CN103426299A - System and method of using windshield projection to conduct bus rapid transit dispatching - Google Patents
System and method of using windshield projection to conduct bus rapid transit dispatching Download PDFInfo
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- CN103426299A CN103426299A CN2012101575825A CN201210157582A CN103426299A CN 103426299 A CN103426299 A CN 103426299A CN 2012101575825 A CN2012101575825 A CN 2012101575825A CN 201210157582 A CN201210157582 A CN 201210157582A CN 103426299 A CN103426299 A CN 103426299A
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Abstract
The invention discloses a system and a method of using windshield projection to conduct bus rapid transit dispatching. According to a running schedule adopted when a bus rapid transit vehicle is dispatched, real-time dispatching is conducted by making 1 second as a period, the bus rapid transit vehicle provided with a GPS positioning unit is used for running along a bus rapid transit route once in advance, position information determined by the GPS positioning unit in real time serves as reference positions of the running schedule, and therefore the fact that the bus rapid transit vehicle can arrive at specified positions in the mode of being accurate to one second at any moment in a running process can be guaranteed. In an actual running process of the bus rapid transit vehicle, by means of a GPS positioning module arranged on the bus rapid transit vehicle, actual position information of the bus rapid transit vehicle at the current moment is obtained in real time, is not processed, is directly associated with reference position information in the running schedule, and does not need to be associated with roads in an electronic map, and therefore the fact that the bus rapid transit vehicle runs according to the running schedule in the mode of being accurate to one second can be ensured.
Description
Technical field
The present invention relates to bus rapid transit scheduling field, be specifically related to a kind of system and method that utilizes the windshield projection to carry out the bus rapid transit scheduling.
Background technology
Urban highway traffic is city " blood vessel ", and making it unimpeded is the assurance of urban sustainable development.At present, urban highway traffic is supplied with can not meet transport need far away, has caused urban road traffic congestion.The origin cause of formation of urban traffic blocking is multifaceted, and how from raising public transport efficiency aspect, to meet transport need alleviation traffic congestion is one of major subjects of traffic administration decision maker care.
Transport need refers to the requirement that people for various purposes and thing are moved in every way in social public space.Therefore, how adopting that handling capacity of passengers is large, speed is fast, take the vehicles that path area is relatively little, from first ground safety, easily and fast, punctual, comfortable, inexpensively move to second ground, is the target that the traffic administration decision maker pursues by people.
In order to realize this target, bus rapid transit (BRT:Bus Rapid Transit) is actively being built or opened in big and medium-sized cities all both at home and abroad, and special lane and crossing signal priority function are provided at road and signal controlling aspect for bus rapid transit, guarantee that bus rapid transit is not disturbed by other vehicles in traveling process, can preferentially obtain all-clear during by crossing and do not need to stop.And by reasonably arranging at the time of departure to the BRT vehicle and arrival time, can guarantee that time of departure interval is shorter as far as possible, enlarge the operation ability of BRT vehicle.Yet guarantee to improve to greatest extent the operation ability of BRT vehicle, will can be accurate to second each website of ground arrival by strict guarantee BRT vehicle, therefore by the scheduling to fast B RT vehicle, guarantee that the BRT vehicle can on time and be accurate to second ground each website of arrival very necessary.
Scheduling to BRT in prior art is carried out in the following way: 1. on each BRT vehicle, be mounted with and can carry out with dispatching center the GPS(Global Positioning System of communication transfer) locating module, utilize the GPS locating module can obtain the real time position of BRT vehicle and be sent to dispatching center; 2. after dispatching center receives the positional information of BRT vehicle, with GIS(Geographic Information System) Geographic Information System carries out associated, the positional information of BRT vehicle is matched on electronic map road, and the dispatcher can see the position of BRT vehicle on electronic chart; 3. the dispatcher can transfer pre-stored good timetable from system, and according to the arrival time of putting down in writing in timetable, in conjunction with dispatcher's scheduling experience scheduling BRT vehicle, commander BRT vehicle arrives website on time.
In prior art, to BRT, there is following problem in vehicle scheduling:
(1) for the dispatcher, can only obtain the moment that the BRT vehicle arrives website according to timetable, therefore when scheduling, can only with the scheduling experience, be dispatched according to the moment of BRT vehicle arrival website, in scheduling process due to driver's driving habits difference, the not equal problem of dispatcher's experience, may cause the BRT vehicle according to the stipulated time in timetable, to be accurate to second ground and to arrive website.Especially in rush hour on and off duty, namely 1 to 2 minute, the interval at the time of departure of BRT vehicle, owing to can not guaranteeing in scheduling process that each BRT vehicle is accurate to the time arrival website of second ground according to timetable, the situation appearance that often causes many BRT vehicles to arrive a station simultaneously and also there is no a BRT vehicle pull-in through the longer time, brought inconvenience to motroist's trip.
(2) in prior art to the scheduling of BRT vehicle, to carry out according to dispatcher's scheduling experience and driver's driving experience, unified standard can't be arranged, therefore the timetable of formulating can only be as the inferior reference of arranging an order according to class and grade, can not guarantee that the BRT vehicle is accurate to second ground and arrives each website fully, make troubles to people by bus, and be unfavorable for improving the operation ability of BRT vehicle.
(3) in prior art to the scheduling of BRT vehicle, that in dispatching center, the form by data communication is handed down to the BRT vehicle by dispatch command to the dispatcher, when therefore BRT vehicle and dispatching center's communication are interrupted once in a while, just can't implement scheduling, more can not guarantee to be accurate to the scheduling of second.
Summary of the invention
Technical matters to be solved by this invention is dispatched based on experience value according to the time of quick public transport vehicle arrival website in prior art, can not guarantee to be accurate to the scheduling of second and then a kind of bus rapid transit dispatching system and method that can be accurate to second is provided.
