CN113516866A - Bus punctual arrival scheduling method under integration of intelligent networking technology - Google Patents

Bus punctual arrival scheduling method under integration of intelligent networking technology Download PDF

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CN113516866A
CN113516866A CN202110465364.7A CN202110465364A CN113516866A CN 113516866 A CN113516866 A CN 113516866A CN 202110465364 A CN202110465364 A CN 202110465364A CN 113516866 A CN113516866 A CN 113516866A
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CN113516866B (en
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耿亚南
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Dalian University of Technology
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/081—Plural intersections under common control
    • G08G1/083—Controlling the allocation of time between phases of a cycle

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Abstract

The invention belongs to the technical field of traffic scheduling, and relates to a bus punctuality arrival scheduling method under the fusion of an intelligent networking technology, which fully considers the influence of cross traffic flow at an intersection on a control strategy and is mainly used for intelligent scheduling of urban bus operation. The invention can reduce the influence on the traffic efficiency of the crossroad in the transverse and longitudinal directions, solves the problems of the bus and the signal lamp cooperative optimization control and the real-time speed regulation and control in a complex traffic flow environment, and is used for improving the punctuality and the reliability of the bus arrival.

Description

Bus punctual arrival scheduling method under integration of intelligent networking technology
Technical Field
The invention belongs to the technical field of traffic scheduling, and relates to a bus punctual arrival scheduling method under the fusion of intelligent networking technology.
Background
With the gradual increase of the number of automobiles, the urban traffic jam problem becomes more serious day by day, and in order to relieve traffic pressure, the state strongly advocates traffic modes such as preferential public travel. Urban public transport is an important infrastructure related to welfare of the people, and public transport service plays an important role in daily life of residents.
In order to better provide bus service, a bus operation unit provides various convenience measures, such as displaying bus real-time positioning on a platform display screen, a mobile phone APP and other terminals, and prompting the bus arrival distance and prediction time. However, buses are often influenced by social vehicles and often cannot arrive at the station on time, for a bus company, the bus service level evaluation of passengers on the city bus is directly influenced by whether the buses can arrive at the station on time or not, and if the buses can arrive at the station on time and send out according to the point like high-speed rails and airplanes, the bus passengers can plan the travel time more reasonably. Therefore, the influence of factors such as the whole traffic efficiency is comprehensively considered, so that the bus can accurately arrive at the station according to the established operation schedule, and the method has very important significance and research value.
The expert scholars at home and abroad propose various solutions, such as measures of priority traffic passing at intersections, arrival time prediction and the like, but at present, the methods all aim at optimizing the passing efficiency of the intersections, influence of the priority traffic passing on the overall passing efficiency of the intersections is not considered, the absolute priority passing right of the buses is directly given, and new traffic jam is easily caused.
Patent CN103854495A provides a single priority control method of trunk line public transport vehicle based on operation timetable, it is through gathering the relevant data of public transport trunk line operation and tentatively confirming the public transport operation timetable to formulate the signal timing scheme along the public transport trunk line, after the public transport operation, according to next station to station distance and timetable, real-time adjustment operation speed, guarantee that the public transport all meets the green light at every crossing. When a red light is encountered, if the bus running is earlier than the set value of the bus schedule, no operation is performed; if the bus runs later than the set value of the bus schedule, the bus immediately provides a priority request, and the signal lamp responds to the demand in real time and gives the bus priority right of passage. In the method, the influence of signal priority on the whole traffic state of the intersection is not fully considered, wherein when the bus encounters a red light and is later than a time schedule, the signal lamp directly gives the priority right to the bus, the traffic jam of the transverse road is easily caused, and the whole traffic efficiency is reduced.
Disclosure of Invention
In a city bus operation system, aiming at the problem of unreliable bus arrival time, the invention discloses a bus punctual arrival scheduling method under the fusion of intelligent networking technology, which fully considers the influence of cross traffic flow at an intersection on a regulation and control strategy and is mainly used for intelligent scheduling of city bus operation. The invention can reduce the influence on the traffic efficiency of the crossroad in the transverse and longitudinal directions, solves the problems of the bus and the signal lamp cooperative optimization control and the real-time speed regulation and control in a complex traffic flow environment, and is used for improving the punctuality and the reliability of the bus arrival.
