CN104464276A - Scheduling method preventing centralized arrival of buses on basis of GPS technology - Google Patents

Abstract

The invention provides a scheduling method preventing centralized arrival of buses on the basis of a GPS technology, and relates to the field of urban road traffic control. The method aims to solve the problems that in the prior art, arrival punctuality of the buses is poor and arrival time of the buses is not balanced. According to the method, retrieval is performed on the first bus nearest to a route starting point, i is equal to 1, the number, coordinates and running speeds of buses running on a route at the same time are obtained according to a GPS, a ratio interval is judged by calculating running distance, ideal distance and predicted distance between two buses and the ratio of the predicted distance of the two buses to the ideal distance between the two buses, i is equal to i plus 2, i is smaller than N, all the buses are scheduled repeatedly, the average speed of all the buses is calculated, whether operation of the buses is finished or not is judged, data of the running buses are obtained again if operation is not finished, and scheduling is achieved. The method can be used for vehicle scheduling.

Description

A kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology

Technical field

The present invention relates to a kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology.Belong to urban road transportation control field.

Background technology

Regular public traffic has the features such as transport power is larger, convenient and swift, cheap, less pollution, and greatly developing public transport has become alleviation congestion in road, solves the priority scheme of the difficult problem of Urban Residential Trip.But owing to being subject to the impact of the factors such as various poor road transportation condition, passenger flow outburst, the actual arrival time of bus and the setting of timetable may produce deviation, and many buses may arrive simultaneously, produce public transport and concentrate the phenomenon of arriving at a station.When public transport concentrates phenomenon of arriving at a station to occur, mean that follow-up passenger waiting time is affected, greatly will reduce the service level of passenger satisfaction and public transit system, and then cause part passenger to select All other routes or other trip modes, make this circuit decline in benefits, public transport share rate reduces, and causes the waste of Public Resource.

For this reason, bus unit of operation need concentrate arrival phenomenon to dispatch to bus according to vehicle real time.But, the Disposal Measures taked for public transport concentration phenomenon at present often rests in the amendment of bus departure time-table, fail to make full use of GPS technology, the real time data obtained does not carry out degree of depth excavation, Operation Measures subjectivity is strong, promptness is poor, can not grasp the operation conditions of bus in real time, dispatching effect is undesirable.

To study for a long period of time discovery through inventor, along with the intelligent development of public transit trade, vehicle-mounted GPS equipment installed by the bus of China's major part large-and-medium size cities, possessed the hardware condition utilizing GPS technology to carry out Real-Time Scheduling.But due to public transport intelligent level lower, lack and the degree of depth of gps data excavated, bus concentrate problem of arriving at a station do not solved at all.If can make full use of GPS technology, the information such as travelling speed, operation spacing of each bus of Real-time Obtaining, dispatches public transit vehicle in time, changes its travelling speed, adjust it and run spacing, thus dynamically solve the problem that arrival concentrated by bus.

Summary of the invention

The present invention is to solve existing bus arrival punctuality difference and many unbalanced problems of bus arrival time.A kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology is now provided.

Based on the dispatching method preventing from bus from concentrating arriving at a station of GPS technology, described dispatching method comprises:

Step one, by the line length L of bus, be stored in system to the tolerance ρ of desired pitch deviation, bus routes trend, bus routes terminus coordinate and the coordinate of circuit through crossing,

Step 2, retrieval from first bus near circuit starting point, make i=1, obtain the bus number N that same time circuit runs, each bus coordinate (x according to GPS _i, y _i), i ∈ (1, N), the travelling speed v of each bus _i, the data in integrating step one calculate the operation spacing J between i car and i+1 car _{i, i+1}, and the desired pitch S of computational scheme _l,

Step 3, utilize between i car and i+1 car and run spacing J _{i, i+1}, run spacing J between i+1 car and i+2 car _{i+1, i+2}and the speed v of i car _i, i+1 car speed v _i+1and the speed v of i+2 car _i+2calculate the expection interval S between i car and i+1 car _{i, i+1}and the expection interval S between i+1 car and i+2 car _{i+1, i+2},

Expection interval S between the i car obtained in step 4, calculation procedure three and i+1 car _{i, i+1}with the desired pitch S obtained in step 2 _lratio k _i=S _{i, i+1}/ S _l, and the expection interval S between i+1 car and i+2 car _{i+1, i+2}with desired pitch S _lratio k _i+1=S _{i+1, i+2}/ S _l, k value is divided into three intervals, excessive interval is (1+ ρ ,+∞), and crossing minizone is (0,1-ρ), and suitable interval is [1-ρ, 1+ ρ],

K in step 5, determining step four _iand k _i+1the interval at place,

1) if k _iwhen being positioned at excessive interval, k _i+1also be positioned at excessive interval, then by system call, i+1 car and i+2 car slowed down,

2) if k _iwhen being positioned at excessive interval, k _i+1be positioned at minizone, then by system call, i+1 car slowed down, i+2 car accelerates,

3) if k _iwhen being positioned at excessive interval, k _i+1be positioned at suitable interval, then by system call, i+1 car and i+2 car slowed down,

