CN105427637B - It is a kind of to strengthen the signals of vehicles control system of equipment based on Big Dipper ground - Google Patents
It is a kind of to strengthen the signals of vehicles control system of equipment based on Big Dipper ground Download PDFInfo
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Abstract
Strengthen the signals of vehicles control system of equipment based on Big Dipper ground the invention discloses a kind of, the system is included：Acquisition module, for gathering the Vehicular occupant data based on the enhanced vehicle satellite location data of Big Dipper ground and based on IC-card；Rulemaking module is controlled, for defining some states and logic judgment principle；Control module, for the state and principle according to definition, the data further according to collection are controlled to signals of vehicles.The acquisition module is further included：First collection submodule, for being gathered based on satellite location data, obtains the meter level positional information of vehicle；Second collection submodule, for obtaining passenger inside the vehicle's incremental data by IC-card equipment and car-mounted terminal.The present invention reaches to the control of whole public bus network operation optimization, is precisely controlled, improve the reliability of whole control system by multi-source data input and advanced signal control algolithm.So as to reach balanced circuit passenger traffic amount, the purpose of railroad embankment efficiency is improved.
Description
Technical field
The present invention relates to signals of vehicles control field, and in particular to a kind of to strengthen the signals of vehicles of equipment based on Big Dipper ground
Control system.
Background technology
With the development of the social economy, people are increasing to the demand of trip.Meanwhile, convenience, the comfortableness of trip
The important criterion of trip instrument is selected as people.Traditional trip mode mainly includes, and private car trip, public transport go out
Row, cycling trip, walking etc..In numerous trip modes, private car trip mode is the most comfortable, convenient, but with people
Depending on unduly for being gone on a journey to private car causes the serious urban issues such as traffic congestion, environmental pollution.Asked to solve this city
Topic, public transport starts development, and advanced public transportation system starts to occur.
Public transport is as the maximum vehicles of city carrying capacity, with convenient and swift, with low cost, safety and environmental protection etc.
Plurality of advantages.But simultaneous problems have impact on the efficiency of operation of public transport.Wherein it is the most significantly public transit vehicle
Capacity deployment is uneven, causes the daily problems of operation such as bunching, large-spacing.Public bus network operation is abnormal, can cause circuit vehicle
The distribution of passenger is uneven, so as to cause the efficiency of operation of whole piece circuit low.
In order to solve the problem of mass transit volume distribution is uneven, it will usually take corresponding control to bus operation circuit vehicle
Measure processed.Such as integrative design intersection, first method, by disposing roadside device to detect the traveling of public transit vehicle at crossing
Vehicle traveling-position is reported that control device is according to each phase vehicle feelings in intersection to signal control device by position, roadside device
Condition implements signal priority to public transit vehicle.Second method is to detect public transit vehicle position by satellite positioning device, and by position
Put data transfer and carry out signal priority control to signal control device.
In such scheme, signal control device carries out priority acccess control by vehicle position information to vehicle.Deposit both ways
Problem, is the problem of data are insufficient first, is embodied in several aspects：
1. lack passengers quantity data in public transit vehicle, because lacking passenger data, cause signal control device true
The load factor of public transit vehicle is determined, so that signal control can not be carried out targetedly.
2. lack the location information data between circuit vehicle, because lacking the service data of vehicle between circuit, cause signal
Control device does not know the position relationship of fore-aft vehicle, it is impossible to truly have targetedly progress signal control.
3. public transit vehicle real time position data is not enough, one point data poor reliability, it is impossible to judge that public transit vehicle passes through drive test
Running status after equipment, it is possible to cause erroneous judgement to signal control device.
4. lacking high-precision vehicle position data does not have, due to lacking high precision position data, so as to can not judge vehicle
Operation track so that can not accurately judge signal phase corresponding with track cause erroneous judgement.
Above-mentioned 4 points of data mainly due to input signal control device do not possess or insufficient, cause whole
The reliability reduction of control system.
The content of the invention
It is an object of the present invention to which in order to overcome above mentioned problem, the present invention provides a kind of more advanced public transit vehicle letter
Number control method system.
To achieve these goals, the present invention provides a kind of signals of vehicles for strengthening equipment based on Big Dipper ground and controls system
System, the system is included：
Acquisition module, the vehicle for gathering based on the enhanced vehicle satellite location data of Big Dipper ground and based on IC-card multiplies
Objective data；
Rulemaking module is controlled, for defining some states and logic judgment principle；
Control module, for the state and principle according to definition, the data further according to collection are controlled to signals of vehicles.