The technical scheme of the invention is as follows:
a bus arrival scheduling method based on integration of intelligent networking technologies comprises the following steps:
step 1, data acquisition
The method comprises the steps of firstly, collecting historical running environment data of the bus, wherein the historical running environment data comprises vehicle states, intersection traffic flow, the number of passengers waiting at a platform, road attributes and signal lamp timing. The vehicle state data is collected by a vehicle networking interconnection terminal (Icard) end through a CAN bus, forwarded to an On Board Unit (OBU), and uploaded to a background data center by using a 5G wireless network, wherein the vehicle state data comprises a vehicle positioning LiAnd the running vehicle speed viEtc.; the traffic flow at the intersection is counted by adopting a wireless geomagnetic vehicle detector, and the traffic flow at the intersection comprises the number of transverse and longitudinal vehicles at the intersection, wherein the transverse traffic flow
Figure BDA0003043588090000021
Longitudinal traffic flow
Figure BDA0003043588090000022
The traffic data are uploaded to a background data center through a 5G network; the number of waiting passengers at the platform is counted by a platform passenger flow statistical instrument, and the riding time T of the platform is predicted according to the number of waiting passengersi(ii) a The road attribute includes the number of intersections NiRoad speed limit VmaxEtc.; the signal lamp timing information is forwarded to a road side communication unit (RSU) through a signal lamp controller, the timing information is uploaded to a data center through a 5G network, and meanwhile the RSU and the OBU are directly connected through vehicle-road cooperation V2X communication, and vehicle end and road section data are shared.
Step 2, correcting the operation timetable
The operation timetable of the bus foundation can be obtained from an operation unit, the basic operation timetable is corrected by adopting a sectional type average time error statistics method, the accurate bus operation timetable is finally determined, the accurate bus operation timetable comprises bus arrival time, bus stop waiting time and departure time, and meanwhile, the bus stop position is marked, and the implementation steps are as follows:
(2.1) dividing the operation line into a plurality of driving intervals according to the station: L1-L2, L2-L3, paragraph …;
(2.2) extracting a statistical sample from a background data center, namely the time of the bus arriving at each station, wherein the acquisition period is not less than 1 week, and the time coverage comprises 6:00 early to 21:00 late;
(2.3) processing and analyzing the historical statistical data obtained in the step 1, and calculating the average time consumption of the adjacent stations within each hour;
(2.4) calculating the arrival time of each station according to the departure time of the first bus at the first station,
Figure BDA0003043588090000031
Figure BDA0003043588090000032
based on the arrival time, Δ tnIndicating the travel time between the two stations,
Figure BDA0003043588090000033
the accurate arrival time of the bus for the next station is obtained;
step 3, regulating and controlling the vehicle speed and the signal lamp timing in real time
(3.1) the bus starts according to the operation schedule corrected in the step 2, and the time of the bus starting station and the bus arrival station of the 1 st shift is
Figure BDA0003043588090000034
The departure time is
Figure BDA0003043588090000035
After the bus leaves the station, immediately judging whether the bus passes through the intersection before reaching the 2 nd stationAn intersection, i.e. a pure driving road section which does not need to pass through a signal lamp;
(3.2) if the bus does not pass through the intersection before reaching the 2 nd station, measuring the distance S between the bus and the station according to the real-time positioning of the bus1And calculating the induced vehicle speed v0Reminding a driver to drive according to the suggested speed through a vehicle instrument or a vehicle-mounted voice system;
Figure BDA0003043588090000036
wherein, T0Is the current time;
(3.3) if the bus passes through the signal lamp before reaching the 2 nd stop, predicting the arrival time T of the bus in real timeZ：
TZ＝Ta+Tb+Tc: wherein T isaTo predict arrival at intersection time, TbTo predict signal lamp latency, TcThe driving time after crossing;
(3.3-1) if
Figure BDA0003043588090000041
Figure BDA0003043588090000042
And (3) the difference between the arrival time of the schedule and the predicted arrival time is represented by a formula, the arrival time of the bus is the same as the arrival time of the schedule at the 2 nd station, and the bus runs according to the set speed without adjusting the timing of signal lamps.
(3.3-2) if
Figure BDA0003043588090000043
The bus arrival time is less than the time of arriving at the 2 nd station, and the bus will arrive at the station in advance when running according to the existing state, and the running time of the bus on the road section needs to be prolonged, and the main modes are two types: the red light timing is prolonged or the vehicle speed is reduced. In order to reduce the influence of the regulation and control measures on the traffic efficiency of the intersection, the state of a signal lamp when the bus runs at the existing speed and arrives at the intersection needs to be judged.
