CN104575019B

CN104575019B - A kind of method and system that accurate priority signal can be provided for bus rapid transit

Info

Publication number: CN104575019B
Application number: CN201410481031.3A
Authority: CN
Inventors: 姜廷顺; 李萌; 邹难; 田红芳; 李颖宏; 栗红强
Original assignee: Beijing E Hualu Information Technology Co Ltd
Current assignee: Beijing E Hualu Information Technology Co Ltd
Priority date: 2014-09-19
Filing date: 2014-09-19
Publication date: 2016-08-10
Anticipated expiration: 2034-09-19
Also published as: CN104575019A

Abstract

The present invention provides a kind of method and system that can provide accurate priority signal for bus rapid transit, pre-establish the prediction scheme tables of data in the case of different speed limit, when quick public transport vehicle is at the crossing driving to Signalized control, whistle control system can be according to the different speed limit situation of present road, this car that obtaining quick public transport vehicle provides arrives the exact time of crossing stop line, the exact time arriving crossing stop line provided according to quick public transport vehicle, whistle control system provides priority signal for quick public transport vehicle.Obviously, when speed limit situation differs, quick public transport vehicle is the most different by the speed at crossing, and the required time the most just differs, and so can cause green time not or waste.Therefore, the such scheme in the present invention provides prior-release signal for quick public transport vehicle on the basis of the time rather than on the basis of distance, can improve bus rapid transit signal and control effect.

Description

A kind of method and system that accurate priority signal can be provided for bus rapid transit

Technical field

The present invention relates to controlling of bus priority field, a kind of method and system that accurate priority signal can be provided for bus rapid transit.

Background technology

In order to give full play to the quick sensible effect of quick public transport vehicle, shortening quick public transport vehicle is very important by the time of waiting signal lamp during crossing, the signal priority clearance method used in terms of bus rapid transit signal priority the most both at home and abroad, it is essentially all based on the various detection equipment being located on section or uses the vehicle GPS on quick public transport to determine current vehicle position, when vehicle arrives setting position, belisha beacon just provides all-clear, allows bus rapid transit pass through crossing.

As you know, Signalized control is on the basis of the time, that is after quick public transport vehicle arrives setting position, whistle control system just provides all-clear, quick public transport vehicle is different by crossing speed in case of variable weather conditions, the time namely needed by crossing is different, therefore whistle control system is caused currently can not to be precisely controlled by the time required for crossing according to quick public transport vehicle, to reduce quick public transport vehicle by impact on crossing ordinary queue vehicle during crossing.

Existing patent documentation CN102622902 discloses a kind of bus signal priority control system and method, car-mounted device in the program is in addition to can be by vehicle position information transmission to command and control center, also with display unit, when vehicle arrives monitoring point, light color information and the count down information of junction ahead signal lights can be obtained immediately, it is aided with auditory tone cues so that driver is immediately available for making a response simultaneously, is to continue with driving through crossing and still should wait by ramp to stop.And the method using real-time comparison vehicle latitude and longitude coordinates information and monitoring point latitude and longitude coordinates information in this scenario, prior-release signal can be obtained in time when vehicle is close to crossing, and after vehicle obtains prior-release signal, system continues to compare vehicle latitude and longitude coordinates information with crossing center longitude coordinate information, when vehicle arrives center, crossing, system can obtain public transit vehicle in time by the signal at crossing, next step signal lights plan for adjustment can be made rapidly, prevent from affecting greatly to normal traffic due to public traffic in priority.

Technique scheme is primarily present following technical problem:

When vehicle location determined by public transit vehicle vehicle carried pick device arrives the unlatching signal priority position pre-set, signal lights just provides all-clear, be given all-clear position be changeless, but vehicle is affected by travel speed impact from the time required for this position row sails at the stop line of crossing, when road conditions change cause speed limit to change time, will affect Vehicle Speed, whistle control system will provide all-clear too early or too late.

Summary of the invention

The technical problem to be solved is to provide a kind of method and system that can provide accurate priority signal for bus rapid transit.

For solving above-mentioned technical problem, the present invention is achieved by the following technical solutions:

The present invention provides a kind of method that can provide accurate priority signal for bus rapid transit, specifically includes following steps:

S1: the crossing for each Signalized control generates different speed limit V_xjUnder prediction scheme tables of data:

Each prediction scheme tables of data records the latitude and longitude information (X of the stop line at crossing_z,Y_z), the latitude and longitude information (X of initial position_c,Y_c)；And the reference position (X in the running that quick public transport vehicle is from initial position to stop line_i,Y_i), fiducial time T_i, reference speed V_i, benchmark mileage S_i；Wherein said reference position is the position coordinates (X that in quick public transport vehicle running, each second obtains_i,Y_i)；Fiducial time is the running time of quick public transport vehicle, in seconds；Reference speed is the travel speed that in quick public transport vehicle driving process, each second obtains；Benchmark mileage S_iThe distance travelled obtained for each second in quick public transport vehicle driving process；

S2: in quick public transport vehicle running, the crossing for each Signalized control provides priority signal for quick public transport vehicle, specifically includes following steps:

S21: transfer the different speed limit V of the corresponding intersection obtained in step S1_xjUnder prediction scheme tables of data；

S22: read the position coordinates (X of the quick public transport vehicle of current time T in real time_D, Y_D)；

S23: the position coordinates (X of real-time judge current time quick public transport vehicle_D, Y_D) whether equal to the latitude and longitude information (X of described initial position_c,Y_c), if then entering step S24, otherwise return step S22；

S24: by prediction scheme tables of data corresponding for different speed limits with (X_D, Y_D) be adjusted to current time, and as benchmark, other fiducial times be adjusted successively corresponding fiducial time, obtain different speed limit V_xjUnder the table time of running, different speed limit V described in time of running table_xjUnder, quick public transport vehicle arrives the moment T of stop line_tj；

S25: obtain the speed limit V that under current time, road conditions are corresponding_X, make quick public transport vehicle according to speed limit V_xUnder the table time of running be accurate to the operation of second；

S26: control signal lamp provides priority signal at moment Tx-Th for quick public transport vehicle, simultaneously by the signal lights light color state of junction ahead and when provide the information of priority signal to send to quick public transport vehicle to remind driver for quick public transport vehicle, wherein Tx is speed limit V_XUnder the time of running in table quick public transport vehicle arrive the moment of stop line, Th is redundancy time and Th > 0.

In described step S26, described redundancy time Th is 15 seconds.

In described step S25, make quick public transport vehicle according to speed limit V_xUnder the step of the table time of running operation that is accurate to the second as follows:

S251: by the position coordinates (X of the quick public transport vehicle under current time_D, Y_D) with the reference position information (X in time of running table_i, Y_i) carry out comparison one by one, determine the position coordinates (X with the quick public transport vehicle under current time_D, Y_DCorresponding to) reference instant T_D；

S252: compare the position coordinates (X of current time T and the quick public transport vehicle under current time_D, Y_DCorresponding to) reference instant T_D:

Work as T=T_DTime, enter step S253；

As T ≠ T_DTime, enter step S254；

S253: prompting quick public transport vehicle is according to performing T in timetable_DThe reference speed corresponding to next reference instant travel, afterwards enter step S255；

S254: prompting quick public transport vehicle travels according to following speed:

V_T=(S_H-S_D)/T_H, wherein T_HIt is the time to adjust threshold value, i.e. elapsed time T_HMake the position coordinates (X of quick public transport vehicle afterwards_D, Y_DReference instant T corresponding to)_DAnd the error between current time T is zero；Wherein S_HIt is to adjust threshold value T with current time T plus the time_HBenchmark mileage corresponding in table is carved upon execution as fiducial time；S_DIt is the position coordinates (X with quick public transport vehicle_D, Y_D) carve benchmark mileage corresponding in table upon execution as reference position, enter step S255 afterwards；

S255: judge the position coordinates of quick public transport vehicle whether with the latitude and longitude information (X of stop line_z,Y_z) identical, if differing, return step S22.

