CN106251642B - A kind of public transport road chain speed calculation method based on real-time bus GPS data - Google Patents
A kind of public transport road chain speed calculation method based on real-time bus GPS data Download PDFInfo
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Abstract
The invention discloses a kind of public transport road chain speed calculation method based on real-time bus GPS data, belongs to intelligent transport technology, including speed sample acquisition, road chain velocity composite two parts.This part of its medium velocity sample acquisition generates crucial sampling point sequence, and then calculating speed sample by safeguarding GPS sampled point queues；Chain velocity composite this part in road passes through the speed sample queue for safeguarding road chain, determines the speed sample size for calculating, and then synthesize and obtain road chain speed.Public transport road chain speed calculation method provided by the invention eliminates bus stop station in site-bound and satisfies the need the influence of chain speed calculating, improve the accuracy of public transport road chain speed by way of generating crucial sampling point sequence and then calculating speed sample.The present invention is dynamically determined the sample size for calculating according to the state of speed sample queue, and is calculated into Mobile state according to the traffic conditions of real-time change, has preferable real-time and accuracy.
Description
Technical field
The invention belongs to technical field of intelligent traffic, more particularly to a kind of public transport road based on real-time bus GPS data
Chain speed calculation method.
Background technology
As urban modernization degree is constantly deepened, vehicle guaranteeding organic quantity rapid growth, citizens' activities demand presents various
Change, personalized feature, urban traffic pressure increasingly increases.Domestic and international Development of large city experience have shown that, to solve urban transportation
Problem, the traffic problems of especially super-huge international city, it is necessary to give full play to the important function of public transport.Facts proved that
Intelligent transportation system is the effective means alleviated urban traffic blocking, solve city traffic predicament.Intelligent transportation system at present
Research hotspot such as real-time road and real-time public transport arrival time prediction service in, be required for the real-time meter of public transport road chain speed
It calculates as a result, to support above-mentioned function services.However, traffic conditions have the characteristics that it is complicated and changeable and unstable, it is how accurate in real time
Really obtaining the running speed of transit network road chain becomes a key point of intelligent public transportation system.At present both at home and abroad in road
Carry out many researchs in terms of calculating, mainly there is the multiple regression estimation technique, time series models, Kalman filtering method and based on going through
History data similarity model etc..
The multiple regression estimation technique is by analyzing causality and the method predicted of influence degree between things, such as
Analyze road speeds with line construction, by the correlation of the factors such as traffic light intersection quantity, the number of intermediate stations, weather,
Regression equation is built, the dependent variable bus running time is predicted in the variation according to these independents variable in prediction period.It should
It is independent that method, which requires these influence factors, this strictly limits the application of regression analysis.
Time series forecasting is to infer the method for its following value by finding the past changing rule of research object,
The accuracy of prediction depends on the matching degree of predicted journey time changing rule and historical law, has certain limitation
Property.
Kalman filtering is a kind of efficient recursion filter, and the sight to object space of noise can be included from one group
It examines in sequence, current location and position in future is estimated.Kalman filtering is to predict a kind of method of Short-Term Traffic Flow,
With preferable robustness, effective reaction can be made to external environment.But it is only predicting following one or two of period
Interior run time is effective, and when predicting that distance or time are whole very long, precision of prediction is relatively low.
Prediction technique based on historical data Similarity Model, which is built upon traffic circulation, has the regularity of circulation change
Under the premise of, by analyzing historical data, with the current transit network of prediction of speed of history phase same time identical road chain
Road chain speed.On this basis, also there is research it is further proposed that the road speeds forecasting mechanism based on road conditions similitude, proposes
Traffic information multi-component system and traffic information multi-component system similarity calculation method, are predicted according to similar history road conditions.
This method does not account for the traffic information of real-time change based entirely on historical data, and real-time and accuracy are poor.