(3.3-2-1) if the bus is at a green light when arriving at the intersection, the bus normally passes through the intersection, enters a pure driving road section after passing through the intersection, and the driving speed is adjusted according to the step (3.2), so that the speed of the bus cannot be lower than 10km/h, and traffic jam is avoided;
(3.3-2-2) if the bus reaches the intersection, the bus is in red light, and the waiting time is Tb(ii) a Selecting and executing different adjustment strategies according to the longitudinal traffic flow collected in real time;
(3.3-2-2-1) when the longitudinal traffic flow is more than 30, namely the traffic flow is larger; the state of a signal lamp is not adjusted, the road enters a pure driving section through the intersection after the signal lamp is turned to green, and the driving speed is reduced according to the step (3.2);
(3.3-2-2-2) when the longitudinal traffic flow is equal to (20,30), namely the traffic flow is moderate; the speed of the vehicle can be reduced after passing through the intersection, the running time is prolonged, and the delta T during red light timing is prolongedbTo make up for the time difference of the early arrival:
ΔTbcalculated from longitudinal traffic flow, Δ Tb＝(30-CFlow rate of vehicle)*t0In which C isFlow rate of vehicleIndicates the traffic flow at the current intersection, t0When the vehicle passes through the intersection;
and (5) after the green light is changed, entering a pure driving road section through the intersection, and reducing the driving speed according to the step (3.2).
(3.3-2-2-3) longitudinal traffic flow<20 hours, namely the traffic flow is small, and the red light time of a signal lamp is prolonged to
Figure BDA0003043588090000051
Making up the time difference of entering the station in advance, entering a pure driving road section through the intersection when the lamp is green, and driving at the preset speed, wherein the step (3.2) can be specifically executed;
(3.3-3) if
Figure BDA0003043588090000052
The predicted bus arrival time is greater than the time of arriving at the 2 nd station, the bus is driven according to the existing state to arrive at the station at a later point, the driving time of the bus on the road section needs to be reduced, and the main modes are two types: reduce the red light timing or increase the vehicle speed. In order to reduce the influence of regulation and control measures on the traffic efficiency of the intersection, judgment is neededThe existing speed is driving, and the state of a signal lamp is when a bus arrives at an intersection.
(3.3-3-1) if the bus is at a green light when reaching the intersection, the vehicle normally passes through the intersection, and enters a pure driving road section after passing through the intersection, the driving speed is increased according to the step (3.2), and the speed of the vehicle cannot be higher than the road speed limit;
(3-3-2) if the bus is red when arriving at the intersection, the waiting time is Tb(ii) a Selecting and executing different adjustment strategies according to the longitudinal traffic flow collected in real time;
(3.3-3-2-1) when the transverse traffic flow is more than 30, namely, the traffic flow is larger. The state of a signal lamp is not adjusted, the road enters a pure driving section through the intersection after the signal lamp is turned to green, and the driving speed is increased according to the step (3.2);
and (3.3-3-2-2) when the transverse traffic flow is equal to (20,30), namely the traffic flow is moderate. The vehicle speed can be increased after the crossing to shorten the running time and properly shorten the delta T during the red light distributionbTo make up for the time difference of the early arrival:
ΔTbcalculated from the lateral traffic flow, Δ Tb＝(30-CFlow rate of vehicle)*t0In which C isFlow rate of vehicleIndicates the traffic flow at the current intersection, t0When the vehicle passes through the intersection;
and (5) after the green light is changed, entering a pure driving road section through the intersection, and reducing the driving speed according to the step (3.2).
(3.3-3-2-3) transverse traffic flow<When 20 stations, namely the traffic flow is small, the red light time of the signal lamp is shortened to
Figure BDA0003043588090000053
Making up the time difference of entering the station in advance, entering a pure driving road section through the intersection when the lamp is green, and driving at the preset speed, wherein the step (3.2) can be specifically executed;
(3.4) after the bus arrives at the 2 nd station, the bus is dispatched according to a preset time schedule, the scheduling processes of (3.1) - (3.3) are continuously executed, the time of arriving at the 3 rd station is judged, and the adjustment strategy in (3.3-2-2) is executed in real time; and the arrival time of the later station is analogized in turn.