Also include guiding quick public transport vehicle according to the accurate operating procedure of timetable, specifically include following steps:

W1: according to different speed limit V_xjTravelled by way of the time interval at station and at each berthing time by way of station according to arriving each along bus rapid transit route by driver quick public transport vehicle in advance, during travelling under various speed limits, all record following running data each second: the position coordinates (X of quick public transport vehicle_i,Y_i), running time T_i, distance travelled number S_iWith travel speed V_i；

W2: generate various speed limit V_xjUnder multiple schedule plans, each schedule plan records quick public transport vehicle along starting station during bus rapid transit route running, by way of station, terminus, and the described running data that in described step W1, each second obtains, the position coordinates (X of wherein said quick public transport vehicle_i,Y_i) as reference position, described running time T_iAs fiducial time, described distance travelled S_iAs benchmark mileage, described travel speed V_iAs reference speed, the fiducial time corresponding to the starting station is " 0s ", and the reference speed corresponding to the starting station is speed of setting out；

W3: transfer the different speed limit V obtained in step W2_xjCorresponding schedule plan, frequency according to bus rapid transit, arrival each moment by way of station and the moment reached terminal, is adjusted to corresponding Beijing moment as reference instant the fiducial time in schedule plan under each speed limit, forms different speed limit V_xjCorresponding execution timetable, the moment that wherein starting station is corresponding is the moment of setting out；

W4: transfer all different speed limit V_tiCorresponding execution timetable, and obtain the speed limit V that current road conditions are corresponding_X；

W5: current time is equal to the speed limit V of quick public transport vehicle_XCorresponding perform in timetable set out the moment time, assign out to quick public transport vehicle and send instructions, quick public transport vehicle sets out and travels according to the speed of setting out performing in timetable；

W6: read the position coordinates (X of the quick public transport vehicle of current time T in real time_D, Y_D)；

W7: by the position coordinates (X of the quick public transport vehicle under current time_D, Y_D) be respectively associated to different speed limit V_xjIn corresponding execution timetable, the reference instant of its correspondence is set to T_Di；

W8: reaffirm the speed limit V that under current time, road conditions are corresponding_X, by speed limit V_XThe corresponding T performed in timetable_DiIt is revised as T_D, and extract reference position (X corresponding for current time T in this execution timetable_T, Y_T), respectively at other speed limits V_xjCorresponding execution timetable is searched and (X_T, Y_T) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T；

W9: compare T and T_DThe most equal:

Work as T=T_DTime, enter step W10；

As T ≠ T_DTime, enter step W11；

W10: prompting quick public transport vehicle is according to speed limit V_XT in corresponding execution timetable_DThe reference speed corresponding to next reference instant travel；

W11: prompting quick public transport vehicle travels according to following speed:

V_T=(S_H-S_D)/T_H, wherein T_HIt is the time to adjust threshold value, i.e. elapsed time T_HMake quick public transport vehicle latitude and longitude information (X afterwards_D, Y_DReference instant T corresponding to)_DAnd the error between current time T is zero；Wherein S_HIt is speed limit V_XCorresponding execution timetable adjusts threshold value T with current time T plus the time_HAs the benchmark mileage corresponding to fiducial time；S_DIt is speed limit V_XWith quick public transport vehicle latitude and longitude information (X in corresponding execution timetable_D, Y_D) as the benchmark mileage corresponding to reference position.

The present invention also provides for a kind of system that can provide accurate priority signal for bus rapid transit, including:

Prediction scheme tables of data generation module: the crossing for each Signalized control generates different speed limit V_xjUnder prediction scheme tables of data: each prediction scheme tables of data records the latitude and longitude information (X of the stop line at crossing_z,Y_z), the latitude and longitude information (X of initial position_c,Y_c)；And the reference position (X in the running that quick public transport vehicle is from initial position to stop line_i,Y_i), fiducial time T_i, reference speed V_i, benchmark mileage S_i；Wherein said reference position is the position coordinates (X that in quick public transport vehicle running, each second obtains_i,Y_i)；Fiducial time is the running time of quick public transport vehicle, in seconds；Reference speed is the travel speed that in quick public transport vehicle driving process, each second obtains；Benchmark mileage S_iThe distance travelled obtained for each second in quick public transport vehicle driving process；

Processing unit: in quick public transport vehicle running, the crossing for each Signalized control provides priority signal for quick public transport vehicle, specifically includes:

Data extraction module: transfer the different speed limit V of corresponding intersection_xjUnder prediction scheme tables of data；

Locating module: read the position coordinates (X of the quick public transport vehicle of current time T in real time_D, Y_D)；

Judge module: the position coordinates (X of real-time judge current time quick public transport vehicle_D, Y_D) whether equal to the latitude and longitude information (X of described initial position_c,Y_c)；

First processing module: as the position coordinates (X of quick public transport vehicle_D, Y_D) equal to the latitude and longitude information (X of described initial position_c,Y_c) time by prediction scheme tables of data corresponding for different speed limits with (X_D, Y_D) be adjusted to current time, and as benchmark, other fiducial times be adjusted successively corresponding fiducial time, obtain different speed limit V_xjUnder the table time of running, different speed limit V described in time of running table_xjUnder, quick public transport vehicle arrives the moment T of stop line_tj；

Second processing module: obtain the speed limit V that under current time, road conditions are corresponding_X, make quick public transport vehicle according to speed limit V_xUnder the table time of running be accurate to the operation of second；

Control module: control signal lamp provides priority signal at moment Tx-Th for quick public transport vehicle, simultaneously by the signal lights light color state of junction ahead and when provide the information of priority signal to send to quick public transport vehicle to remind driver for quick public transport vehicle, wherein Tx is speed limit V_XUnder the time of running in table quick public transport vehicle arrive the moment of stop line, Th is redundancy time and Th > 0.

In described control module, set described redundancy time Th as 15 seconds.

Described second processing module farther includes:

First submodule: by the position coordinates (X of the quick public transport vehicle under current time_D, Y_D) with the reference position information (X in time of running table_i, Y_i) carry out comparison one by one, determine the position coordinates (X with the quick public transport vehicle under current time_D, Y_DCorresponding to) reference instant T_D；

Second submodule: compare the position coordinates (X of current time T and the quick public transport vehicle under current time_D, Y_DCorresponding to) reference instant T_D:

3rd submodule: when working as T=T_DTime, prompting quick public transport vehicle is according to performing T in timetable_DThe reference speed corresponding to next reference instant travel；

4th submodule: as T ≠ T_DTime, prompting quick public transport vehicle travels according to following speed:

V_T=(S_H-S_D)/T_H, wherein T_HIt is the time to adjust threshold value, i.e. elapsed time T_HMake the position coordinates (X of quick public transport vehicle afterwards_D, Y_DReference instant T corresponding to)_DAnd the error between current time T is zero；Wherein S_HIt is to adjust threshold value T with current time T plus the time_HBenchmark mileage corresponding in table is carved upon execution as fiducial time；S_DIt is the position coordinates (X with quick public transport vehicle_D, Y_D) benchmark mileage corresponding in table is carved upon execution as reference position；

5th submodule: judge the position coordinates of quick public transport vehicle whether with the latitude and longitude information (X of stop line_z,Y_z) identical, if differing, return described locating module.

Also include scheduling unit, specifically include:

Prediction scheme data acquisition module: according to different speed limit V_xjTravelled by way of the time interval at station and at each berthing time by way of station according to arriving each along bus rapid transit route by driver quick public transport vehicle in advance, during travelling under various speed limits, all record following running data each second: the position coordinates (X of quick public transport vehicle_i,Y_i), running time T_i, distance travelled number S_iWith travel speed V_i；

Schedule plan generation module: generate various speed limit V_xjUnder multiple schedule plans, each schedule plan records quick public transport vehicle along starting station during bus rapid transit route running, by way of station, terminus, and the described running data that in described step W1, each second obtains, the position coordinates (X of wherein said quick public transport vehicle_i,Y_i) as reference position, described running time T_iAs fiducial time, described distance travelled S_iAs benchmark mileage, described travel speed V_iAs reference speed, the fiducial time corresponding to the starting station is " 0s ", and the reference speed corresponding to the starting station is speed of setting out；

Perform timetable generation module: transfer different speed limit V_xjCorresponding schedule plan, frequency according to bus rapid transit, arrival each moment by way of station and the moment reached terminal, is adjusted to corresponding Beijing moment as reference instant the fiducial time in schedule plan under each speed limit, forms different speed limit V_xjCorresponding execution timetable, the moment that wherein starting station is corresponding is the moment of setting out；