Optionally, above-mentioned acquisition module is further included：
First collection submodule, for being gathered based on satellite location data, obtains the meter level positional information of vehicle；
Second collection submodule, for obtaining passenger inside the vehicle's incremental data by IC-card equipment and car-mounted terminal.
Above-mentioned control Rulemaking module is further included：
First submodule, for defining current location vehicle for A cars, vehicle is B cars behind Current vehicle；
The departure interval of definition wires road vehicles is ε minutes, and the time headway of A cars and B cars is defined as t (AB)；
Second submodule, for defining following several states residing for vehicle A：
State S1, t (AB) ＞ ε are that the time headway of A cars and B cars under current state is more than the departure interval ε of two cars；
State S2, t (AB)≤ε are that the time headway of A cars and B cars under current state is less than or equal to the departure interval of two cars
ε；
3rd submodule, the vehicle for defining current location is that vehicle is B cars and same a period of time behind A cars, Current vehicle
Carve, the handling capacity of passengers of A cars is P (A), and the handling capacity of passengers of B cars is P (B)；
4th submodule, it is as follows for defining several states residing for vehicle A passenger carrying capacities：
State S3, when the handling capacity of passengers of P (A) ＞ P (B) A cars i.e. under current state is more than the handling capacity of passengers of B cars；
State S4, when the handling capacity of passengers of P (A)≤P (B) A cars i.e. under current state is less than the handling capacity of passengers of B cars；
5th submodule, for signal control device state residing for the vehicle A that is defined as follows：
State S5, signal control device only receives the signal priority request of vehicle A transmissions；
State S6, signal control device receives the request signal of vehicle A transmissions, and receives simultaneously from other phase vehicles
Signal priority request；
Vehicle-state determination sub-module, for determining track states of the vehicle A in road, that is, determines track residing for vehicle A
To turn left, keeping straight on or turn right；
State S7, track residing for vehicle A is Through Lane；
State S8, track residing for vehicle A is right-turn lane；
State S9, track residing for vehicle A is left turn lane；
Signal period sets submodule, for defining the signalized crossing signal period residing for vehicle A for T, vehicle A institutes
Locate signalized intersections straight trip Phase Duration λStraight trip, left turn phase duration λTurn left, right-hand rotation Phase Duration is λTurn right；
Wherein, λStraight trip+λTurn left+λTurn right=T；
The optimization time sets submodule, and time θ, wherein θ ＜ T are optimized for setting signal；
Optimal Control Strategy submodule, for the signal optimisation strategy being defined as follows：
Tactful G1, the increase signal optimization time forms new intersection signal phase on the basis of original signal phase time
Time；
Tactful G2, the subtraction signal optimization time forms new intersection signal phase on the basis of original signal phase time
Time；
Tactful G3, maintains signalized intersections present situation cycle and Phase Duration residing for vehicle A constant.
It is which is stated control module and further included：
Submodule is primarily determined that, the residing track state for determining vehicle A, the track state includes S7, S8 and S9
Three states；
First implementation sub-module, meets state S2, S4 and S5, then implementation strategy G2 simultaneously for current vehicle condition；
Second implementation sub-module, for meeting state S1, S3 and S5 simultaneously when the current state of vehicle, then implementation strategy
G1；
3rd implementation sub-module, for meeting state S2, S4 and S simultaneously when the current state of vehicle, 6, then implementation strategy
G3；
4th implementation sub-module, for meeting state S1, S3 and S6 simultaneously when the current state of vehicle, then implementation strategy
G3；
5th implementation sub-module, for when vehicle be in be used for vehicle be in other combinations of states when, implementation strategy G3.
Compared with prior art, the technical advantages of the present invention are that：(1) close public transit vehicle signal priority more science
Reason.(2) efficiency of operation of public bus network is improved.(3) reliability of public transit vehicle signal priority is improved.I.e. the present invention passes through
Multi-source data is inputted and advanced signal control algolithm, is reached to the control of whole public bus network operation optimization, is precisely controlled, improves
The reliability of whole control system.So as to reach balanced circuit passenger traffic amount, the purpose of railroad embankment efficiency is improved.
Brief description of the drawings
The composition frame chart for the signals of vehicles control system that Fig. 1 provides for the present invention.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples.