The invention has the beneficial effects that:
the invention has practical significance in practical application to urban bus operation scheduling, and can effectively improve the punctuality and reliability of bus arrival under the condition of not obviously influencing the traffic efficiency of the whole intersection. The method comprises the steps of analyzing the existing running state of the bus, comparing an operation schedule with a predicted bus arrival time error, and selectively executing different scheduling strategies including dynamic speed adjustment and signal lamp timing adjustment by combining traffic flow at an intersection. The field test result shows that the punctuality of the bus arrival can be obviously improved by the method.
Drawings
FIG. 1 is a schematic diagram of the basic framework of the process of the present invention.
Fig. 2 is a schematic diagram of the adjustment strategy in step 3 of the method of the present invention.
Fig. 3 is a schematic diagram of an operation line in the embodiment.
Detailed Description
The following further describes a specific embodiment of the present invention with reference to the drawings and technical solutions.
One of the sections of the B1 public transportation routes in zheng city is taken as an example, which includes 4 public transportation stations and 2 intersections, as shown in the schematic diagram 3.
The flow realized by the method provided by the invention comprises three parts: the basic framework is shown in figure 1 when environmental data are collected, an operation schedule is corrected, the vehicle speed is regulated and controlled in real time, and signal lamp timing is carried out.
1 collecting environmental data
The method comprises the steps of collecting environmental data influencing bus operation, wherein the environmental data mainly comprise vehicle states, intersection traffic flow, the number of passengers waiting at a platform, road attributes, signal lamp timing and the like. And the acquired data are respectively uploaded to a data center of public transport operation for real-time monitoring and analysis.
2 correcting bus running time table
The running schedule of the bus foundation can be acquired by a bus operation unit, the basic operation schedule is corrected by adopting a sectional average time error statistics method, an accurate bus operation schedule is finally determined, specifically the arrival time and departure time of the bus, and the positions of all stations are marked.
TABLE 1 statistical table of historical data between sites
Time period L1-L2 (seconds) L2-L3 (seconds) L3-L4 (seconds)
6:00-7:00 112 197 152
7:00-8:00 130 210 167
9:00-10:00 135 216 170
10:00-11:00 120 200 164
11:00-12:00 120 196 150
12:00-13:00 118 196 153
13:00-14:00 120 198 157
14:00-15:00 122 200 154
15:00-16:00 125 203 160
17:00-18:00 132 212 168
18:00-19:00 131 219 174
19:00-20:00 127 203 164
20:00-21:00 125 195 158
The arrival time of the next station is calculated according to the departure time,
Figure BDA0003043588090000071
Figure BDA0003043588090000072
based on the arrival time, Δ tnIndicating the travel time between the two stations,
Figure BDA0003043588090000073
the accurate arrival time of the bus for the next station is obtained;
three typical time periods of morning and evening peaks and midday peak are selected, the bus arrival time is corrected according to a basic operation schedule, the arrival time of each shift in the basic schedule at the L1 station is known, the travel time between the stations in the desired time period is selected according to a comparison table 1, and the accurate arrival time can be calculated, as shown in a table 2:
TABLE 2 accurate bus operation timetable
Figure BDA0003043588090000074
3 real-time regulation and control of running vehicle and signal lamp timing
Taking class 1 as an example, a bus departs from a station L1 according to an accurate operation time (7:10), a bus operation data center predicts bus arrival time according to information such as the running state of the bus, the traffic flow at an intersection and the like monitored in real time in the driving process by combining the current speed of the bus, signal lamp timing and the distance to the station, and regulates and controls in real time, wherein the specific flow is shown in figure 2:
(1) after the bus leaves the L1 station, the judgment is madeThe distance S between the station and the bus is measured according to the real-time positioning of the bus without passing through the intersection in the process of arriving at the L2 station1And calculating the induced vehicle speed v0Reminding a driver to drive according to the suggested speed through a vehicle instrument or a vehicle-mounted voice system;
Figure BDA0003043588090000081
wherein, T0As the current time of day, the time of day,
Figure BDA0003043588090000082
the arrival time is accurate;
(2) after the bus departs from the L2 station, the L3 station that judges arrives needs to pass through the signal lamp, combines the current speed, position and signal lamp timing, and judges the L3 station time of arriving:
(2-1) if the bus waypoint (7:15:50) arrives at the L3 stop, no scheduling policy may be executed,
(2-2) if the predicted arrival time is earlier than 7:15:50, the bus travel time needs to be prolonged:
(2-2-1) if the bus is a green light when arriving at the intersection, entering a pure driving section after normally passing through the intersection without adjusting the timing of the traffic light, and adjusting the speed of the bus according to the step (1).