Invention content
The technology of the present invention solves the problems, such as：Overcome website to be delayed the influence calculated speed, solves friction speed sample number
The problem of the roads Liang Xia chain coverage rate deficiency provides a kind of public transport road chain speed calculation method based on real-time bus GPS data,
The real-time demand that public transport road chain speed calculates is solved, the coverage rate and accuracy rate of road chain are promoted, is prediction of bus arrival and public affairs
The expression of cross-channel net real-time road provides data supporting, has robustness and universality.
The present invention to acquiring and be matched to the real-time bus GPS point data of public bus network sampled point and located in advance in real time
Then reason by vehicle classification and safeguards GPS sampled point queues, extraction key point, which calculates, eliminates the speed sample that website influences；
Road chain speed sample is safeguarded using dynamic window mechanism, speed sample is finally synthesized into road chain speed and is expressed.
Public transport road chain speed calculation method provided by the invention based on real-time bus GPS data is in speed sample acquisition
Stage is that each car establishes a GPS sampled point queue, the GPS sampled points after storage matching, and usage time threshold value controls queue
Memory window size, geography fence is then established centered on website, according to sorted sampling point information in queue and
The coordinate range of geography fence determines the key point for calculating speed sample, and then extracts the key point sequence of each bus
Row, calculate speed sample；On road, chain speed synthesis phase is that each road chain safeguards its speed queue, calculating on last stage
To speed sample be added in the speed queue for the road chain that the vehicle is covered, according to queue sample size dynamic synthesis road chain speed
Degree, finally by the final speed as each road chain after the adjacent multiple short-circuit chain speed equalizations in position.
The present invention specifically includes speed sample acquisition and road chain speed synthesis step；The speed sample acquisition step includes
It safeguards GPS sampled point queues, generates crucial sampling point sequence, and then obtain speed sample；The road chain speed synthesis step packet
The speed sample queue for safeguarding road chain is included, determines the speed sample size for calculating, and then synthesize and obtain road chain speed.
It is described to safeguard that GPS sampled point queues include：
A GPS sampled point queue is established for each bus, a newest GPS point is often inserted into, judges the GPS point
Whether timestamp is newest, if not newest, then not operates, if newest, then triggers update queuing message；Then judge team
Whether the GPS point time tolerance of head and tail of the queue meets the requirement less than time threshold, and cycle criterion is until meeting condition；Finally
Update team's head sampling point information.
The generation key samples point sequence and includes：
The thread for calculating road chain speed often passes through t0Time cycle triggering is primary, is with the GPS coordinate of each website first
Geography fence delimited at center；Traverse the GPS sampled points in queue, first sampling of the selection outside website geography fence range
Point, as the crucial sampled point for calculating bus travel speed；The sampled point for finally judging team's head and tail of the queue, if standing
To be considered as sampled point be crucial sampled point outside the geography fence range of point, and then by each t0The key of a vehicle is adopted in period
Sampling point generates crucial sampling point sequence.
The speed sample includes：
The crucial sampling point sequence of traversal, each two sampled point is calculated as a pair, by the information meter of crucial sampled point
The distance between sampled point and time difference are calculated, and then application speed formula obtains the speed between each two key sampled point, as
Speed sample is added in the speed sample queue of this road chain.
The speed sample queue step for safeguarding road chain includes：
A speed sample queue is safeguarded for each road chain, is often inserted into a new speed sample and is updated queuing message,
The timestamp information of each speed sample in cycle criterion queue, will away from the sample data that current time is more than set time threshold
It is removed from queue.