Timetable extraction module: transfer all different speed limit V_tiCorresponding execution timetable, and obtain the speed limit V that current road conditions are corresponding_X；

Instruction issues module: current time is equal to the speed limit V of quick public transport vehicle_XCorresponding perform in timetable set out the moment time, assign out to quick public transport vehicle and send instructions, quick public transport vehicle sets out and travels according to the speed of setting out performing in timetable；

Position acquisition module: read the position coordinates (X of the quick public transport vehicle of current time T in real time_D, Y_D)；

Relating module: by the position coordinates (X of the quick public transport vehicle under current time_D, Y_D) be respectively associated to different speed limit V_xjIn corresponding execution timetable, the reference instant of its correspondence is set to T_Di；

Correcting module: reaffirm the speed limit V that under current time, road conditions are corresponding_X, by speed limit V_XThe corresponding T performed in timetable_DiIt is revised as T_D, and extract reference position (X corresponding for current time T in this execution timetable_T, Y_T), respectively at other speed limits V_xjCorresponding execution timetable is searched and (X_T, Y_T) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T；

Comparison module: compare T and T_DThe most equal:

Information alert module: work as T=T_DTime, prompting quick public transport vehicle is according to speed limit V_XT in corresponding execution timetable_DThe reference speed corresponding to next reference instant travel；As T ≠ T_DTime, prompting quick public transport vehicle travels according to following speed:

The technique scheme of the present invention has the advantage that compared to existing technology

The method and system that accurate priority signal can be provided for bus rapid transit of the present invention, pre-establish the prediction scheme tables of data in the case of different speed limit, when quick public transport vehicle is at the crossing driving to Signalized control, whistle control system can be according to different speed limit situations, obtaining quick public transport vehicle and arrive the exact time of crossing stop line, the exact time arriving crossing stop line according to quick public transport vehicle provides priority signal for quick public transport vehicle.Obviously, when speed limit situation differs, quick public transport vehicle is different by the speed at crossing, and the required time also differs, therefore when whistle control system sends green light all-clear, residing for this quick public transport vehicle position also differ.Therefore, the such scheme in the present invention provides prior-release signal for quick public transport vehicle on the basis of the time rather than on the basis of distance, can improve bus rapid transit signal and control effect.

Accompanying drawing explanation

In order to make present disclosure be more likely to be clearly understood, below according to the specific embodiment of the present invention and combine accompanying drawing, the present invention is further detailed explanation, wherein:

Fig. 1-1 and Fig. 1-2 is the initial position set-up mode schematic diagram of signal lamp control crossroad described in one embodiment of the invention；

Fig. 2 for providing the flow chart of the method for accurate priority signal for bus rapid transit described in one embodiment of the invention；

Fig. 3 is traveling schematic diagram data under the advanced travel situations of quick public transport vehicle described in one embodiment of the invention；

Fig. 4 is traveling schematic diagram data under the delayed travel situations of quick public transport vehicle described in one embodiment of the invention；

Fig. 5 for providing the theory diagram of the system of accurate priority signal for bus rapid transit described in one embodiment of the invention.

Detailed description of the invention

Embodiment 1

The present embodiment provides a kind of method that can provide accurate priority signal for bus rapid transit, as shown in Figure 2, specifically includes following steps:

S1: the crossing for each Signalized control generates different speed limit V_xjUnder prediction scheme tables of data.Each prediction scheme tables of data records the latitude and longitude information (X of the stop line at crossing_z,Y_z), the latitude and longitude information (X of initial position_c,Y_c)；And the reference position (X in the running that quick public transport vehicle is from initial position to stop line_i,Y_i), fiducial time T_i, reference speed V_i, benchmark mileage S_i；Wherein said reference position is the position coordinates (X that in quick public transport vehicle running, each second obtains_i,Y_i)；Fiducial time is the running time of quick public transport vehicle, in seconds；Reference speed is the travel speed that in quick public transport vehicle driving process, each second obtains；Benchmark mileage S_iThe distance travelled obtained for each second in quick public transport vehicle driving process.Wherein, subscript i is integer value, corresponding with each second.Such as, the data that ground obtains for 0 second, i is 0, and the data then i obtained for the 1st second is 1, the like.And V_xjIn j be also integer, represent different speed limits, such as V when j difference_x1Represent 60km/h, V_x2Represent 80km/h etc..

S21: transfer the different speed limit V of the corresponding intersection obtained in step S1_xjUnder prediction scheme tables of data.

S22: read the position coordinates (X of the quick public transport vehicle of current time T in real time_D, Y_D).

S23: the position coordinates (X of real-time judge current time quick public transport vehicle_D, Y_D) whether equal to the latitude and longitude information (X of described initial position_c,Y_c), if then entering step S24, otherwise return step S22.

S24: by prediction scheme tables of data corresponding for different speed limits with (X_D, Y_D) be adjusted to current time, and as benchmark, other fiducial times be adjusted successively corresponding fiducial time, obtain different speed limit V_xjUnder the table time of running, different speed limit V described in time of running table_xjUnder, quick public transport vehicle arrives the moment T of stop line_tj。

S25: obtain the speed limit V that under current time, road conditions are corresponding_X, make quick public transport vehicle according to speed limit V_xUnder the table time of running be accurate to the operation of second.

As shown in Fig. 1-1 and Fig. 1-2, initial position is set at the crossing of each Signalized control, there is between initial position and stop line a certain distance.This distance should travel the distance of a minute under Maximum speed limit state of value more than quick public transport vehicle.With Fig. 1-2 illustratively, for quick public transport vehicle, it drives at stop line from initial position, operating range is fixing, but due under the conditions of different speed limits, the travel speed of quick public transport vehicle differs, and the most same running time required for this segment distance is different.If represented one second with a circle in scheming, circle quantity middle in different situations differs.A same segment distance, when the travel speed of vehicle is 60km/h, its time needed is 40 seconds, and when the travel speed of vehicle is 80km/h, its time needed is just 30 seconds.Therefore, the prediction scheme tables of data obtained in the case of different speed limits also differs.As table 1-1 and table 1-2 is given, the prediction scheme tables of data in the case of two kinds of speed limits.

Table 1-1 speed limit is the prediction scheme tables of data in the case of 60km/h

Running time (s)	Longitude	Latitude	Distance travelled	Travel speed
					Initial position	0	X_c	Y_c	S₁₁	V₁₁
1	X₁₂	Y₁₂	S₁₂	V₁₂
						2	X₁₃	Y₁₃	S₁₃	V₁₃
……
					Stop line	60	X_z	Y_z	S_1N	V_1N

Table 1-2 speed limit is the prediction scheme tables of data in the case of 80km/h

Running time (s)	Longitude	Latitude	Distance travelled	Travel speed
					Initial position	0	X_c	Y_c	S₂₁	V₂₁
1	X₂₂	Y₂₂	S₂₂	V₂₂
						2	X₂₃	Y₂₃	S₂₃	V₂₃
……
					Stop line	45	X_z	Y_z	S_2M	V_2M

For the crossing of each Signalized control on quick public transport vehicle running route, all can form above-mentioned prediction scheme tables of data, the present embodiment only give the prediction scheme tables of data under two speed limits, and concrete quantity determines according to practical situation.

During quick public transport vehicle runs, read the position coordinates of quick public transport vehicle in real time, and compare with the latitude and longitude coordinates of the initial position at each crossing, if the position coordinates of quick public transport vehicle is identical with the coordinate of the initial position at a certain crossing, at then illustrating that quick public transport vehicle is already close to this crossing, this crossing is needed to provide prior-release signal for it.Assuming that quick public transport vehicle drives to the moment of initial position is 9:50:00, for then for table 1-1 and table 1-2, quick public transport vehicle is adjusted to 9:50:00 in the moment of initial position, the moment of other reference positions was adjusted successively according to this moment, obtained the table time of running shown in table 2-1 and table 2-2.