(2-2-2) if the bus reaches the intersection, the bus is in red light, and the waiting time of the red light is Tb(ii) a Selecting and executing different adjustment strategies according to the longitudinal traffic flow collected in real time;
(2-2-2-1) when the longitudinal traffic flow is more than 30, namely the traffic flow is larger; the state of a signal lamp is not adjusted, the road enters a pure driving road section through the intersection after the signal lamp is turned to green, and the driving speed is reduced according to the step (1);
(2-2-2-2) when the longitudinal traffic flow is (20,30), namely the traffic flow is moderate; the speed of the vehicle can be reduced after passing through the intersection, the running time is prolonged, and the delta T during red light timing is prolongedbTo make up for the time difference of the early arrival:
ΔTbcalculated from longitudinal traffic flow, Δ Tb＝(30-CFlow rate of vehicle)*t0In which C isFlow rate of vehicleTo representCurrent intersection traffic flow, t0When the vehicle passes through the intersection;
and (4) after the green light is changed, entering a pure driving road section through the intersection, and reducing the driving speed according to the step (1).
(2-2-2-3) longitudinal traffic flow<20 hours, namely the traffic flow is small, and the red light time of a signal lamp is prolonged to
Figure BDA0003043588090000083
Making up the time difference of entering the station in advance, entering a pure driving road section through the intersection when the lamp is green, and driving at the preset speed, wherein the step (1) can be specifically executed;
(2-3) if the predicted arrival time is later than 7:15:50, shortening the bus travel time:
(2-3-1) if the bus is at a green light when arriving at the intersection, the vehicle normally passes through the intersection, and enters a pure driving road section after passing through the intersection, the driving speed is increased according to the step (1), and the speed of the vehicle cannot be higher than the road speed limit;
(2-3-2) if the bus is red when arriving at the intersection, the waiting time is Tb(ii) a Selecting and executing different adjustment strategies according to the longitudinal traffic flow collected in real time;
(2-3-2-1) when the transverse traffic flow is more than 30, namely, the traffic flow is larger. The state of a signal lamp is not adjusted, the road enters a pure driving road section through the intersection after the signal lamp is turned to green, and the driving speed is increased according to the step (1);
and (2-3-2-2) when the transverse traffic flow is equal to (20,30), namely the traffic flow is moderate. The vehicle speed can be increased after the crossing to shorten the running time and properly shorten the delta T during the red light distributionbTo make up for the time difference of the early arrival:
ΔTbcalculated from the lateral traffic flow, Δ Tb＝(30-CFlow rate of vehicle)*t0In which C isFlow rate of vehicleIndicates the traffic flow at the current intersection, t0When the vehicle passes through the intersection;
and (4) after the green light is changed, entering a pure driving road section through the intersection, and reducing the driving speed according to the step (1).
(2-3-2-3) transverse traffic flow<20 hours, namely the traffic flow is small, and the red light of the signal lamp is shortenedIs formed by
Figure BDA0003043588090000091
Making up the time difference of entering the station in advance, entering a pure driving road section through the intersection when the lamp is green, and driving at the preset speed, wherein the step (1) can be specifically executed;
(3) and (3) after the bus leaves the L2 station, judging that the L3 station needs to pass through a signal lamp, and repeatedly executing the strategy in the step (2).
4 analysis of results
52 groups of experimental data are collected in the same time period of the road section for comparative analysis, and experimental results show that the method can effectively improve the bus arrival punctuality rate under the condition of influencing the overall traffic efficiency of the intersection, and the specific data are as follows:
(1) average traffic speed at crossing
The crossing traffic efficiency is characterized by the average crossing traffic speed, and the data show that the average crossing speed of the crossing is not obviously reduced after the regulation and control measures are taken, namely the overall traffic efficiency is not reduced.
TABLE 3 average crossing speed statistics
Figure BDA0003043588090000101
(2) Bus punctual arrival error
Time errors of buses before and after regulation and control arriving at stops L2, L3 and L4 are respectively counted, according to results, the average arrival time error before regulation and control is-20.4 seconds, the average arrival time error after regulation and control is-5.4 seconds, and the accuracy rate is improved by 73.5%.
