CN101256717B - Quick public transport vehicle positioning based on GPS ,and traffic signal control method and apparatus - Google Patents
Quick public transport vehicle positioning based on GPS ,and traffic signal control method and apparatus Download PDFInfo
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- CN101256717B CN101256717B CN2008100695429A CN200810069542A CN101256717B CN 101256717 B CN101256717 B CN 101256717B CN 2008100695429 A CN2008100695429 A CN 2008100695429A CN 200810069542 A CN200810069542 A CN 200810069542A CN 101256717 B CN101256717 B CN 101256717B
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Abstract
The invention relates to a rapid public bus positioning method and device based on GPS technology. The device is an vehicle device composed of modules such as a GPS, a MCU and a RF wireless transmission on a BRT vehicle to send the BRT vehicle positioning information obtained in real time and automatically to a ground receiving and processing device mounted in the communication signal controller via the RF wireless transmission module. The ground receiving and processing device processes data information related to the two positions of the BRT vehicle and the communication signal obtained, and calculates relative position coordinate, distance and vehicle steering direction between the BRT vehicle and the ground receiving and processing device. Then the information is transmitted to the communication signal controller in real time and automatically, then switching the communication signal at crossing in time and effectively by the communication signal controller, preferably giving way to the BRT vehicle, which ensures prior and rapid pass of the BRT vehicle and exerts greatly superiority of the BRT.
Description
Technical field
The invention belongs to ITS (intelligent transportation system) technical field, be the traffic signal control system that priority pass is provided for city fast public traffic system (BRT) vehicle, be specifically related to a kind of method and apparatus of controlling based on the bus rapid transit BRT vehicle location and the traffic signals of GPS technology.
Background technology
Along with the expansion of China's urban construction scale, vehicle is increasing, and public transport is significant to the sustainable development in guiding city.Though, its vital role that subway, light rail embody in each metropolitan public transportation system, but, not that each city all has the ability to be implemented in short-term because the investment of subway, light rail is big, the problem of engineering difficulty height, the each side that faces is also many.And the BRT system of small investment, instant effect, construction period weak point will be one of optimal selection that improves in short-term urban public transport service level and operational efficiency.
Yet BRT system and common public transport line have the right of priority than other public transit vehicle when sharing between the public area.Provide the measure of right-of-way to have two kinds: the one, at entrance driveway the independent track of waiting is set, avoid other vehicles to disturb, prolong green time simultaneously; The 2nd, the traffic signal control system of uses advanced, determine the timing of traffic lights according to BRT vehicle pull-in berthing time, the time of as far as possible utilizing the BRT vehicle pull-in to wait is disposed the traffic lights time, can provide green time during with convenient BRT vehicle approaching traffic intersection, thereby farthest reduce the BRT vehicle in time that traffic intersection waits.More than two kinds of methods all can not be well provide right of priority for the BRT vehicle by traffic intersection.For this reason, the present invention has designed a kind of based on the BRT vehicle location of GPS and the traffic signal control method and the device of radio communication, adopt coordinate setting, radio communication, the automatic control technology at GPS positioning principle and sending and receiving two ends to engage, solved when BRT circuit and common public transport line are shared between the public area, make BRT preferential, and current fast, guaranteed that the BRT vehicle can arrive the purpose website accurately and timely, gives full play of the superiority of BRT.
Summary of the invention:
The objective of the invention is to design a kind of quick public transport vehicle location and traffic signal control system based on GPS, allow BRT vehicle and traffic signal controlling machine carry out real-time, accurate and effective ground wireless communication, in advance the BRT vehicle is judged, and switch traffic lights in time, exactly, allow BRT vehicle priority pass.Obtain the locating information of BRT vehicle by GPS, utilize vehicle-mounted MCU to extract and handle, adopt the RF module to carry out wireless transmission, in real time, be sent to ground receiving wastewater facility in the traffic signal controlling machine automatically, switch the red and green signals lamp by traffic signal controlling machine, for the BRT vehicle gives way, so that when solving BRT circuit and conventional public transport line and sharing other vehicles between the public area and clash, the quick priority pass of assurance BRT vehicle.
