CN104464276B - A kind of dispatching method preventing bus concentration from arriving at a station based on GPS technology - Google Patents

Abstract

A kind of dispatching method preventing bus concentration from arriving at a station based on GPS technology, relates to urban road transportation control field.The present invention is to solve poor and many unbalanced problem of bus arrival time of existing bus arrival punctuality.Of the present invention will start to retrieve i=1 from first bus near circuit starting point, the speed of service of bus number each bus each bus of coordinate that the same time is run is obtained in line length according to GPS, calculate operation spacing between two cars, desired pitch between two cars, expect between two cars and expect between spacing and two cars and between spacing and two cars, expect desired pitch ratio between spacing and two cars, judge that ratio is interval, make i=i+2, i < N, repeat rolling stock scheduling, calculate the average speed of rolling stock, judge whether public transit vehicle operation terminates, the data being currently running vehicle are reacquired without end, realize scheduling.It can be used for vehicle scheduling.

Description

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

Technical field

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

Background technology

Regular public traffic has the features such as bigger, convenient and swift, cheap, the less pollution of transport power, greatly develops public friendship The logical alleviation congestion in road that has become as, the priority scheme of solution Urban Residential Trip difficulty problem.But due to by various bad roads The impact of the factors such as road transportation condition, passenger flow outburst, the actual arrival time of bus may produce partially with the setting of timetable Difference, many buses may arrive simultaneously, produces public transport and concentrates the phenomenon arrived at a station.When public transport concentrates phenomenon of arriving at a station to occur, meaning Taste follow-up passenger waiting time and is affected, it will is substantially reduced the service level of passenger satisfaction and public transit system, enters And cause part passenger to select All other routes or other trip modes so that and this circuit decline in benefits, public transport share rate reduces, Cause the waste of Public Resource.

To this end, bus need to be concentrated arrival phenomenon to be scheduling according to vehicle real time by bus unit of operation.So And, the Disposal Measures taked currently for public transport concentration phenomenon often rests in the amendment of bus departure time-table, fails Making full use of GPS technology, the real time data of acquisition does not carries out degree of depth excavation, and Operation Measures subjectivity is strong, promptness is poor, it is impossible to real Time grasp bus operation conditions, dispatching effect is undesirable.

Study for a long period of time discovery, along with the intelligent development of public transit trade, China's major part large-and-medium size cities through inventor Bus has been mounted with vehicle-mounted GPS equipment, has possessed the hardware condition utilizing GPS technology to carry out Real-Time Scheduling.Yet with Public transport intelligent level is relatively low, lacks the degree of depth to gps data and excavates, and bus concentrates problem of arriving at a station to be solved the most at all Certainly.If GPS technology can be made full use of, obtain the speed of service of each bus in real time, run the information such as spacing, dispatch public affairs in time Hand over vehicle, change its speed of service, adjust it and run spacing, thus dynamically solve bus and concentrate the problem arrived.

Summary of the invention

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

A kind of dispatching method preventing bus concentration from arriving at a station based on GPS technology, described dispatching method includes:

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

Step 2, from first bus near circuit starting point start retrieval, make i=1, according to GPS obtain same The bus number N run on time circuit, each bus coordinate (x_i,y_i), i ∈ (1, N), speed of service v of each bus_i, Data in integrating step one calculate operation spacing J between i car and i+1 car_i,i+1, and calculate desired pitch S of circuit_L,

Step 3, utilize between i car and i+1 car operation spacing J_i,i+1, between i+1 car and i+2 car run spacing J_i+1,i+2 And the speed v of i car_i, the speed v of i+1 car_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 and the i+1 car that obtain in step 4, calculation procedure three_i,i+1With acquisition in step 2 Desired pitch S_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+2With desired pitch S_L's Ratio 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), Suitable interval is [1-ρ, 1+ ρ],

Step 5, judge k in step 4_iAnd k_i+1The interval at place,

1) if k_iWhen being positioned at excessive interval, k_i+1It also is located at excessive interval, then making i+1 car and i+2 by system call Car slows down,

2) if k_iWhen being positioned at excessive interval, k_i+1It was positioned at minizone, then makes i+1 car slow down by system call, i+2 Car accelerates,