Table 2-1 speed limit is the table time of running in the case of 60km/h

Running time (s)	Longitude	Latitude	Distance travelled	Travel speed
					Initial position	9:50:00	X_c	Y_c	S₁₁	V₁₁
9:50:01	X₁₂	Y₁₂	S₁₂	V₁₂
						9:50:02	X₁₃	Y₁₃	S₁₃	V₁₃
……
					Stop line	9:51:00	X_z	Y_z	S_1N	V_1N

Table 2-2 speed limit is the table time of running in the case of 80km/h

Running time (s)	Longitude	Latitude	Distance travelled	Travel speed
					Initial position	9:50:00	X_c	Y_c	S₂₁	V₂₁
9:50:01	X₂₂	Y₂₂	S₂₂	V₂₂
						9:50:02	X₂₃	Y₂₃	S₂₃	V₂₃
……
					Stop line	9:50:45	X_z	Y_z	S_2M	V_2M

Can draw according to table 2-1 and table 2-2, although quick public transport vehicle is all the position driving to stop line from initial position, but its moment arriving stop line differs, and therefore provides the moment of priority signal also to differ for quick public transport vehicle.

If the speed limit of current time is 60km/h, then quick public transport vehicle is at initial position to stop line, just should travel according to the speed that table 2-1 specifies.The moment now arriving stop line is exactly 9:51:00.And the time of prior-release signal is provided, be quick public transport vehicle drive at stop line time be engraved in and deduct a redundancy time, i.e. before 9:51:00, green light signals should be provided for quick public transport vehicle, so that quick public transport vehicle can be normal through crossing.This redundancy time can be set as 15 seconds, i.e. provides privileged direction signal when 9:50:45 for quick public transport vehicle.Accordingly, if quick public transport vehicle drives to initial position, speed limit is 80km/h, then provide prior-release signal for quick public transport vehicle when being set in 9:50:30.

As its name suggests, prior-release signal is provided to refer to green light all-clear for quick public transport vehicle.If signal lights state is red light phase before this, then red light phase is converted to green light phase and carries；If signal lights state is green light phase, then maintain green light phase.

In order to enable the driver of quick public transport vehicle to learn whether oneself obtains the signal of priority pass in advance, such scheme in the present embodiment, also by the signal lights light color state of junction ahead and when provide the information of priority signal to send to quick public transport vehicle to remind driver for quick public transport vehicle, such as can remind driver, current demand signal lamp is red light, but will become green light after ten seconds and provide prior-release signal for quick public transport vehicle.Or reminding driver, current demand signal lamp is green light, and can maintain green light phase, until quick public transport vehicle is by this crossing.By above-mentioned information alert to driver after, driver just can clearly learn that oneself obtains priority signal, when by crossing, it is not necessary to slow down wait, directly pass through.

As preferred real-time proposals, described in the present embodiment in step S25, make quick public transport vehicle according to speed limit V_xUnder the step of the table time of running operation that is accurate to the second as follows:

S251: by the position coordinates (X of the quick public transport vehicle under current time_D, Y_D) with the reference position information (X in time of running table_i, Y_i) carry out comparison one by one, determine the position coordinates (X with the quick public transport vehicle under current time_D, Y_DCorresponding to) reference instant T_D。

Work as T=T_DTime, enter step S253.

As T ≠ T_DTime, enter step S254.

S253: prompting quick public transport vehicle is according to performing T in timetable_DThe reference speed corresponding to next reference instant travel, afterwards enter step S255.

V_T=(S_H-S_D)/T_H, wherein T_HIt is the time to adjust threshold value, i.e. elapsed time T_HMake the position coordinates (X of quick public transport vehicle afterwards_D, Y_DReference instant T corresponding to)_DAnd the error between current time T is zero；Wherein S_HIt is to adjust threshold value T with current time T plus the time_HBenchmark mileage corresponding in table is carved upon execution as fiducial time；S_DIt is the position coordinates (X with quick public transport vehicle_D, Y_D) carve benchmark mileage corresponding in table upon execution as reference position, enter step S255 afterwards.

As a example by table 2-1, such as when current time T is 9:50:02, detect that the position coordinates of quick public transport vehicle is (X_D, Y_D), quick public transport vehicle current position coordinates is carried out comparison one by one with reference position in time of running table, find the reference position nearest with current quick public transport vehicle positional distance be longitude be X_n, latitude value is Y_n, obtain T fiducial time that this position is corresponding_DFor 9:50:08.It should be noted that the position coordinates of the quick public transport vehicle under current time, at run time table may can find the most essentially equal reference position information.But in most cases, it is at run time table cannot to find the reference position information the most corresponding with quick public transport vehicle current location information, the most just according to described above, from the time of running, the reference position closest with current time quick public transport vehicle position coordinates searched by table, it is believed that this closest reference position is exactly the current location of quick public transport vehicle.Position coordinates (the X of the quick public transport vehicle under relatively current time T and current time_D, Y_DCorresponding to) reference instant T_D: T ≠ T_D, now need within the time of regulation, make the actual current location of the current time of quick public transport vehicle, coincide with the reference position corresponding to the current time in time of running table.The time of regulation described herein is time adjustment threshold value T described in the present embodiment_H.Choose according to practical situation, such as, can be chosen as 3S, 5S etc..The traveling-position of quick public transport vehicle overlaps with the position specified in table the time of running as early as possible to select this time to consider when adjusting threshold value to ensure, but the size of present deviation value to be considered, when deviation value is bigger, this time adjusts threshold value and can select bigger value, suitably can also be adjusted threshold value the time when deviation is less to reduce, the travel speed after adjusting in view of quick public transport vehicle the most again not can exceed that the speed limit in this section.

In order to make the above-mentioned situation described in the present embodiment become apparent from, illustrating in conjunction with Fig. 3 and Fig. 4, in Fig. 3 and Fig. 4, rightmost side arrow represents travel direction.

As it is shown on figure 3, each point represents a reference position, reference position corresponding for current time T is set as (X_I, Y_I), corresponding benchmark mileage is S_I；The reference position that the quick public transport vehicle latitude and longitude information of the reality under current time T is corresponding is (X_D, Y_D), corresponding benchmark mileage is S_D；Current time T adjusts threshold value T plus the time_HCorresponding reference position is set as (X_H, Y_H), corresponding benchmark mileage is S_H.Obviously, as shown in Figure 3 in the case of, reference position and benchmark mileage that reference position corresponding to current time T quick public transport vehicle physical location and benchmark mileage should be corresponding than current time in timetable are advanced.Its traveling-position overlaps with the traveling-position in time of running table to assume to require quick public transport vehicle to ensure after 6S, then need quick public transport vehicle at time T_HInterior from reference position (X_D, Y_D) travel to reference position (X_H, Y_H), i.e. its mileage travelled is S_H-S_D.Therefore, the travel speed required for quick public transport vehicle is V_T=(S_H-S_D)/T_H。

Situation shown in Fig. 4 is contrary with situation shown in Fig. 3, for the situation of the delayed traveling of quick public transport vehicle.If but it can be seen that want quick public transport vehicle to overlap with the table time of running after the time adjusts threshold value, its required travel speed is still V_T=(S_H-S_D)/T_H。

And once the traveling-position of quick public transport vehicle can be removed to the corresponding traveling-position that the time of running records in table, then can point out and make quick public transport vehicle travel according to the reference speed corresponding to next reference instant.

As one preferred embodiment, in the present embodiment, the latitude and longitude information of guide-car, running time before using the GPS locating module being arranged on front guide-car to obtain；The OBD module being arranged on front guide-car is used to obtain the real-time distance travelled of front guide-car and travel speed.Front guide-car driver is pointed out by the mode using the LCDs being arranged on front guide-car display word.Front guide-car driver is pointed out by the mode that the Audio Players being arranged on front guide-car can also be used to play voice.

Embodiment 2

On the basis of embodiment 1, the method that can provide accurate priority signal for bus rapid transit that the present embodiment provides, also comprise the steps:

W1: according to different speed limit V_xjTravelled by way of the time interval at station and at each berthing time by way of station according to arriving each along bus rapid transit route by driver quick public transport vehicle in advance, during travelling under various speed limits, all record following running data each second: the position coordinates (X of quick public transport vehicle_i,Y_i), running time T_i, distance travelled number S_iWith travel speed V_i。

W2: generate various speed limit V_xjUnder multiple schedule plans, each schedule plan records quick public transport vehicle along starting station during bus rapid transit route running, by way of station, terminus, and the described running data that in described step W1, each second obtains, the position coordinates (X of wherein said quick public transport vehicle_i,Y_i) as reference position, described running time T_iAs fiducial time, described distance travelled S_iAs benchmark mileage, described travel speed V_iAs reference speed, the fiducial time corresponding to the starting station is " 0s ", and the reference speed corresponding to the starting station is speed of setting out.