4) if k _iwhen being positioned at minizone, k _i+1be positioned at excessive interval, then by system call, i+1 car accelerated, i+2 car slows down,

5) if k _iwhen being positioned at minizone, k _i+1be positioned at minizone, then by system call, i+1 car and i+2 car accelerated,

6) if work as k _iwhen being positioned at minizone, k _i+1be positioned at suitable interval, then by system call, i+1 car and i+2 car accelerated,

7) if k _ibe positioned at suitable interval, do not process,

After step 6, judgement terminate, make i=i+2, if i<N, then repeated execution of steps three to step 6, until complete the scheduling of whole bus,

Step 7, obtain rolling stock dispatched after average velocity with 3 minutes for dispatching cycle, rolling stock at the uniform velocity travels 3 minutes with schedule speed, and when starting next dispatching cycle, travels with average velocity v,

Step 8, judge whether public transit vehicle operation terminates, if still continue operation, proceed to step 2, perform step 2 to step 8 cycling, again obtain just in the data of operational vehicle, realize scheduling.

Beneficial effect of the present invention is: obtained bus running speed by GPS technology, run the real-time information such as spacing, judge the deviation of bus expection spacing and desired pitch, and in conjunction with front truck running status, bus speed is adjusted, spaces of vehicles is made to be in proper states, the impact of the factor such as condition, passenger flow outburst on public transit system stability thus reduction poor road passes through, ensures the punctuality rate of bus operation and the service level of public transit system.

1. utilize GPS to obtain public transit vehicle real time data, can realize dispatching the dynamic realtime of bus, make scheduling more reliable, reduce interference from human factor.

2. this method is simple, and only need carry out speed adjustment to vehicle, the operation without the need to complexity can realize significant dispatching effect, solves bus and concentrates the problem of arriving at a station, improve public transport punctuality rate.

Accompanying drawing explanation

Fig. 1 is the process flow diagram of a kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology described in embodiment one.

Fig. 2 is bus and crossing position view, picture in picture shape ● represent public transit vehicle, represents each crossing coordinate in figure by the form of coordinate (a, b),

Fig. 3 is i and i+1 car, and all excessive situation schematic diagram of i+1 and i+2 car expection spacing, in figure, Reference numeral 1 represents with i car for benchmark, position when figure △ represents that the search cycle starts, and figure zero represents desired location, figure represent the position travelling one-period by schedule speed,

Fig. 4 is that i and i+1 car expection spacing is excessive, the too small situation schematic diagram of i+1 and i+2 car expection spacing,

Fig. 5 is that i and i+1 car expection spacing is excessive, i+1 and i+2 car expection spacing suitable conditions schematic diagram,

Fig. 6 is that i and i+1 car expection spacing is too small, the excessive situation schematic diagram of i+1 and i+2 car expection spacing,

Fig. 7 is i and i+1 car, all too small situation schematic diagram of i+1 and i+2 car expection spacing,

Fig. 8 is that i and i+1 car expection spacing is too small, i+1 and i+2 car expection spacing suitable conditions schematic diagram,

Fig. 9 is embodiment schematic diagram, and in figure, alphabetical A represents circuit starting point, and letter b represents circuit terminal, and alphabetical J1 to J6 represents that crossing is numbered, and figure is 1. to 7. representing bus numbering.

Embodiment

Embodiment one: illustrate present embodiment referring to figs. 1 through Fig. 8, a kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology described in present embodiment, described dispatching method comprises:

Step one, by the line length L of bus, be stored in system to the tolerance ρ of desired pitch deviation, bus routes trend, bus routes terminus coordinate and the coordinate of circuit through crossing,

Step 2, retrieval from first bus near circuit starting point, make i=1, obtain the bus number N that same time circuit runs, each bus coordinate (x according to GPS _i, y _i), i ∈ (1, N), the travelling speed v of each bus _i, the data in integrating step one calculate the operation spacing J between i car and i+1 car _{i, i+1}, and the desired pitch S of computational scheme _l,

Step 3, utilize between i car and i+1 car and run spacing J _{i, i+1}, run spacing J between i+1 car and i+2 car _{i+1, i+2}and the speed v of i car _i, i+1 car speed v _i+1and the speed v of i+2 car _i+2calculate the expection interval S between i car and i+1 car _{i, i+1}and the expection interval S between i+1 car and i+2 car _{i+1, i+2},

Expection interval S between the i car obtained in step 4, calculation procedure three and i+1 car _{i, i+1}with the desired pitch S obtained in step 2 _lratio k _i=S _{i, i+1}/ S _l, and the expection interval S between i+1 car and i+2 car _{i+1, i+2}with desired pitch S _lratio k _i+1=S _{i+1, i+2}/ S _l, k value is divided into three intervals, excessive interval is (1+ ρ ,+∞), and crossing minizone is (0,1-ρ), and suitable interval is [1-ρ, 1+ ρ],

K in step 5, determining step four _iand k _i+1the interval at place,

1) if k _iwhen being positioned at excessive interval, k _i+1also be positioned at excessive interval, then by system call, i+1 car and i+2 car slowed down,