The present invention provides a kind of signals of vehicles control system based on Big Dipper ground enhancing equipment, it is characterised in that described
System is included：
Acquisition module, the vehicle for gathering based on the enhanced vehicle satellite location data of Big Dipper ground and based on IC-card multiplies
Objective data；
Rulemaking module is controlled, for defining some states and logic judgment principle；
Control module, for the state and principle according to definition, the data further according to collection are controlled to signals of vehicles.
Optionally, above-mentioned acquisition module is further included：
First collection submodule, for being gathered based on satellite location data, obtains the meter level positional information of vehicle；
Second collection submodule, for obtaining passenger inside the vehicle's incremental data by IC-card equipment and car-mounted terminal.
Above-mentioned control Rulemaking module is further included：
First submodule, for defining current location vehicle for A cars, vehicle is B cars behind Current vehicle；
The departure interval of definition wires road vehicles is ε minutes, and the time headway of A cars and B cars is defined as t (AB)；
Second submodule, for defining following several states residing for vehicle A：
State S1, t (AB) ＞ ε are that the time headway of A cars and B cars under current state is more than the departure interval ε of two cars；
State S2, t (AB)≤ε are that the time headway of A cars and B cars under current state is less than or equal to the departure interval of two cars
ε；
3rd submodule, the vehicle for defining current location is that vehicle is B cars and same a period of time behind A cars, Current vehicle
Carve, the handling capacity of passengers of A cars is P (A), and the handling capacity of passengers of B cars is P (B)；
4th submodule, it is as follows for defining several states residing for vehicle A passenger carrying capacities：
State S3, when the handling capacity of passengers of P (A) ＞ P (B) A cars i.e. under current state is more than the handling capacity of passengers of B cars；
State S4, when the handling capacity of passengers of P (A)≤P (B) A cars i.e. under current state is less than the handling capacity of passengers of B cars；
5th submodule, for signal control device state residing for the vehicle A that is defined as follows：
State S5, signal control device only receives the signal priority request of vehicle A transmissions；
State S6, signal control device receives the request signal of vehicle A transmissions, and receives simultaneously from other phase vehicles
Signal priority request；
Vehicle-state determination sub-module, for determining track states of the vehicle A in road, that is, determines track residing for vehicle A
To turn left, keeping straight on or turn right；
State S7, track residing for vehicle A is Through Lane；
State S8, track residing for vehicle A is right-turn lane；
State S9, track residing for vehicle A is left turn lane；
Signal period sets submodule, for defining the signalized crossing signal period residing for vehicle A for T, vehicle A institutes
Locate signalized intersections straight trip Phase Duration λStraight trip, left turn phase duration λTurn left, right-hand rotation Phase Duration is λTurn right；
Wherein, λStraight trip+λTurn left+λTurn right=T；
The optimization time sets submodule, and time θ, wherein θ ＜ T are optimized for setting signal；
Optimal Control Strategy submodule, for the signal optimisation strategy being defined as follows：
Tactful G1, the increase signal optimization time forms new intersection signal phase on the basis of original signal phase time
Time；
Tactful G2, the subtraction signal optimization time forms new intersection signal phase on the basis of original signal phase time
Time；
Tactful G3, maintains signalized intersections present situation cycle and Phase Duration residing for vehicle A constant.
It is which is stated control module and further included：
Submodule is primarily determined that, the residing track state for determining vehicle A, the track state includes S7, S8 and S9
Three states；
First implementation sub-module, for meeting state S2, S4 and S5 simultaneously when the current state of vehicle, then implementation strategy
G2；
Second implementation sub-module, for meeting state S1, S3 and S5 simultaneously when the current state of vehicle, then implementation strategy
G1；
3rd implementation sub-module, for meeting state S2, S4 and S simultaneously when the current state of vehicle, 6, then implementation strategy
G3；
4th implementation sub-module, for meeting state S1, S3 and S6 simultaneously when the current state of vehicle, then implementation strategy
G3；
5th implementation sub-module, in other states being performed both by tactful G3 when vehicle.
Embodiment
Embodiment of the present invention improves the deficiency of aforementioned conventional embodiment, the perfect relevant mode of control system
Block.Main modular include data acquisition unit module, control algolithm module, scheme implement module.Data acquisition unit module master
It is responsible for related data needed for acquisition system, it is main to include based on the enhanced vehicle satellite location data of Big Dipper ground, based on IC
The Vehicular occupant data of card.Control algolithm module is mainly responsible for carrying out logic judgment, and foundation is provided for the implementation of prioritization scheme, and
According to data acquired and logic judgment rule, there is provided corresponding control algolithm.Scheme implements module and mainly Current protocols is entered
Row is implemented.Its basic step is as follows：
Data acquisition module：
Step 1, strengthen the vehicle satellite position data collecting of equipment based on Big Dipper ground, pass through the satellite installed in vehicle
Positioning terminal and trackside positioning enhancing equipment, obtain the meter level positional information of vehicle, wherein the arctic territory base strengthens equipment
Belong to existing equipment, its concrete outcome will not be described here.
