CN104599489B - The method and system of quick public transport vehicle are precisely dispatched in accident when occurring - Google Patents

The method and system of quick public transport vehicle are precisely dispatched in accident when occurring Download PDF

Info

Publication number
CN104599489B
CN104599489B CN201410460942.8A CN201410460942A CN104599489B CN 104599489 B CN104599489 B CN 104599489B CN 201410460942 A CN201410460942 A CN 201410460942A CN 104599489 B CN104599489 B CN 104599489B
Authority
CN
China
Prior art keywords
public transport
transport vehicle
quick public
time
timetable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201410460942.8A
Other languages
Chinese (zh)
Other versions
CN104599489A (en
Inventor
姜廷顺
李萌
邹难
田红芳
李颖宏
栗红强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing E Hualu Information Technology Co Ltd
Original Assignee
Beijing E Hualu Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing E Hualu Information Technology Co Ltd filed Critical Beijing E Hualu Information Technology Co Ltd
Priority to CN201410460942.8A priority Critical patent/CN104599489B/en
Publication of CN104599489A publication Critical patent/CN104599489A/en
Application granted granted Critical
Publication of CN104599489B publication Critical patent/CN104599489B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The method and system of quick public transport vehicle are precisely dispatched in a kind of accident that the present invention provides when occurring, when meeting the current speed limit of accident road and changing, it is possible in time the timetable that performs that quick public transport vehicle is performed in the case of current speed limit is switched to the execution timetable of corresponding speed limit.And, during travelling at quick public transport vehicle, the most all adjust in real time at the execution timetable corresponding to each speed limit, to ensure that all of execution timetable can remain at same reference position and on fiducial time, so when the execution timetable of quick public transport vehicle difference speed limit switches over, the error on time and position will not be produced, it is possible to realize precisely dispatching quick public transport vehicle when time burst occurs.