For solving the problems of the technologies described above, the invention provides a kind of system of utilizing the windshield projection to carry out the bus rapid transit scheduling, comprise scheduling unit, vehicle dispatching performance element, realize data communication unit and the vehicle GPS positioning unit of the two data transmission, described vehicle GPS positioning unit is arranged on quick public transport vehicle, it has communication function, can realize and described scheduling unit between data transmission; The driver drives in advance the quick public transport vehicle speed according to the rules between every two adjacent sites of bus rapid transit route that is provided with described vehicle GPS positioning unit and travels, and described vehicle GPS positioning unit gathers the position coordinates of a quick public transport vehicle p.s.;
Described scheduling unit is arranged in dispatching center, and it comprises:
The schedule plan generation module, receive position coordinates and the Vehicle Driving Cycle time t of the quick public transport vehicle that described vehicle GPS positioning unit collects p.s.
iForm schedule plan, the coordinate (x of each described planned time table record quick public transport vehicle reference position that in driving process, should arrive p.s. between adjacent sites after associated
i, y
i) and running time t
iThe described reference position of first record in described schedule plan is reference position, and corresponding running time is zero-time; The described reference position of last record in described schedule plan is in-position, and corresponding running time is time of arrival;
The schedule plan memory module, receive and store the described schedule plan that described schedule plan generation module generates;
The time of running, table generated module, quick public transport vehicle is waited for while dispatching a car at the starting station, table generated module transfer all schedule plans that meet this quick public transport vehicle running route from described schedule plan memory module described time of running, according to down time of the frequency of this quick public transport vehicle, each bus stop by the running time t in all described schedule plans
iBe revised as corresponding local time T
i, the generating run timetable also will show to be sent to the described vehicle dispatching performance element arranged on corresponding quick public transport vehicle all described times of running by described data communication unit;
Described vehicle dispatching performance element is arranged on quick public transport vehicle, and it comprises:
Show memory module the time of running, show and store the described time of running that receives the transmission of described data communication unit;
The GPS locating module, take 1 second as the cycle to gather the coordinate (x of the physical location of quick public transport vehicle
D, y
D);
Relatively judge module, receive the data of showing memory module and the transmission of described GPS locating module the described time of running; Coordinate (the x of the quick public transport vehicle physical location that described GPS locating module is collected
D, y
D) being associated with in described time of running of table nearest with it reference position, the benchmark that it is corresponding is set to T constantly
D, by T
DWith current time, T compares, computing time deviate Cw=|T-T
D|, with the deviation alarm threshold value, C compares: if during Cw≤C, judge that current quick public transport vehicle normally travels; If Cw>C, and T-T
DFor on the occasion of the time, judge that current quick public transport vehicle lags behind to travel; If Cw>C, and T-T
DDuring for negative value, judge that current quick public transport vehicle travels in advance;
The deviation projection module, connect and receive the described relatively judged result of judge module, by current time T and T of the corresponding benchmark moment of quick public transport vehicle current time physical location
DDifference be projected on the windshield in driver the place ahead.
Described scheduling unit also comprises described route schematic diagram display module, it receives the data of described table generation time of running module, and receives the described relatively data of judge module in all quick public transport vehicle vehicle dispatching performance elements by described data communication unit;
Described route schematic diagram display module shows the quick public transport vehicle travel route by meaning intention the time of running, mean that intention means with reference position point the benchmark moment that record in table the described time of running the described time of running, connect the line segment that described reference position point forms and mean travel route, corresponding reference position point and the T of the corresponding benchmark moment of each order of classes or grades at school quick public transport vehicle physical location by current time T
DCorresponding reference position point difference shows.
Described vehicle dispatching performance element also comprises the auditory tone cues module, with the described relatively signal output part of judge module, be connected, according to the judged result of described relatively judge module, by voice signal, point out driver's current time vehicle whether to travel according to showing the time of running.
Described vehicle GPS positioning unit has identical specifications parameter with described GPS locating module.
The present invention also provides a kind of and utilizes the above-mentioned windshield projection that utilizes to carry out the dispatching method of the system of bus rapid transit scheduling, comprises the steps:
I. generate schedule plan
1. for each bus rapid transit route, by the driver drive quick public transport vehicle between every two adjacent sites according to the rules speed travel, gather the position coordinates of a quick public transport vehicle p.s.;
2. receive the position coordinates (x of the quick public transport vehicle collected p.s.
i, y
i) and Vehicle Driving Cycle time t
iForm schedule plan after associated, the described reference position of first record in described schedule plan is reference position, and corresponding running time is zero-time; The described reference position of last record in described schedule plan is in-position, and corresponding running time is time of arrival;
II. generating run timetable
Transfer and all schedule plans that the bus rapid transit route is relevant, according to the frequency of each order of classes or grades at school quick public transport vehicle of this route, down time of respectively stopping website, by the running time t in described schedule plan
iChange corresponding local time T into
iAs benchmark constantly, form and show one group of time of running corresponding with each order of classes or grades at school quick public transport vehicle; Wait at the starting station when quick public transport vehicle while dispatching a car, will show to be sent to quick public transport vehicle one group of time of running of correspondence;
III. generate schedule information
S1, judge whether current time T equals the zero-time of record in a certain time of running of table; If equal, assign out and send instructions to corresponding quick public transport vehicle immediately; Otherwise, judge whether current time T is greater than the zero-time of a certain time of running of table record, be less than the time of arrival of described time of running of table record simultaneously;
If S2 current time T is greater than the zero-time of a certain time of running of table record, be less than the time of arrival of this of table record simultaneously time of running, judge that corresponding quick public transport vehicle sets out, read current time quick public transport vehicle actual position coordinate (x
D, y
D), otherwise repeating step S1;
S3, transfer described time of running of table, by the coordinate (x of quick public transport vehicle physical location
D, y
D) being associated with in described time of running of table nearest with it reference position, the benchmark that it is corresponding is set to T constantly
D
S4, computing time deviate Cw=|T-T
D|, described time deviation value Cw and deviation alarm threshold value C are compared:
If during Cw≤C, the judgement quick public transport vehicle normally travels;
If Cw>C, and T-T
DFor on the occasion of the time, the judgement quick public transport vehicle lags behind and to travel;
If Cw>C, and T-T
DDuring for negative value, the judgement quick public transport vehicle travels in advance;
S5, by current time T corresponding with the corresponding benchmark of quick public transport vehicle current time physical location T constantly
DDifference be projected on the windshield in driver the place ahead;
S6, judge that whether current time equals the arrival time of record in a certain time of running of table, if equal to perform step IV, returns to step S1 if be not equal to;
IV, judge whether quick public transport reaches terminal, if reach terminal task finishes; Otherwise, return to step S1.