2) if k _iwhen being positioned at excessive interval, k _i+1be positioned at minizone, then by system call, i+1 car slowed down, i+2 car accelerates,

3) if k _iwhen being positioned at excessive interval, k _i+1be positioned at suitable interval, then by system call, i+1 car and i+2 car slowed down,

4) if k _iwhen being positioned at minizone, k _i+1be positioned at excessive interval, then by system call, i+1 car accelerated, i+2 car slows down,

5) if k _iwhen being positioned at minizone, k _i+1be positioned at minizone, then by system call, i+1 car and i+2 car accelerated,

6) if work as k _iwhen being positioned at minizone, k _i+1be positioned at suitable interval, then by system call, i+1 car and i+2 car accelerated,

7) if k _ibe positioned at suitable interval, do not process,

After step 6, judgement terminate, make i=i+2, if i<N, then repeated execution of steps three to step 6, until complete the scheduling of whole bus,

Step 7, obtain rolling stock dispatched after average velocity with 3 minutes for dispatching cycle, rolling stock at the uniform velocity travels 3 minutes with schedule speed, and when starting next dispatching cycle, travels with average velocity v,

Step 8, judge whether public transit vehicle operation terminates, if still continue operation, proceed to step 2, perform step 2 to step 8 cycling, again obtain just in the data of operational vehicle, realize scheduling.

In present embodiment, the object of setting correcting deviation tolerance is the error that partial offset causes due to various factors, according to large quantifier elimination, the spacing of current rear car is relative to the punctuality rate that can not affect bus when the deviation of desired pitch is within 10%, so correcting deviation tolerance is comparatively suitable within being set as 10%, bus dispatching personnel can determine the value of correcting deviation tolerance voluntarily according to the actual conditions of circuit.

When retrieving, vehicle retrieval is carried out to terminal direction from the starting point of circuit, make the car near circuit starting point be numbered first car, by line alignment, all the other vehicles are numbered, and calculate according to the operation spacing of the computing method in the present invention to bus.

The representative of expection spacing within a search cycle, when be scheduled vehicle with the speeds after scheduling, the vehicle that is not scheduled with each vehicle during speeds be not scheduled between spacing at the end of the search cycle.

When first time, search calculated, from first car, utilize the speed of first car and second car, operation spacing between second car and the 3rd car and first car, second car, the 3rd car, calculate first car and second car respectively, the expection spacing of second car and the 3rd car.And the selection of scheduling mode and the determination of schedule speed value are carried out in the interval residing for expection spacing.

When second time search calculates, from the 3rd car, utilize the speed after the scheduling of the 3rd car and the 4th car, operation spacing between the 4th car and the 5th car and the 3rd car, the speed of the 4th car, the 5th car, calculate the 3rd car and the 4th car respectively, the expection spacing of the 4th car and the 5th car.Situation afterwards with second time search for described in situation similar, search for until rolling stock search complete.

To arrange the search cycle be the reason of 3 minutes is: the first, and sense cycle is unsuitable too short, and too short sense cycle will make scheduling too frequently, and system fluctuation is excessive, brings the fatigue of dispatcher and driver; The second, sense cycle is unsuitable long, and the disturbance of the public transit system such as road traffic condition, passenger flow outburst all has randomness, and long sense cycle will make scheduling lose promptness, and reduce the capability for correcting of disturbance, dispatching effect is not remarkable.

The object travelled with average velocity at the end of the scheduling rolling stock search cycle prevents from being subject to dispatching the velocity contrast impact produced by dispatching the spacing reached between vehicle, causes to run between spacing and desired pitch again to occur deviation.

Embodiment two: present embodiment is described further a kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology described in embodiment one, in present embodiment, retrieve from first bus near circuit starting point in step 2, make i=1, the bus number N that same time circuit runs is obtained, each bus coordinate (x according to GPS _i, y _i), i ∈ (1, N), the travelling speed v of each bus _i, the data in integrating step one calculate the operation spacing J between i car and i+1 car _{i, i+1}, and the desired pitch S of computational scheme _lprocess be:

The gps coordinate of each crossing on public transport operation circuit, crossing are add up to N _j, coordinate is that on (a, b) and GPS middle distance and road, the ratio of actual range is the data of 1: γ, γ is natural number, based on data storing in system, the real-time coordinates (x, y) of each bus is obtained, the crossing number m between i car and i+1 car by GPS _i, crossing coordinate is $(a_{i,1},b_{i,1}),(a_{i,2},b_{i,2}),......,(a_{i,j},b_{i,j}),......,(a_{{i,m}_i},b_{{i,m}_i}),$

According to formula:

$J_{i,i+1}=[\sqrt{{(x_i-a_{i,1})}^2}+\sqrt{{(x_{i+1}-a_{{i,m}_i})}^2+{(y_{i+1}-b_{{i,m}_i})}^2}+\underset{j=1}{\overset{m_i-1}{\mathrm{\&Sigma;}}}\sqrt{{(a_{i,j}-a_{i,j+1})}^2+{(b_{i,j}-b_{i,j+1})}^2}]\&times;\mathrm{\&gamma;},$

Obtain the operation spacing J between the i-th car and i+1 car _{i, i+1},

According to formula:

$S_L=\underset{i=1}{\overset{N-1}{\mathrm{\&Sigma;}}}{J}_{i,i+1}/N,$

Obtain the desired pitch S of circuit _l.