Description

The method and system of quick public transport vehicle are precisely dispatched in accident when occurring
Technical field
The present invention relates to bus rapid transit dispatching technique field, specifically a kind of accident precisely dispatches quick public affairs when occurring Hand over the method and system of vehicle.
Background technology
Urban public transport is one of main traffic instrument of people's go off daily in city, is to ensure that people's clothing ,food and housing The important component part of row basic living demand, in recent years, the rhythm of people's life is constantly accelerated, and shortens the demand of travel time Also improving constantly, how to meet the trip requirements that people are growing, by people from first ground conveniently, safely, quickly, on time, Move to second ground comfortable, inexpensively, be the target of governments at all levels policymaker pursuit.The appearance of bus rapid transit meets people and shortens The demand of travel time, if being provided that taken quick public transport vehicle arrives the exact time at each station, it is possible to contracting Short people wait AT STATION by bus or change to the time of other vehicles.
Mass rapid transit during day-to-day operation, arrival time one of key factor the most accurately, it is simply that bus stop Time, the time of on-off passengers is the most inconsistent with the plan dwell time, causes lag or lead at the time of departure, under causing arriving Change once the moment at station.Affecting another key factor that arrival time changes is to the most public in prior art Hand over the command scheduling of vehicle, only with a kind of scheme, i.e. use same timetable to be scheduling, become when suddenly encountering weather Change, such as: sleety weather occurs when suddenly, cause road wet and slippery；Or foggy weather occurs suddenly, when causing On The Deterioration of Visibility Over, If can not immediately scheme be adjusted, will be unable to ensure quick public transport vehicle according to present road speed limit allow time Quarter, table precisely ran, and the most just cannot precisely dispatch quick public transport vehicle.
Summary of the invention
The technical problem to be solved is to provide when a kind of accident occurs and precisely dispatches quick public transport vehicle Method and system.
For solving above-mentioned technical problem, the present invention is achieved by the following technical solutions:
The present invention provides a kind of method that accident precisely dispatches quick public transport vehicle when occurring, and comprises the steps:
S1: generate the schedule plan in the case of different speed limit, specifically includes following steps:
S11: according to different speed limit Vxi, utilize fast public transit vehicle along bus rapid transit route with during actual motion in advance Each speed limit travels one time respectively, during travelling, all records following running data each second under various speed limits: Latitude and longitude information (the X of quick public transport vehiclei,Yi), running time Ti, distance travelled Si, travel speed Vi, and each by way of The berthing time K of websitej；
S12: generate various speed limit VxiUnder multiple schedule plans, in the schedule plan that each speed limit is corresponding remember The described traveling number that in the record starting station of bus rapid transit route, approach station, terminus, and described step S11, each second obtains According to, the latitude and longitude information (X of wherein said quick public transport vehiclei,Yi) as reference position, described running time TiAs benchmark Time, described distance travelled SiAs benchmark mileage, described travel speed ViAs reference speed, described berthing time KjAs Benchmark berthing time, wherein the fiducial time corresponding to the starting station is " 0s ", and corresponding reference speed is speed of setting out；
S2: for the quick public transport vehicle of each order of classes or grades at school, generate the execution timetable under different speed limit, specifically include Following steps:
S21: transfer the different speed limit V obtained in step S1xiCorresponding schedule plan；
S22: require according to the moment of setting out of the quick public transport vehicle of each order of classes or grades at school and each by way of the stop at station time Between the due in requirement that requires and reach terminal, by difference speed limit VxiThe corresponding fiducial time in schedule plan depends on Secondary be adjusted to corresponding reference instant after obtain the different speed limit V of quick public transport vehicle of this order of classes or grades at schoolxiThe corresponding execution moment Table, what each of which speed limit was corresponding perform, and moment corresponding to the timetable starting station is the moment of setting out；
S3: for quick public transport vehicle and the execution timetable of correspondence thereof of each order of classes or grades at school, generates schedule information the most in real time Judge quick public transport vehicle process, specifically include following steps:
S31: transfer all different speed limit V obtained in described step S2tiCorresponding execution timetable, and obtain current The speed limit V in momentX1；
S32: current time T is equal to the quick public transport vehicle of arbitrary order of classes or grades at school at speed limit VX1Corresponding performs going out in the moment Send out the moment time, assign out to the quick public transport vehicle of this order of classes or grades at school immediately and send instructions, the quick public transport of this order of classes or grades at school set out and according to It is at speed limit VX1The speed of setting out of record in timetable that performs travel；
S33: read the latitude and longitude information (X of the quick public transport vehicle of current time T in real timeD, YD)；
S34: by the latitude and longitude information (X of the quick public transport vehicle under current timeD, YD) and this order of classes or grades at school quick public transport vehicle Corresponding reference position information (the X performed in timetablei, Yi) carrying out comparison one by one, it is judged that quick public transport vehicle current location is No at a certain approach website, if yes then enter step S35, otherwise enter step S37；
S35: record quick public transport vehicle is this way of record in the berthing time K of this approach website, with execution timetable Through the benchmark berthing time K that website is correspondingjCompare, it may be judged whether meet K-Kj＜ Kth, it is wherein KthAdjustable thresholds, If meeting, entering step S37, if being unsatisfactory for, entering step S36；
S36: the reference instant performed in timetable of each order of classes or grades at school is all adjusted to Ti+K-Kj, execution after being updated Timetable；The quick public transport vehicle of each order of classes or grades at school all travels according to the execution timetable after updating, and is then back to step S33；
S37: by the quick public transport vehicle latitude and longitude information (X under current timeD, YD) be respectively associated to quick public transport vehicle At different speed limit VxiUnder execution timetable in, by each execution timetable with (XD, YD) corresponding reference instant arranges For TDi；
S38: reaffirm the road speed limit V under current timeX2, compare the road speed limit under current time in real time VX2With the speed limit V obtained in step S31X1The most identical；If identical, enter step S39, otherwise enter step S310；
S39: the road speed limit V that will be carrying outX1The corresponding T performed in timetableDiIt is revised as TD, and extract this and hold Reference position (X corresponding for current time T in row timetableT, YT), at other speed limits VxiCorresponding execution timetable is searched With (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T；
S310: the timetable that is currently executing of whole order of classes or grades at school quick public transport vehicles is switched to speed limit VX2Corresponding holds Row timetable；For the quick public transport vehicle reached terminal at first, obtain and under its current time, execution timetable is adjusted to Speed limit VX2Corresponding perform timetable after moment reached terminal of updating and arrive each moment by way of website；And The moment of moment reached terminal according to the quick public transport vehicle of other order of classes or grades at school/arrive each approach website with arrive end at first The time interval in the moment of moment reached terminal/arrive each approach website of the quick public transport vehicle at some station, it is thus achieved that its The quick public transport vehicle of his order of classes or grades at school adjust after moment of moment reached terminal/arrive each approach website, respectively by it The moment reached terminal after the quick public transport vehicle adjustment of his order of classes or grades at school/arrive the moment correspondence of each approach website to accordingly Speed limit VX2Under execution timetable in, and by other reference instant in each execution timetable with reach terminal time Being adjusted successively on the basis of carving/arrive the moment of each approach website, the quick public transport vehicle respectively obtaining other order of classes or grades at school is adjusted Speed limit V after wholeX2Corresponding execution timetable；
For the quick public transport vehicle of each order of classes or grades at school, the speed limit V after adjustingX2The corresponding T performed in timetableDi It is revised as TD, and extract reference position (X corresponding for current time T in this execution timetableT, YT), at other speed limits VxiCorresponding Execution timetable in search with (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T；
S311: compare current time T and the quick public transport vehicle latitude and longitude information (X under current timeD, YDCorresponding to) Reference instant TD:
Work as T=TDTime, enter step S312；
As T ≠ TDTime, enter step S313；
S312: prompting quick public transport vehicle is according to performing T in timetableDThe benchmark corresponding to next reference instant speed Degree travels, and enters step S4 afterwards；
S313: prompting quick public transport vehicle travels according to following speed:
VT=(SH-SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THMake quick public transport vehicle longitude and latitude afterwards Degree information (XD, YDReference instant T corresponding to)DAnd the error between current time T is zero；Wherein SHIt is to add with current time T The upper time adjusts threshold value THBenchmark mileage corresponding in table is carved upon execution as fiducial time；SDIt is with quick public transport vehicle Latitude and longitude information (XD, YD) carve benchmark mileage corresponding in table upon execution as reference position, enter step S4 afterwards；
S4: for the quick public transport vehicle of each order of classes or grades at school, perform the row recorded in timetable all in accordance with corresponding Sailing data and judge that the latitude and longitude information of quick public transport vehicle is the most identical with the latitude and longitude information of terminus, if differing, returning Step S41, otherwise terminates the scheduling of the quick public transport vehicle to this order of classes or grades at school.
In described step S1, S3, the GPS locating module being arranged on quick public transport vehicle is used to obtain quick public transport vehicle Latitude and longitude information, running time；The OBD module being arranged on quick public transport vehicle is used to obtain quick public transport vehicle real-time Distance travelled and travel speed.
In described step S312, S313, use the side of the LCDs display word being arranged on quick public transport vehicle Quick public transport vehicle driver is pointed out by formula.
In described step S312, S313, the Audio Players being arranged on quick public transport vehicle is used to play the side of voice Quick public transport vehicle driver is pointed out by formula.
The present invention also provides for precisely dispatching when a kind of accident occurs the system of quick public transport vehicle, including:
First device, the schedule plan in the case of generating different speed limit, specifically include:
Data capture unit: according to different speed limit Vxi, utilize fast public transit vehicle along bus rapid transit route with reality in advance Border run time each of speed limit travel respectively one time, under various speed limits travel during, each second all records such as Lower running data: the latitude and longitude information (X of quick public transport vehiclei,Yi), running time Ti, distance travelled Si, travel speed Vi, with And at each berthing time K by way of websitej；