Step 2, passenger data is gathered, by the satellite positioning-terminal installed in vehicle and trackside positioning enhancing equipment,
Obtain the meter level positional information of vehicle.Passenger inside the vehicle's incremental data is obtained by IC-card equipment and car-mounted terminal.
Control algolithm module：
Step 3, it is that vehicle is B cars behind A cars, Current vehicle to define current location vehicle.The departure interval of circuit vehicle
For ε minutes.The time headway of A cars and B cars is defined as t (AB).
Step 4, several states defined residing for vehicle location A are as follows：
State S1, t (AB) ＞ ε are that the time headway of A cars and B cars under current state is more than the departure interval ε of two cars.
State S2, t (AB)≤ε are that the time headway of A cars and B cars under current state is less than or equal to the departure interval of two cars
ε。
Step 5, it is that vehicle is B cars behind A cars, Current vehicle to define current location vehicle.Synchronization, the carrying of A cars
Measure as P (A), the handling capacity of passengers of B cars is P (B).
Step 6, several states defined residing for vehicle A passenger carrying capacities are as follows：
The handling capacity of passengers of state S3, P (A) ＞ P (B) A cars i.e. under current state is more than the handling capacity of passengers of B cars.
The handling capacity of passengers of state S4, P (A)≤P (B) A cars i.e. under current state is less than the handling capacity of passengers of B cars.
Step 7, signal control device state residing for vehicle A is defined
State S5, signal control device only receives the signal priority request of vehicle A transmissions.
State S6, signal control device receives the request signal of vehicle A transmissions, and receives simultaneously from other phase vehicles
Signal priority request.
Step 8：Determine track states of the vehicle A in road.I.e. according to on-vehicle positioning terminal and trackside ground enhancing equipment,
Track residing for vehicle A is determined to turn left, keep straight on or turn right.
State S7, track residing for vehicle A is Through Lane.
State S8, track residing for vehicle A is right-turn lane.
State S9, track residing for vehicle A is left turn lane.
Step 9, it is T to define the signalized crossing signal period residing for vehicle A.Signalized intersections residing for vehicle A are kept straight on
Phase Duration λStraight trip, left turn phase duration λTurn left, right-hand rotation Phase Duration is λTurn right.Wherein
λStraight trip+λTurn left+λTurn right=T.
Step 10, the definition signal optimization time is θ, wherein θ ＜ T.
Step 11, definition signal control device optimisation strategy.
Tactful G1, λ+θ, the increase signal optimization time forms new intersection signal on the basis of original signal phase time
Phase time.
Tactful G2, λ-θ, the subtraction signal optimization time forms new intersection signal on the basis of original signal phase time
Phase time.
Tactful G3, maintains signalized intersections present situation cycle and Phase Duration residing for vehicle A constant.
Scheme implements module：
Step 12, the residing track state for determining vehicle A is any one in S7, S8, S9.
Step 13, state S2, S4, S5, implementation strategy G2 are met.
Step 14, state S1, S3, S5, implementation strategy G1 are met.
Step 15, state S2, S4, S, 6, implementation strategy G3 are met.
Step 16, state S1, S3, S6, implementation strategy G3 are met.
Step 17, other states are performed both by tactful G3.
The specific embodiment of the present invention is the foregoing is only, is not intended to limit the scope of the present invention, this
Field it will be appreciated by the skilled person that on the premise of inventive principle is not departed from, technical scheme is modified or
Person's equivalent substitution, without departure from the spirit and scope of technical solution of the present invention, it all should cover in protection scope of the present invention.