It is described based on k neighbours weighting speed samples fusion include：
For non-high-speed section, compare the period;0,T1]、[T1,T2]、[T2,T*]Speed sample set in speed sample
This quantity and set threshold value N1And N2Size, wherein T1And T2To divide two time parameters of speed sample set, and T1<
T2, T*The time span (can refer to Fig. 3) away from current time that is taken speed sample set；It is determined by comparing relationship and uses two
One kind in the speed samples fusion method that kind is weighted based on k neighbours, the speed sample set for calculating are expressed as：
{V1,...,Vi,...,Vk}
The first weighting scheme is the scheme that weights are bigger possessed by the speed sample closer apart from real-time time, tiTable
Show that absolute difference of i-th sample time apart from current time, weights formula are as follows：
Speed samples fusion formula is as follows：
In addition, different time proximities is divided into two different speed sample sets, gather the weights such as interior use
Averaging method, follows the bigger scheme of time nearlyr weights between set, i.e. second of weighting scheme, the speed sample in set
Number is respectively k1、k2, weights formula is as follows：
Speed samples fusion formula is as follows：
For fastlink, using the first weighting scheme.
The road chain velocity composite includes：
For a plurality of road chain that is connected of same nature, if connect each road chain is not traffic light intersection, charge station, trouble
Crossing one kind has the connection for delaying vehicle traveling effect, and the angle change α Man Zus | of road chain direction;α|≤α0,α0> 0,
Middle α0For angle threshold (angle threshold takes 30 degree), then the road chain that these are connected is regarded as a synthesis road chain, if this
Synthesis road chain is made of n road chain, and the wherein roads m Ge Lulianyou chain speed as a result, use { V respectively1,...,Vi,...,VmTable
Show, VjuncIndicate that the speed of synthesis road chain, then the road chain speed for synthesizing road chain are：
The advantages of the present invention over the prior art are that：Public transport road chain speed calculation method provided by the invention, passes through
The mode for generating crucial sampling point sequence and then calculating speed sample eliminates bus stop station in site-bound and satisfies the need chain
The influence that speed calculates, improves the accuracy of public transport road chain speed.The present invention is true according to the state dynamic of speed sample queue
The fixed sample size for calculating, and calculated into Mobile state according to the traffic conditions of real-time change, there is preferable real-time and standard
True property.
Description of the drawings
Fig. 1 is the bus operation road chain side speed calculation provided in an embodiment of the present invention based on real-time bus GPS data
Method flow chart；
Fig. 2 is the principle schematic that crucial sampling point sequence is generated in the embodiment of the present invention；
Fig. 3 is the principle schematic of medium velocity of embodiment of the present invention sample set temporally gradient management.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made below in conjunction with the accompanying drawings further
Detailed description.
Public transport road chain speed calculation method provided by the invention based on real-time bus GPS data is in speed sample acquisition
Stage is that each car establishes a GPS sampled point queue, the GPS sampled points after storage matching, and usage time threshold value controls queue
Memory window size, geography fence is then established centered on website, according to sorted sampling point information in queue and
The coordinate range of geography fence determines the key point for calculating speed sample, and then extracts the key point sequence of each bus
Row, calculate speed sample；On road, chain speed synthesis phase is that each road chain safeguards its speed queue, calculating on last stage
To speed sample be added in the speed queue for the road chain that the vehicle is covered, be dynamically determined based on according to queue sample size
The speed sample size of calculation, and suitable speed fusion side is determined in the distributed number situation of different time range according to speed sample
Case, and then the aggregate velocity of the road chain is obtained, finally by after the adjacent multiple short-circuit chain speed equalization synthesis expression in position, assign
To each road chain as its final speed.
Fig. 1 is the public transport road chain speed calculation method stream provided in an embodiment of the present invention based on real-time bus GPS data
Cheng Tu includes the following steps：
Step 101, speed sample acquisition.
Step 1011 safeguards GPS sampled point queues.
A GPS sampled point queue is established for each bus, the GPS after the interior vehicle of storage T time is matched and screened is adopted
Sampling point.It is often inserted into a newest GPS point, judges whether its timestamp is newest, if not newest, is then not operated, if
It is newest, then trigger update queuing message, including sampled point quantity in queue, tail of the queue sampling point information, queue renewal time etc.；So
Judge whether the GPS point time tolerance of team's head and tail of the queue meets requirement less than time threshold T afterwards, if being unsatisfactory for (the i.e. time
Difference is more than threshold value T, according to headway, and considers that the less section of public transit vehicle, T take 15 minutes), then reject team's head
GPS sampled points, cycle criterion is until meeting condition, team's head sampling point information of final updating queue.