Schedule plan signal generating unit: generate various speed limit VxiUnder multiple schedule plans, each speed limit is corresponding Schedule plan in record in the starting station of bus rapid transit route, approach station, terminus, and described data capture unit every Second obtain described running data, the latitude and longitude information (X of wherein said quick public transport vehiclei,Yi) as reference position, institute State running time TiAs fiducial time, described distance travelled SiAs benchmark mileage, described travel speed ViAs benchmark speed Degree, described berthing time KjAs benchmark berthing time, wherein the fiducial time corresponding to the starting station is " 0s ", corresponding benchmark Speed is speed of setting out；
Second device: for the quick public transport vehicle of each order of classes or grades at school, generate the execution timetable under different speed limit, tool Body includes:
First extraction unit: transfer the different speed limit V obtained in described first devicexiCorresponding schedule plan；
Perform timetable signal generating unit: require and each according to the moment of setting out of the quick public transport vehicle of each order of classes or grades at school The due in requirement that berthing time by way of station requires and reaches terminal, by difference speed limit VxiCorresponding schedule plan In the different speed limit V being sequentially adjusted in the quick public transport vehicle for obtaining this order of classes or grades at school after corresponding reference instant fiducial timexi Corresponding execution timetable, what each of which speed limit was corresponding perform, and the moment corresponding to the timetable starting station is the moment of setting out；
3rd device: for quick public transport vehicle and the execution timetable of correspondence thereof of each order of classes or grades at school, generates schedule information And real-time judge quick public transport vehicle process, specifically include:
Second extraction unit: transfer all different speed limit V obtained in described second devicetiThe corresponding execution moment Table, and obtain the speed limit V of current timeX1；
Instruction issues unit: current time T is equal to the quick public transport vehicle of arbitrary order of classes or grades at school at speed limit VX1Corresponding execution In moment set out the moment time, assign out to the quick public transport vehicle of this order of classes or grades at school immediately and send instructions, the quick public transport of this order of classes or grades at school Set out and according to it at speed limit VX1The speed of setting out of record in timetable that performs travel；
Latitude and longitude information acquiring unit: read the latitude and longitude information (X of the quick public transport vehicle of current time T in real timeD, YD)；
First comparing unit: by the latitude and longitude information (X of the quick public transport vehicle under current timeD, YD) quick with this order of classes or grades at school Reference position information (the X performed in timetable that public transit vehicle is correspondingi, Yi) carrying out comparison one by one, it is judged that quick public transport vehicle is worked as Whether front position is at a certain approach website；
Judging unit: if quick public transport vehicle current location is at a certain approach website, record quick public transport vehicle is on this way The berthing time K of footpath website, with perform record in timetable should be by way of benchmark berthing time K corresponding to websitejCompare, Judge whether to meet K-Kj＜ Kth, it is wherein KthAdjustable thresholds；
First adjustment unit: if being unsatisfactory for K-Kj＜ Kth, by equal for the reference instant performed in timetable of each order of classes or grades at school It is adjusted to Ti+K-Kj, execution timetable after being updated；The quick public transport vehicle of each order of classes or grades at school is all according to the execution after updating Timetable travels；
Second adjustment unit: if meeting K-Kj＜ Kth, by the quick public transport vehicle latitude and longitude information under current time (XD, YD) be respectively associated to quick public transport vehicle at different speed limit VxiUnder execution timetable in, by each execution timetable In with (XD, YD) corresponding reference instant is set to TDi；
Second comparing unit: reaffirm the road speed limit V under current timeX2, compare the road under current time in real time Road speed limit VX2With speed limit VX1The most identical；
First processing unit: work as VX2With VX1Time identical, the road speed limit V that will be carrying outX1Corresponding execution timetable In TDiIt is revised as TD, and extract reference position (X corresponding for current time T in this execution timetableT, YT), at other speed limits VxiCorresponding execution timetable is searched and (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as Current time T；
Second processing unit: work as VX2With VX1Time different, whole order of classes or grades at school quick public transport vehicles are currently executing the moment Table is switched to speed limit VX2Corresponding execution timetable；For the quick public transport vehicle reached terminal at first, obtain it current Time inscribe execution timetable be adjusted to speed limit VX2Corresponding perform timetable after moment reached terminal of updating and Arrive each moment by way of website；And moment reached terminal according to the quick public transport vehicle of other order of classes or grades at school/arrive is each The moment reached terminal of the moment of approach website and the quick public transport vehicle reached terminal at first/arrive each approach station The time interval in the moment of point, it is thus achieved that the moment reached terminal/arrival after the quick public transport vehicle of other order of classes or grades at school adjusts is every In the moment of one approach website, the moment reached terminal/arrival after being adjusted by the quick public transport vehicle of other order of classes or grades at school respectively is every The moment of one approach website is corresponding to corresponding speed limit VX2Under execution timetable in, and by its in each execution timetable His reference instant is adjusted on the basis of the moment in the moment/arrive each approach website reached terminal successively, respectively Speed limit V after the quick public transport vehicle adjustment of other order of classes or grades at schoolX2Corresponding execution timetable；
For the quick public transport vehicle of each order of classes or grades at school, the speed limit V after adjustingX2The corresponding T performed in timetableDi It is revised as TD, and extract reference position (X corresponding for current time T in this execution timetableT, YT), at other speed limits VxiCorresponding Execution timetable in search with (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T；
3rd comparing unit: compare current time T and the quick public transport vehicle latitude and longitude information (X under current timeD, YD) Corresponding reference instant TD:
Information alert unit: work as T=TDTime, prompting quick public transport vehicle is according to performing T in timetableDNext benchmark Reference speed corresponding to moment travels；As T ≠ TDTime, prompting quick public transport vehicle travels according to following speed: VT= (SH-SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THMake quick public transport vehicle latitude and longitude information (X afterwardsD, YD) Corresponding reference instant TDAnd the error between current time T is zero；Wherein SHIt is to adjust threshold with current time T plus the time Value THBenchmark mileage corresponding in table is carved upon execution as fiducial time；SDIt is with quick public transport vehicle latitude and longitude information (XD, YD) benchmark mileage corresponding in table is carved upon execution as reference position；
4th device: for the quick public transport vehicle of each order of classes or grades at school, remembered all in accordance with in corresponding execution timetable The running data of record judges that the latitude and longitude information of quick public transport vehicle is the most identical with the latitude and longitude information of terminus, if identical, Terminate the scheduling of the quick public transport vehicle to this order of classes or grades at school.
In described step first device and described 3rd device, the GPS being arranged on quick public transport vehicle is used to position mould Block obtains the latitude and longitude information of quick public transport vehicle, running time；The OBD module being arranged on quick public transport vehicle is used to obtain Distance travelled that quick public transport vehicle is real-time and travel speed.
Described Step Information Tip element, uses the side of the LCDs display word being arranged on quick public transport vehicle Quick public transport vehicle driver is pointed out by formula.
Described information alert unit, uses the Audio Players being arranged on quick public transport vehicle to play the mode pair of voice Quick public transport vehicle driver point out.The technique scheme of the present invention has the advantage that compared to existing technology
The method and system of quick public transport vehicle are precisely dispatched in a kind of accident that the present invention provides when occurring, prominent when having Send out event generation road speed limit when changing, it is possible to cut from the current execution timetable performed by quick public transport vehicle in time Change to the execution timetable of corresponding speed limit.Further, during travelling at quick public transport vehicle, the most all to each The execution timetable that individual speed limit is corresponding adjusts in real time, to ensure that all of execution timetable can remain at same Individual reference position and on fiducial time, so when the execution timetable of quick public transport vehicle switches over, will not produce the time With the error on position, it is possible to realize precisely dispatching quick public transport vehicle when time burst occurs.
It addition, the such scheme in the present invention, according to schedule plan and the moment of setting out of quick public transport vehicle, arrival Moment at approach station and the moment reached terminal obtain performing timetable, and quick public transport vehicle arrives each reference position Moment value be all accurate to showing of second, when quick public transport vehicle position with perform in timetable corresponding to current time Reference position is misaligned, i.e. during lag or lead, it is possible to prompting driver with which kind of speed travels could within the predetermined time Ensure consistent with performing timetable holding.And when the position of quick public transport vehicle is heavy with the reference position performing to specify in timetable Which kind of after conjunction, it is also possible to prompting driver to continue to keep coincidence status future, need with speed to travel.
Further, use the above-mentioned dispatching method can be according to each quick public transport vehicle in dwell time of approach website Determine the need for adjusting and perform timetable, even if owing to dwell time changing value is beyond the threshold range set, it is possible to Immediately execution timetable is modified and ensures that quick public transport vehicle travels according to revised execution timetable, simultaneously can also The different order of classes or grades at school quick public transport vehicle of enough guarantees arrives each time interval by way of website, it is to avoid many quick public transport vehicles occur Situation about simultaneously entering the station occurs.
Accompanying drawing explanation
In order to make present disclosure be more likely to be clearly understood, below according to the specific embodiment of the present invention and combine Accompanying drawing, the present invention is further detailed explanation, wherein:
Fig. 1-1 and Fig. 1-2 is to send out described in one embodiment of the invention when event occurs precisely to dispatch quick public transport vehicle The flow chart of method；
Fig. 2 is the principle sending out the system precisely dispatching quick public transport vehicle when event occurs described in one embodiment of the invention Block diagram；
Fig. 3 is traveling schematic diagram data under the advanced travel situations of quick public transport vehicle described in one embodiment of the invention；
Fig. 4 is traveling schematic diagram data under the delayed travel situations of quick public transport vehicle described in one embodiment of the invention.
Detailed description of the invention
Embodiment 1
The present embodiment provides a kind of method that accident precisely dispatches quick public transport vehicle when occurring, such as Fig. 1-1 and figure Shown in 1-2, comprise the steps:
S1: generate the schedule plan in the case of different speed limit, specifically includes following steps:
S11: according to different speed limit Vxi, utilize fast public transit vehicle along bus rapid transit route with during actual motion in advance Each speed limit travels one time respectively, during travelling, all records following running data each second under various speed limits: Latitude and longitude information (the X of quick public transport vehiclei,Yi), running time Ti, distance travelled Si, travel speed Vi, and each by way of The berthing time K of websitej。