TABLE 4 arrival time error statistics
Figure BDA0003043588090000102

Claims (1)

1. A bus arrival scheduling method based on integration of intelligent networking technologies is characterized by comprising the following steps:
step 1, data acquisition
Firstly, collecting historical running environment data of buses, wherein the historical running environment data comprises vehicle states, intersection traffic flow, the number of passengers waiting at a platform, road attributes and signal lamp timing; the vehicle state data are collected by the internet of vehicles terminal through the CAN bus and are forwarded to the on board unit OBU to be uploaded to the background data center through the 5G wireless network, and the vehicle state data comprise vehicle positioning LiAnd the running vehicle speed vi(ii) a The traffic flow at the intersection is counted by adopting a wireless geomagnetic vehicle detector, and the traffic flow at the intersection comprises the number of transverse and longitudinal vehicles at the intersection, wherein the transverse traffic flow
Figure FDA0003043588080000011
Longitudinal traffic flow
Figure FDA0003043588080000012
The traffic data are uploaded to a background data center through a 5G network; the number of waiting passengers at the platform is counted by a platform passenger flow statistical instrument, and the riding time T of the platform is predicted according to the number of waiting passengersi(ii) a The road attribute includes the number of intersections NiSpeed limit V of roadmax(ii) a The signal lamp timing information is forwarded to a road side communication unit RSU through a signal lamp controller, the timing information is uploaded to a data center through a 5G network, meanwhile, the RSU and the OBU are communicated in cooperation with V2X through a vehicle and a road to achieve direct connection, and vehicle end and road data are shared;
step 2, correcting the operation timetable
The operation timetable of the bus foundation can be obtained from an operation unit, the basic operation timetable is corrected by adopting a sectional type average time error statistics method, the accurate bus operation timetable is finally determined, the accurate bus operation timetable comprises bus arrival time, bus stop waiting time and departure time, and meanwhile, the bus stop position is marked, and the implementation steps are as follows:
(2.1) dividing the operation line into a plurality of driving intervals according to the station: L1-L2, L2-L3, paragraph …;
(2.2) extracting a statistical sample from a background data center, namely the time of the bus arriving at each station, wherein the acquisition period is not less than 1 week, and the time coverage comprises 6:00 early to 21:00 late;
(2.3) processing and analyzing the historical statistical data obtained in the step 1, and calculating the average time consumption of the adjacent stations within each hour;
(2.4) calculating the arrival time of each station according to the departure time of the first bus at the first station,
Figure FDA0003043588080000013
based on the arrival time, Δ tnIndicating the travel time between the two stations,
Figure FDA0003043588080000021
the accurate arrival time of the bus for the next station is obtained;
step 3, regulating and controlling the vehicle speed and the signal lamp timing in real time
(3.1) the bus starts according to the operation schedule corrected in the step 2, and the time of the bus starting station and the bus arrival station of the 1 st shift is
Figure FDA0003043588080000022
The departure time is
Figure FDA0003043588080000023
After the bus drives away from the station, immediately judging whether the bus passes through the intersection before reaching the 2 nd station, namely, a pure driving road section without passing through a signal lamp;
(3.2) if the bus does not pass through the intersection before reaching the 2 nd station, measuring the distance S between the bus and the station according to the real-time positioning of the bus1And calculating the induced vehicle speed v0Reminding a driver to drive according to the suggested speed through a vehicle instrument or a vehicle-mounted voice system;
Figure FDA0003043588080000024
wherein, T0Is the current time;
(3.3) if the bus passes through the signal lamp before reaching the 2 nd stop, predicting the arrival time T of the bus in real timeZ：
TZ＝Ta+Tb+Tc: wherein T isaTo predict arrival at intersection time, TbTo predict signal lamp latency, TcThe driving time after crossing;
(3.3-1) if
Figure FDA0003043588080000025
Figure FDA0003043588080000026
The time difference between the schedule arrival time and the predicted arrival time is represented by a formula, the bus arrival time is the same as the schedule arrival time at the 2 nd station, and the bus runs according to the set speed without adjusting the timing of signal lamps;
(3.3-2) if
Figure FDA0003043588080000027
The bus arrival time is less than the time of arriving at the 2 nd station, and the bus will arrive at the station in advance when running according to the existing state, and the running time of the bus on the road section needs to be prolonged, and the main modes are two types: prolonging the red light timing or reducing the vehicle speed; in order to reduce the influence of regulation and control measures on the traffic efficiency of the intersection, the state of a signal lamp when a bus runs at the existing speed and arrives at the intersection needs to be judged;