Embodiment three: present embodiment is described further a kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology described in embodiment one or two, in present embodiment, utilize in step 3 between i car and i+1 car and run spacing J _{i, i+1}, run spacing J between i+1 car and i+2 car _{i+1, i+2}and the speed v of i car _i, i+1 car speed v _i+1and the speed v of i+2 car _i+2calculate the expection interval S between i car and i+1 car _{i, i+1}and the expection interval S between i+1 car and i+2 car _{i+1, i+2}method be:

As i=1, when namely first time is retrieved, then expect that spacing is:

S _1,2＝J _1,2+(v ₂-v ₁)×180，

S _2,3＝J _2,3+(v ₃-v ₂)×180，

Wherein, the unit of 180 is second, within 180 seconds, represents the dispatching cycle of 3 minutes,

When i ≠ 1, namely circulate when starting, then the expection interval S between i car and i+1 car _{i, i+1}for:

S _i,i+1＝J _i,i+1+(v _i+1-v' _i)×180，

Expection interval S between i+1 car and i+2 car _{i+1, i+2}for:

S _i+1,i+2＝J _i+1,i+2+(v _i+2-v _i+2)×180，

Wherein, v' _ifor the i vehicle speed after once dispatching.

Embodiment four: present embodiment is described further, in present embodiment, by judging k in step 5 a kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology described in embodiment one _iand k _i+1the interval at place, the method for carrying out dispatching i+1 vehicle speed and i+2 vehicle speed is:

1) if k _iwhen being positioned at excessive interval, k _i+1also be positioned at excessive interval, then by system call, i+1 car and i+2 car slowed down,

According to formula:

Δv _i+1＝(S _i,i+1-S _L)×180，

Obtain the velocity variations value Δ v of i+1 car _i+1,

According to formula:

v′ _i+1＝v _i+1-Δv _i+1＝v _i+1-(S _i,i+1-S _L)/180，

Scheduling i+1 car is decelerated to v ' _i+1,

Need scheduling i-th+2 car Reduced Speed Now, according to formula simultaneously:

Δv _i+2＝[(S _i,i+1-S _L)+(S _i+1,i+2-S _L)/180＝(S _i,i+1+S _i+1,i+2-2S _L)/180，

Obtain i+2 vehicle speed changing value Δ v _i+2,

According to formula:

Δv′ _i+2＝v _i+2-Δv _i+2＝v _i+2-(S _i,i+1+S _i+1,i+2-2S _L)/180，

Scheduling i+2 car is decelerated to v ' _i+2,

2) if k _ibe positioned at the excessive interval of spacing, k _i+1be positioned at spacing and cross minizone, need dispatch the i-th+1 car Reduced Speed Now, i+2 car gives it the gun,

According to formula:

Δv _i+1＝(S _i,i+1-S _L)×180，

Obtain the velocity variations value Δ v of i+1 car _i+1,

According to formula:

v′ _i+1＝v _i+1-Δv _i+1＝v _i+1+(S _i,i+1-S _L)/180，

Scheduling i+1 car is decelerated to v ' _i+1,

Need scheduling i-th+2 car to give it the gun, according to formula simultaneously:

Δv _i+2＝[(S _i+1,i+2+|S _i,i+1-S _L|-S _L]/180＝(S _i,i+1+S _i+1,i+2-2S _L)/180，

Obtain i+2 vehicle speed changing value Δ v _i+2,

According to formula:

v' _i+2＝v _i+2-Δv _i+2＝v _i+2+(S _i,i+1+S _i+1,i+2-2S _L)/180，

Scheduling i+2 car accelerates to v ' _i+2,

3) k _ibe positioned at the excessive interval of spacing, k _i+1be positioned at spacing suitable interval, the i-th+1 car and i+2 Reduced Speed Now need be dispatched,

According to formula:

Δv _i+1＝(S _i,i+1-S _L)×180，

Obtain the velocity variations value Δ v of i+1 car _i+1,

According to formula:

v′ _i+1＝v _i+1-Δv _i+1＝v _i+1+(S _i,i+1-S _L)/180，

Scheduling i+1 car is decelerated to v ' _i+1,

Need scheduling i-th+2 car Reduced Speed Now, according to formula simultaneously:

Δv _i+2＝[(S _i+1,i+2+|S _i,i+1-S _L|-S _L]/180＝(S _i,i+1+S _i+1,i+2-2S _L)/180，

Obtain i+2 vehicle speed changing value Δ v _i+2,

According to formula:

v′ _i+2＝v _i+2-Δv _i+2＝v _i+2-(S _i,i+1+S _i+1,i+2-2S _L)/180，

Scheduling i+2 car is decelerated to v ' _i+2,

4) k _ibe positioned at spacing and cross minizone, k _i+1be positioned at the excessive interval of spacing, the i-th+1 car need be dispatched and give it the gun, the Reduced Speed Now of i+2 car,