Step 1012 generates crucial sampling point sequence.
The thread for calculating road chain speed often passes throught0 Time triggered is primary.Speed is integrally travelled to bus to eliminate bus stop
The influence of degree, the present invention carry out cutting to GPS sampled point queues, and then extract crucial point sequence, for calculating point-to-point transmission public transport
The travel speed of vehicle.
Fig. 2 is the schematic diagram of the crucial sampling point sequence of extraction.First centered on the GPS coordinate of each website, half delimited
Diameter is the geography fence of R.The GPS sampled points stored in chronological order in traversal queue, select outside website geography fence range
First sampled point (first sampled point after being considered before entering the station and being outbound), as calculating bus travel speed
Crucial sampled point；The sampled point of team's head and tail of the queue is judged, if the sampled point of team's head or tail of the queue is in the geography of website
Just not as crucial sampled point within the scope of fence, if it is crucial sampled point to be considered as it outside the geography fence range of website.
The step of generating crucial sampling point sequence for the sampled point queue of the bus B out of T time, can obtain
To following formula：
{Δs1,Δs2,...,Δsn|T, B }=sp (Δ s|T,B)；
{Δt1,Δt2,...,Δtn|T, B }=sp (Δ t|T,B)；
Wherein Δ s and Δ t is information calculated distance and time difference entrained by sampled point, and the function of sp functions is
The distance between sampled point queue is cut with website, and then obtains a series of crucial sampled points and time difference information.It is raw
At crucial sampling point sequence for calculating speed sample of each vehicle in the driving range, and be applied to each corresponding road
Chain.Step 1013, calculating speed sample.The travel speed of point-to-point transmission public transit vehicle is calculated with pairs of key point.
The crucial sampling point sequence of traversal, each two sampled point are calculated as a pair.By the GPS information of crucial sampled point
The distance between sampled point is calculated, the time difference between sampled point is calculated by the timestamp information of crucial sampled point, and then apply
Speed formula obtains the speed v between each two key sampled pointi。
Running speed between the crucial sampled point being calculated is added to the speed of all road chains passed through between two sampled points
It spends in sample queue.Each speed sample can be applied by multiple road chains, for predicting road chain speed.
Step 102, road chain velocity composite.
Step 1021, the speed sample queue for safeguarding road chain.
Its speed sample queue is safeguarded for each road chain, and the vehicle, which is added, in the speed sample being calculated on last stage is covered
In the speed queue of the road chain covered, often it is inserted into a new speed sample and updates queuing message, due to receiving each public transport
Difference in the real time GPS having time of vehicle, so not sorting to the speed sample in queue.Road chain speed sample queue when
Between window size be T*, each it is separated by t0Calculating cycle in, the timestamp information of each speed sample in cycle criterion queue,
It is more than T away from current time*Sample data will be removed from queue.
Step 1022 determines the sample size for being used for calculating.
For section of different nature, obtain different for the scheme of the sample size of calculating.For non-high-speed section,
Sample size is chosen according to following rule.
Fig. 3 is the principle schematic of speed sample set temporally gradient management.