Before described step I, also be included as the step that every bus rapid transit route and each website thereof are numbered respectively;
The described schedule plan of each obtaining in described step I all has the identification number relevant to bus rapid transit route site number.
After the table generation time of running described in described Step II, show that mean to be intended to the time of running of quick public transport vehicle travel route; The corresponding benchmark of corresponding reference position point and each the order of classes or grades at school quick public transport vehicle physical location T constantly by current time T
DCorresponding reference position point difference shows.
After described step S4, also comprise the steps:
Whether S4 ', broadcasting voice signal prompting driver be according to the described step that the time of running, table travelled.
Technique scheme of the present invention has following advantage:
(1) dispatching system in the present invention, can by quick public transport vehicle current whether according to the time of running table travel and be projected on the windshield in driver the place ahead, allow the driver see the corresponding position deviation of current time in showing the current physical location of vehicle and the time of running by the mode of figure, the driver can just can see the vehicle running state that car-mounted terminal shows by remaining light in the driving procedure of eyeing to the front, can adjust timely road speed, travel according to showing the time of running to realize being accurate to second ground.The driver do not need to divert sb.'s attention just can know oneself whether according to the time of running table normally travel, do not affect driver safety and drive.
(2) table time of running adopted while in the present invention, quick public transport vehicle being dispatched, the benchmark that should arrive p.s. for quick public transport vehicle is all stipulated, quick public transport vehicle travel omnidistance all take within 1 second, carry out Real-Time Scheduling as the cycle, therefore can guarantee that arbitrary moment can be accurate to the position that second ground arrives regulation in the driving process of bus rapid transit.
(2) in the present invention, schedule plan is to utilize the quick public transport vehicle that is provided with the vehicle GPS positioning unit to walk in advance one time along the bus rapid transit route, the real-time definite positional information of vehicle GPS positioning unit is as reference position, the reference position of extrapolating with the dispatcher is compared, there is stronger practicality, can be used as the benchmark in the quick public transport vehicle driving process, to guarantee that different drivers drives the quick public transport vehicle operation and can reach identical operational effect; And, in quick public transport vehicle actual travel process, utilization is arranged at the actual position information of the GPS locating module Real-time Obtaining quick public transport vehicle current time on quick public transport vehicle, do not carry out any processing, do not need to be associated with electronic map road, direct and reference position information compares, so error is very little.
(3) in the present invention, according to schedule plan and quick public transport vehicle, set out constantly and the moment of reaching terminal, the table time of running obtained, when actual comparing, benchmark corresponding to the current physical location of current time and quick public transport vehicle compared constantly, in the whole process of scheduling, all to using the time as the foundation of dispatching, by the deviation projection module, on the windshield in driver the place ahead, two time point differences are shown, the driver counts according to differing between two points of projected image, can know in real time oneself whether the table time of running according to the rules travel, once quick public transport vehicle is leading or the time that lag behind surpasses alarm threshold value, system just can be sent dispatch command, thereby guarantee that quick public transport vehicle can travel according to the table time of running, with respect to higher according to degree of accuracy as what dispatch by distance in prior art, more can guarantee that scheduling is accurate to second.
(4) in the present invention, be provided with in the vehicle dispatching performance element and show memory module the time of running that receives the table time of running, and the vehicle dispatching performance element comprises the GPS locating module, measure the position coordinates of a quick public transport vehicle 1 second, and also comprise the comparison judge module that actual position coordinate that in directly showing the time of running, reference position coordinate and GPS locating module measure is compared in the vehicle dispatching performance element, therefore show to store and get final product in memory module the time of running that scheduling unit only need to be issued to the corresponding table time of running vehicle dispatching performance element, in operational process, quick public transport vehicle just can realize being accurate to the operation of second by the information of projection on windshield, even communicating by letter with dispatching center, quick public transport vehicle interrupts once in a while also can not being affected.
The accompanying drawing explanation
For content of the present invention is more likely to be clearly understood, below according to a particular embodiment of the invention and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein:
Fig. 1 is the system chart that utilizes the windshield projection to carry out the system of bus rapid transit scheduling of the present invention;
The process flow diagram that Fig. 2 is generating run timetable of the present invention;
Fig. 3 is the process flow diagram that utilizes the windshield projection to carry out the bus rapid transit dispatching method of the present invention;
Fig. 4 is that embodiment of the present invention deviation projection module is projected in corresponding reference position point and the corresponding reference position point T of quick public transport vehicle current time physical location of current time that the difference on the windshield of driver the place ahead shows
DSchematic diagram;
Fig. 5 is corresponding reference position point and the corresponding reference position point T of this order of classes or grades at school quick public transport vehicle current time physical location of each order of classes or grades at school quick public transport vehicle current time T that the difference of embodiment of the present invention route schematic diagram display module shows
DSchematic diagram;
Wherein Reference numeral is: 1-scheduling unit, 10-schedule plan generation module, 11-schedule plan memory module, 12-shows to generate module the time of running, 13-route schematic diagram display module, 2-data communication unit, 3-vehicle dispatching performance element, 31-shows memory module the time of running, the 32-GPS locating module, 33-is judge module relatively, 34-deviation projection module, 35-auditory tone cues module, 4-vehicle GPS positioning unit.