Wherein, different speed limits i.e. correspond to speed limit when part accident occurs, as weather, road conditions etc. are sent out suddenly Changing, and then the speed limit of road is created impact.Such as, speed limit is 60km/h under normal circumstances, and greasy weather speed limit Value is 40km/h.
S12: generate various speed limit VxiUnder multiple schedule plans, in the schedule plan that each speed limit is corresponding remember The described traveling number that in the record starting station of bus rapid transit route, approach station, terminus, and described step S11, each second obtains According to, the latitude and longitude information (X of wherein said quick public transport vehiclei,Yi) as reference position, described running time TiAs benchmark Time, described distance travelled SiAs benchmark mileage, described travel speed ViAs reference speed, described berthing time KjAs Benchmark berthing time, wherein the fiducial time corresponding to the starting station is " 0s ", and corresponding reference speed is speed of setting out.
Herein, described berthing time KjIt is the berthing time drawn according to statistical law, in different time period, different Approach website, berthing time should also be different.And during quick public transport vehicle actual motion, can be potentially encountered The passenger that a certain platform is got on or off the bus is the most, and therefore the berthing time at this platform can extend, or gets on or off the bus at a certain platform Passenger considerably less, the berthing time at this platform then can shorten, and above-mentioned prolongation or shortening are relative with benchmark berthing time For.
S2: for the quick public transport vehicle of each order of classes or grades at school, generate the execution timetable under different speed limit, specifically include Following steps:
S21: transfer the different speed limit V obtained in step S1xiCorresponding schedule plan.
S22: require according to the moment of setting out of the quick public transport vehicle of each order of classes or grades at school and each by way of the stop at station time Between the due in requirement that requires and reach terminal, by difference speed limit VxiThe corresponding fiducial time in schedule plan depends on Secondary be adjusted to corresponding reference instant after obtain the different speed limit V of quick public transport vehicle of this order of classes or grades at schoolxiThe corresponding execution moment Table, what each of which speed limit was corresponding perform, and moment corresponding to the timetable starting station is the moment of setting out.
For the quick public transport vehicle of described different order of classes or grades at school is for same bus rapid transit route, therefore for same The quick public transport vehicle of the different order of classes or grades at school of bar route can use same schedule plan to obtain performing timetable.Different order of classes or grades at school Quick public transport vehicle between there is certain departure interval, in bus rapid transit running, need to ensure this time interval.
S3: for quick public transport vehicle and the execution timetable of correspondence thereof of each order of classes or grades at school, generates schedule information the most in real time Judge quick public transport vehicle process, specifically include following steps:
S31: transfer all different speed limit V obtained in described step S2tiCorresponding execution timetable, and obtain current The speed limit V in momentX1。
S32: current time T is equal to the quick public transport vehicle of arbitrary order of classes or grades at school at speed limit VX1Corresponding performs going out in the moment Send out the moment time, assign out to the quick public transport vehicle of this order of classes or grades at school immediately and send instructions, the quick public transport of this order of classes or grades at school set out and according to It is at speed limit VX1The speed of setting out of record in timetable that performs travel.
S33: read the latitude and longitude information (X of the quick public transport vehicle of current time T in real timeD, YD)。
S34: by the latitude and longitude information (X of the quick public transport vehicle under current timeD, YD) and this order of classes or grades at school quick public transport vehicle At speed limit VX1Reference position information (the X performed in timetable of lower correspondencei, Yi) carry out comparison one by one, it is judged that bus rapid transit Whether current vehicle position is at a certain approach website, if yes then enter step S35, otherwise enters step S37.
S35: record quick public transport vehicle is at the berthing time K of this approach website, with speed limit VX1During the execution of lower correspondence That carves record in table should be by way of benchmark berthing time K corresponding to websitejCompare, it may be judged whether meet K-Kj＜ Kth, its Middle KthFor adjustable thresholds, if meeting, entering step S37, if being unsatisfactory for, entering step S36.
S36: the reference instant performed in timetable of each order of classes or grades at school is all adjusted to Ti+K-Kj, execution after being updated Timetable；The quick public transport vehicle of each order of classes or grades at school all travels according to the execution timetable after updating, and is then back to step S33.
The selection of described adjustable thresholds be according to quick public transport vehicle from currently by way of website to next by way of website it Operation time interval required between obtains.Can select adjustable thresholds is the 20% of this operation time interval, 30% Deng.The purpose arranging this adjustable thresholds is to judge whether quick public transport vehicle there is a need to regulate the speed with according to when performing The moment that quarter specifies in table travels, if owing to the overlong time stopped at a certain approach website, exceedes this adjustable threshold Value, even if how quick public transport vehicle accelerates to be caught up with the time, in this case, then selects to adjust to perform the moment Table rather than continuation scheduling quick public transport vehicle accelerate.
Further, since all dispatch a car according to certain time interval between the quick public transport vehicle of different order of classes or grades at school, so All there are fixed time interval in its moment of setting out, the moment arriving each approach website and the moment reached terminal, After the execution timetable of the quick public transport vehicle of a certain order of classes or grades at school adjusts, in order to ensure time interval, other order of classes or grades at school quick The execution timetable of public transit vehicle also should adjust accordingly.The reference instant performed in timetable of the most each order of classes or grades at school is all adjusted to Ti+K-Kj, execution timetable after being updated.
S37: by the quick public transport vehicle latitude and longitude information (X under current timeD, YD) be respectively associated to quick public transport vehicle At different speed limit VxiUnder execution timetable in, by each execution timetable with (XD, YD) corresponding reference instant arranges For TDi。
In this step, if performing timetable to carry out the adjustment of step S36, execution timetable the most herein is just Use the execution timetable after adjusting.That is, the execution timetable that the quick public transport vehicle of each order of classes or grades at school is used, it is to enter in real time Row updates.
S38: reaffirm the road speed limit V under current timeX2, compare the road speed limit under current time in real time VX2With the speed limit V obtained in step S31X1The most identical；If identical, enter step S39, otherwise enter step S310.
S39: the road speed limit V that will be carrying outX1The corresponding T performed in timetableDiIt is revised as TD, and extract this and hold Reference position (X corresponding for current time T in row timetableT, YT), at other speed limits VxiCorresponding execution timetable is searched With (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T.
Obviously, each of quick public transport vehicle performs timetable, along with the operation of quick public transport vehicle, is all in real time Update.Further, for the execution timetable that all different speed limits are corresponding, it is ensured that it is at synchronization, quick public transport vehicle Actual position coordinates is the most identical.So, when changing due to speed limit, need when the execution that current speed limit is corresponding When quarter, table was adjusted to execution timetable corresponding to other speed limits, can accomplish all not have error on time and position.
S310: the timetable that is currently executing of whole order of classes or grades at school quick public transport vehicles is switched to speed limit VX2Corresponding holds Row timetable；For the quick public transport vehicle reached terminal at first, obtain and under its current time, execution timetable is adjusted to Speed limit VX2Corresponding perform timetable after moment reached terminal of updating and arrive each moment by way of website.And The moment of moment reached terminal according to the quick public transport vehicle of other order of classes or grades at school/arrive each approach website with arrive end at first The time interval in the moment of moment reached terminal/arrive each approach website of the quick public transport vehicle at some station, it is thus achieved that its The quick public transport vehicle of his order of classes or grades at school adjust after moment of moment reached terminal/arrive each approach website, respectively by it The moment reached terminal after the quick public transport vehicle adjustment of his order of classes or grades at school/arrive the moment correspondence of each approach website to accordingly Speed limit VX2Under execution timetable in, and by other reference instant in each execution timetable with reach terminal time Being adjusted successively on the basis of carving/arrive the moment of each approach website, the quick public transport vehicle respectively obtaining other order of classes or grades at school is adjusted Speed limit V after wholeX2Corresponding execution timetable.
If performing timetable to change, then the moment reached terminal is bound to change, in the present embodiment On the basis of the quick public transport vehicle reached terminal at first, adjust other order of classes or grades at school quick public transports according to the time interval of regulation Execution timetable.
For the quick public transport vehicle of each order of classes or grades at school, the speed limit V after adjustingX2The corresponding T performed in timetableDi It is revised as TD, and extract reference position (X corresponding for current time T in this execution timetableT, YT), at other speed limits VxiCorresponding Execution timetable in search with (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T。
S311: compare current time T and the quick public transport vehicle latitude and longitude information (X under current timeD, YDCorresponding to) Reference instant TD:
Work as T=TDTime, enter step S312.
As T ≠ TDTime, enter step S313.
S312: prompting quick public transport vehicle is according to performing T in timetableDThe benchmark corresponding to next reference instant speed Degree travels, and enters step S4 afterwards.
S313: prompting quick public transport vehicle travels according to following speed:
VT=(SH-SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THMake quick public transport vehicle longitude and latitude afterwards Degree information (XD, YDReference instant T corresponding to)DAnd the error between current time T is zero；Wherein SHIt is to add with current time T The upper time adjusts threshold value THBenchmark mileage corresponding in table is carved upon execution as fiducial time；SDIt is with quick public transport vehicle Latitude and longitude information (XD, YD) carve benchmark mileage corresponding in table upon execution as reference position, enter step S4 afterwards.
S4: for the quick public transport vehicle of each order of classes or grades at school, perform the row recorded in timetable all in accordance with corresponding Sailing data and judge that the latitude and longitude information of quick public transport vehicle is the most identical with the latitude and longitude information of terminus, if differing, returning Step S41, otherwise terminates the scheduling of the quick public transport vehicle to this order of classes or grades at school.
In order to make technical scheme it is more readily appreciated that enter as a example by the scheduling process of bus rapid transit 1 bus below Row explanation.
As table 1-1 and table 1-2 gives the meter that bus rapid transit 1 bus is corresponding when speed limit is 60km/h and 30km/h Draw timetable.Travel route and each website of approach of bus rapid transit 1 bus be: the De Mao village (starting station)-Dongying room-six camp gate- East highland-western depression-three camp gate-and justice southern station-and the adopted-Jiu Jing village, farm-bright red raft of pontoons-West, The Big Red Gate-orchard, Nangyuan District road- In wooden slippers garden bridge-sand mouth-Gate of Everlasting Stability-the Temple of Heaven-Qianmen (terminus).