Claims (3)
1. a kind of strengthen the signals of vehicles control system of equipment based on Big Dipper ground, it is characterised in that the system is included：
Acquisition module, for gathering the Vehicular occupant number based on the enhanced vehicle satellite location data of Big Dipper ground and based on IC-card
According to；
Rulemaking module is controlled, for definition status and strategy；
Control module, for the state and strategy according to definition, the data further according to collection are controlled to signals of vehicles；
The control Rulemaking module is further included：
First submodule, for defining current location vehicle for A cars, vehicle is B cars behind Current vehicle；
The departure interval of definition wires road vehicles is ε minutes, and the time headway of A cars and B cars is defined as t (AB)；
Second submodule, for defining following several states residing for vehicle A：
State S1, t (AB) ＞ ε are that the time headway of A cars and B cars under current state is more than the departure interval ε of two cars；
State S2, t (AB)≤ε are that the time headway of A cars and B cars under current state is less than or equal to the departure interval ε of two cars；
3rd submodule, the vehicle for defining current location is that vehicle is B cars and synchronization, A behind A cars, Current vehicle
The handling capacity of passengers of car is P (A), and the handling capacity of passengers of B cars is P (B)；
4th submodule, it is as follows for defining several states residing for vehicle A handling capacities of passengers：
State S3, when the handling capacity of passengers of P (A) ＞ P (B) A cars i.e. under current state is more than the handling capacity of passengers of B cars；
State S4, when the handling capacity of passengers of P (A)≤P (B) A cars i.e. under current state is less than the handling capacity of passengers of B cars；
5th submodule, for signal control device state residing for the vehicle A that is defined as follows：
State S5, signal control device only receives the signal priority request of vehicle A transmissions；
State S6, signal control device receives the request signal of vehicle A transmissions, and receives the letter from other phase vehicles simultaneously
Number override requests；
Vehicle-state determination sub-module, for determining track states of the vehicle A in road, that is, it is a left side to determine track residing for vehicle A
Turn, keep straight on or turn right；
State S7, track residing for vehicle A is Through Lane；
State S8, track residing for vehicle A is right-turn lane；
State S9, track residing for vehicle A is left turn lane；
Signal period sets submodule, for defining the signalized crossing signal period residing for vehicle A for T, and vehicle A is residing to be believed
Number intersection straight trip Phase Duration λStraight trip, left turn phase duration λTurn left, right-hand rotation Phase Duration is λTurn right；
Wherein, λStraight trip+λTurn left+λTurn right=T；
The optimization time sets submodule, and time θ, wherein θ ＜ T are optimized for setting signal；
Optimal Control Strategy submodule, for the signal optimisation strategy being defined as follows：
Tactful G1, when the increase signal optimization time forms new intersection signal phase on the basis of original signal phase time
Between；
Tactful G2, when the subtraction signal optimization time forms new intersection signal phase on the basis of original signal phase time
Between；
Tactful G3, maintains signalized intersections present situation cycle and Phase Duration residing for vehicle A constant.
2. according to claim 1 strengthen the signals of vehicles control system of equipment based on Big Dipper ground, it is characterised in that institute
Acquisition module is stated further to include：
First collection submodule, for being gathered based on satellite location data, obtains the meter level positional information of vehicle；
Second collection submodule, for obtaining passenger inside the vehicle's incremental data by IC-card equipment and car-mounted terminal.
3. according to claim 1 strengthen the signals of vehicles control system of equipment based on Big Dipper ground, it is characterised in that institute
Control module is stated further to include：
Submodule is primarily determined that, the residing track state for determining vehicle A, the track state includes S7, S8 and S9 tri-
State；
First implementation sub-module, meets state S2, S4 and S5, then implementation strategy G2 simultaneously for current vehicle condition；
Second implementation sub-module, for meeting state S1, S3 and S5 simultaneously when the current state of vehicle, then implementation strategy G1；
3rd implementation sub-module, for meeting state S2, S4 and S6 simultaneously when the current state of vehicle, then implementation strategy G3；
4th implementation sub-module, for meeting state S1, S3 and S6 simultaneously when the current state of vehicle, then implementation strategy G3.
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| CN101789175B (en) * | 2010-01-08 | 2011-12-28 | 北京工业大学 | Public transportation multi-route static coordination and dispatching method |
| CN103268707B (en) * | 2013-04-26 | 2015-03-18 | 东南大学 | Signal regulating method for pedestrian crossing road section of bus prior passage |
| CN103337022A (en) * | 2013-06-05 | 2013-10-02 | 袁义青 | A public transport electronic system |
| CN204348076U (en) * | 2014-12-17 | 2015-05-20 | 天津易华录信息技术有限公司 | A kind of bus signals priority system based on vehicle-mounted number |
| CN104485006A (en) * | 2014-12-17 | 2015-04-01 | 天津易华录信息技术有限公司 | Bus signal priority system based on passenger number and control method |
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