According to formula:

Δv _i+1＝|S _i,i+1-S _L|/180＝(S _L-S _i,i+1)/180，

Obtain i+1 vehicle speed changing value Δ v _i+1,

According to formula:

v′ _i+1＝v _i+1+Δv _i+1＝v _i+1+(S _L-S _i,i+1)/180，

Scheduling i+1 car accelerates to v ' _i+1,

Need scheduling i-th+2 car Reduced Speed Now, according to formula simultaneously:

Δv _i+2＝[(S _i+1,i+2+|S _i,i+1-S _L|-S _L]/180＝(S _i,i+1+S _i+1,i+2-2S _L)/180，

Obtain i+2 vehicle speed changing value Δ v _i+2,

According to formula:

v′ _i+2＝v _i+2-Δv _i+2＝v _i+2-(S _i,i+1+S _i+1,i+2-2S _L)/180，

Scheduling i+2 car is decelerated to v ' _i+2,

5) k _i, k _i+1all be positioned at spacing and cross minizone, need dispatch and i+1 car and i+2 car are given it the gun,

According to formula:

Δv _i+1＝|S _i,i+1-S _L|/180＝(S _L-S _i,i+1)/180，

Obtain i+1 vehicle speed changing value Δ v _i+1,

According to formula:

v′ _i+1＝v _i+1+Δv _i+1＝v _i+1+(S _L-S _i,i+1)/180，

Scheduling i+1 car accelerates to v ' _i+1,

Need scheduling i+2 car to give it the gun, according to formula simultaneously:

Δv _i+2＝(|S _i,i+1-S _L|+|S _i+1,i+2-S _L|)/180＝(2S _L-S _i+1,i+2-S _i,i+1)/180，

Obtain i+2 vehicle speed changing value Δ v _i+2,

According to formula:

v′ _i+2＝v _i+2+Δv _i+2＝v _i+2+(2S _L-S _i+1,i+2-S _i,i+1)/180，

Scheduling i+2 car accelerates to v ' _i+2,

6) k _ibe positioned at spacing and cross minizone, k _i+1be positioned at spacing suitable interval, the i-th+1 car need be dispatched and i+2 car gives it the gun,

According to formula:

Δv _i+1＝|S _i,i+1-S _L|/180＝(S _L-S _i,i+1)/180，

Obtain i+1 vehicle speed changing value Δ v _i+1,

According to formula:

v' _i+1＝v _i+1+Δv _i+1＝v _i+1+(S _L-S _i,i+1)/180，

Scheduling i+1 car accelerates to v ' _i+1,

Need scheduling i+2 car to give it the gun, according to formula simultaneously:

Δv _i+2＝(|S _i,i+1-S _L|+|S _i+1,i+2-S _L|)/180＝(|S _i+1,i+2-S _L|+(S _L-S _i,i+1))/180，

Obtain velocity variations value Δ v _i+2,

According to formula:

v′ _i+2＝v _i+2+Δv _i+2＝v _i+2+(|S _i+1,i+2-S _L|+(S _L-S _i,i+1))/180，

Scheduling i+2 car accelerates to v ' _i+2.

Embodiment five: present embodiment is described further a kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology described in embodiment one, in present embodiment, obtain rolling stock dispatched after average velocity process be:

According to formula:

$\stackrel{\&OverBar;}{v}=(v_1+\underset{i=2}{\overset{N}{\mathrm{\&Sigma;}}}{v}_i^{\&prime;})/N,$

Obtain rolling stock dispatched after average velocity

Embodiment:

Below for certain circuit, be further explained the present invention, Fig. 9 is shown in by schematic diagram.

Calculated by institute's unlabeled data in Fig. 9 and learn, the length of circuit in gps system is 10000m, and the physical length of circuit is 10000m, then GPS distance is 1:1 with the ratio of actual range.Set correcting deviation tolerance is 5% simultaneously, then expect that the excessive interval of spacing and desired pitch ratio is (1.05 ,+∞), crossing minizone is (0,0.95), and suitable interval is [0.95,1.05].Known by Fig. 9, have 7 buses run in circuit, their travelling speed is in table 1.

The travelling speed of table 1 bus

	1	2	3	4	5	6	7
								Travelling speed (m/s)	6.94	6.94	5.56	6.94	5.56	5.56	6.94

According to the computing method of operation spacing of the present invention, obtain the operation spacing of bus on each circuit in table 2.

The operation spacing of table 2 bus

	1,2 cars	2,3 cars	3,4 cars	4,5 cars	5,6 cars	6,7 cars
							Run spacing (m)	1500	1000	750	1250	1500	1000

Desired pitch according to the operation distance computation circuit in table 2 is 1000m.