W3: transfer the different speed limit V obtained in step W2_xjCorresponding schedule plan, frequency according to bus rapid transit, arrival each moment by way of station and the moment reached terminal, is adjusted to corresponding Beijing moment as reference instant the fiducial time in schedule plan under each speed limit, forms different speed limit V_xjCorresponding execution timetable, the moment that wherein starting station is corresponding is the moment of setting out.

W4: transfer all different speed limit V_tiCorresponding execution timetable, and obtain the speed limit V that current road conditions are corresponding_X。

W5: current time is equal to the speed limit V of quick public transport vehicle_XCorresponding perform in timetable set out the moment time, assign out to quick public transport vehicle and send instructions, quick public transport vehicle sets out and travels according to the speed of setting out performing in timetable.

W6: read the position coordinates (X of the quick public transport vehicle of current time T in real time_D, Y_D).

W7: by the position coordinates (X of the quick public transport vehicle under current time_D, Y_D) be respectively associated to different speed limit V_xjIn corresponding execution timetable, the reference instant of its correspondence is set to T_Di。

W8: reaffirm the speed limit V that under current time, road conditions are corresponding_X, by speed limit V_XThe corresponding T performed in timetable_DiIt is revised as T_D, and extract reference position (X corresponding for current time T in this execution timetable_T, Y_T), respectively at other speed limits V_xjCorresponding execution timetable is searched and (X_T, Y_T) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T.

W9: compare T and T_DThe most equal:

Work as T=T_DTime, enter step W10.

As T ≠ T_DTime, enter step W11.

W10: prompting quick public transport vehicle is according to speed limit V_XT in corresponding execution timetable_DThe reference speed corresponding to next reference instant travel.

It is 60km/ hour to be with the bus rapid transit 1 bus schedule plan that speed limit is 40km/ hour, travel route and each website of approach of bus rapid transit 1 bus as table 3-1 and table 3-2 sets forth speed limit: the De Mao village (starting station)-Dongying room-six camp gate-highland-western depression-three, east camp gate-and the justice southern station--the Temple of Heaven-Qianmen (terminus) interior with the justice-Jiu Jing village, farm-bright red raft of pontoons-West, The Big Red Gate-orchard, Nangyuan District road-wooden slippers garden bridge-sand mouth-Gate of Everlasting Stability.

The schedule plan of the table 3-1 No. 1 bus rapid transit route of 60km/ hour

The starting station: terminus, the De Mao village: Qianmen

Transit point	Running time (s)	Longitude	Latitude	Distance travelled	Travel speed
						-De Mao the village, the starting station	0	X₁₁	Y₁₁	S₁₁	Speed of setting out-V₁₁
┇	1	X₁₂	Y₁₂	S₁₂	V₁₂
							2	X₁₃	Y₁₃	S₁₃	V₁₃
	┇
							┇
┇	┇
						By way of station-highland, east	┇
┇	┇
						By way of-Jiu Jing the village, station	1823 seconds
┇	┇
						In station-Gate of Everlasting Stability	3023 seconds
┇	┇
						Terminus-Qianmen	3053 seconds	X_1N	Y_1N	S_1N	V_1N

The schedule plan of the table 3-2 No. 1 bus rapid transit route of 40km/ hour

The starting station: terminus, the De Mao village: Qianmen

Transit point	Running time (s)	Longitude	Latitude	Distance travelled	Travel speed
						-De Mao the village, the starting station	0	X₂₁	Y₂₁	S₂₁	Speed of setting out-V₂₁
┇	1	X₂₂	Y₂₂	S₂₂	V₂₂
							2	X₂₃	Y₂₃	S₂₃	V₂₃
	┇
							┇
┇	┇
						By way of station-highland, east	┇
┇	┇
						By way of-Jiu Jing the village, station	2735 seconds
┇	┇
						In station-Gate of Everlasting Stability	4535 seconds
┇	┇
						Terminus-Qianmen	4580 seconds	X_2M	Y_2M	S_2M	V_2M

Schedule plan in table 3-1 and table 3-2 is corresponding to bus rapid transit 1 bus travel route.During being scheduling quick public transport vehicle, quick public transport vehicle travels according to performing timetable, when quick public transport vehicle travels to crossing, then sails according to the table row time of running that crossing is corresponding.Although, need when arriving each crossing timetable is switched over, but in theory, be also a part for whole execution timetable by the table time of running corresponding to the crossing of Signalized control, the most whole during quick public transport vehicle all can be kept precisely to run according to timetable.

For the schedule plan of other speed limits of quick public transport vehicle, all similar with table 1-1 and table 1-2, difference is that it is to set for the quick public transport vehicle whole route from the starting station to terminus, and table 1-1 and table 1-2 is arranged for single crossing.

Schedule plan in table 3-1 and table 3-2 is corresponding to the bus rapid transit 1 bus travel route under different speed limits.And for bus rapid transit 1 bus, have the vehicle of tens order of classes or grades at school every day.The vehicle of each order of classes or grades at school all has corresponding moment of setting out, the moment arriving each approach website and the moment reached terminal.Therefore, for the quick public transport vehicle for each order of classes or grades at school, according to the schedule plan in table 1-1 and table 1-2, all can obtain at speed limit is 60km/ hour situation system with 40km/ hour execution timetable corresponding with this order of classes or grades at school vehicle plan arrival time.

Assume that speed limit corresponding to current road conditions is 60km/h, bus rapid transit 1 bus of the n-th order of classes or grades at school is 13:39:07 from starting station moment, the due in reached terminal is 14:30:00, then the speed limit of bus rapid transit 1 bus that can get the n-th order of classes or grades at school according to table 3-1 is that the execution timetable under 60km/h is as shown in table 4-1；Corresponding in table 3-2 by this moment of setting out, the speed limit of bus rapid transit 1 bus of available n-th order of classes or grades at school is that the execution timetable under 40km/h is as shown in table 4-2.

The execution timetable of bus rapid transit 1 bus of little n-th order of classes or grades at school at present of table 4-1 speed limit 60km/

The starting station: terminus, the De Mao village: Qianmen

Transit point	Reference instant (s)	Longitude	Latitude	Benchmark mileage	Reference speed
						-De Mao the village, the starting station	Set out moment-13:39:07	X₁₁	Y₁₁	S₁₁	Speed of setting out-V₁₁
┇	13:39:08	X₁₂	Y₁₂	S₁₂	V₁₂
							13:39:09	X₁₃	Y₁₃	S₁₃	V₁₃
	13:39:10	X₁₄	Y₁₄	S₁₄	V₁₄
							13:39:11	X₁₅	Y₁₅	S₁₅	V₁₅
┇	┇
						By way of station-highland, east	┇
	┇
						By way of-Jiu Jing the village, station	14:09:58	X₁ ₍ _n-2 ₎	Y₁ ₍ _n-2 ₎	S₁ ₍ _n-2 ₎	V₁ ₍ _n-2 ₎
	┇
						In station-Gate of Everlasting Stability	14:10:00	X_1n	Y_1n	S_1n	V_1n
	┇
						Terminus-Qianmen	14:50:00

Table 4-2 speed limit V_X2The execution timetable of bus rapid transit 1 bus of the n-th order of classes or grades at school during=40km/h

The starting station: terminus, the De Mao village: Qianmen

Transit point	Reference instant	Longitude	Latitude	Distance travelled	Travel speed
						-De Mao the village, the starting station	Set out moment-13:39:07	X₂₁	Y₂₁	S₂₁	Speed of setting out-V₂₁
┇	13:39:08	X₂₂	Y₂₂	S₂₂	V₂₂
							13:39:09	X₂₃	Y₂₃	S₂₃	V₂₃
	┇
							┇
┇	┇
						By way of station-highland, east	┇
	┇
						By way of-Jiu Jing the village, station
	┇
						In station-Gate of Everlasting Stability
	┇
						Terminus-Qianmen	Due in-14:54:27	X_2M	Y_2M	S_2M	V_2M

In such scheme in the present embodiment, be by a certain bar public bus network all websites between information all preserve to same schedule plan and perform in timetable.During reality performs, it is also possible to select not arrange between two adjacent sites a schedule plan, then obtain the execution timetable between not two stations according to the schedule plan between each two station.When actual motion, the quick public transport vehicle run between each two station all runs according to when the execution timetable corresponding to next stop.Its principle is identical, and this does not describes in detail.