3) if k_iWhen being positioned at excessive interval, k_i+1It is positioned at suitable interval, then makes i+1 car and i+2 car by system call Slow down,

4) if k_iWhen being positioned at minizone, k_i+1It is positioned at excessive interval, then makes i+1 car accelerate by system call, i+2 Car slows down,

5) if k_iWhen being positioned at minizone, k_i+1It was positioned at minizone, then made i+1 car and i+2 car by system call Accelerate,

6) if working as k_iWhen being positioned at minizone, k_i+1It is positioned at suitable interval, then makes i+1 car and i+2 by system call Car accelerates,

7) if k_iIt is positioned at suitable interval, does not processes,

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

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

Step 8, judge whether public transit vehicle operation terminates, if continuing to run, proceeding to step 2, performing step 2 extremely Step 8 circulation operation, reacquires the data being currently running vehicle, it is achieved scheduling.

The invention have the benefit that and obtain 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 combine front truck running status, bus speed is adjusted, makes Spaces of vehicles is in proper states, thus reduces poor road and pass through the factor such as condition, passenger flow outburst to public transit system stability Impact, it is ensured that 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, it is possible to achieve the dynamic realtime of bus to be dispatched, makes scheduling more Add reliable, reduce interference from human factor.

2. this method is simple, only vehicle need to be carried out speed adjustment, it is not necessary to complicated operation can realize significantly Dispatching effect, solves bus and concentrates the problem arrived at a station, improve public transport punctuality rate.

Accompanying drawing explanation

Fig. 1 is a kind of based on GPS technology the dispatching party preventing bus concentration from arriving at a station described in detailed description of the invention one The flow chart of method.

Fig. 2 is bus and crossing position view, figure in figure ● represent public transit vehicle, in figure with coordinate (a, b) Form represent each crossing coordinate,

Fig. 3 is i Yu i+1 car, i+1 Yu i+2 car expection spacing the most excessive situation schematic diagram, in figure, reference 1 represents with i On the basis of car, figure △ represents that position when the search cycle starts, figure zero represent desired location, figureRepresent by schedule speed Travel the position in a cycle,

Fig. 4 is that i with i+1 car expection spacing is excessive, i+1 Yu i+2 car expection spacing too small situation schematic diagram,

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

Fig. 6 is that i with i+1 car expection spacing is too small, i+1 Yu i+2 car expection spacing excessive situation schematic diagram,

Fig. 7 is i Yu i+1 car, i+1 Yu i+2 car expection spacing the most too small situation schematic diagram,

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

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

Detailed description of the invention

Detailed description of the invention one: illustrate present embodiment referring to figs. 1 through Fig. 8, a kind of base described in present embodiment The dispatching method arrived at a station concentrated by the bus that prevents in GPS technology, and described dispatching method includes:

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

Step 2, from first bus near circuit starting point start retrieval, make i=1, according to GPS obtain same The bus number N run on time circuit, each bus coordinate (x_i,y_i), i ∈ (1, N), speed of service v of each bus_i, Data in integrating step one calculate operation spacing J between i car and i+1 car_i,i+1, and calculate desired pitch S of circuit_L,

Step 3, utilize between i car and i+1 car operation spacing J_i,i+1, between i+1 car and i+2 car run spacing J_i+1,i+2 And the speed v of i car_i, the speed v of i+1 car_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 and the i+1 car that obtain in step 4, calculation procedure three_i,i+1With acquisition in step 2 Desired pitch S_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+2With desired pitch S_L's Ratio 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), Suitable interval is [1-ρ, 1+ ρ],

Step 5, judge k in step 4_iAnd k_i+1The interval at place,

1) if k_iWhen being positioned at excessive interval, k_i+1It also is located at excessive interval, then making i+1 car and i+2 by system call Car slows down,

2) if k_iWhen being positioned at excessive interval, k_i+1It was positioned at minizone, then makes i+1 car slow down by system call, i+2 Car accelerates,

3) if k_iWhen being positioned at excessive interval, k_i+1It is positioned at suitable interval, then makes i+1 car and i+2 car by system call Slow down,

4) if k_iWhen being positioned at minizone, k_i+1It is positioned at excessive interval, then makes i+1 car accelerate by system call, i+2 Car slows down,