Embodiment
Below provide specific embodiments of the invention, the meaning that some symbols that relate in the present embodiment mean is as follows:
Below provide specific embodiments of the invention, the meaning that some symbols that relate in the present embodiment mean is as follows:
T: mean current time;
(x
i, y
i): be illustrated in the location coordinate information of i quick public transport vehicle position during second, i=0 wherein, 1,2,3
T
i: mean running time, i=0 wherein, 1,2,3 ..., and t
0=0s, t
1=1s, t
2=2s
T
i: mean benchmark constantly, i=0 wherein, 1,2,3 ..., and T
0Mean frequency;
(x
D, y
D): be illustrated in current time T, the coordinate of quick public transport vehicle physical location;
T
D: be illustrated in the table time of running, with the coordinate (x of quick public transport vehicle current time physical location
D, y
D) corresponding reference time of coordinate of nearest reference position;
Cw: mean that quick public transport vehicle is in the actual travel process, current time T and T
DBetween error;
C: mean the deviation alarm threshold value;
N: the order of classes or grades at school that means the quick public transport vehicle of a certain bus rapid transit route.
The system of bus rapid transit scheduling is carried out in the windshield projection that utilizes that the present embodiment provides, and comprises scheduling unit 1, vehicle dispatching performance element 3, realizes data communication unit 2 and the vehicle GPS positioning unit 4 of the two data transmission;
Described vehicle GPS positioning unit 4 is arranged on quick public transport vehicle, and it has communication function, can realize and described scheduling unit 1 between data transmission; The driver drives in advance the quick public transport vehicle speed according to the rules between every two adjacent sites of bus rapid transit route that is provided with described vehicle GPS positioning unit 4 and travels, and described vehicle GPS positioning unit gathers the position coordinates of a quick public transport vehicle 4 p.s.s;
The reference position of recording in the acquisition schedule plan provided in the present embodiment and reference time information mode be the preferred embodiment of the present invention, as enforceable mode, can also, according to the historical experience data, therefrom choose the most applicable data as the reference position in schedule plan and reference time; Also can be according to the basic law in the quick public transport vehicle driving process: during starting and while stopping, travel speed be slow, pilot process is steady, according to this rule in conjunction with the path coordinate between two websites, according to the regulation road speed in the quick public transport vehicle driving process, calculate coordinate of the reference position that quick public transport vehicle should arrive each second etc.
Described scheduling unit 1 is arranged in dispatching center, and it comprises:
Schedule plan generation module 10, receive position coordinates and the Vehicle Driving Cycle time t of the quick public transport vehicle that described vehicle GPS positioning unit collects for 4 p.s.s
iForm schedule plan, the coordinate (x of each described planned time table record quick public transport vehicle reference position that in driving process, should arrive p.s. between adjacent sites after associated
i, y
i) and running time t
iThe described reference position of first record in described schedule plan is reference position, and corresponding running time is zero-time; The described reference position of last record in described schedule plan is in-position, and corresponding running time is time of arrival;
Schedule plan memory module 11, receive and store the described schedule plan that described schedule plan generation module 10 generates; For a bus rapid transit route, every two adjacent sites are corresponding a schedule plan all, therefore in described schedule plan memory module 11, has stored all schedule plans of all bus rapid transit routes;
The time of running, table generated module 12, quick public transport vehicle is waited for while dispatching a car at the starting station, table generated module 12 transfer all schedule plans that meet this quick public transport vehicle running route from described schedule plan memory module 11 described time of running, according to down time of time of departure of this quick public transport vehicle, each bus stop by the running time t in all described schedule plans
iBe revised as corresponding local time T
i, the generating run timetable also will show to be sent to the described vehicle dispatching performance element 3 arranged on corresponding quick public transport vehicle all described times of running by described data communication unit 2; Show the described time of running just to be revised as to the corresponding local time working time in described schedule plan as benchmark constantly;
Described vehicle dispatching performance element 3 is arranged on quick public transport vehicle, and it comprises:
Show memory module 31 time of running, show and store the described time of running that receives 2 transmission of described data communication unit;
GPS locating module 32, take 1 second as the cycle to gather the coordinate (x of the physical location of quick public transport vehicle
D, y
D);
Relatively judge module 33, receive the data of showing memory module 31 and 32 transmission of described GPS locating module the described time of running; Coordinate (the x of the quick public transport vehicle physical location that described GPS locating module 32 is collected
D, y
D) being associated with in described time of running of table nearest with it reference position, the benchmark that it is corresponding is set to T constantly
D, by T
DWith current time, T compares, computing time deviate Cw=|T-T
D|, with the deviation alarm threshold value, C compares: if during Cw≤C, judge that current quick public transport vehicle normally travels; If Cw>C, and T-T
DFor on the occasion of the time, judge that current quick public transport vehicle lags behind to travel; If Cw>C, and T-T
DDuring for negative value, judge that current quick public transport vehicle travels in advance;
Deviation projection module 34, receive the described relatively judged result of judge module 33, by current time T and T of the corresponding benchmark moment of quick public transport vehicle current time physical location
DDifference be projected on the windshield in driver the place ahead.