For addressing the above problem and realize BRT vehicle location and traffic signal control system, technical scheme of the present invention is as follows:
A kind of bus rapid transit BRT vehicle location and intersection traffic signal control method based on GPS, this method uses the car-mounted device that is installed on the BRT vehicle to obtain the positional information of BRT vehicle by GPS, location information data is transferred to the ground that is installed in the traffic signal controlling machine by onboard wireless radio frequency module to be received and treating apparatus, ground receiving and processing device computed range and vehicle heading information, and transmit data to traffic signal controlling machine by serial line interface RS232, carry out intersection traffic signal control by traffic signal controlling machine according to vehicle distances and vehicle heading information;
Obtain the more specific location information at BRT vehicle place in real time by the GPS module in the described car-mounted device, positional information is transferred to ground by onboard wireless radio frequency module to be received and treating apparatus, by the ground MCU module in ground reception and the treating apparatus active data information is extracted and handled, calculate the coordinate of BRT vehicle, distance and vehicle heading with the crossing, then these data messages are transferred to traffic signal controlling machine by serial line interface RS232, the RF wireless transport module of car-mounted device is real-time, automatically send data to ground and receive and treating apparatus, and carry out the processing that wireless data avoids conflict;
After ground receives and treating apparatus receives the information that onboard wireless radio frequency module sends, the information that receives is at first confirmed, then by BRT vehicle and this position of 2 of traffic signal controlling machine are calculated, determine the BRT vehicle the position, with the distance at crossing, through repeatedly calculating to the certain hour interval, determine these multidate informations of travel direction of vehicle, switch traffic lights in time, exactly by traffic signal controlling machine, guarantee BRT vehicle priority pass according to above-mentioned information.
And based on the BRT vehicle locating device of GPS technology, this device comprises: a car-mounted device that is installed on the BRT vehicle, be installed in the ground receiving and processing device in a plurality of traffic signal controlling machines, it is characterized by: described car-mounted device obtains the positional information of BRT vehicle and the ground receiving and processing device transmission data in the traffic signal controlling machine in BRT vehicle scope of living in by GPS, described car-mounted device comprises the GPS module, vehicle-mounted MCU and vehicle-mounted RF module, each ground receiving and processing device includes ground RF receiver module, ground MCU and ground RF sending module, described GPS module is passed to car-mounted device MCU by serial mode with the positional information of BRT vehicle, vehicle-mounted MCU is by after carrying out data processing to described vehicle position information, send data by vehicle-mounted RF module again, ground RF receiver module in the ground receiving and processing device in the traffic signal controlling machine in the BRT vehicle in-scope receives and sends ground MCU module to after the data and carry out the position that data processing is determined the BRT vehicle, relative distance and enforcement direction with traffic signal controlling machine, ground RF sending module links to each other by wireless signal transmission with vehicle-mounted MCU module, be responsible for to vehicle-mounted RF device feedback answer signal, the TFT display screen that is positioned at ground links to each other with vehicle-mounted MCU module, is used to show checkout result.
The present invention utilizes continuous, the real-time positioning function of GPS to obtain the positional information of BRT vehicle, automatically send the BRT vehicle position information to ground receiving wastewater facility by the RF Radio Transmission Technology, ground receiving wastewater facility calculates BRT vehicle and these 2 positions of traffic signal controlling machine and BRT vehicle to the relative distance between the public area, orientation and enforcement direction, thereby the accurate information of BRT vehicle is provided for the traffic signal controlling machine at each crossing.Like this, the traffic signal controlling machine at each crossing just can in time provide Priority Service for the BRT vehicle according to relative distance, orientation and the enforcement direction of BRT vehicle.
Description of drawings:
Fig. 1 system and device principle of work block diagram
Fig. 2 is a car launcher hardware principle block diagram
Fig. 3 is a ground receiving wastewater facility hardware principle block diagram
Fig. 4 is system's transmitting terminal software flow pattern
Fig. 5 is the system receiving terminal software flow pattern
Embodiment:
Below according to by specific embodiment technical scheme of the present invention being further elaborated according to Figure of description.