5) if k_iWhen being positioned at minizone, k_i+1It was positioned at minizone, then made i+1 car and i+2 car by system call Accelerate,

6) if working as k_iWhen being positioned at minizone, k_i+1It is positioned at suitable interval, then makes i+1 car and i+2 by system call Car accelerates,

7) if k_iIt is positioned at suitable interval, does not processes,

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

Step 7, obtain rolling stock dispatched after average speedWith 3 minutes as dispatching cycle, rolling stock At the uniform velocity travel with schedule speed 3 minutes, and when starting next dispatching cycle, travel with average speed v,

Step 8, judge whether public transit vehicle operation terminates, if continuing to run, proceeding to step 2, performing step 2 extremely Step 8 circulation operation, reacquires the data being currently running vehicle, it is achieved scheduling.

In present embodiment, the purpose setting correcting deviation tolerance is the error that partial offset causes due to various factors, root According to substantial amounts of research, the spacing of current rear car relative to the deviation of desired pitch within 10% time do not interfere with the standard of bus Point rate, so correcting deviation tolerance is more suitable within being set as 10%, bus dispatching personnel can according to the practical situation of circuit certainly Row determines the value of correcting deviation tolerance.

When retrieving, carry out vehicle retrieval from the starting point of circuit to terminal direction, make the car near circuit starting point compile Number it is first car, by line alignment, remaining vehicle is numbered, and according to the computational methods in the present invention to bus Run spacing to calculate.

Expection spacing represented within a search cycle, and when being scheduled, vehicle travels with the speed after scheduling, is not scheduled Spacing at the end of the search cycle between each vehicle when vehicle travels with the speed that is not scheduled.

When search calculates for the first time, from the beginning of first car, utilize first car and second car, second car and the 3rd Operation spacing between car and first car, second car, the speed of the 3rd car, calculate first car and second respectively Car, second car and the expection spacing of the 3rd car.And it is scheduling way choice according to the interval residing for expection spacing And the determination of schedule speed value.

When second time search calculates, from the beginning of the 3rd car, utilize the 3rd car and the 4th car, the 4th car and the 5th Operation spacing between car and the speed after the scheduling of the 3rd car, the 4th car, the speed of the 5th car, count respectively Calculate the 3rd car and the 4th car, the 4th car and the expection spacing of the 5th car.Situation afterwards and institute in second time search Situation about stating is similar to, and until rolling stock, search complete in search.

Arranging the reason that the search cycle is 3 minutes is: first, and the detection cycle is unsuitable too short, and the too short detection cycle will make Scheduling is excessively frequent, and system fluctuation is excessive, brings the fatigue of dispatcher and driver；Second, the detection cycle is unsuitable long, The disturbance of the public transit system such as road traffic condition, passenger flow outburst all has randomness, and the long detection cycle will make scheduling lose Having gone promptness, reduced the capability for correcting of disturbance, dispatching effect is the most notable.

The purpose travelled with average speed at the end of the scheduling rolling stock search cycle is to prevent between vehicle by scheduling The speed difference that the spacing reached is produced by scheduling is affected, and causes and deviation again occurs between operation spacing and desired pitch.

Detailed description of the invention two: present embodiment is a kind of based on GPS technology anti-to described in detailed description of the invention one Only bus concentrates the dispatching method arrived at a station to be described further, in present embodiment, near circuit starting point in step 2 First bus start retrieval, make i=1, obtain the bus number N run on same time circuit, each public affairs according to GPS Hand over car coordinate (x_i,y_i), i ∈ (1, N), speed of service v of each bus_i, the data in integrating step one calculate i car and i+1 car Between operation spacing J_i,i+1, and calculate desired pitch S of circuit_LProcess be:

It is N by the gps coordinate of each crossing on public transport operation circuit, crossing sum_j, coordinate be (a, b) and GPS in Distance is the data of 1: γ with the ratio of actual range on road, and γ is natural number, based on data be stored in system, by GPS obtain each bus real-time coordinates (x, y), the crossing number m between i car and i+1 car_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 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 desired pitch S of circuit_L。