(3.3-2-1) if the bus is at a green light when arriving at the intersection, the bus normally passes through the intersection, enters a pure driving road section after passing through the intersection, and the driving speed is adjusted according to the step (3.2), so that the speed of the bus cannot be lower than 10km/h, and traffic jam is avoided;
(3.3-2-2) if the bus reaches the intersection, the bus is in red light, and the waiting time is Tb(ii) a Selecting and executing different adjustment strategies according to the longitudinal traffic flow collected in real time;
(3.3-2-2-1) when the longitudinal traffic flow is more than 30, namely the traffic flow is larger; the state of a signal lamp is not adjusted, the road enters a pure driving section through the intersection after the signal lamp is turned to green, and the driving speed is reduced according to the step (3.2);
(3.3-2-2-2) when the longitudinal traffic flow is equal to (20,30), namely the traffic flow is moderate; can pass through the crossing and reduce the speed of the vehicle and extend the vehicleDriving time and extending delta T at red light timingbTo make up for the time difference of the early arrival:
ΔTbcalculated from longitudinal traffic flow, Δ Tb＝(30-CFlow rate of vehicle)*t0In which C isFlow rate of vehicleIndicates the traffic flow at the current intersection, t0When the vehicle passes through the intersection;
after the green light is changed, entering a pure driving road section through the intersection, and reducing the driving speed according to the step (3.2);
(3.3-2-2-3) longitudinal traffic flow<20 hours, namely the traffic flow is small, and the red light time of a signal lamp is prolonged to
Figure FDA0003043588080000031
Making up the time difference of entering the station in advance, entering a pure driving road section through the intersection when the lamp is green, and driving at the preset speed, wherein the step (3.2) can be specifically executed;
(3.3-3) if
Figure FDA0003043588080000032
The predicted bus arrival time is greater than the time of arriving at the 2 nd station, the bus is driven according to the existing state to arrive at the station at a later point, the driving time of the bus on the road section needs to be reduced, and the main modes are two types: reducing the red light timing or improving the vehicle speed; in order to reduce the influence of regulation and control measures on the traffic efficiency of the intersection, the state of a signal lamp when the bus runs at the existing speed and arrives at the intersection needs to be judged;
(3.3-3-1) if the bus is at a green light when reaching the intersection, the vehicle normally passes through the intersection, and enters a pure driving road section after passing through the intersection, the driving speed is increased according to the step (3.2), and the speed of the vehicle cannot be higher than the road speed limit;
(3.3-3-2) if the bus reaches the intersection, the bus is in red light, and the waiting time is Tb(ii) a Selecting and executing different adjustment strategies according to the longitudinal traffic flow collected in real time;
(3.3-3-2-1) when the transverse traffic flow is more than 30, namely the traffic flow is larger; the state of a signal lamp is not adjusted, the road enters a pure driving section through the intersection after the signal lamp is turned to green, and the driving speed is increased according to the step (3.2);
(3.3-3-2-2) when the transverse traffic flow is equal to (20,30), namely the traffic flow is moderate; the vehicle speed can be increased after the crossing to shorten the running time and properly shorten the delta T during the red light distributionbTo make up for the time difference of the early arrival:
ΔTbcalculated from the lateral traffic flow, Δ Tb＝(30-CFlow rate of vehicle)*t0In which C isFlow rate of vehicleIndicates the traffic flow at the current intersection, t0When the vehicle passes through the intersection;
after the green light is changed, entering a pure driving road section through the intersection, and reducing the driving speed according to the step (3.2);
(3.3-3-2-3) transverse traffic flow<When 20 stations, namely the traffic flow is small, the red light time of the signal lamp is shortened to
Figure FDA0003043588080000041
Making up the time difference of entering the station in advance, entering a pure driving road section through the intersection when the lamp is green, and driving at the preset speed, wherein the step (3.2) can be specifically executed;
(3.4) after the bus arrives at the 2 nd station, the bus is dispatched according to a preset time schedule, the scheduling processes of (3.1) - (3.3) are continuously executed, the time of arriving at the 3 rd station is judged, and the adjustment strategy in (3.3-2-2) is executed in real time; and the arrival time of the later station is analogized in turn.
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