A kind of BRT vehicle location and the traffic signal control method and the device based on GPS of the present invention design have been realized when BRT vehicle traffic signal control system preferential, that pass through fast during in traffic intersection or shared public domain.The technology that this device has adopted continuity, real-time location and the RF wireless transmission of GPS to combine.
The system of this device forms as shown in Figure 1.Real-time by the car-mounted device that is installed on the BRT vehicle, automatically send the dynamic location information of BRT vehicle, when each crossing or public domain, receive its information by the ground receiving and processing device that is installed in the traffic signal controlling machine, the ground receiving and processing device is effectively handled the information that receives, comprise the inspection of Data Position validity, the calculating of longitude and latitude difference, calculating with the distance at crossing, the calculating of angle, the calculating of travel direction, these data results are sent to traffic signal controlling machine, undertaken in time by the traffic lights of traffic signal controlling machine the crossing, switch effectively, being preferably the BRT vehicle gives way, thereby guarantee that the BRT vehicle is preferential, pass through fast, give full play of the superiority of BRT.
Fig. 2 is a car-mounted device.GR-87 series GPS module is adopted in the BRT vehicle location, this module volume is little, low in energy consumption, and can follow the tracks of 20 telstar information simultaneously, per second upgrades a navigation information, with continuity and real-time navigation, location and the time service function of wireless navigation location, for obtaining in real time, exactly of BRT information of vehicles provides guarantee.The GPS module is passed to car-mounted device MCU with BRT vehicle location information by serial line interface, car-mounted device MCU adopts the Atmega64 of atmel corp microprocessor chip, it extracts the BRT vehicle location information that transmits, mainly be the isoparametric extraction of latitude, longitude and time at BRT vehicle place, then these effective informations sent to ground receiving wastewater facility in the traffic signal controlling machine by car-mounted device RF wireless module.
Fig. 3 is a ground receiving wastewater facility.Wherein ground RF receives the data of being responsible for receiving from vehicle-mounted RF device, MCU completing place, ground is according to the calculating of the inspection of position validity, longitude and latitude difference, the calculating with the distance at crossing, the calculating of angle, the calculating of travel direction, ground RF sends and is responsible for to vehicle-mounted RF device feedback answer signal, and the TFT display screen that is positioned at ground is used to show checkout result.
Processing procedure is: the data that ground receiving wastewater facility transmits the car-mounted device that receives are received and are confirmed by ground MCU (Atmega64 microprocessor chip); When the information that receives is accurate, return answer signal of car-mounted device, and the navigator fix information that receives is handled, its processing procedure is as follows:
Position with certain traffic signal controlling machine is a round dot, sets up a planar coordinate system, and latitude is an X-axis, and its positive dirction is made as 360 degree, and negative direction is made as 180 degree; Longitude is a Y-axis, and its positive dirction is made as 90 degree, and negative direction is made as 270 degree; When the BRT vehicle ' to this traffic signal controlling machine control regional the time, the BRT vehicle position information that car-mounted device MCU obtains by the GPS module sends by vehicle-mounted RF module continuously with serial mode, after surface installation MCU receives the co-ordinate position information on plane, BRT vehicle region, location BRT vehicle in the planar coordinate system that with the traffic signal controlling machine position is round dot.Computing method are as follows:
A) calculate directions X distance D ISX
Calculate earlier both difference of longitude JDC: the longitude data of vehicle and known teleseme longitude data are subtracted each other obtain difference of longitude JDC, the positive and negative east-west direction of representing respectively of difference of longitude JDC.
The distance (111320) that difference of longitude JDC multiply by each longitude obtains directions X distance D ISX
Wherein: the 111320th, constant is represented each longitude distance at the earth's surface
B) calculate Y direction distance D ISY
Calculate earlier both difference of latitude WDC: the latitude data of vehicle and known teleseme latitude data are subtracted each other obtain difference of latitude WDC, the positive and negative North and South direction of representing respectively of difference of latitude WDC.