T is stored in speed sample queue*Speed sample in time, by speed sample queue, temporally threshold value is divided into
3 gradients, respectively apart from Dang Qianshijian [0,T1]、[T1,T2]、[T2,T*]Speed sample set, wherein T1And T2To divide
Two time thresholds of speed sample set, and T1< T2, T*For taken time span of the speed sample set away from current time,
Its sample size for being included is respectively n1、n2、n3, two threshold values of sample size are set as N1And N2, wherein N1< N2, need
Determine the speed sample number k for calculating1And k2。
Shou Xianpanduan [0, T1]Interior speed sample size n1If n1≥N1, illustrate that the section is the intensive section of vehicle, choose
0-T1Interior n1A speed sample chooses second of weighting scheme, enables k for calculating1=n1, continue step 1023；
If n1< N1, illustrate that speed sample is less in the short time, do not have representativeness, consider to expand speed sample set；Sentence
Disconnected [0,T2]Interior speed sample size n1+n2If n1+n2> N2, then Xuan Qu [0, T2]Interior n1+n2A speed sample is selected for calculating
Second of weighting scheme is taken, k is enabled1=n1, k2=n2, continue step 1023；
If N1< n1+n2< N2, the first weighting scheme is chosen, k is enabled1=n1+n2, continue step 1023；
If n1+n2< N1, and n1+n2+n3> N1, the first weighting scheme is chosen, k is enabled1=n1+n2+n3, continue step
1023；
If n1+n2+n3< N1, the roads Bu Duigai chain calculated.
For fastlink, there is stop few, public transit vehicle is not intensive, relatively stable etc. characteristics of public transport vehicle speed, institute
T is chosen with the embodiment of the present invention2N speed sample in time chooses the first weighting scheme, enables k for calculating1=n, after
Continuous step 1023.
Step 1023, the speed samples fusion based on k neighbours weighting.
The speed of the k sample obtained by step 1022 and prediction road chain is spatially neighbouring, thus from when
Between the neighbouring upper distribution for considering weights, take different k adjacent to weighting scheme, for calculating because of the sample size of selection difference
Speed sample set is expressed as：
{V1,...,Vi,...,Vk}
Weights possessed by the speed sample closer apart from real-time time are bigger in the first weighting scheme, weights and sample
The current time difference of time interval is inversely proportional, tiIndicate absolute difference of i-th sample time apart from current time, weights formula
It is as follows：
Speed samples fusion formula is as follows：
Speed sample is divided into different speed sample sets by different time proximities in second of weighting scheme,
Gather the averaging method of the weights such as interior use, the bigger principle of time nearlyr weights is followed between set.Speed sample for calculating
This set expression is：
{V1,...,Vi,...,Vk1}
{Vk1+1,...,Vj,...,Vk2}
Program weights formula is as follows：
Speed samples fusion formula is as follows：
The velocity composite of step 1024, adjacent road chain.
Real-time calculating in order to meet public transport road chain speed needs the integrality of summed result, the present invention to propose a kind of adjacent road
The velocity composite method of chain solves the problems, such as this.For a plurality of road chain that is connected of same nature, if connecting each road chain not
Being traffic light intersection, charge station and fork in the road one kind has the connection for delaying vehicle traveling effect, and the angle of road chain direction
Degree variation α Man Zus |α|≤α0(α0> 0), wherein α0For angle threshold, then the road chain that these are connected is regarded as a synthesis road
Chain, if the synthesis road chain is made of n road chain, and the wherein roads m Ge Lulianyou chain speed as a result, use { V respectively1,...,
Vi,...,VmIndicate, VjuncIndicate that the speed of synthesis road chain, then the road chain speed for synthesizing road chain are：
In short, public transport road chain speed calculation method provided by the invention, by generating crucial sampling point sequence and then meter
Calculate speed sample mode, eliminate bus stop station in site-bound satisfy the need chain speed calculating influence, improve public transport
The accuracy of road chain speed.The present invention is dynamically determined the sample size for calculating according to the state of speed sample queue, and according to
The traffic conditions of real-time change are calculated into Mobile state, have preferable real-time and accuracy.
Above example is provided just for the sake of the description purpose of the present invention, and is not intended to limit the scope of the present invention.This
The range of invention is defined by the following claims.It does not depart from spirit and principles of the present invention and the various equivalent replacements made and repaiies
Change, should all cover within the scope of the present invention.