For the quick public transport vehicle of the n-th order of classes or grades at school, when getting redy to start off, need to obtain in real time speed limit, such as obtain with speed limit as 60km/h according to traffic information, then directly travel according to the execution timetable in table 4-1, if obtaining with speed limit as 40km/h according to traffic information, then directly travel according to the execution timetable in table 4-2.After determining used execution timetable, quick public transport vehicle travels as according to the selected reference instant performed described in timetable and reference position and reference speed at traveling process.Once quick public transport vehicle traveling process deviate from the reference position that current time should arrive, then it is immediately available for pointing out driver to need the speed of quick public transport vehicle is adjusted, and driver can be pointed out to travel according to great speed, quick public transport vehicle current location can be made to overlap with the reference position corresponding to current time within the time of regulation.

In quick public transport vehicle running, read the quick public transport vehicle latitude and longitude information (X of current time T in real time_D, Y_D).Such as current time T is 13:39:11, by the quick public transport vehicle latitude and longitude information (X under current time_D, Y_D) be respectively associated to different speed limit V_xiIn corresponding execution timetable, the reference instant of its correspondence is set to T_Di；Such as, corresponding in table 4-1 reference position is (X₁₃, Y₁₃), then (X in table 2-1₁₃, Y₁₃) corresponding reference instant is T_D1, reference position corresponding in table 4-2 is (X₂₄, Y₂₅), then (X in table 4-2₂₅, Y₂₅) corresponding reference instant is T_D2.If it is determined that corresponding to speed limit execution timetable be table 4-1, T_D1It is T_D.And extract reference position (X corresponding for current time T i.e. 13:39:11 in table 4-1₁₅, Y₁₅), table 4-2 to search corresponding reference position, corresponding reference instant is revised as current time T, the reference instant before and after it also adjusts accordingly.It is assumed that in table 4-2 with the (X in table 4-1₁₅, Y₁₅) corresponding reference position is (X₂₁₂, Y₂₁₂), the reference instant of its correspondence is 13:39:19, then this reference instant is adjusted to current time 13:39:11, and other reference instant in table 4-2 all adjust accordingly as benchmark, i.e. each reference instant all deducts 8 seconds.Employing is arranged such mode, it is to ensure that when road conditions change and speed limit is changed, when calling execution timetable corresponding to other speed limits, quick public transport vehicle can directly run according to revised execution timetable, still ensure that and is accurate to the second.

And ensure that the method that quick public transport vehicle precisely runs according to timetable is also similar to the method in step S25.Illustrate as a example by table 4-1 below, current time set out with it moment identical time, i.e. current time is 13:39:07, and quick public transport vehicle will be from station, the De Mao village, and with speed V when setting out₀In order to set out, speed travels.In the process of moving, real-time the position of the current time of quick public transport vehicle is compared with the reference position performed in timetable.

Such as when current time T is 14:09:58, detect that the position coordinates of quick public transport vehicle is (X_D, Y_D), quick public transport vehicle current position coordinates is carried out comparison one by one with performing reference position in timetable, find the reference position nearest with current quick public transport vehicle positional distance be longitude be X_n, latitude value is Y_n, obtain T fiducial time that this position is corresponding_DFor 14:10:00.Position coordinates (the X of the quick public transport vehicle under relatively current time T and current time_D, Y_DCorresponding to) reference instant T_D: T ≠ T_D, now need within the time of regulation, make the actual current location of the current time of quick public transport vehicle, coincide with the reference position corresponding to the current time performed in timetable.The time of regulation described herein is time adjustment threshold value T described in the present embodiment_H, choose according to practical situation.

The process of concrete scheduling, it is possible to reference to Fig. 3 and Fig. 4, be the most described in detail, do not repeat them here.

Embodiment 3

The present embodiment provides a kind of system that can provide accurate priority signal for bus rapid transit, as it is shown in figure 5, include:

Prediction scheme tables of data generation module: the crossing for each Signalized control generates different speed limit V_xjUnder prediction scheme tables of data: each prediction scheme tables of data records the latitude and longitude information (X of the stop line at crossing_z,Y_z), the latitude and longitude information (X of initial position_c,Y_c)；And the reference position (X in the running that quick public transport vehicle is from initial position to stop line_i,Y_i), fiducial time T_i, reference speed V_i, benchmark mileage S_i；Wherein said reference position is the position coordinates (X that in quick public transport vehicle running, each second obtains_i,Y_i)；Fiducial time is the running time of quick public transport vehicle, in seconds；Reference speed is the travel speed that in quick public transport vehicle driving process, each second obtains；Benchmark mileage S_iThe distance travelled obtained for each second in quick public transport vehicle driving process.

Data extraction module: transfer the different speed limit V of corresponding intersection_xjUnder prediction scheme tables of data.

Locating module: read the position coordinates (X of the quick public transport vehicle of current time T in real time_D, Y_D).

Judge module: the position coordinates (X of real-time judge current time quick public transport vehicle_D, Y_D) whether equal to the latitude and longitude information (X of described initial position_c,Y_c).

First processing module: as the position coordinates (X of quick public transport vehicle_D, Y_D) equal to the latitude and longitude information (X of described initial position_c,Y_c) time by prediction scheme tables of data corresponding for different speed limits with (X_D, Y_D) be adjusted to current time, and as benchmark, other fiducial times be adjusted successively corresponding fiducial time, obtain different speed limit V_xjUnder the table time of running, different speed limit V described in time of running table_xjUnder, quick public transport vehicle arrives the moment T of stop line_tj。

Second processing module: obtain the speed limit V that under current time, road conditions are corresponding_X, make quick public transport vehicle according to speed limit V_xUnder the table time of running be accurate to the operation of second.

Wherein, in described control module, set described redundancy time Th as 15 seconds.

Preferably, described second processing module farther includes:

First submodule: by the position coordinates (X of the quick public transport vehicle under current time_D, Y_D) with the reference position information (X in time of running table_i, Y_i) carry out comparison one by one, determine the position coordinates (X with the quick public transport vehicle under current time_D, Y_DCorresponding to) reference instant T_D。

Second submodule: compare the position coordinates (X of current time T and the quick public transport vehicle under current time_D, Y_DCorresponding to) reference instant T_D。

3rd submodule: when working as T=T_DTime, prompting quick public transport vehicle is according to performing T in timetable_DThe reference speed corresponding to next reference instant travel.

V_T=(S_H-S_D)/T_H, wherein T_HIt is the time to adjust threshold value, i.e. elapsed time T_HMake the position coordinates (X of quick public transport vehicle afterwards_D, Y_DReference instant T corresponding to)_DAnd the error between current time T is zero；Wherein S_HIt is to adjust threshold value T with current time T plus the time_HBenchmark mileage corresponding in table is carved upon execution as fiducial time；S_DIt is the position coordinates (X with quick public transport vehicle_D, Y_D) benchmark mileage corresponding in table is carved upon execution as reference position.

Embodiment 4

On the basis of embodiment 3, what the present embodiment provided can provide the system of accurate priority signal also to include scheduling unit for bus rapid transit, specifically includes:

Prediction scheme data acquisition module: according to different speed limit V_xjTravelled by way of the time interval at station and at each berthing time by way of station according to arriving each along bus rapid transit route by driver quick public transport vehicle in advance, during travelling under various speed limits, all record following running data each second: the position coordinates (X of quick public transport vehicle_i,Y_i), running time T_i, distance travelled number S_iWith travel speed V_i。

Schedule plan generation module: generate various speed limit V_xjUnder multiple schedule plans, each schedule plan records quick public transport vehicle along starting station during bus rapid transit route running, by way of station, terminus, and the described running data that in described step W1, each second obtains, the position coordinates (X of wherein said quick public transport vehicle_i,Y_i) as reference position, described running time T_iAs fiducial time, described distance travelled S_iAs benchmark mileage, described travel speed V_iAs reference speed, the fiducial time corresponding to the starting station is " 0s ", and the reference speed corresponding to the starting station is speed of setting out.