Detailed description of the invention three: present embodiment is based on GPS technology to the one described in detailed description of the invention one or two The bus that prevents concentrate the dispatching method that arrives at a station to be described further, in present embodiment, step 3 utilizes i car and i+1 Spacing J is run between car_i,i+1, between i+1 car and i+2 car run spacing J_i+1,i+2And the speed v of i car_i, the speed v of i+1 car_i+1 And the speed v of i+2 car_i+2Calculate the expection interval S between i car and i+1 car_i,i+1And the expection spacing between i+1 car and i+2 car S_i+1,i+2Method be:

As i=1, when retrieving i.e. for the first time, then expection spacing is:

S_1,2=J_1,2+(v₂-v₁) × 180,

S_2,3=J_2,3+(v₃-v₂) × 180,

Wherein, the unit of 180 is the second, the dispatching cycle representing 3 minutes in 180 seconds,

When i ≠ 1, when i.e. circulation has begun to, then the expection interval S between i car and i+1 car_i,i+1For:

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+2For:

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 scheduling.

Detailed description of the invention four: present embodiment is a kind of based on GPS technology anti-to described in detailed description of the invention one Only bus concentrates the dispatching method arrived at a station to be described further, in present embodiment, by judging k in step 5_iAnd k_i+1Institute Interval, the method being scheduling i+1 vehicle speed and i+2 vehicle speed is:

1) if k_iWhen being positioned at excessive interval, k_i+1It also is located at excessive interval, then making i+1 car and i+2 car by system call Slow 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,

Simultaneously need to scheduling the i-th+2 car Reduced Speed Now, according to formula:

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_iIt is positioned at the excessive interval of spacing, k_i+1It is positioned at spacing and crosses minizone, i+1 car Reduced Speed Now, i+ need to be dispatched 2 cars give 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 to dispatch the 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_iIt is positioned at the excessive interval of spacing, k_i+1It is positioned at spacing suitable interval, i+1 car and i+2 Reduced Speed Now need to 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 to dispatch the 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_iIt is positioned at spacing and crosses minizone, k_i+1It is positioned at the excessive interval of spacing, i+1 car need to be dispatched and give it the gun, i+2 car Reduced Speed Now,

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 to dispatch the 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+1It is respectively positioned on spacing and crosses minizone, need to dispatch and make i+1 car and i+2 car give 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 to dispatch 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_iIt is positioned at spacing and crosses minizone, k_i+1It is positioned at spacing suitable interval, i+1 car need to be dispatched and i+2 car accelerates row Sail,

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 to dispatch 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。

Detailed description of the invention five: present embodiment is a kind of based on GPS technology anti-to described in detailed description of the invention one Only bus concentrates the dispatching method arrived at a station to be described further, in present embodiment, it is thus achieved that after rolling stock has been dispatched Average speedProcess be:

According to formula:

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

Obtain the average speed after rolling stock has been dispatched

Embodiment:

Below as a example by certain circuit, being further explained the present invention, Fig. 9 is shown in by schematic diagram.

Calculated by data marked in Fig. 9 and learn, the circuit a length of 10000m in GPS system, the reality of circuit A length of 10000m, then GPS distance is 1:1 with the ratio of actual range.Concurrently setting correcting deviation tolerance is 5%, then pre-period Be (1.05 ,+∞) away from the excessive interval with desired pitch ratio, cross minizone be (0,0.95), suitable interval be [0.95, 1.05].Being known by Fig. 9, having 7 buses being currently running in circuit, their speed of service is shown in Table 1.

The speed of service of table 1 bus

	1	2	3	4	5	6	7
								The speed of service (m/s)	6.94	6.94	5.56	6.94	5.56	5.56	6.94

According to the computational methods of operation spacing of the present invention, the operation spacing obtaining bus on each circuit is shown in Table 2.

The operation spacing of table 2 bus

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

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

For the first time during search, i.e. during i=1, the operation spacing in 1,2 workshops is 1500m, and the operation spacing in 2,3 workshops is 1000m, is 1500m according to the expection spacing that expection distance computation method of the present invention can obtain 1,2 workshops, 2,3 cars Between expection spacing be 1000m.Then expection spacing and the ratio k of desired pitch₁=1.5 are positioned at excessive interval, k₂=1 is positioned at conjunction Suitable interval, takes the scheduling strategy that 2 cars slow down, 3 cars accelerate for this.Calculate the minimizing 2.78m/s of 2 cars, the increase of 3 cars 1.39m/s.In conjunction with data in table 1,2 cars should be dispatched and at the uniform velocity travel 3 points with speed, 3 cars of 4.16m/s with the speed of 6.95m/s Clock.