Claims (6)
1. a kind of public transport road chain speed calculation method based on real-time bus GPS data, it is characterised in that：Including speed sample
It obtains and road chain speed synthesis step；The speed sample acquisition step includes safeguarding GPS sampled point queues, generates crucial sampling
Point sequence, and then obtain speed sample；The road chain speed synthesis step includes the speed sample queue for safeguarding road chain, determines and uses
In the speed sample size of calculating, and then synthesizes and obtain road chain speed；
It is described to safeguard that GPS sampled point queues include：
A GPS sampled point queue is established for each bus, a newest GPS point is often inserted into, judges the time of the GPS point
Whether stamp is newest, if not newest, then not operates, if newest, then triggers update queuing message；Then judge team head and
Whether the GPS point time tolerance of tail of the queue meets the requirement less than time threshold, and cycle criterion is until meeting condition；Final updating
Team's head sampling point information；
The generation key samples point sequence and includes：
The period for calculating road chain speed is t0, first centered on the GPS coordinate of each website, delimit geography fence；Traverse queue
In GPS sampled points, first sampled point outside website geography fence range is selected, as calculating bus traveling speed
The crucial sampled point of degree；The sampled point for finally judging team's head and tail of the queue, if being considered as adopting outside the geography fence range of website
Sampling point is crucial sampled point, and then by each t0The crucial sampled point of a vehicle generates crucial sampling point sequence in period.
2. the public transport road chain speed calculation method according to claim 1 based on real-time bus GPS data, feature exist
In：The speed sample includes：
The crucial sampling point sequence of traversal, each two sampled point are calculated as a pair, are calculated by the information of crucial sampled point
Distance between sampled point and time difference, and then application speed formula obtains the speed between each two key sampled point, as speed
Sample is added in the speed sample queue of this road chain.
3. the public transport road chain speed calculation method according to claim 1 based on real-time bus GPS data, feature exist
In：The speed sample queue step for safeguarding road chain includes：
A speed sample queue is safeguarded for each road chain, is often inserted into a new speed sample and is updated queuing message, cycle
The timestamp information for judging each speed sample in queue, the sample data for away from current time being more than set time threshold will be from team
It is removed in row.
4. the public transport road chain speed calculation method according to claim 1 based on real-time bus GPS data, feature exist
In：The road chain velocity composite uses the speed samples fusion weighted based on k neighbours to realize, the speed based on k neighbours weighting
Spending samples fusion includes：
For non-high-speed section, compare the period;0,T1]、[T1,T2]、[T2,T*]Speed sample set in speed sample number
Amount and set threshold value N1And N2Size, wherein T1And T2To divide two time parameters of speed sample set, and T1< T2, T*
For taken time span of the speed sample set away from current time, ViIndicate the i-th speed sample；The first weighting scheme is distance
The bigger scheme of weights, t possessed by the closer speed sample of real-time timeiIndicate the i-th sample time apart from current time
The number of absolute difference, sample is k1, weights formula is as follows：
Speed samples fusion formula is as follows：
In addition, different time proximities is divided into two different speed sample sets, gather being averaged for the weights such as interior use
Method of weighting, the speed number of samples in set is respectively k1、k2, follow the bigger scheme of time nearlyr weights between set, i.e.,
Two kinds of weighting schemes, weights formula are as follows：
Speed samples fusion formula is as follows：
For fastlink, using the first weighting scheme.
5. the public transport road chain speed calculation method according to claim 1 based on real-time bus GPS data, feature exist
In：The road chain velocity composite includes：For a plurality of road chain that is connected of same nature, if connect each road chain is not red green
Lamp crossing, charge station, fork in the road one kind have the connection for delaying vehicle traveling effect, and the angle change α of road chain direction is full
$ |α|≤α0,α0> 0, wherein α0For angle threshold, then the road chain that these are connected is regarded as a synthesis road chain, if this
Synthesis road chain is made of n road chain, and the wherein roads m Ge Lulianyou chain speed as a result, use { V respectively1,...,Vi,...,VmTable
Show, VjuncIndicate that the speed of synthesis road chain, then the road chain speed for synthesizing road chain are：
。
6. the public transport road chain speed calculation method according to claim 5 based on real-time bus GPS data, feature exist
In：The angle threshold takes 30 degree.
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