The driver drives in the quick public transport vehicle operational process, remains that two points are in coincidence status, just can according to the regulation of showing the time of running, travel fully, and whether the real-time prompting driver works as vehicle in front and normally advance;
In the present embodiment, described scheduling unit 1 also comprises described route schematic diagram display module 13, it receives the data of described table generation time of running module 12, and receives the data of the comparison judge module 33 in all quick public transport vehicle vehicle dispatching performance elements by described data communication unit 2;
Described route schematic diagram display module 13 shows the quick public transport vehicle travel route by meaning intention the time of running, mean that intention means with reference position point the benchmark moment that record in table the described time of running the described time of running, connect the line segment that described reference position point forms and mean travel route, corresponding reference position point and the T of the corresponding benchmark moment of each order of classes or grades at school quick public transport vehicle physical location by current time T
DCorresponding reference position point difference shows.Thus, the dispatcher can the operation conditions to quick public transport vehicle exercise supervision at the command scheduling center.
As preferred embodiment, described vehicle dispatching performance element also comprises auditory tone cues module 35, with the described relatively signal output part of judge module 33, be connected, according to the judged result of described relatively judge module 33, by voice signal, point out driver's current time vehicle whether to travel according to showing the time of running.
In the present embodiment, described vehicle GPS positioning unit 4 has identical specifications parameter with described GPS locating module 32.Therefore, by the coordinate of reference position and the physical location in the quick public transport vehicle operational process in the GPS equipment acquisition schedule plan of same size parameter, further reduce error.
The present embodiment also provides a kind of bus rapid transit dispatching method that can be accurate to second, comprises the steps:
I. generate schedule plan
1. for each bus rapid transit route, by the driver drive quick public transport vehicle between every two adjacent sites according to the rules speed travel, gather the position coordinates of a quick public transport vehicle p.s.;
2. receive the position coordinates (x of the quick public transport vehicle collected p.s.
i, y
i) and Vehicle Driving Cycle time t
iForm schedule plan after associated, the described reference position of first record in described schedule plan is reference position, and corresponding running time is zero-time; The described reference position of last record in described schedule plan is in-position, and corresponding running time is time of arrival;
In the present embodiment, before this step, also be included as the step that every bus rapid transit route and each website thereof are numbered respectively; Therefore each the described schedule plan obtained all has the identification number relevant to bus rapid transit route site number.
When being numbered for the quick public transport Road, can adopt various ways, as long as different quick public transport Roads can be made a distinction, in the present embodiment, can different quick public transport Roads be numbered arabic numeral.
Beijing's bus rapid transit 1 bus (hereinafter referred to as fast 1) of take is example, fast 1 by way of the stop website have: the De Mao village-Dongying room-six camp gates-Dong highland-Xi depression-tri-camp gate-and adopted southern station-and adopted farm-Jiu Jing village-bright red raft of pontoons-West, The Big Red Gate-orchard, Nangyuan District road-wooden slippers garden bridge-sand mouth-Gate of Everlasting Stability in-the Temple of Heaven-Qianmen;
If fast 1 corresponding bus routes is numbered " 1 ", being numbered of its Sino-German Mao Zhuan station " 101 ", being numbered of station, Dongying room " 102 ", the rest may be inferred, being numbered of station, Qianmen " 117 ".
When obtaining schedule plan, driving by the driver station, the quick public transport vehicle speed according to the rules prior Cong Demao village (101) that vehicle GPS positioning unit 4 is set travels to station, Dongying room (102), obtain the schedule plan shown in table 1, if the identification number of table 1 is " 1001 ", obtain equally the schedule plan shown in table 2 for the schedule plan from station, Dongying room (102) to six camp gate stations (103), establish its identification number for " 1002 ".As shown in Table 1 and Table 2, recording the coordinate of the reference position that quick public transport vehicle should arrive p.s. in schedule plan, and be reference position by first described reference position, corresponding running time is zero-time; The described reference position of last record in described schedule plan is in-position, and corresponding running time is time of arrival;
The schedule plan that No. 1001, table 1
The station of setting out: the De Mao village (101) bus stop: Dongying room (102)
The schedule plan that No. 1002, table 2
The station of setting out: Dongying room (102) bus stop: six camp gates (103)
Schedule plan as shown in Table 1 and Table 2, the reference position coordinate detects and obtains by vehicle GPS positioning unit 4, and when actual motion, it is all concrete numerical value and does not need to be associated with electronic map road.It should be noted that in-position in the schedule plan of No. 1001 is exactly that reference position in the schedule plan of No. 1002 is identical in fact, just due in different schedule plans, the expression mode difference therefore adopted.
By that analogy, can obtain the schedule plan between all adjacent two stations on the whole piece route, and the in-position of previous schedule plan is identical with the reference position coordinate of next schedule plan.
II. generating run timetable
Transfer and all schedule plans that the bus rapid transit route is relevant, according to the frequency of each order of classes or grades at school quick public transport vehicle of this route, down time of respectively stopping website, by the running time t in described schedule plan
iChange corresponding local time T into
iAs benchmark constantly, form and show one group of time of running corresponding with each order of classes or grades at school quick public transport vehicle; Wait at the starting station when quick public transport vehicle while dispatching a car, will show to be sent to quick public transport vehicle one group of time of running of correspondence;
If setting out of standing in the fast 1 bus Cong Demao village (101) of n order of classes or grades at school is 12:30:00 constantly, be that zero-time is answered corresponding 12:30:00, add the running time in schedule plan No. 1001, the corresponding local time in the time of can releasing quick public transport vehicle arrive any one reference position between two stations, according to watch 1 can obtain the n order of classes or grades at school fast 1 bus No. 1001 the times of running table as shown in table 3.
The table time of running that No. 1001, table 3
The station of setting out: the De Mao village (101) bus stop: Dongying room (102)
Being located at Dongying room (102) down time of standing is 30 seconds, the moment from station, Dongying room (102) in showing No. 1002 times of running just should add that down time, 30s drew for arrive station, Dongying room No. 1001 times of running moment 12:35:00 table, can obtain from the moment at station, Dongying room be 12:35:30, the table No. 1002 times of running that can obtain thus fast 1 bus is as shown in table 4.