During second time search, i.e. during i=3, the expection spacing calculating 3,4 workshops is 750m, the expection spacing in 4,5 workshops For 1000m, k₃=0.75 was positioned at minizone, k₄=1 is positioned at suitable interval, takes the scheduling plan that 4 cars accelerate, 5 cars accelerate for this Slightly.Calculating the acceleration 1.39m/s of 4 cars, the acceleration of 5 cars is 1.39m/s.In conjunction with data in table 1, should dispatch 4 cars with The speed of 8.33m/s, 5 cars at the uniform velocity travel 3 minutes with the speed of 6.95m/s.

During third time search, i.e. during i=5, the expection spacing calculating 5,6 workshops is 1250m, the expection spacing in 6,7 workshops For 1250m, k₅It is positioned at excessive interval, k₆It is positioned at excessive interval, takes the scheduling strategy that 6 cars slow down, 7 cars slow down for this.Calculate The velocity variable going out 6 cars is 0.99m/s, and the velocity variable of 7 cars is 1.99m/s.In conjunction with data in table 1, should dispatch 6 cars with The speed of 4.57m/s, 7 cars at the uniform velocity travel 3 minutes 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.

Table 3 each bus scheduling situation is had a guide look of

Respectively dispatch buses after travelling 3 minutes with the final speed shown in table 3 within this search cycle, with average speed 6.14m/s continue to travel.If operation does not terminates, then restart vehicle is retrieved, repeat above step, it is achieved dynamically adjust Degree solves bus and concentrates the problem arrived at a station.

Claims (5)

1. the dispatching method preventing bus concentration from arriving at a station based on GPS technology, it is characterised in that described dispatching method Including:

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

Step 2, from first bus near circuit starting point start retrieval, make i=1, according to GPS obtain the same time The bus number N run on circuit, each bus coordinate (x_i,y_i), i ∈ (1, N), speed of service v of each bus_i, in conjunction with Data in step one calculate operation spacing J between i car and i+1 car_i,i+1, and calculate desired pitch S of circuit_L,

Step 3, utilize between i car and i+1 car operation spacing J_i,i+1, between i+1 car and i+2 car run spacing J_i+1,i+2And i car Speed v_i, the speed v of i+1 car_i+1And the speed v of i+2 car_i+2Calculate the expection interval S between i car and i+1 car_i,i+1And i+1 Expection interval S between car and i+2 car_i+1,i+2,

Expection interval S between the i car and the i+1 car that obtain in step 4, calculation procedure three_i,i+1With the ideal obtained in step 2 Interval S_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+2With 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), properly Interval is [1-ρ, 1+ ρ],

Step 5, judge k in step 4_iAnd k_i+1The interval at place,

1) if k_iWhen being positioned at excessive interval, k_i+1It also is located at excessive interval, then making i+1 car and i+2 car subtract by system call Speed,

2) if k_iWhen being positioned at excessive interval, k_i+1Being positioned at minizone, then make i+1 car slow down by system call, i+2 car adds Speed,

3) if k_iWhen being positioned at excessive interval, k_i+1It is positioned at suitable interval, then makes i+1 car and i+2 car slow down by system call,

4) if k_iWhen being positioned at minizone, k_i+1Being positioned at excessive interval, then make i+1 car accelerate by system call, i+2 car subtracts Speed,

5) if k_iWhen being positioned at minizone, k_i+1It was positioned at minizone, then makes i+1 car and i+2 car accelerate by system call,

6) if working as k_iWhen being positioned at minizone, k_i+1It is positioned at suitable interval, then makes i+1 car and i+2 car add by system call Speed,

7) if k_iIt is positioned at suitable interval, does not processes,

After step 6, judgement terminate, make i=i+2, if i < N, then repeated execution of steps three to step 6, until would completing all The scheduling of bus,

Step 7, obtain rolling stock dispatched after average speedWith 3 minutes as dispatching cycle, rolling stock is with scheduling Speed at the uniform velocity travels 3 minutes, and when starting next dispatching cycle, with average speedTravel,

Step 8, judging whether public transit vehicle operation terminates, if continuing to run, proceeding to step 2, perform step 2 to step Eight circulation operations, reacquire the data being currently running vehicle, it is achieved scheduling.

