the first tube to the second tube;
• determine a second distance between a second lateral side of the vehicle and the second guidance track that corresponds to a second trajectory from the first tube to the third tube, the first trajectory being different from the second trajectory:
• an input module, arranged to receive a default direction prior to entering the switch and a direction instruction subsequent to reception of the default direction;
• a control module, arranged to, based on the direction instruction, execute at least one of:
• electromagnetically control the first distance;
• electromagnetically control the second distance;
• the processing module being further arranged to:
• after receiving the direction instruction, determine whether the vehicle is closer to the switch than a first safety point is to the switch;
• in response to a determination that the vehicle is closer to the switch than the first safety point is from the switch, ignore the direction instruction and continue along the default direction;
• in response to a determination that the vehicle is farther from the switch than the first safety point is from the switch, attempt to electromagnetically control only one of the first distance or the second distance to be within a control distance interval, the one of the first distance or the second distance corresponding to the one of the first trajectory or the second trajectory corresponding to the direction instruction;
• after an attempt to control the one of the first distance and the second distance, determine whether the one of the first distance and the second distance is larger than a safety distance interval, the safety distance interval larger than the control distance interval;
• in response to a determination that the one of the first distance and the second distance is larger than the safety distance interval, switch from the attempt to control the one of the first distance or the second distance to electromagnetically control, within the control distance interval, the other of the first distance and the second distance such that the vehicle travels in the other of the first trajectory or the second trajectory;
• determine whether a second safety point has been passed, the second safety point disposed on an opposite side of the switch as the first safety point;
• and
• in response to a determination that the second safety point has been passed, electromagnetically control, along the one of the first trajectory or the second trajectory of the vehicle in the vehicle guidance system both of the first distance between the first lateral side of the vehicle and the first guidance track and the second distance between the second lateral side of the vehicle and the second guidance track.