Perform timetable generation module: transfer different speed limit V_xjCorresponding schedule plan, frequency according to bus rapid transit, arrival each moment by way of station and the moment reached terminal, is adjusted to corresponding Beijing moment as reference instant the fiducial time in schedule plan under each speed limit, forms different speed limit V_xjCorresponding execution timetable, the moment that wherein starting station is corresponding is the moment of setting out.

Timetable extraction module: transfer all different speed limit V_tiCorresponding execution timetable, and obtain the speed limit V that current road conditions are corresponding_X。

Instruction issues module: current time is equal to the speed limit V of quick public transport vehicle_XCorresponding perform in timetable set out the moment time, assign out to quick public transport vehicle and send instructions, quick public transport vehicle sets out and travels according to the speed of setting out performing in timetable.

Relating module: by the position coordinates (X of the quick public transport vehicle under current time_D, Y_D) be respectively associated to different speed limit V_xjIn corresponding execution timetable, the reference instant of its correspondence is set to T_Di。

Correcting module: reaffirm the speed limit V that under current time, road conditions are corresponding_X, by speed limit V_XThe corresponding T performed in timetable_DiIt is revised as T_D, and extract reference position (X corresponding for current time T in this execution timetable_T, Y_T), respectively at other speed limits V_xjCorresponding execution timetable is searched and (X_T, Y_T) corresponding reference position, respectively the reference instant of its correspondence is revised as current time T.

Comparison module: compare T and T_DThe most equal:

The method and system that accurate priority signal can be provided for bus rapid transit that the above embodiment of the present invention provides, pre-establish the prediction scheme tables of data in the case of different speed limit, when quick public transport vehicle is at the crossing driving to Signalized control, whistle control system can be according to different speed limit situations, obtaining quick public transport vehicle and arrive the exact time of crossing stop line, the exact time arriving crossing stop line according to quick public transport vehicle provides priority signal for quick public transport vehicle.Obviously, when speed limit situation differs, quick public transport vehicle is different by the speed at crossing, and the required time also differs, therefore when whistle control system sends green light all-clear, residing for this quick public transport vehicle position also differ.Therefore, the such scheme in the present invention provides prior-release signal for quick public transport vehicle on the basis of the time rather than on the basis of distance, can improve bus rapid transit signal and control effect.

Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creative concept, then these embodiments can be made other change and amendment.So, claims are intended to be construed to include preferred embodiment and fall into all changes and the amendment of the scope of the invention.

Claims

1. the method that can provide accurate priority signal for bus rapid transit, it is characterised in that, specifically include Following steps:

Each prediction scheme tables of data records the latitude and longitude information (X of the stop line at crossing_z,Y_z), initial position Latitude and longitude information (X_c,Y_c)；And in the running that quick public transport vehicle is from initial position to stop line Reference position (X_i,Y_i), fiducial time T_i, reference speed V_i, benchmark mileage S_i；Wherein said reference position Position coordinates (the X obtained for each second in quick public transport vehicle running_i,Y_i)；Fiducial time is quick The running time of public transit vehicle, in seconds；Reference speed is every in quick public transport vehicle driving process Second obtain travel speed；Benchmark mileage S_iThe row obtained for each second in quick public transport vehicle driving process Sail mileage；

S2: in quick public transport vehicle running, the crossing for each Signalized control is the most public Hand over vehicle to provide priority signal, specifically include following steps:

S23: the position coordinates (X of real-time judge current time quick public transport vehicle_D, Y_D) whether equal to described Latitude and longitude information (the X of initial position_c,Y_c), if then entering step S24, otherwise return step S22；

S24: by prediction scheme tables of data corresponding for different speed limits with (X_D, Y_D) adjust corresponding fiducial time For current time, and as benchmark, other fiducial times are adjusted successively, obtain different speed limit V_xjUnder the table time of running, different speed limit V described in time of running table_xjUnder, quick public transport vehicle arrives The moment T of stop line_tj；

S26: control signal lamp provides priority signal at moment Tx-Th for quick public transport vehicle, will simultaneously The signal lights light color state of junction ahead the and when information of priority signal is provided for quick public transport vehicle Sending to quick public transport vehicle to remind driver, wherein Tx is speed limit V_XUnder the time of running in table quickly Public transit vehicle arrives the moment of stop line, and Th is redundancy time and Th > 0.

The method that can provide accurate priority signal for bus rapid transit the most according to claim 1, it is special Levying and be, in described step S26, described redundancy time Th is 15 seconds.

The method that can provide accurate priority signal for bus rapid transit the most according to claim 1 and 2, its It is characterised by, in described step S25, makes quick public transport vehicle according to speed limit V_xUnder the time of running table essence The step of the true operation to the second is as follows:

S251: by the position coordinates (X of the quick public transport vehicle under current time_D, Y_D) and the time of running Reference position information (X in table_i, Y_i) carry out comparison one by one, determine and the bus rapid transit under current time Position coordinates (the X of vehicle_D, Y_DCorresponding to) reference instant T_D；

Work as T=T_DTime, enter step S253；

As T ≠ T_DTime, enter step S254；

S253: prompting quick public transport vehicle is according to performing T in timetable_DNext reference instant corresponding to Reference speed travel, afterwards enter step S255；

V_T=(S_H-S_D)/T_H, wherein T_HIt is the time to adjust threshold value, i.e. elapsed time T_HMake quick public transport afterwards Position coordinates (X_D, Y_DReference instant T corresponding to)_DAnd the error between current time T is zero；Its Middle S_HIt is to adjust threshold value T with current time T plus the time_HCarve in table corresponding upon execution as fiducial time Benchmark mileage；S_DIt is the position coordinates (X with quick public transport vehicle_D, Y_D) performing as reference position Benchmark mileage corresponding in timetable, enters step S255 afterwards；

The method that can provide accurate priority signal for bus rapid transit the most according to claim 3, it is special Levy and be, also include guiding quick public transport vehicle according to the accurate operating procedure of timetable, specifically include as follows Step:

W1: according to different speed limit V_xj, in advance by driver quick public transport vehicle along bus rapid transit road Line according to arrive each by way of station time interval and each by way of station berthing time travel, respectively During travelling under kind of speed limit, all record following running data each second: the position of quick public transport vehicle Coordinate (X_i,Y_i), running time T_i, distance travelled number S_iWith travel speed V_i；

W2: generate various speed limit V_xjUnder multiple schedule plans, in each schedule plan, record is quickly Public transit vehicle is along starting station during bus rapid transit route running, by way of station, terminus, and described step The described running data that in rapid W1, each second obtains, the position coordinates of wherein said quick public transport vehicle (X_i,Y_i) as reference position, described running time T_iAs fiducial time, described distance travelled S_iAs Benchmark mileage, described travel speed V_iAs reference speed, the fiducial time corresponding to the starting station is " 0s ", Reference speed corresponding to the starting station is speed of setting out；

W3: transfer the different speed limit V obtained in step W2_xjCorresponding schedule plan, according to bus rapid transit Frequency, arrive respectively by way of moment at station and moment of reaching terminal, by under each speed limit Beijing moment being adjusted to corresponding fiducial time in schedule plan limits as reference instant, formation difference Speed value V_xjCorresponding execution timetable, the moment that wherein starting station is corresponding is the moment of setting out；

W4: transfer all different speed limit V_tiCorresponding execution timetable, and obtain the limit that current road conditions are corresponding Speed value V_X；

W5: current time is equal to the speed limit V of quick public transport vehicle_XCorresponding perform in timetable when setting out During quarter, assigning out to quick public transport vehicle and send instructions, quick public transport vehicle sets out and according to performing timetable In set out speed travel；

W7: by the position coordinates (X of the quick public transport vehicle under current time_D, Y_D) be respectively associated to difference Speed limit V_xjIn corresponding execution timetable, the reference instant of its correspondence is set to T_Di；

W8: reaffirm the speed limit V that under current time, road conditions are corresponding_X, by speed limit V_XDuring corresponding execution Carve the T in table_DiIt is revised as T_D, and extract reference position (X corresponding for current time T in this execution timetable_T, Y_T), respectively at other speed limits V_xjCorresponding execution timetable is searched and (X_T, Y_T) corresponding benchmark position Put, respectively the reference instant of its correspondence is revised as current time T；

W9: compare T and T_DThe most equal:

Work as T=T_DTime, enter step W10；

As T ≠ T_DTime, enter step W11；

W10: prompting quick public transport vehicle is according to speed limit V_XT in corresponding execution timetable_DNext benchmark Reference speed corresponding to moment travels；

V_T=(S_H-S_D)/T_H, wherein T_HIt is the time to adjust threshold value, i.e. elapsed time T_HMake quick public transport afterwards Latitude and longitude information (X_D, Y_DReference instant T corresponding to)_DAnd the error between current time T is zero；Its Middle S_HIt is speed limit V_XCorresponding execution timetable adjusts threshold value T with current time T plus the time_HAs base Benchmark mileage corresponding between Zhun Shi；S_DIt is speed limit V_XWith quick public transport vehicle in corresponding execution timetable Latitude and longitude information (X_D, Y_D) as the benchmark mileage corresponding to reference position.