The distance (111320*cos (ww)) that difference of latitude WDC multiply by each latitude obtains Y direction distance D ISY
Wherein: the 111320th, constant is represented the distance of each latitude on the terrestrial equator surface
Ww is residing latitude
C) calculate both distance D IS
Calculate according to following formula: DIS=√ (DISX
2+ DISY
2)
D) calculate angle A NG
ANG＝57.29578*atan2(DISY，DISX)
Wherein: 57.29578 ° of ≈ 1 radians
Atan2: expression arc tangent
Angle A NG has represented 0-90 °, can determine the coordinate quadrant area with the positive and negative of difference of longitude JDC and the positive and negative of difference of latitude WDC, do the finishing of angle respectively, promptly the first coordinate quadrant area is constant, the second coordinate quadrant area adds 90 °, the three-dimensional quadrant area adds 180 °, and the 4-coordinate quadrant area adds 270 °.
C) just can determine the travel direction of the relative crossing traffic signal controlling machine of vehicle according to the calculating of the distance more than 2 times of above computation process and angle
Above result of calculation all is sent to the crossing traffic signal controlling machine by serial line interface, when the BRT vehicle ' to when traffic intersection 30m-100m (deciding) according to site environment, traffic signal controlling machine switches traffic lights, allow the BRT priority pass, thereby when in having solved between the public area conflict being arranged, make the BRT vehicle preferential, current fast.
Software section comprises the software design of vehicle-mounted end parts and the software design of receiving end part.
Fig. 4 is the software flow pattern of vehicle-mounted end parts.The locator data information that the output of GPS module per second is one time, and by simplifying this frame of data information of output.This frame of data information comprised the BRT vehicle longitude, latitude, speed (in the sea/hour), direction of motion angle, time, month, the time, minute, second, millisecond, locator data be effectively or important information such as invalid.At first,, come the integrality of judgment data again with frame head RMC, just carry out the extraction of data such as longitude, latitude, time then with the initial $ of frame; After the validity of vehicle-mounted MCU is finished dealing with, by vehicle-mounted RF wireless module earthward receiving trap send the locating information of BRT vehicle; After data were sent completely each time, behind the answer signal that receives surface installation, the data of carrying out again next time sent.
Fig. 5 is the software flow pattern of ground receiving end part.The effective information that the vehicle-mounted RF wireless module that it will receive transmits is handled, and to answer signal of car-mounted device passback; MCU by ground receiving wastewater facility handles, calculate the angle and distance of the relative traffic signal controlling machine of BRT vehicle by above-mentioned computing method, determine BRT vehicle dynamic position, relative distance and enforcement direction thus, and show its license number, distance, orientation and travel direction by the TFT display screen that is positioned at ground.When the BRT vehicle ' between the public area suitably apart from the time, switch traffic lights by traffic signal controlling machine, make the BRT vehicle preferential, current fast.
Claims (5)
1. the quick public transport vehicle based on GPS is located and the intersection traffic signal control method, this method uses the car-mounted device that is installed on the BRT vehicle to obtain the positional information of BRT vehicle by GPS, location information data is transferred to the ground that is installed in the traffic signal controlling machine by onboard wireless radio frequency module to be received and treating apparatus, ground receiving and processing device computed range and vehicle heading information, and transmit data to traffic signal controlling machine by serial line interface RS232, carry out intersection traffic signal control by traffic signal controlling machine according to vehicle distances and vehicle heading information, it is characterized by:
Obtain the more specific location information at BRT vehicle place in real time by the GPS module in the described car-mounted device, positional information is transferred to ground by onboard wireless radio frequency module to be received and treating apparatus, by the ground MCU module in ground reception and the treating apparatus active data information is extracted and handled, calculate the coordinate of BRT vehicle, distance and vehicle heading with the crossing, then these data messages are transferred to traffic signal controlling machine by serial line interface RS232, the RF wireless transport module of car-mounted device is real-time, automatically send data to ground and receive and treating apparatus, and carry out the processing that wireless data avoids conflict;
After ground receives and treating apparatus receives the information that onboard wireless radio frequency module sends, the information that receives is at first confirmed, then by BRT vehicle and this position of 2 of traffic signal controlling machine are calculated, determine the distance at the position and the crossing of BRT vehicle, through repeatedly calculating to the certain hour interval, determine these multidate informations of travel direction of vehicle, switch traffic lights in time, exactly by traffic signal controlling machine, guarantee BRT vehicle priority pass according to above-mentioned information.