The table time of running that No. 1002, table 4
The station of setting out: Dongying room (102) bus stop: six camp gates (103)
By table 3 and table 1 contrast, and table 4 is known with table 2 contrast, shows the described time of running running time in described schedule plan to be scaled to the corresponding local time, other Information invariabilities exactly.The like, can obtain all time of running table of quick public transport vehicle in operational process.
III. generate schedule information
S1, judge whether current time T equals the zero-time of record in a certain time of running of table; If equal, assign out and send instructions to corresponding quick public transport vehicle immediately; Otherwise, judge whether current time T is greater than the zero-time of a certain time of running of table record, be less than the time of arrival of described time of running of table record simultaneously;
No. 1002 times of running table of take in the present embodiment is example, and zero-time is 12:35:30, and be 12:41:30 time of arrival; Suppose that current time T is 12:35:34, obviously its be greater than No. 1002 the time of running table record zero-time and be less than No. 1002 the time of running table record time of arrival;
If S2 current time T is greater than the zero-time of a certain time of running of table record, be less than the time of arrival of this of table record simultaneously time of running, judge that corresponding quick public transport vehicle sets out, read current time quick public transport vehicle actual position coordinate (x
D, y
D), otherwise repeating step S1;
S3, transfer described time of running of table, by the coordinate (x of quick public transport vehicle physical location
D, y
D) being associated with in described time of running of table nearest with it reference position, the benchmark that it is corresponding is set to T constantly
D
For example, when current time T is 12:35:34, the current actual position coordinate (x of quick public transport vehicle detected
D, y
D), described relatively judge module 33 is by the current actual position coordinate (x of quick public transport vehicle
D, y
D) with time of running table in reference position compare one by one, finding the reference position coordinate nearest with current quick public transport vehicle positional distance is (x
2, y
2), obtain T reference time corresponding to this position
DFor 12:35:31;
S4, computing time deviate Cw=|T-T
D|, described time deviation value Cw and deviation alarm threshold value C are compared:
If during Cw≤C, the judgement quick public transport vehicle normally travels;
If Cw>C, and T-T
DFor on the occasion of the time, the judgement quick public transport vehicle lags behind and to travel;
If Cw>C, and T-T
DDuring for negative value, the judgement quick public transport vehicle travels in advance;
Selecting described deviation alarm threshold value C is 1s, thus, can calculate mistiming Cw=|T-T by comparing judge module
D| be 3 seconds, be greater than C, and T-T
DFor just, so quick public transport vehicle lags behind 3 seconds;
S5, by current time T corresponding with the corresponding benchmark of quick public transport vehicle current time physical location T constantly
DDifference be projected on the windshield in driver the place ahead; The prompting driver will accelerate to keep the reference position point and T of the corresponding benchmark moment of quick public transport vehicle current time physical location that current time T is corresponding
DCorresponding reference position point is in coincidence status;
The prompting driver will remain the reference position point and T of the corresponding benchmark moment of quick public transport vehicle current time physical location that current time T is corresponding
DCorresponding reference position point is in coincidence status;
Figure 4 shows that described deviation projection module 34 is projected in corresponding reference position point and the corresponding reference position point T of quick public transport vehicle current time physical location of current time that the difference on the windshield of driver the place ahead shows
DSchematic diagram; The time that current time T is corresponding as shown in the figure is 08:00:11, and time corresponding to TD in the benchmark moment corresponding to the current physical location of quick public transport vehicle is 08:00:14, and obviously quick public transport vehicle travels leading 3 seconds.In the present embodiment, the reference position point that described deviation projection module 34 projects on driver's front windshield is 9, and the corresponding Dian Yu centre position, reference position by current time, in the quick public transport vehicle operational process, As time goes on, the moment of reference position point representative also passes backward.And, in actual moving process, can be by more reference position spot projection on the windshield in driver the place ahead.When quick public transport vehicle is leading or surpass the scope of said reference point retardation time, can directly adopt digital prompt, for example, shown in Fig. 4, when quick public transport vehicle in the time of leading 13 seconds, can not be prompted to the driver by the point of the reference position shown in Fig. 4, now described deviation projection module 34 can directly project to the deviation result on the windshield in driver the place ahead, as " leading 13 seconds ".
S6, judge that whether current time equals the arrival time of record in a certain time of running of table, if equal to perform step IV, returns to step S1 if be not equal to;
IV, judge whether quick public transport reaches terminal, if reach terminal task finishes; Otherwise, return to step S1.
Adopt all quick public transport vehicles of scheduling that use the same method, can guarantee can be accurate to second to the scheduling of quick public transport vehicle.
As preferred embodiment, after the table generation time of running described in described Step II, show that mean to be intended to the time of running of quick public transport vehicle travel route; Corresponding reference position point and the corresponding reference position point T of each quick public transport vehicle current time physical location by current time T
DDifference is presented at and means the described time of running on intention.
Be illustrated in figure 5 a kind of form of expression, in Fig. 5, adopt "●" to mean benchmark corresponding to the current physical location of quick public transport vehicle corresponding reference position point constantly, adopt
mean reference position point corresponding to current time, quick public transport vehicle for different order of classes or grades at school can adopt different color differentiatings, because the picture that this figure is black and white can not be according to color differentiating, therefore the order of classes or grades at school that adopted numerical reference in corresponding symbol top: as " B3 " means the 3rd order of classes or grades at school, " R12 " means the 12nd order of classes or grades at school, " G18 " means the 18th order of classes or grades at school, " Y19 " means the 19th order of classes or grades at school, but during actual motion, can utilize different colours to mean the vehicle of different order of classes or grades at school, for example adopt blue the 3rd order of classes or grades at school that means, adopt red the 12nd order of classes or grades at school that means, adopt green the 18th order of classes or grades at school that means, adopt yellow the 19th order of classes or grades at school etc. that means, as the mode that can realize, quick public transport vehicle for different order of classes or grades at school can take different shapes to mean, for example the 3rd order of classes or grades at school can adopt triangle to mean, the 12nd order of classes or grades at school can adopt rectangle to mean, the 18th order of classes or grades at school can adopt rhombus to mean, the 19th order of classes or grades at school can adopt the pentagram shape to mean etc.