First time is when searching for, namely during i=1, the operation spacing in 1,2 workshops is 1500m, and the operation spacing in 2,3 workshops is 1000m, be 1500m according to the expection spacing that expection distance computation method of the present invention can obtain 1,2 workshops, the expection spacing in 2,3 workshops is 1000m.The then ratio k of expection spacing and desired pitch ₁=1.5 are positioned at excessive interval, k ₂=1 is positioned at suitable interval, takes the scheduling strategy that 2 cars slow down, 3 cars accelerate for this reason.Calculate the minimizing 2.78m/s of 2 cars, the increase 1.39m/s of 3 cars.Data in associative list 1, should dispatch 2 cars and at the uniform velocity travel 3 minutes with the speed of 4.16m/s, 3 cars with the speed of 6.95m/s.

When second time is searched for, namely during i=3, the expection spacing calculating 3,4 workshops is 750m, and the expection spacing in 4,5 workshops is 1000m, k ₃=0.75 was positioned at minizone, k ₄=1 is positioned at suitable interval, takes the scheduling strategy that 4 cars accelerate, 5 cars accelerate for this reason.Calculate the acceleration 1.39m/s of 4 cars, the acceleration of 5 cars is 1.39m/s.Data in associative list 1, should dispatch 4 cars and at the uniform velocity travel 3 minutes with the speed of 8.33m/s, 5 cars with the speed of 6.95m/s.

Third time, when searching for, namely during i=5, the expection spacing calculating 5,6 workshops was 1250m, and the expection spacing in 6,7 workshops is 1250m, k ₅be positioned at excessive interval, k ₆be positioned at excessive interval, take the scheduling strategy that 6 cars slow down, 7 cars slow down for this reason.The velocity variable calculating 6 cars is 0.99m/s, and the velocity variable of 7 cars is 1.99m/s.Data in associative list 1, should dispatch 6 cars and at the uniform velocity travel 3 minutes with the speed of 4.57m/s, 7 cars with the speed of 4.95m/s.

Rolling stock search is complete since then, and the dispatch situation of each public transit vehicle is shown in Table 3.

The each bus scheduling situation guide look of table 3

Respectively dispatch buses travel 3 minutes with the final speed shown in table 3 within this search cycle after, continue to travel with average velocity 6.14m/s.If operation does not terminate, then restart to retrieve vehicle, repeat above step, realize dynamic dispatching solution bus and concentrate the problem of arriving at a station.

Claims (5)

1., based on the dispatching method preventing from bus from concentrating arriving at a station of GPS technology, it is characterized in that, described dispatching method comprises:

Step one, by the line length L of bus, be stored in system to the tolerance ρ of desired pitch deviation, bus routes trend, bus routes terminus coordinate and the coordinate of circuit through crossing,

Step 2, retrieval from first bus near circuit starting point, make i=1, obtain the bus number N that same time circuit runs, each bus coordinate (x according to GPS _i, y _i), i ∈ (1, N), the travelling speed v of each bus _i, the data in integrating step one calculate the operation spacing J between i car and i+1 car _{i, i+1}, and the desired pitch S of computational scheme _l,

Step 3, utilize between i car and i+1 car and run spacing J _{i, i+1}, run spacing J between i+1 car and i+2 car _{i+1, i+2}and the speed v of i car _i, i+1 car speed v _i+1and the speed v of i+2 car _i+2calculate the expection interval S between i car and i+1 car _{i, i+1}and the expection interval S between i+1 car and i+2 car _{i+1, i+2},

Expection interval S between the i car obtained in step 4, calculation procedure three and i+1 car _{i, i+1}with the desired pitch S obtained in step 2 _lratio k _i=S _{i, i+1}/ S _l, and the expection interval S between i+1 car and i+2 car _{i+1, i+2}with desired pitch S _lratio k _i+1=S _{i+1, i+2}/ S _l, k value is divided into three intervals, excessive interval is (1+ ρ ,+∞), and crossing minizone is (0,1-ρ), and suitable interval is [1-ρ, 1+ ρ],

K in step 5, determining step four _iand k _i+1the interval at place,

1) if k _iwhen being positioned at excessive interval, k _i+1also be positioned at excessive interval, then by system call, i+1 car and i+2 car slowed down,

2) if k _iwhen being positioned at excessive interval, k _i+1be positioned at minizone, then by system call, i+1 car slowed down, i+2 car accelerates,

3) if k _iwhen being positioned at excessive interval, k _i+1be positioned at suitable interval, then by system call, i+1 car and i+2 car slowed down,

4) if k _iwhen being positioned at minizone, k _i+1be positioned at excessive interval, then by system call, i+1 car accelerated, i+2 car slows down,

5) if k _iwhen being positioned at minizone, k _i+1be positioned at minizone, then by system call, i+1 car and i+2 car accelerated,

6) if work as k _iwhen being positioned at minizone, k _i+1be positioned at suitable interval, then by system call, i+1 car and i+2 car accelerated,

7) if k _ibe positioned at suitable interval, do not process,

After step 6, judgement terminate, make i=i+2, if i<N, then repeated execution of steps three to step 6, until complete the scheduling of whole bus,

Step 7, obtain rolling stock dispatched after average velocity with 3 minutes for dispatching cycle, rolling stock at the uniform velocity travels 3 minutes with schedule speed, and when starting next dispatching cycle, with average velocity travel,

Step 8, judge whether public transit vehicle operation terminates, if still continue operation, proceed to step 2, perform step 2 to step 8 cycling, again obtain just in the data of operational vehicle, realize scheduling.