2. quick public transport vehicle according to claim 1 location and intersection traffic signal control method, by BRT vehicle and this position of 2 of traffic signal controlling machine to the BRT vehicle advanced positions of travelling and with the determining of the distance at crossing, it is characterized by: the position with certain traffic signal controlling machine is a round dot, set up a planar coordinate system, latitude is an X-axis, its positive dirction is made as 360 degree, and negative direction is made as 180 degree; Longitude is a Y-axis, and its positive dirction is made as 90 degree, and negative direction is made as 270 degree; When the BRT vehicle ' to this traffic signal controlling machine control regional the time, the BRT vehicle position information that car-mounted device MCU module is obtained by the GPS module sends by vehicle-mounted RF module continuously with serial mode, after surface installation MCU receives the co-ordinate position information on plane, BRT vehicle region, location BRT vehicle in the planar coordinate system that with the traffic signal controlling machine position is round dot, and calculate the position of determining the relative crossing traffic signal controlling machine of vehicle and with the distance and the travel direction at crossing.
3. quick public transport vehicle according to claim 1 location and intersection traffic signal control method, it is characterized by: surface installation MCU at first confirms information integrity after receiving the information of car-mounted device;
If information is imperfect, to send an error flag bag to car-mounted device, car-mounted device receive erroneous packets will be behind the random delay certain hour retransmission data bag, to avoid the midair collision of a plurality of automobile wireless data, realize the processing that wireless data avoids conflict;
After if information completely is errorless, beam back an answer signal by ground RF receiver module to car-mounted device, the information completely that the expression car-mounted device sends is inerrably received by surface installation, car-mounted device can send the information of next position, after the ground device is handled, control traffic lights in time, exactly by traffic signal controlling machine and switch, and show its license number, distance, orientation and travel direction by the TFT display screen that is positioned at ground.
4. based on the quick public transport vehicle locating device of GPS technology, this device comprises: a car-mounted device that is installed on the BRT vehicle, be installed in the ground receiving and processing device in a plurality of traffic signal controlling machines, it is characterized by: described car-mounted device obtains the positional information of BRT vehicle and the ground receiving and processing device transmission data in the traffic signal controlling machine in BRT vehicle scope of living in by GPS, described car-mounted device comprises the GPS module, vehicle-mounted MCU and vehicle-mounted RF module, each ground receiving and processing device includes ground RF receiver module, ground MCU and ground RF sending module, described GPS module is passed to car-mounted device MCU by serial mode with the positional information of BRT vehicle, vehicle-mounted MCU is by after carrying out data processing to described vehicle position information, send data by vehicle-mounted RF module again, ground RF receiver module in the ground receiving and processing device in the traffic signal controlling machine in the BRT vehicle in-scope receives and sends ground MCU module to after the data and carry out the position that data processing is determined the BRT vehicle, relative distance and enforcement direction with traffic signal controlling machine, ground RF sending module links to each other by wireless signal transmission with vehicle-mounted MCU module, be responsible for to vehicle-mounted RF device feedback answer signal, the TFT display screen that is positioned at ground links to each other with vehicle-mounted MCU module, is used to show checkout result.
5. quick public transport vehicle locating device according to claim 4 is characterized by: described GPS module adopts GR-87 series GPS module, and described vehicle-mounted MCU and ground CPU adopt the Atmega64 of atmel corp microprocessor chip.
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