The dispatcher can exercise supervision to the situation of scheduling in dispatching center, as can be seen from the figure dispatches and whether is accurate to second.Take Fig. 5 as example describes, obviously can obtain, for the 3rd order of classes or grades at school quick public transport vehicle and the 19th order of classes or grades at school quick public transport vehicle, two points overlap, and obviously the quick public transport vehicle of this two order of classes or grades at school normally travels according to the regulation of showing the time of running.And, for the 18th order of classes or grades at school quick public transport vehicle, reference position point corresponding to the benchmark moment super the first two point current time of corresponding reference position point that the current physical location of quick public transport vehicle is corresponding, therefore belong to and travel in advance, and leading two seconds; For the 12nd order of classes or grades at school quick public transport vehicle, four reference position points that the some current time is corresponding of the constantly corresponding reference position point hysteresis of benchmark that the current physical location of quick public transport vehicle is corresponding, therefore belonging to lags behind travels, and lags behind for four seconds.
Generally the driver can revise voluntarily according to above-mentioned prompting, if because certain reason is not revised, the dispatcher can be to not having the driver according to the quick public transport vehicle of showing the time of running to travel to send schedule information, also can adopt the form drivers such as phone, note, thereby further guarantee the degree of accuracy of scheduling.
Whether in order better to point out the driver to travel according to the regulation of showing the time of running, in the present embodiment, said method also comprises the steps:
Whether S7, broadcasting voice signal prompting driver are accurate to second ground according to the described step that the time of running, table travelled.Play voice signal and can adopt common toy trumpet, voice signal includes, but are not limited to following form: can play long prompting driver and travel in advance, play minor prompting driver hysteresis and travelled; Can play-over " leading, two seconds " " lags behind, 5 seconds " etc. and directly to point out the driver;
In sum, technical scheme provided by the present invention can guarantee quick public transport vehicle be accurate to second ground according to the time of running table travel, to improve the operation ability of quick public transport vehicle, alleviate the pressure of road traffic.
Obviously, above-described embodiment is only for example clearly is described, and is not the restriction to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.And the apparent variation of being extended out thus or change are still among the protection domain in the invention.
Claims (8)
1. a system of utilizing the windshield projection to carry out the bus rapid transit scheduling, comprise scheduling unit (1), vehicle dispatching performance element (3), realize data communication unit (2) and the vehicle GPS positioning unit (4) of the two data transmission, it is characterized in that:
Described vehicle GPS positioning unit (4) is arranged on quick public transport vehicle, and it has communication function, can realize and described scheduling unit (1) between data transmission; The driver drives in advance the quick public transport vehicle speed according to the rules between every two adjacent sites of bus rapid transit route that is provided with described vehicle GPS positioning unit (4) and travels, and described vehicle GPS positioning unit (4) gathers the position coordinates of a quick public transport vehicle p.s.;
Described scheduling unit (1) is arranged in dispatching center, and it comprises:
Schedule plan generation module (10), receive position coordinates and the Vehicle Driving Cycle time t of the quick public transport vehicle that described vehicle GPS positioning unit (4) collects p.s.
iForm schedule plan, the coordinate (x of each described planned time table record quick public transport vehicle reference position that in driving process, should arrive p.s. between adjacent sites after associated
i, y
i) and running time t
iThe described reference position of first record in described schedule plan is reference position, and corresponding running time is zero-time; The described reference position of last record in described schedule plan is in-position, and corresponding running time is time of arrival;
Schedule plan memory module (11), receive and store the described schedule plan that described schedule plan generation module (10) generates;
The time of running, table generated module (12), quick public transport vehicle is waited for while dispatching a car at the starting station, table generated module (12) transfer all schedule plans that meet this quick public transport vehicle running route from described schedule plan memory module (11) described time of running, according to down time of the frequency of this quick public transport vehicle, each bus stop by the running time t in all described schedule plans
iBe revised as corresponding local time T
i, the generating run timetable also will show to be sent to the described vehicle dispatching performance element (3) arranged on corresponding quick public transport vehicle all described times of running by described data communication unit (2);
Described vehicle dispatching performance element (3) is arranged on quick public transport vehicle, and it comprises:
Show memory module (31) time of running, show and store the described time of running that receives described data communication unit (2) transmission;
GPS locating module (32), take 1 second as the cycle to gather the coordinate (x of the physical location of quick public transport vehicle
D, y
D);
Relatively judge module (33), receive the data of showing memory module (31) and described GPS locating module (32) transmission the described time of running; Coordinate (the x of the quick public transport vehicle physical location that described GPS locating module (32) is collected
D, y
D) being associated with in described time of running of table nearest with it reference position, the benchmark that it is corresponding is set to T constantly
D, by T
DWith current time, T compares, computing time deviate Cw=|T-T
D|, with the deviation alarm threshold value, C compares: if during Cw≤C, judge that current quick public transport vehicle normally travels; If Cw>C, and T-T
DFor on the occasion of the time, judge that current quick public transport vehicle lags behind to travel; If Cw>C, and T-T
DDuring for negative value, judge that current quick public transport vehicle travels in advance;
Deviation projection module (34), receive the described relatively judged result of judge module (33), by current time T and T of the corresponding benchmark moment of quick public transport vehicle current time physical location
DDifference be projected on the windshield in driver the place ahead.