A kind of dispatching method preventing bus concentration from arriving at a station based on GPS technology the most according to claim 1, its feature It is, step 2 starts retrieval from first bus near circuit starting point, makes i=1, obtain with for the moment according to GPS Between the bus number N run on circuit, each bus coordinate (x_i,y_i), i ∈ (1, N), speed of service v of each bus_i, knot Close the data in step one and calculate operation spacing J between i car and i+1 car_i,i+1, and calculate desired pitch S of circuit_LProcess For:

It is N by each crossing coordinate on public transport operation circuit, crossing sum_jWith the ratio of actual range on distance in GPS and road Example is the data of 1: γ, and γ is natural number, based on data be stored in system, GPS obtain the real-time seat of each bus Mark (x_i,y_i), the crossing number m between i car and i+1 car_i, crossing coordinate is (a_i,1,b_i,1), (a_i,2, b_i,2) ..., (a_i,j,b_i,j) ...,

According to formula:

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

Obtain operation spacing J between the i-th car and i+1 car_i,i+1,

According to formula:

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

Obtain desired pitch S of circuit_L。

A kind of dispatching method preventing bus concentration from arriving at a station based on GPS technology the most according to claim 1 and 2, its It is characterised by, step 3 utilizes operation spacing J between i car and i+1 car_i,i+1, between i+1 car and i+2 car run spacing J_i+1,i+2And the speed v of i car_i, the speed v of i+1 car_i+1And the speed v of i+2 car_i+2Calculate the expection spacing between i car and i+1 car S_i,i+1And the expection interval S between i+1 car and i+2 car_i+1,i+2Method be:

As i=1, when retrieving i.e. for the first time, then expection spacing is:

S_1,2=J_1,2+(v₂-v₁) × 180,

S_2,3=J_2,3+(v₃-v₂) × 180,

Wherein, the unit of 180 is the second, the dispatching cycle representing 3 minutes in 180 seconds,

When i ≠ 1, when i.e. circulation has begun to, then the expection interval S between i car and i+1 car_i,i+1For:

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+2For:

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 scheduling.

A kind of dispatching method preventing bus concentration from arriving at a station based on GPS technology the most according to claim 1, its feature It is, by judging k in step 5_iAnd k_i+1The interval at place, the method being scheduling i+1 vehicle speed and i+2 vehicle speed is:

1) if k_iWhen being positioned at excessive interval, k_i+1It also is located at excessive interval, then making i+1 car and i+2 car slow down by system call,

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,

Simultaneously need to scheduling the i-th+2 car Reduced Speed Now, according to formula:

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_iIt is positioned at the excessive interval of spacing, k_i+1Being positioned at spacing and cross minizone, need to dispatch i+1 car Reduced Speed Now, i+2 car adds Speed travels,

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 to dispatch the 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_iIt is positioned at the excessive interval of spacing, k_i+1It is positioned at spacing suitable interval, i+1 car and i+2 Reduced Speed Now need to 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 to dispatch the 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_iIt is positioned at spacing and crosses minizone, k_i+1Being positioned at the excessive interval of spacing, need to dispatch i+1 car and give it the gun, i+2 car slows down and goes Sail,

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 to dispatch the 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+1It is respectively positioned on spacing and crosses minizone, need to dispatch and make i+1 car and i+2 car give 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 to dispatch 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_iIt is positioned at spacing and crosses minizone, k_i+1It is positioned at spacing suitable interval, i+1 car need to 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 to dispatch 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。

A kind of dispatching method preventing bus concentration from arriving at a station based on GPS technology the most according to claim 1, its feature Be, it is thus achieved that rolling stock dispatched after average speedProcess be:

According to formula:

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

Obtain the average speed after rolling stock has been dispatched