5. the system that accurate priority signal can be provided for bus rapid transit, it is characterised in that including:

Prediction scheme tables of data generation module: the crossing for each Signalized control generates different speed limit V_xjUnder Prediction scheme tables of data: each prediction scheme tables of data records the latitude and longitude information (X of the stop line at crossing_z,Y_z)、 Latitude and longitude information (the X of initial position_c,Y_c)；And the fortune that quick public transport vehicle is from initial position to stop line Reference position (X during row_i,Y_i), fiducial time T_i, reference speed V_i, benchmark mileage S_i；Wherein institute Stating reference position is the position coordinates (X that in quick public transport vehicle running, each second obtains_i,Y_i)；Benchmark Time is the running time of quick public transport vehicle, in seconds；Reference speed is quick public transport vehicle row The travel speed that during sailing, each second obtains；Benchmark mileage S_iFor per second in quick public transport vehicle driving process The distance travelled that clock obtains；

Processing unit: in quick public transport vehicle running, the crossing for each Signalized control is Quick public transport vehicle provides priority signal, specifically includes:

Judge module: the position coordinates (X of real-time judge current time quick public transport vehicle_D, Y_D) whether etc. Latitude and longitude information (X in described initial position_c,Y_c)；

First processing module: as the position coordinates (X of quick public transport vehicle_D, Y_D) equal to described initial position Latitude and longitude information (X_c,Y_c) time by prediction scheme tables of data corresponding for different speed limits with (X_D, Y_D) corresponding Fiducial time be adjusted to current time, and as benchmark, other fiducial times are adjusted successively, Obtain different speed limit V_xjUnder the table time of running, different speed limit V described in time of running table_xjUnder, soon Speed public transit vehicle arrives the moment T of stop line_tj；

Second processing module: obtain the speed limit V that under current time, road conditions are corresponding_X, make quick public transport vehicle by According to speed limit V_xUnder the table time of running be accurate to the operation of second；

Control module: control signal lamp provides priority signal at moment Tx-Th for quick public transport vehicle, Simultaneously by the signal lights light color state of junction ahead and when provide priority signal for quick public transport vehicle Information send to quick public transport vehicle to remind driver, wherein Tx is speed limit V_XUnder the table time of running Middle quick public transport vehicle arrives the moment of stop line, and Th is redundancy time and Th > 0.

The system that can provide accurate priority signal for bus rapid transit the most according to claim 5, it is special Levy and be, in described control module, set described redundancy time Th as 15 seconds.

7. according to the system that can provide accurate priority signal for bus rapid transit described in claim 5 or 6, its Being characterised by, described second processing module farther includes:

First submodule: by the position coordinates (X of the quick public transport vehicle under current time_D, Y_D) and fortune Reference position information (X in row timetable_i, Y_i) carry out comparison one by one, determine with under current time is fast Position coordinates (the X of speed public transit vehicle_D, Y_DCorresponding to) reference instant T_D；

Second submodule: compare the position coordinates of current time T and the quick public transport vehicle under current time (X_D, Y_DCorresponding to) reference instant T_D:

3rd submodule: when working as T=T_DTime, prompting quick public transport vehicle is according to performing T in timetable_DUnder Reference speed corresponding to one reference instant travels；

V_T=(S_H-S_D)/T_H, wherein T_HIt is the time to adjust threshold value, i.e. elapsed time T_HMake quick public transport afterwards Position coordinates (X_D, Y_DReference instant T corresponding to)_DAnd the error between current time T is zero；Its Middle S_HIt is to adjust threshold value T with current time T plus the time_HCarve in table corresponding upon execution as fiducial time Benchmark mileage；S_DIt is the position coordinates (X with quick public transport vehicle_D, Y_D) performing as reference position Benchmark mileage corresponding in timetable；

5th submodule: judge the position coordinates of quick public transport vehicle whether with the latitude and longitude information of stop line (X_z,Y_z) identical, if differing, return described locating module.

The system that can provide accurate priority signal for bus rapid transit the most according to claim 7, it is special Levy and be, also include scheduling unit, specifically include:

Prediction scheme data acquisition module: according to different speed limit V_xj, in advance by driver quick public transport vehicle Along bus rapid transit route according to arriving each by way of the time interval at station and in each stop by way of station Time travels, and during travelling under various speed limits, each second all records following running data: quickly Position coordinates (the X of public transit vehicle_i,Y_i), running time T_i, distance travelled number S_iWith travel speed V_i；

Schedule plan generation module: generate various speed limit V_xjUnder multiple schedule plans, each plan Timetable records quick public transport vehicle along starting station during bus rapid transit route running, by way of standing, eventually Point station, and the described running data that in described prediction scheme data acquisition module, each second obtains, wherein said Position coordinates (the X of quick public transport vehicle_i,Y_i) as reference position, described running time T_iDuring as benchmark Between, described distance travelled S_iAs benchmark mileage, described travel speed V_iAs reference speed, starting station institute Corresponding fiducial time is " 0s ", and the reference speed corresponding to the starting station is speed of setting out；

Perform timetable generation module: transfer different speed limit V_xjCorresponding schedule plan, according to the most public The frequency of friendship, arrival are respectively by way of the moment stood and the moment reached terminal, by under each speed limit Schedule plan in fiducial time be adjusted to corresponding Beijing moment as reference instant, form difference Speed limit V_xjCorresponding execution timetable, the moment that wherein starting station is corresponding is the moment of setting out；

Timetable extraction module: transfer all different speed limit V_tiCorresponding execution timetable, and obtain current The speed limit V that road conditions are corresponding_X；

Instruction issues module: current time is equal to the speed limit V of quick public transport vehicle_XCorresponding execution timetable In set out the moment time, assign out to quick public transport vehicle and send instructions, quick public transport vehicle set out and according to The speed of setting out performed in timetable travels；

Correcting module: reaffirm the speed limit V that under current time, road conditions are corresponding_X, by speed limit V_XCorresponding Perform the T in timetable_DiIt is revised as T_D, and extract benchmark position corresponding for current time T in this execution timetable Put (X_T, Y_T), respectively at other speed limits V_xjCorresponding execution timetable is searched and (X_T, Y_T) corresponding Reference position, respectively the reference instant of its correspondence is revised as current time T；

Comparison module: compare T and T_DThe most equal:

Information alert module: work as T=T_DTime, prompting quick public transport vehicle is according to speed limit V_XDuring corresponding execution Carve T in table_DThe reference speed corresponding to next reference instant travel；As T ≠ T_DTime, prompting is the most public Vehicle is handed over to travel according to following speed:

V_T=(S_H-S_D)/T_H, wherein T_HIt is the time to adjust threshold value, i.e. elapsed time T_HMake quick public affairs afterwards Hand over vehicle latitude and longitude information (X_D, Y_DReference instant T corresponding to)_DAnd the error between current time T It is zero；Wherein S_HIt is speed limit V_XCorresponding execution timetable adjusts plus the time with current time T Threshold value T_HAs the benchmark mileage corresponding to fiducial time；S_DIt is speed limit V_XIn corresponding execution timetable With quick public transport vehicle latitude and longitude information (X_D, Y_D) as the benchmark mileage corresponding to reference position.