2. a kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology according to claim 1, it is characterized in that, retrieve from first bus near circuit starting point in step 2, make i=1, the bus number N that same time circuit runs is obtained, each bus coordinate (x according to GPS _i, y _i), i ∈ (1, N), the travelling speed v of each bus _i, the data in integrating step one calculate the operation spacing J between i car and i+1 car _{i, i+1}, and the desired pitch S of computational scheme _lprocess be:

The gps coordinate of each crossing on public transport operation circuit, crossing are add up to N _j, coordinate is that on (a, b) and GPS middle distance and road, the ratio of actual range is the data of 1: γ, γ is natural number, based on data storing in system, the real-time coordinates (x, y) of each bus is obtained, the crossing number m between i car and i+1 car by GPS _i, crossing coordinate is (a _{i, 1}, b _{i, 1}), (a _{i, 2}, b _{i, 2}) ..., (a _i,j, bi _{, j)}...,

According to formula:

$J_{i,i+1}=[\sqrt{{(x_i-a_{i,1})}^2}+\sqrt{{(x_{i+1}-a_{i,m_i})}^2+{(y_{i+1}-b_{i,m_i})}^2}+\underset{j=1}{\overset{m_i-1}{\mathrm{\&Sigma;}}}\sqrt{{(a_{i,j}-a_{i,j+1})}^2+{(b_{i,j}-b_{i,j+1})}^2}]\&times;\mathrm{\&gamma;},$

Obtain the operation spacing J between the i-th car and i+1 car _{i, i+1},

According to formula:

$S_L=\underset{i=1}{\overset{N-1}{\mathrm{\&Sigma;}}}{J}_{i,i+1}/N,$

Obtain the desired pitch S of circuit _l.

3. a kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology according to claim 1 and 2, is characterized in that, utilize between i car and i+1 car and run spacing J in step 3 _{i, i+1}, run spacing J between i+1 car and i+2 car _{i+1, i+2}and the speed v of i car _i, i+1 car speed v _i+1and the speed v of i+2 car _i+2calculate the expection interval S between i car and i+1 car _{i, i+1}and the expection interval S between i+1 car and i+2 car _{i+1, i+2}method be:

As i=1, when namely first time is retrieved, then expect that spacing is:

S _1,2＝J _1,2+(v ₂-v ₁)×180，

S _2,3＝J _2,3+(v ₃-v ₂)×180，

Wherein, the unit of 180 is second, within 180 seconds, represents the dispatching cycle of 3 minutes,

When i ≠ 1, namely circulate when starting, then the expection interval S between i car and i+1 car _{i, i+1}for:

S _i,i+1＝J _i,i+1+(v _i+1-v' _i)×180，

Expection interval S between i+1 car and i+2 car _{i+1, i+2}for:

S _i+1,i+2＝J _i+1,i+2+(v _i+2-v _i+2)×180，

Wherein, v' _ifor the i vehicle speed after once dispatching.

4. a kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology according to claim 1, is characterized in that, by judging k in step 5 _iand k _i+1the interval at place, the method for carrying out dispatching i+1 vehicle speed and i+2 vehicle speed is:

1) if k _iwhen being positioned at excessive interval, k _i+1also be positioned at excessive interval, then by system call, i+1 car and i+2 car slowed down,

According to formula:

Δv _i+1＝(S _i,i+1-S _L)×180，

Obtain the velocity variations value Δ v of i+1 car _i+1,

According to formula:

v' _i+1＝v _i+1-Δv _i+1＝v _i+1-(S _i,i+1-S _L)/180，

Scheduling i+1 car is decelerated to v' _i+1,

Need scheduling i-th+2 car Reduced Speed Now, according to formula simultaneously:

Δv _i+2＝[(S _i,i+1-S _L)+(S _i+1,i+2-S _L)/180＝(S _i,i+1+S _i+1,i+2-2S _L)/180，

Obtain i+2 vehicle speed changing value Δ v _i+2,

According to formula:

Δv' _i+2＝v _i+2-Δv _i+2＝v _i+2-(S _i,i+1+S _i+1,i+2-2S _L)/180，

Scheduling i+2 car is decelerated to v' _i+2,

2) if k _ibe positioned at the excessive interval of spacing, k _i+1be positioned at spacing and cross minizone, need dispatch the i-th+1 car Reduced Speed Now, i+2 car gives it the gun,

According to formula:

Δv _i+1＝(S _i,i+1-S _L)×180，

Obtain the velocity variations value Δ v of i+1 car _i+1,

According to formula:

v' _i+1＝v _i+1-Δv _i+1＝v _i+1+(S _i,i+1-S _L)/180，

Scheduling i+1 car is decelerated to v' _i+1,

Need scheduling i-th+2 car to give it the gun, according to formula simultaneously:

Δv _i+2＝[(S _i+1,i+2+|S _i,i+1-S _L|-S _L]/180＝(S _i,i+1+S _i+1,i+2-2S _L)/180，

Obtain i+2 vehicle speed changing value Δ v _i+2,

According to formula:

v' _i+2＝v _i+2-Δv _i+2＝v _i+2+(S _i,i+1+S _i+1,i+2-2S _L)/180，

Scheduling i+2 car accelerates to v' _i+2,

3) k _ibe positioned at the excessive interval of spacing, k _i+1be positioned at spacing suitable interval, the i-th+1 car and i+2 Reduced Speed Now need be dispatched,

According to formula:

Δv _i+1＝(S _i,i+1-S _L)×180，

Obtain the velocity variations value Δ v of i+1 car _i+1,

According to formula:

v' _i+1＝v _i+1-Δv _i+1＝v _i+1+(S _i,i+1-S _L)/180，

Scheduling i+1 car is decelerated to v' _i+1,

Need scheduling i-th+2 car Reduced Speed Now, according to formula simultaneously:

Δv _i+2＝[(S _i+1,i+2+|S _i,i+1-S _L|-S _L]/180＝(S _i,i+1+S _i+1,i+2-2S _L)/180，

Obtain i+2 vehicle speed changing value Δ v _i+2,

According to formula:

v' _i+2＝v _i+2-Δv _i+2＝v _i+2-(S _i,i+1+S _i+1,i+2-2S _L)/180，

Scheduling i+2 car is decelerated to v' _i+2,

4) k _ibe positioned at spacing and cross minizone, k _i+1be positioned at the excessive interval of spacing, the i-th+1 car need be dispatched and give it the gun, the Reduced Speed Now of i+2 car,

According to formula:

Δv _i+1＝|S _i,i+1-S _L|/180＝(S _L-S _i,i+1)/180，

Obtain i+1 vehicle speed changing value Δ v _i+1,

According to formula:

v' _i+1＝v _i+1+Δv _i+1＝v _i+1+(S _L-S _i,i+1)/180，

Scheduling i+1 car accelerates to v' _i+1,

Need scheduling i-th+2 car Reduced Speed Now, according to formula simultaneously:

Δv _i+2＝[(S _i+1,i+2+|S _i,i+1-S _L|-S _L]/180＝(S _i,i+1+S _i+1,i+2-2S _L)/180，

Obtain i+2 vehicle speed changing value Δ v _i+2,

According to formula:

v' _i+2＝v _i+2-Δv _i+2＝v _i+2-(S _i,i+1+S _i+1,i+2-2S _L)/180，

Scheduling i+2 car is decelerated to v' _i+2,

5) k _i, k _i+1all be positioned at spacing and cross minizone, need dispatch and i+1 car and i+2 car are given it the gun,

According to formula:

Δv _i+1＝|S _i,i+1-S _L|/180＝(S _L-S _i,i+1)/180，

Obtain i+1 vehicle speed changing value Δ v _i+1,

According to formula:

v' _i+1＝v _i+1+Δv _i+1＝v _i+1+(S _L-S _i,i+1)/180，

Scheduling i+1 car accelerates to v' _i+1,

Need scheduling i+2 car to give it the gun, according to formula simultaneously:

Δv _i+2＝(|S _i,i+1-S _L|+|S _i+1,i+2-S _L|)/180＝(2S _L-S _i+1,i+2-S _i,i+1)/180，

Obtain i+2 vehicle speed changing value Δ v _i+2,

According to formula:

v' _i+2＝v _i+2+Δv _i+2＝v _i+2+(2S _L-S _i+1,i+2-S _i,i+1)/180，

Scheduling i+2 car accelerates to v' _i+2,

6) k _ibe positioned at spacing and cross minizone, k _i+1be positioned at spacing suitable interval, the i-th+1 car need be dispatched and i+2 car gives it the gun,

According to formula:

Δv _i+1＝|S _i,i+1-S _L|/180＝(S _L-S _i,i+1)/180，

Obtain i+1 vehicle speed changing value Δ v _i+1,

According to formula:

v' _i+1＝v _i+1+Δv _i+1＝v _i+1+(S _L-S _i,i+1)/180，

Scheduling i+1 car accelerates to v' _i+1,

Need scheduling i+2 car to give it the gun, according to formula simultaneously:

Δv _i+2＝(|S _i,i+1-S _L|+|S _i+1,i+2-S _L|)/180＝(|S _i+1,i+2-S _L|+(S _L-S _i,i+1))/180，

Obtain velocity variations value Δ v _i+2,

According to formula:

v' _i+2＝v _i+2+Δv _i+2＝v _i+2+(|S _i+1,i+2-S _L|+(S _L-S _i,i+1))/180，

Scheduling i+2 car accelerates to v' _i+2.

5. a kind of dispatching method preventing from bus from concentrating arriving at a station based on GPS technology according to claim 1, is characterized in that, obtain rolling stock dispatched after average velocity process be:

According to formula:

$\stackrel{\&OverBar;}{v}=(v_1+\underset{i=2}{\overset{N}{\mathrm{\&Sigma;}}}{v}_i^{\&prime;})/N,$

Obtain rolling stock dispatched after average velocity