2. the system of utilizing the windshield projection to carry out the bus rapid transit scheduling according to claim 1 is characterized in that:
Described scheduling unit (1) also comprises described route schematic diagram display module (13), it receives the data of the described table generation module time of running (12), and receives the described relatively data of judge module (33) in all quick public transport vehicle vehicle dispatching performance elements by described data communication unit (2);
Described route schematic diagram display module (13) shows the quick public transport vehicle travel route by meaning intention the time of running, mean that intention means with reference position point the benchmark moment that record in table the described time of running the described time of running, connect the line segment that described reference position point forms and mean travel route, corresponding reference position point and the T of the corresponding benchmark moment of each order of classes or grades at school quick public transport vehicle physical location by current time T
DCorresponding reference position point difference shows.
3. the system of utilizing the windshield projection to carry out the bus rapid transit scheduling according to claim 1 and 2 is characterized in that:
Described vehicle dispatching performance element also comprises auditory tone cues module (35), with the described relatively signal output part of judge module (33), be connected, according to the judged result of described relatively judge module (33), by voice signal, point out driver's current time vehicle whether to travel according to showing the time of running.
4. according to the arbitrary described system of utilizing the windshield projection to carry out the bus rapid transit scheduling of claim 1-3, it is characterized in that:
Described vehicle GPS positioning unit (4) has identical specifications parameter with described GPS locating module (32).
5. one kind is utilized the arbitrary described dispatching method that utilizes the windshield projection to carry out the system of bus rapid transit scheduling of claim 1-4, it is characterized in that, comprises the steps:
I. generate schedule plan
1. for each bus rapid transit route, by the driver drive quick public transport vehicle between every two adjacent sites according to the rules speed travel, gather the position coordinates of a quick public transport vehicle p.s.;
2. receive the position coordinates (x of the quick public transport vehicle collected p.s.
i, y
i) and Vehicle Driving Cycle time t
iForm schedule plan after associated, the described reference position of first record in described schedule plan is reference position, and corresponding running time is zero-time; The described reference position of last record in described schedule plan is in-position, and corresponding running time is time of arrival;
II. generating run timetable
Transfer and all schedule plans that the bus rapid transit route is relevant, according to the frequency of each order of classes or grades at school quick public transport vehicle of this route, down time of respectively stopping website, by the running time t in described schedule plan
iChange corresponding local time T into
iAs benchmark constantly, form and show one group of time of running corresponding with each order of classes or grades at school quick public transport vehicle; Wait at the starting station when quick public transport vehicle while dispatching a car, will show to be sent to quick public transport vehicle one group of time of running of correspondence;
III. generate schedule information
S1, judge whether current time T equals the zero-time of record in a certain time of running of table; If equal, assign out and send instructions to corresponding quick public transport vehicle immediately; Otherwise, judge whether current time T is greater than the zero-time of a certain time of running of table record, be less than the time of arrival of described time of running of table record simultaneously;
If S2 current time T is greater than the zero-time of a certain time of running of table record, be less than the time of arrival of this of table record simultaneously time of running, judge that corresponding quick public transport vehicle sets out, read current time quick public transport vehicle actual position coordinate (x
D, y
D), otherwise repeating step S1;
S3, transfer described time of running of table, by the coordinate (x of quick public transport vehicle physical location
D, y
D) being associated with in described time of running of table nearest with it reference position, the benchmark that it is corresponding is set to T constantly
D
S4, computing time deviate Cw=|T-T
D|, described time deviation value Cw and deviation alarm threshold value C are compared:
If during Cw≤C, the judgement quick public transport vehicle normally travels;
If Cw>C, and T-T
DFor on the occasion of the time, the judgement quick public transport vehicle lags behind and to travel;
If Cw>C, and T-T
DDuring for negative value, the judgement quick public transport vehicle travels in advance;
S5, by current time T corresponding with the corresponding benchmark of quick public transport vehicle current time physical location T constantly
DDifference be projected on the windshield in driver the place ahead;
S6, judge that whether current time equals the arrival time of record in a certain time of running of table, if equal to perform step IV, returns to step S1 if be not equal to;
IV, judge whether quick public transport reaches terminal, if reach terminal task finishes; Otherwise, return to step S1.
6. the method for utilizing the windshield projection to carry out the bus rapid transit scheduling according to claim 5 is characterized in that:
Before described step I, also be included as the step that every bus rapid transit route and each website thereof are numbered respectively;
The described schedule plan of each obtaining in described step I all has the identification number relevant to bus rapid transit route site number.
7. according to the described method of utilizing the windshield projection to carry out the bus rapid transit scheduling of claim 5 or 6, it is characterized in that:
After the table generation time of running described in described Step II, show that mean to be intended to the time of running of quick public transport vehicle travel route; The corresponding benchmark of corresponding reference position point and each the order of classes or grades at school quick public transport vehicle physical location T constantly by current time T
DCorresponding reference position point difference shows.
8. according to the arbitrary described method of utilizing the windshield projection to carry out the bus rapid transit scheduling of claim 5-7, it is characterized in that:
After described step S4, also comprise the steps:
Whether S4 ', broadcasting voice signal prompting driver be according to the described step that the time of running, table travelled.
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| CN201210157582.5A CN103426299B (en) | 2012-05-18 | 2012-05-18 | Utilize windshield to project and carry out the system and method for bus rapid transit scheduling |
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| CN1280777C (en) * | 2004-05-16 | 2006-10-18 | 大连市公安局交通警察支队 | Automatic commanding and dispatching system and operating method for large security vehicle team |
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| CN101996490A (en) * | 2009-08-09 | 2011-03-30 | 马克杰 | Mobile phone data wireless network based bus arrival time inquiring and forecasting system |
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