The schedule plan of No. 1 corresponding for table 1-1 60km/h bus rapid transit route
The starting station: terminus, the De Mao village: Qianmen
The schedule plan of No. 1 corresponding for table 1-2 30km/h bus rapid transit route
The starting station: terminus, the De Mao village: Qianmen
It is right when speed limit is by 60km/h and 30km/h that table 2-1 and table 2-2 gives the n-th order of classes or grades at school bus rapid transit 1 bus The execution timetable answered.It is 60km/h and 30km/h that table 2-3 and table 2-4 gives m order of classes or grades at school bus rapid transit 1 bus at speed limit Time corresponding execution timetable.Described execution timetable is exactly that the running time in described schedule plan is scaled correspondence Beijing moment, other Information invariabilities.For the quick public transport vehicle of each order of classes or grades at school, it is thus achieved that the method performing timetable is equal Said method can be used.If bus rapid transit 1 bus of the n-th order of classes or grades at school is 13:30:00 from starting station moment, m order of classes or grades at school Bus rapid transit 1 bus go out moment from the starting station be 13:45.
The schedule plan of the n-th corresponding for table 2-1 60km/h No. 1 bus rapid transit route of order of classes or grades at school
The starting station: terminus, the De Mao village: Qianmen
The schedule plan of No. 1 bus rapid transit route of the n-th corresponding for table 2-2 30km/h order of classes or grades at school
The starting station: terminus, the De Mao village: Qianmen
The schedule plan of No. 1 bus rapid transit route of m order of classes or grades at school corresponding for table 2-3 60km/h
The starting station: terminus, the De Mao village: Qianmen
The schedule plan of No. 1 bus rapid transit route of the m order of classes or grades at school that table 2-4 30km/h is corresponding
The starting station: terminus, the De Mao village: Qianmen
In such scheme in the present embodiment, be by a certain bar public bus network all websites between information all preserve To same schedule plan and execution timetable.Reality perform during, it is also possible to select each two adjacent sites it Between a schedule plan is set, during the execution then obtaining between not two stations according to the schedule plan between each two station Carve table.When actual motion, between each two station run quick public transport vehicle all according to when set out in advance to make arrangements corresponding to execution time Quarter, table ran.Its principle is identical, and this does not describes in detail.
And in the scheduling process to quick public transport vehicle, in real time by the longitude and latitude of the quick public transport vehicle under current time Information (XD, YD) reference position information (X performed in timetable that is currently executing with this order of classes or grades at school quick public transport vehiclei, Yi) Carry out comparison one by one, it is judged that whether quick public transport vehicle current location is at a certain approach website.If it is need to judge quickly Whether public transit vehicle difference between the berthing time and benchmark berthing time of this website exceedes the adjustable thresholds of setting.With As a example by station, the Jiu Jing village, if the benchmark berthing time of regulation is 45 seconds, from the time required for station, the Jiu Jing village to bright red raft of pontoons station It is divided into 2 minutes, sets adjustable time threshold as the 30% of this time interval, i.e. 36 seconds.If owing to the people that gets on the bus at this station Number is more, and its berthing time is 1 minute, i.e. extends 15 seconds, within 15 seconds, is less than 36 seconds, now it is believed that from station, the Jiu Jing village to Reaching in the driving process at bright red raft of pontoons station, driver can make quick public transport vehicle normally according to performing the moment by suitably acceleration Table row is sailed, then without modifying execution timetable.If the berthing time at this station be 1 point 30 seconds, i.e. extend 45 seconds, Exceed adjustable thresholds 36 seconds, now it is believed that in from station, the Jiu Jing village to the driving process at bright red raft of pontoons station, driver It is quick public transport vehicle cannot to be made to travel according to performing timetable by acceleration, needs execution timetable is modified.Amendment Principle be: the reference instant performed in timetable is all adjusted to Ti+K-Kj.But, due to the quick public transport of different order of classes or grades at school Departing time interval between and the time interval arriving each approach station are pre-set, if therefore n-th class The execution timetable of secondary quick public transport vehicle there occurs change, quick with n order of classes or grades at school in order to ensure the quick public transport vehicle of m order of classes or grades at school The time interval of public transit vehicle is 15 minutes, then the reference instant performed in timetable of the quick public transport vehicle of m order of classes or grades at school also should This is adjusted to Ti+K-Kj.During reality performs, can be to adjust the quick public transport vehicle performing timetable at first as base Standard, is adjusted successively to the execution timetable that the quick public transport vehicle of other order of classes or grades at school is corresponding.If the i.e. the 4th order of classes or grades at school is quick public Hand over car need to carry out above-mentioned adjustment at first, the most successively to the 5th order of classes or grades at school, the 6th order of classes or grades at school, the 7th order of classes or grades at school ... quick public transport vehicle enter Row sum-equal matrix, to ensure that the quick public transport vehicle of adjacent two order of classes or grades at school arrives the same time interval by way of website.Each order of classes or grades at school Quick public transport vehicle all travels according to the execution timetable after updating.
As a example by table 2-1, it is assumed that the quick public transport vehicle of the n-th order of classes or grades at school is led too much from station, the Jiu Jing village due to the passenger got on or off the bus The cause dwell time is 45 seconds, has exceeded 36 seconds, has the most now been adjusted table 2-1, has been adjusted to table 2-5.
The schedule plan of the n-th No. 1 bus rapid transit route of order of classes or grades at school that table 2-5 is corresponding for 60km/h after adjusting
The starting station: terminus, the De Mao village: Qianmen
And the time interval between the quick public transport vehicle of the quick public transport vehicle of m order of classes or grades at school and the n-th order of classes or grades at school is 15 minutes, Therefore the current execution instant table of the quick public transport vehicle of m order of classes or grades at school is adjusted to table 2-6 by table 2-3.
The schedule plan of No. 1 bus rapid transit route of m order of classes or grades at school that table 2-6 is corresponding for 60km/h after adjusting
The starting station: terminus, the De Mao village: Qianmen
Benchmark for table 2-6, between the position that the quick public transport vehicle of m order of classes or grades at school is currently located to station, the Jiu Jing village In the moment, it is adjusted based on the reference instant at station, the Jun Yijiujing village.Thus, it is possible to after showing that the n-th order of classes or grades at school and m order of classes or grades at school adjust Execution timetable, the execution timetable of the quick public transport vehicle of other order of classes or grades at school is adjusted the most in this manner simultaneously.For The quick public transport vehicle of each order of classes or grades at school, is all scheduling according to the execution timetable after adjusting.
Such as when current time T is 14:09:58, detect that the position coordinates of the quick public transport vehicle of the n-th order of classes or grades at school is (XD, YD), reference position in execution timetable corresponding with 60km/h speed limit for quick public transport vehicle current position coordinates is carried out Comparison one by one, find the reference position nearest with current quick public transport vehicle positional distance be longitude be Xn, latitude value is Yn, obtain T fiducial time that this position is correspondingDFor 14:10:00.It should be noted that the quick public transport vehicle under current time Position coordinates, upon execution table at quarter may can find the most essentially equal reference position information.But it is most of In the case of, it is upon execution table at quarter cannot to find the reference position the most corresponding with quick public transport vehicle current location information Information, the most just according to described above, sit with current time quick public transport vehicle position from performing timetable is searched The reference position that subject distance is nearest, it is believed that this closest reference position is exactly the current location of quick public transport vehicle.Relatively Position coordinates (the X of the quick public transport vehicle under current time T and current timeD, YDCorresponding to) reference instant TD: T ≠ TD, now need within the time of regulation, make the actual current location of the current time of quick public transport vehicle, with the execution moment The reference position corresponding to current time in table coincides.The time of regulation described herein is described in the present embodiment Time adjusts threshold value TH.Choose according to practical situation, such as, can be chosen as 3S, 5S etc..This time is selected to adjust threshold value Time to consider to ensure the traveling-position of quick public transport vehicle as early as possible with perform the position of regulation in timetable and overlap, but want simultaneously Considering the size of present deviation value, when deviation value is bigger, this time adjusts threshold value and can select bigger value, when deviation is less Suitably can also be adjusted threshold value the time to reduce, the travel speed after adjusting in view of quick public transport vehicle the most again can not surpass Cross the speed limit in this section.
In order to make the above-mentioned situation described in the present embodiment become apparent from, illustrate in conjunction with Fig. 3 and Fig. 4.
As it is shown on figure 3, each point represents a reference position, reference position corresponding for current time T is set as (XI, YI), corresponding benchmark mileage is SI；The reference position that actual quick public transport vehicle latitude and longitude information under current time T is corresponding For (XD, YD), corresponding benchmark mileage is SD；Current time T adjusts threshold value T plus the timeHCorresponding reference position is set as (XH, YH), corresponding benchmark mileage is SH.Obviously, as shown in Figure 3 in the case of, current time T quick public transport vehicle actual bit Putting corresponding reference position and benchmark mileage answers corresponding reference position and benchmark mileage advanced than current time in timetable. Its traveling-position overlaps with the traveling-position performed in timetable to assume to require quick public transport vehicle to ensure after 6S, then need Quick public transport vehicle is at time THInterior from reference position (XD, YD) travel to reference position (XH, YH), i.e. its mileage travelled is SH-SD.Therefore, the travel speed required for quick public transport vehicle is VT=(SH-SD)/TH。
Situation shown in Fig. 4 is contrary with situation shown in Fig. 3, for the situation of the delayed traveling of quick public transport vehicle.But from figure It can be seen that want quick public transport vehicle to overlap with execution timetable after the time adjusts threshold value in if, its required row Sail speed still for VT=(SH-SD)/TH。
And once the traveling-position of quick public transport vehicle can overlap to performing the corresponding traveling-position of record in timetable , then can point out and make quick public transport vehicle travel according to the reference speed corresponding to next reference instant.
As one preferred embodiment, in described step S1, S4, the GPS being arranged on front guide-car is used to position mould Block obtains the front latitude and longitude information of guide-car, running time；Before using the OBD module being arranged on front guide-car to obtain, guide-car is real-time Distance travelled and travel speed.
In described step S1, S3, the GPS locating module being arranged on quick public transport vehicle is used to obtain quick public transport vehicle Latitude and longitude information, running time；The OBD module being arranged on quick public transport vehicle is used to obtain quick public transport vehicle real-time Distance travelled and travel speed.
In described step S312, S313, use the side of the LCDs display word being arranged on quick public transport vehicle Quick public transport vehicle driver is pointed out by formula.
In described step S312, S313, the Audio Players being arranged on quick public transport vehicle is used to play the side of voice Quick public transport vehicle driver is pointed out by formula.
Embodiment 2
The present embodiment provides a kind of accident precisely to dispatch the system of quick public transport vehicle when occurring, as in figure 2 it is shown, bag Include:
First device, the schedule plan in the case of generating different speed limit, specifically include:
Data capture unit: according to different speed limit Vxi, utilize fast public transit vehicle along bus rapid transit route with reality in advance Border run time each of speed limit travel respectively one time, under various speed limits travel during, each second all records such as Lower running data: the latitude and longitude information (X of quick public transport vehiclei,Yi), running time Ti, distance travelled Si, travel speed Vi, with And at each berthing time K by way of websitej。
Schedule plan signal generating unit: generate various speed limit VxiUnder multiple schedule plans, each speed limit is corresponding Schedule plan in record in the starting station of bus rapid transit route, approach station, terminus, and described data capture unit every Second obtain described running data, the latitude and longitude information (X of wherein said quick public transport vehiclei,Yi) as reference position, institute State running time TiAs fiducial time, described distance travelled SiAs benchmark mileage, described travel speed ViAs benchmark speed Degree, described berthing time KjAs benchmark berthing time, wherein the fiducial time corresponding to the starting station is " 0s ", corresponding benchmark Speed is speed of setting out.
Second device: for the quick public transport vehicle of each order of classes or grades at school, generate the execution timetable under different speed limit, tool Body includes:
First extraction unit: transfer the different speed limit V obtained in described first devicexiCorresponding schedule plan.
Perform timetable signal generating unit: require and each according to the moment of setting out of the quick public transport vehicle of each order of classes or grades at school The due in requirement that berthing time by way of station requires and reaches terminal, by difference speed limit VxiCorresponding schedule plan In the different speed limit V being sequentially adjusted in the quick public transport vehicle for obtaining this order of classes or grades at school after corresponding reference instant fiducial timexi Corresponding execution timetable, what each of which speed limit was corresponding perform, and the moment corresponding to the timetable starting station is the moment of setting out.
3rd device: for quick public transport vehicle and the execution timetable of correspondence thereof of each order of classes or grades at school, generates schedule information And real-time judge quick public transport vehicle process, specifically include:
Second extraction unit: transfer all different speed limit V obtained in described second devicetiThe corresponding execution moment Table, and obtain the speed limit V of current timeX1。
Instruction issues unit: current time T is equal to the quick public transport vehicle of arbitrary order of classes or grades at school at speed limit VX1Corresponding execution In moment set out the moment time, assign out to the quick public transport vehicle of this order of classes or grades at school immediately and send instructions, the quick public transport of this order of classes or grades at school Set out and according to it at speed limit VX1The speed of setting out of record in timetable that performs travel.
Latitude and longitude information acquiring unit: read the latitude and longitude information (X of the quick public transport vehicle of current time T in real timeD, YD)。
First comparing unit: by the latitude and longitude information (X of the quick public transport vehicle under current timeD, YD) quick with this order of classes or grades at school Reference position information (the X performed in timetable that public transit vehicle is correspondingi, Yi) carrying out comparison one by one, it is judged that quick public transport vehicle is worked as Whether front position is at a certain approach website.
Judging unit: if quick public transport vehicle current location is at a certain approach website, record quick public transport vehicle is on this way The berthing time K of footpath website, with perform record in timetable should be by way of benchmark berthing time K corresponding to websitejCompare, Judge whether to meet K-Kj＜ Kth, it is wherein KthAdjustable thresholds.
First adjustment unit: if being unsatisfactory for K-Kj＜ Kth, by equal for the reference instant performed in timetable of each order of classes or grades at school It is adjusted to Ti+K-Kj, execution timetable after being updated；The quick public transport vehicle of each order of classes or grades at school is all according to the execution after updating Timetable travels.
Second adjustment unit: if meeting K-Kj＜ Kth, by the quick public transport vehicle latitude and longitude information under current time (XD, YD) be respectively associated to quick public transport vehicle at different speed limit VxiUnder execution timetable in, by each execution timetable In with (XD, YD) corresponding reference instant is set to TDi。
Second comparing unit: reaffirm the road speed limit V under current timeX2, compare the road under current time in real time Road speed limit VX2With speed limit VX1The most identical.
First processing unit: work as VX2With VX1Time identical, the road speed limit V that will be carrying outX1Corresponding execution timetable In TDiIt is revised as TD, and extract reference position (X corresponding for current time T in this execution timetableT, YT), at other speed limits VxiCorresponding execution timetable is searched and (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as Current time T.
Second processing unit: work as VX2With VX1Time different, whole order of classes or grades at school quick public transport vehicles are currently executing the moment Table is switched to speed limit VX2Corresponding execution timetable；For the quick public transport vehicle reached terminal at first, obtain it current Time inscribe execution timetable be adjusted to speed limit VX2Corresponding perform timetable after moment reached terminal of updating and Arrive each moment by way of website；And moment reached terminal according to the quick public transport vehicle of other order of classes or grades at school/arrive is each The moment reached terminal of the moment of approach website and the quick public transport vehicle reached terminal at first/arrive each approach station The time interval in the moment of point, it is thus achieved that the moment reached terminal/arrival after the quick public transport vehicle of other order of classes or grades at school adjusts is every In the moment of one approach website, the moment reached terminal/arrival after being adjusted by the quick public transport vehicle of other order of classes or grades at school respectively is every The moment of one approach website is corresponding to corresponding speed limit VX2Under execution timetable in, and by its in each execution timetable His reference instant is adjusted on the basis of the moment in the moment/arrive each approach website reached terminal successively, respectively Speed limit V after the quick public transport vehicle adjustment of other order of classes or grades at schoolX2Corresponding execution timetable.
For the quick public transport vehicle of each order of classes or grades at school, the speed limit V after adjustingX2The corresponding T performed in timetableDi It is revised as TD, and extract reference position (X corresponding for current time T in this execution timetableT, YT), at other speed limits VxiCorresponding Execution timetable in search with (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T。
3rd comparing unit: compare current time T and the quick public transport vehicle latitude and longitude information (X under current timeD, YD) Corresponding reference instant TD。
Information alert unit: work as T=TDTime, prompting quick public transport vehicle is according to performing T in timetableDNext benchmark Reference speed corresponding to moment travels；As T ≠ TDTime, prompting quick public transport vehicle travels according to following speed: VT= (SH-SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THMake quick public transport vehicle latitude and longitude information (X afterwardsD, YD) Corresponding reference instant TDAnd the error between current time T is zero；Wherein SHIt is to adjust threshold with current time T plus the time Value THBenchmark mileage corresponding in table is carved upon execution as fiducial time；SDIt is with quick public transport vehicle latitude and longitude information (XD, YD) benchmark mileage corresponding in table is carved upon execution as reference position.
4th device: for the quick public transport vehicle of each order of classes or grades at school, remembered all in accordance with in corresponding execution timetable The running data of record judges that the latitude and longitude information of quick public transport vehicle is the most identical with the latitude and longitude information of terminus, if identical, Terminate the scheduling of the quick public transport vehicle to this order of classes or grades at school.
In wherein said first device and described 3rd device, the GPS being arranged on quick public transport vehicle is used to position mould Block obtains the latitude and longitude information of quick public transport vehicle, running time；The OBD module being arranged on quick public transport vehicle is used to obtain Distance travelled that quick public transport vehicle is real-time and travel speed.
Further, described Step Information Tip element, use the liquid crystal display screen display being arranged on quick public transport vehicle Show that quick public transport vehicle driver is pointed out by the mode of word.Can also use individually or simultaneously and be arranged at quick public transport Audio Players on is play the mode of voice and is pointed out quick public transport vehicle driver.
The accident provided in the above embodiment of the present invention is precisely dispatched the method for quick public transport vehicle and is when occurring System, when have accident make a difference speed limit time, it is possible in time by quick public transport vehicle from the current execution timetable performed It is switched to the execution timetable of corresponding speed limit.Further, during travelling at quick public transport vehicle, clock is all to often The execution timetable that one speed limit is corresponding adjusts in real time, with ensure all of execution timetable can clock be maintained at One reference position and on fiducial time, so when the execution timetable of quick public transport vehicle switches over, when will not produce Between and position on error, it is possible to realize precisely dispatching quick public transport vehicle when time burst occurs.
It addition, the such scheme in the present invention, according to schedule plan and the moment of setting out of quick public transport vehicle, arrival Moment at approach station and the moment reached terminal obtain performing timetable, and quick public transport vehicle arrives each reference position Moment value be all accurate to showing of second, when quick public transport vehicle position with perform in timetable corresponding to current time Reference position is misaligned, i.e. during lag or lead, it is possible to prompting driver with which kind of speed travels could within the predetermined time Ensure consistent with performing timetable holding.And when the position of quick public transport vehicle is heavy with the reference position performing to specify in timetable Which kind of after conjunction, it is also possible to prompting driver to continue to keep coincidence status future, need with speed to travel.
Further, use the above-mentioned dispatching method can be according to each quick public transport vehicle in dwell time of approach website Determine the need for adjusting and perform timetable, even if owing to dwell time changing value is beyond the threshold range set, it is possible to Immediately execution timetable is modified and ensures that quick public transport vehicle travels according to revised execution timetable, simultaneously can also The different order of classes or grades at school quick public transport vehicle of enough guarantees arrives each time interval by way of website, it is to avoid the most several buses occur Situation about entering the station occurs.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation Property concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to include excellent Select embodiment and fall into all changes and the amendment of the scope of the invention.

Claims (8)

1. the method that an accident precisely dispatches quick public transport vehicle when occurring, it is characterised in that comprise the steps:
S1: generate the schedule plan in the case of different speed limit, specifically includes following steps:
S11: according to different speed limit Vxi, utilize quick public transport vehicle along every with during actual motion of bus rapid transit route in advance A kind of speed limit travels one time respectively, and during travelling under various speed limits, each second all records following running data: fast Latitude and longitude information (the X of speed public transit vehiclei,Yi), running time Ti, distance travelled Si, travel speed Vi, and each by way of station The berthing time K of pointj；
S12: generate various speed limit VxiUnder multiple schedule plans, in the schedule plan that each speed limit is corresponding, record is fast The described running data that in the speed starting station of bus routes, approach station, terminus, and described step S11, each second obtains, its Described in the latitude and longitude information (X of quick public transport vehiclei,Yi) as reference position, described running time TiAs fiducial time, Described distance travelled SiAs benchmark mileage, described travel speed ViAs reference speed, described berthing time KjStop as benchmark By the time, wherein the fiducial time corresponding to the starting station is " 0s ", and corresponding reference speed is speed of setting out；
S2: for the quick public transport vehicle of each order of classes or grades at school, generate the execution timetable under different speed limit, specifically include as follows Step:
S21: transfer the different speed limit V obtained in step S1xiCorresponding schedule plan；
S22: require according to the moment of setting out of the quick public transport vehicle of each order of classes or grades at school and want at each berthing time by way of station The due in requirement that summation is reached terminal, by difference speed limit VxiThe corresponding fiducial time in schedule plan adjusts successively The different speed limit V of the whole quick public transport vehicle for obtaining this order of classes or grades at school after corresponding reference instantxiCorresponding execution timetable, its In the moment corresponding to the timetable starting station of performing corresponding to each speed limit be the moment of setting out；
S3: for quick public transport vehicle and the execution timetable of correspondence thereof of each order of classes or grades at school, generates schedule information real-time judge Quick public transport vehicle process, specifically includes following steps:
S31: transfer all different speed limit V obtained in described step S2xiCorresponding execution timetable, and obtain current time Speed limit VX1；
S32: current time T is equal to the quick public transport vehicle of arbitrary order of classes or grades at school at speed limit VX1Corresponding performs setting out in the moment During the moment, assigning out to the quick public transport vehicle of this order of classes or grades at school immediately and send instructions, the quick public transport of this order of classes or grades at school sets out and according to it At speed limit VX1The speed of setting out of record in timetable that performs travel；
S33: read the latitude and longitude information (X of the quick public transport vehicle of current time T in real timeD, YD)；
S34: by the latitude and longitude information (X of the quick public transport vehicle under current timeD, YD) corresponding with this order of classes or grades at school quick public transport vehicle The reference position information (X performed in timetablei, Yi) carry out comparison one by one, it is judged that whether quick public transport vehicle current location exists A certain approach website, if yes then enter step S35, otherwise enters step S37；
S35: what record quick public transport vehicle recorded in the berthing time K of this approach website, with execution timetable should be by way of station The benchmark berthing time K that point is correspondingjCompare, it may be judged whether meet K-Kj＜ Kth, it is wherein KthAdjustable thresholds, if full Sufficient then enter step S37, if being unsatisfactory for, enter step S36；
S36: the reference instant performed in timetable of each order of classes or grades at school is all adjusted to Ti+K-Kj, execution moment after being updated Table；The quick public transport vehicle of each order of classes or grades at school all travels according to the execution timetable after updating, and is then back to step S33；
S37: by the quick public transport vehicle latitude and longitude information (X under current timeD, YD) be respectively associated to quick public transport vehicle not With speed limit VxiUnder execution timetable in, by each execution timetable with (XD, YD) corresponding reference instant is set to TDi；
S38: reaffirm the road speed limit V under current timeX2, compare the road speed limit V under current time in real timeX2With step The speed limit V obtained in rapid S31X1The most identical；If identical, enter step S39, otherwise enter step S310；
S39: the road speed limit V that will be carrying outX1The corresponding T performed in timetableDiIt is revised as TD, and when extracting this execution Carve reference position (X corresponding for current time T in tableT, YT), at other speed limits VxiCorresponding execution timetable is searched with (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T；
S310: the timetable that is currently executing of whole order of classes or grades at school quick public transport vehicles is switched to speed limit VX2During corresponding execution Carve table；For the quick public transport vehicle reached terminal at first, obtain, under its current time, execution timetable is adjusted to speed limit Value VX2Corresponding perform timetable after moment reached terminal of updating and arrive each moment by way of website；And according to The moment of moment that the quick public transport vehicle of other order of classes or grades at school is reached terminal/arrive each approach website with reach terminal at first The time interval in moment of moment reached terminal/arrive each approach website of quick public transport vehicle, it is thus achieved that other classes Secondary quick public transport vehicle adjust after moment of moment reached terminal/arrive each approach website, respectively by other classes The secondary moment reached terminal after quick public transport vehicle adjustment/arrive the moment correspondence of each approach website to corresponding limit Speed value VX2Under execution timetable in, and by other reference instant in each execution timetable with reach terminal moment/ It is adjusted successively on the basis of arriving the moment of each approach website, after respectively obtaining the quick public transport vehicle adjustment of other order of classes or grades at school Speed limit VX2Corresponding execution timetable；
For the quick public transport vehicle of each order of classes or grades at school, the speed limit V after adjustingX2The corresponding T performed in timetableDiIt is revised as TD, and extract reference position (X corresponding for current time T in this execution timetableT, YT), at other speed limits VxiCorresponding execution Timetable is searched and (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T；
S311: compare current time T and the quick public transport vehicle latitude and longitude information (X under current timeD, YDCorresponding to) base Carve T on timeD:
Work as T=TDTime, enter step S312；
As T ≠ TDTime, enter step S313；
S312: prompting quick public transport vehicle is according to performing T in timetableDThe reference speed row corresponding to next reference instant Sail, enter step S4 afterwards；
S313: prompting quick public transport vehicle travels according to following speed:
VT=(SH-SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THQuick public transport vehicle longitude and latitude is made to believe afterwards Breath (XD, YDReference instant T corresponding to)DAnd the error between current time T is zero；Wherein SHWhen being to add with current time T Between adjust threshold value THBenchmark mileage corresponding in table is carved upon execution as fiducial time；SDIt is with quick public transport vehicle longitude and latitude Degree information (XD, YD) carve benchmark mileage corresponding in table upon execution as reference position, enter step S4 afterwards；
S4: for the quick public transport vehicle of each order of classes or grades at school, perform the traveling number recorded in timetable all in accordance with corresponding It is judged that the latitude and longitude information of quick public transport vehicle is the most identical with the latitude and longitude information of terminus, if differing, return step S31, otherwise terminates the scheduling of the quick public transport vehicle to this order of classes or grades at school.
The method that accident the most according to claim 1 precisely dispatches quick public transport vehicle when occurring, it is characterised in that:
In described step S1, S3, the GPS locating module being arranged on quick public transport vehicle is used to obtain the warp of quick public transport vehicle Latitude information, running time；The OBD module being arranged on quick public transport vehicle is used to obtain the row that quick public transport vehicle is real-time Sail mileage and travel speed.
The method that accident the most according to claim 1 and 2 precisely dispatches quick public transport vehicle when occurring, its feature exists In:
In described step S312, S313, use the mode pair of the LCDs display word being arranged on quick public transport vehicle Quick public transport vehicle driver point out.
The method that accident the most according to claim 3 precisely dispatches quick public transport vehicle when occurring, it is characterised in that:
In described step S312, S313, the Audio Players being arranged on quick public transport vehicle is used to play the mode pair of voice Quick public transport vehicle driver point out.
5. the system of quick public transport vehicle is precisely dispatched in an accident when occurring, it is characterised in that including:
First device, the schedule plan in the case of generating different speed limit, specifically include:
Data capture unit: according to different speed limit Vxi, utilize quick public transport vehicle along bus rapid transit route with reality in advance Speed limit travels one time respectively each of during operation, and during travelling under various speed limits, each second all records as follows Running data: the latitude and longitude information (X of quick public transport vehiclei,Yi), running time Ti, distance travelled Si, travel speed Vi, and At each berthing time K by way of websitej；
Schedule plan signal generating unit: generate various speed limit VxiUnder multiple schedule plans, the meter that each speed limit is corresponding Draw and timetable records each second in the starting station of bus rapid transit route, approach station, terminus, and described data capture unit The described running data obtained, the latitude and longitude information (X of wherein said quick public transport vehiclei,Yi) as reference position, described row Sail time TiAs fiducial time, described distance travelled SiAs benchmark mileage, described travel speed ViAs reference speed, institute State berthing time KjAs benchmark berthing time, wherein the fiducial time corresponding to the starting station is " 0s ", corresponding reference speed For speed of setting out；
Second device: for the quick public transport vehicle of each order of classes or grades at school, generate the execution timetable under different speed limit, specifically wrap Include:
First extraction unit: transfer the different speed limit V obtained in described first devicexiCorresponding schedule plan；
Perform timetable signal generating unit: require and on each way according to the moment of setting out of the quick public transport vehicle of each order of classes or grades at school Through the due in requirement that the berthing time at station requires and reaches terminal, by difference speed limit VxiIn corresponding schedule plan The different speed limit V being sequentially adjusted in the quick public transport vehicle for obtaining this order of classes or grades at school after corresponding reference instant fiducial timexiRight The execution timetable answered, what each of which speed limit was corresponding perform, and moment corresponding to the timetable starting station is the moment of setting out；
3rd device: for quick public transport vehicle and the execution timetable of correspondence thereof of each order of classes or grades at school, generates schedule information reality Time judge quick public transport vehicle process, specifically include:
Second extraction unit: transfer all different speed limit V obtained in described second devicexiCorresponding execution timetable, and Obtain the speed limit V of current timeX1；
Instruction issues unit: current time T is equal to the quick public transport vehicle of arbitrary order of classes or grades at school at speed limit VX1The corresponding execution moment In set out the moment time, assign out to the quick public transport vehicle of this order of classes or grades at school immediately and send instructions, the quick public transport of this order of classes or grades at school sets out And according to it at speed limit VX1The speed of setting out of record in timetable that performs travel；
Latitude and longitude information acquiring unit: read the latitude and longitude information (X of the quick public transport vehicle of current time T in real timeD, YD)；
First comparing unit: by the latitude and longitude information (X of the quick public transport vehicle under current timeD, YD) and this order of classes or grades at school bus rapid transit Reference position information (the X performed in timetable that vehicle is correspondingi, Yi) carry out comparison one by one, it is judged that quick public transport vehicle present bit Whether put at a certain approach website；
Judging unit: if quick public transport vehicle current location is at a certain approach website, record quick public transport vehicle is at this approach station The berthing time K of point, with perform record in timetable should be by way of benchmark berthing time K corresponding to websitejCompare, it is judged that Whether meet K-Kj＜ Kth, it is wherein KthAdjustable thresholds；
First adjustment unit: if being unsatisfactory for K-Kj＜ Kth, the reference instant performed in timetable of each order of classes or grades at school is all adjusted For Ti+K-Kj, execution timetable after being updated；The quick public transport vehicle of each order of classes or grades at school is all according to the execution moment after updating Table row is sailed；
Second adjustment unit: if meeting K-Kj＜ Kth, by the quick public transport vehicle latitude and longitude information (X under current timeD, YD) It is respectively associated to quick public transport vehicle at different speed limit VxiUnder execution timetable in, by each execution timetable with (XD, YD) corresponding reference instant is set to TDi；
Second comparing unit: reaffirm the road speed limit V under current timeX2, compare the road limit under current time in real time Speed value VX2With speed limit VX1The most identical；
First processing unit: work as VX2With VX1Time identical, the road speed limit V that will be carrying outX1In corresponding execution timetable TDiIt is revised as TD, and extract reference position (X corresponding for current time T in this execution timetableT, YT), at other speed limits VxiCorresponding execution timetable is searched and (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as Current time T；
Second processing unit: work as VX2With VX1Time different, the timetable that is currently executing of whole order of classes or grades at school quick public transport vehicles is cut Change to speed limit VX2Corresponding execution timetable；For the quick public transport vehicle reached terminal at first, obtain its current time Lower execution timetable is adjusted to speed limit VX2The moment reached terminal updated after corresponding execution timetable and arrival Each moment by way of website；And the moment reached terminal according to the quick public transport vehicle of other order of classes or grades at school/arrive each approach The moment reached terminal of the moment of website and the quick public transport vehicle reached terminal at first/arrive each approach website The time interval in moment, it is thus achieved that the moment reached terminal after the quick public transport vehicle adjustment of other order of classes or grades at school/arrive each way The moment of footpath website, the moment reached terminal after respectively the quick public transport vehicle of other order of classes or grades at school being adjusted/arrive each way The moment of footpath website is corresponding to corresponding speed limit VX2Under execution timetable in, and by other bases in each execution timetable It is adjusted successively on the basis of the moment in the punctual moment/arrive each approach website carved to reach terminal, respectively obtains it Speed limit V after the quick public transport vehicle adjustment of his order of classes or grades at schoolX2Corresponding execution timetable；
For the quick public transport vehicle of each order of classes or grades at school, the speed limit V after adjustingX2The corresponding T performed in timetableDiIt is revised as TD, and extract reference position (X corresponding for current time T in this execution timetableT, YT), at other speed limits VxiCorresponding execution Timetable is searched and (XT, YT) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T；
3rd comparing unit: compare current time T and the quick public transport vehicle latitude and longitude information (X under current timeD, YD) institute right The reference instant T answeredD:
Information alert unit: work as T=TDTime, prompting quick public transport vehicle is according to performing T in timetableDNext reference instant Corresponding reference speed travels；As T ≠ TDTime, prompting quick public transport vehicle travels according to following speed: VT=(SH- SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THMake quick public transport vehicle latitude and longitude information (X afterwardsD, YD) institute right The reference instant T answeredDAnd the error between current time T is zero；Wherein SHIt is to adjust threshold value T with current time T plus the timeH Benchmark mileage corresponding in table is carved upon execution as fiducial time；SDIt is with quick public transport vehicle latitude and longitude information (XD, YD) Benchmark mileage corresponding in table is carved upon execution as reference position；
4th device: for the quick public transport vehicle of each order of classes or grades at school, perform recorded in timetable all in accordance with corresponding Running data judges that the latitude and longitude information of quick public transport vehicle is the most identical with the latitude and longitude information of terminus, if identical, ties Restraint the scheduling of the quick public transport vehicle to this order of classes or grades at school.
The system of quick public transport vehicle is precisely dispatched in accident the most according to claim 5 when occurring, it is characterised in that:
In described first device and described 3rd device, the GPS locating module being arranged on quick public transport vehicle is used to obtain fast The speed latitude and longitude information of public transit vehicle, running time；The OBD module being arranged on quick public transport vehicle is used to obtain bus rapid transit Distance travelled that vehicle is real-time and travel speed.
7. precisely dispatching the system of quick public transport vehicle according to the accident described in claim 5 or 6 when occurring, its feature exists In:
Described information alert unit, uses the mode of the LCDs being arranged on quick public transport vehicle display word to quickly Public transit vehicle driver point out.
The system of quick public transport vehicle is precisely dispatched in accident the most according to claim 7 when occurring, it is characterised in that:
Described information alert unit, uses the Audio Players being arranged on quick public transport vehicle to play the mode of voice to quickly Public transit vehicle driver point out.
CN201410460942.8A 2014-09-11 2014-09-11 The method and system of quick public transport vehicle are precisely dispatched in accident when occurring Active CN104599489B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410460942.8A CN104599489B (en) 2014-09-11 2014-09-11 The method and system of quick public transport vehicle are precisely dispatched in accident when occurring

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410460942.8A CN104599489B (en) 2014-09-11 2014-09-11 The method and system of quick public transport vehicle are precisely dispatched in accident when occurring

Publications (2)

Publication Number Publication Date
CN104599489A CN104599489A (en) 2015-05-06
CN104599489B true CN104599489B (en) 2016-09-14

Family

ID=53125234

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410460942.8A Active CN104599489B (en) 2014-09-11 2014-09-11 The method and system of quick public transport vehicle are precisely dispatched in accident when occurring

Country Status (1)

Country Link
CN (1) CN104599489B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105261208B (en) * 2015-09-30 2017-11-21 苏州大学 A kind of speed of operation control method for suppressing urban transit bus bunching
JP7100827B2 (en) * 2019-02-27 2022-07-14 トヨタ自動車株式会社 Operation control device and operation control method
CN112419705B (en) * 2020-11-06 2021-10-19 杭州图软科技有限公司 Public transit intelligent dispatching system based on big data
CN112598177B (en) * 2020-12-22 2023-10-24 北京市地铁运营有限公司 Urban rail transit emergency online passenger flow prediction and simulation system
CN116772895B (en) * 2023-08-25 2023-11-03 北京三岭基业科技发展有限公司 Method and system for acquiring current running mileage and speed by rail transit

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0219859B1 (en) * 1985-10-25 1993-10-06 Mitsubishi Denki Kabushiki Kaisha Route bus service controlling system
JP2002249049A (en) * 2001-02-26 2002-09-03 Nippon Signal Co Ltd:The Traffic control device
KR100535401B1 (en) * 2003-11-19 2005-12-08 기아자동차주식회사 Method of providing a traveling time using navigation
EP1901037B1 (en) * 2006-09-13 2018-02-14 Continental Automotive GmbH Method for determining driving time
CN103426297B (en) * 2012-05-18 2015-09-09 李志恒 Bus rapid transit dispatching system and the method for second can be accurate to when weather or road conditions sudden change
CN103426298B (en) * 2012-05-18 2015-09-09 李志恒 The bus rapid transit being accurate to second arrives at a station information issuing system and method
CN103426299B (en) * 2012-05-18 2015-09-09 李志恒 Utilize windshield to project and carry out the system and method for bus rapid transit scheduling
CN103426300B (en) * 2012-05-18 2015-09-09 李志恒 Improve the system and method for bus rapid transit scheduling accuracy
CN103426296B (en) * 2012-05-18 2015-07-01 李志恒 System and method using windscreen projection to increase accuracy of bus rapid transit scheduling
CN103426301B (en) * 2012-05-18 2015-09-09 李志恒 A kind of bus rapid transit dispatching system and method that can be accurate to second

Also Published As

Publication number Publication date
CN104599489A (en) 2015-05-06

Similar Documents

Publication Publication Date Title
CN104599489B (en) The method and system of quick public transport vehicle are precisely dispatched in accident when occurring
CN104574945B (en) The quick public transport vehicle command dispatching system when the dwell time changes and method
CN105466440B (en) Utilize the navigation device of weather forecast information path optimizing, system and method
CN108241623B (en) Automatic assignment method and device, electronic map intelligent production system and navigation equipment
CN100472178C (en) Navigation apparatus
CN106289296A (en) A kind of method and apparatus of road guide
CN106092113B (en) Pre- travel Prediction System, method, navigation client and server
CN106289295A (en) The vehicle follower method of a kind of self-driving travel and device
CN106323322A (en) Intelligent optimizing method for vehicle navigation route
CN1837752A (en) Vehicular navigation system
CN103426297A (en) System and method for enabling bus rapid transit dispatch to be corrected to seconds at time of sudden change of weather or road condition
CN107543554A (en) A kind of navigation way determines method and device
CN107749163A (en) The methods of exhibiting and device of a kind of vehicle driving trace
CN106767863A (en) A kind of method and system of share-car trip route navigation
CN103426302B (en) Transfer station bus rapid transit compartment transfer information release system and release method
CN106980129A (en) A kind of movement locus comparison method based on position encoded map
CN103426301A (en) Rapid bus dispatching system and method capable of being accurate to seconds
CN101097137A (en) Navigation system for regulating paths planning according time characteristic
CN107293142A (en) Transport information active push method and system based on LBS
CN102945261A (en) One-button target search optimization method for intelligent vehicle-mounted information service terminal
CN101169331B (en) Vehicular navigation device using tri-dimensional picture
CN104574946B (en) A kind of quick public transport vehicle transfer information compartment dissemination method and system
JP2013054075A (en) Speech recognition device, speech recognition method, and speech recognition program
CN101169330B (en) Vehicular navigation device using single branched graph
EP2156142B1 (en) Method and arrangement for displaying route guidance instructions

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant