CN107351866A - Tramcar intersection cooperative control method considering platform stop time - Google Patents
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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Abstract
The invention provides a tramcar intersection cooperative control method considering platform stop time. The invention takes four-phase level crossing as a research object, all tramcars adopt a walking mode in a road to transit, different distribution positions of a platform relative to the level crossing are taken as classification standards, and a line cooperation passing strategy is provided for the tramcars by adopting a mode of combining 'speed adjustment', 'stop time adjustment' and 'single crossing control strategy', so that the stopping probability of the tramcars at the level crossing is reduced as much as possible. The invention considers the actual running condition of the tramcar, and has relative priority to the social vehicles during running, thereby not only improving the running efficiency of the tramcar on the whole line, avoiding the conflict with the social vehicles, but also promoting the green development of urban public transport.
Description
Technical field
The present invention relates to a kind of tramcar method for controlling priority, belong to urban traffic control field.
Background technology
The traffic jam issue nowadays serious in face of China, it is the key solved the problems, such as to first develop public transport, and
Succeeded in world many countries the development pattern of application.In public transport, tramcar is so that its flexibility is good, cost
The features such as low, safety and environmental protection, is favored extensively.But for the country, the development of tramcar technology is simultaneously immature, and because
Complicated road traffic running environment, so it is difficult to having a whole set of complete operating scheme as external.Though and tramcar
So possess semi-enclosed operating environment, though operation be initially under green wave band pass through, but by level crossing when, due to by
The influence of platform before to public vehicles and level crossing, the original operation state of tramcar can be destroyed, it is difficult to whole
Bar circuit improves efficiency of operation when running.
Liu Ke tigers et al. exist《Modern tram realizes the research of " green ripple " traffic application process》In by establishing mathematical modulo
Type makes tramcar control be cooperateed with road traffic control, and real by perfect scheduling, the speed of service progress of change tramcar
It is existing；Zhang Yangyang exists《Green wave band method for controlling priority based on modern tram operation characteristic》In advised with the operation of tramcar
Based on rule, tramcar is realized in the section without platform under green ripple and pass through；Jiang answers red et al. in patent《Based on tramcar
The intersection control method of active operation control system》In mention by change vehicle the reasonable speed of service realize whole
It is " not parking " under bar circuit to pass through level crossing.But this kind of research does not account for having rail under actual conditions before and after level crossing
The situation of electric car platform, with reference to real road situation, classification control strategy that a set of suitable tramcar stops before and after crossing
Urgently propose.
Classification control is carried out in view of whether there is platform before and after level crossing, and as criterion, with reference to control car
Suitable speed, adjustment vehicle dwell time and it is combined using tramcar level crossing access control three kinds of methods of strategy
Means, it is proposed that be adapted to the effective ways of real roads situation, and embody safe and efficient theory.
The content of the invention
The invention provides a kind of street railway classification controlling party based on diverse location platform before and after level crossing
Method, it is contemplated that the distribution of platform under real road situation, avoid colliding with each other for tramcar and public vehicles, realize as far as possible
Tramcar is not parking by level crossing, improves the traffic efficiency and security of tramcar.With platform relative to usual friendship
The different distributing position in crossing is criteria for classification, and using " adjustment speed ", " adjustment dwell time " and " Single Intersection controls plan
The mode slightly " being combined provides the circuit collaborative strategy relative to public vehicles relative priority for tramcar, according to following step
It is rapid to realize：
(1) when tramcar reaches detection zone, it is before judging first on tramcar direction of travel level crossing
It is no to have tramcar platform, if so, into (2), if not having, into (9)；
(2) judge after tramcar platform stops the i seconds, tramcar starts to whether first level crossing runs into it
Current phase green light, if can, into (3), if can not, into (8)；
(3) green light remaining time g when tramcar reaches stop line is judgedIt is surplusWhether tramcar is more than at the uniform velocity by flat
The time t of cross-channel mouth, if gIt is surplus＞ t, then tramcar directly pass through level crossing according to former transport condition；If gIt is surplus＜ t, then enter
(4)；
(4) the phase green time is divided into first half period and later half period from intermediate time, when judging vehicle launch
Whether quarter is located at the phase green time later half period, if so, into (5)；If it is not, then by the Green extension α seconds, then allow
Tramcar passes through, wherein α=t-gIt is surplus；
(5) g is judged whetherIt is surplus+b≥t1, if so, the adjustment dwell time, into (6), otherwise enters (7)；Wherein,X=l+w+c, in formula, b is the maximum time of the acceptable tramcar pre-cooling of platform, t1For tramcar
Time with peak acceleration by intersection, x are to have from distance of the parking stall by level crossing, l is started to for tramcar
Rail electric car platform to level crossing distance, w be level crossing width, c be tramcar length, amaxFor tramcar
Peak acceleration；
(6) dwell time for adjusting tramcar is e1Second, wherein e1=i-b, tramcar stop e1With most after second startup
High acceleration travels and passes through crossing；
(7) dwell time for adjusting tramcar is e1Second, green light extends the m seconds, wherein m=t1-gIt is surplus- b, tramcar stop
Stand e1Travelled after second startup with peak acceleration and pass through crossing；
(8) dwell time for adjusting tramcar is e2Second, wherein e2=i+ (d-t2),In formula, d is to have
Startup time is apart from the time of the phase green light that passes through, t after rail electric car stops2For tramcar with minimum acceleration by intersecting
The time of mouth, aminFor the minimum acceleration of tramcar；
(9) whether there is platform after judging first level crossing of tramcar travel direction, if so, into (10), if not having
Have, into (14).
(10) judge that tramcar is current whether in green wave band downward driving, if so, then driving through usual friendship with normal speed
Crossing, otherwise, into (11)；
(11) judge tramcar reach level crossing when whether by its current phase previous phase, if so, taking
Red light is early disconnected, and after stopping thread detector and detecting that vehicle reaches information, no through traffic for current phase, and signal lamp is switched to rail
The current phase of electric car；If it is not, into (12)；
(12) judge tramcar reach level crossing when whether by its current phase latter phase, if so, using
Green light extends, and next phase is switched to after tramcar safety, otherwise enters (13)；
(13) it is v', wherein v'=v+a to adjust tramcar speedmaxK, in formula, k is that tramcar reaches level crossing
When a distance current phase thereon time, v is the speed before tramcar adjustment；
(14) judge whether there is the level crossing of two and the above between tramcar platform nearest in travel direction,
If so, adjustment car speed makes it be run under green wave band, otherwise, into (15)；
(15) judge whether tramcar runs into green light in neighbouring intersection, if so, passing through friendship according to normally travel state
Prong, otherwise, perform (11)-(13).
The invention has the advantages that：
1. the present invention considers there is the situation of platform before and after level crossing, and is entered using the diverse location of platform as criteria for classification
Row classification control, is relatively beneficial to solve practical problems.
2. the present invention combines the operation conditions of public vehicles, by " adjustment speed ", " adjustment dwell time " or " control is used
The methods of system strategy ", makes tramcar is as far as possible not parking on the line to pass through level crossing, reduces the shadow to public vehicles as far as possible
Ring, be advantageous to the operational efficiency of vehicle and run with public vehicles " cooperation ".
3. judge the operation conditions of vehicle according to real-time detection to tramcar, and advance notice its operation reserve, more
Add with real-time and operation reserve is had more practicality.
4. combining complicated traffic circulation environment, especially at level crossing, tramcar exists big with public vehicles
Conflict point is measured, strategy provided by the invention can effectively avoid conflicting, and improve the security of road operation.
Brief description of the drawings
Fig. 1 is level crossing tramcar Loop detector layout and track laying schematic diagram；
Fig. 2 is tramcar control strategy flow chart.
Embodiment
Below in conjunction with the accompanying drawings 1 and accompanying drawing 2 the present invention will be further described.
Tramcar positioning in real time and laying detector：In tramcar running, the d GPS locating module meeting of vehicle
The running state information of vehicle, including geographical position, vehicle speed information, acceleration information are sent to whistle control system in real time
Deng when the rail that vehicle enters apart from level crossing (to be referred to as " control area ") in the region of A rice, and whistle control system obtains
The information of electric car is referred to as " effective information ", when whistle control system obtains effective information, judges whether vehicle needs to stop
And the time of level crossing is reached, determine that vehicle is run according to the classification control method and current traffic information set
Scheme.Set respectively at the entrance and exit of level crossing and stop thread detector and cancel detector, stopped thread detector and sentence
Disconnected vehicle reaches the state of level crossing, at the time of the cancellation detector detection tramcar tailstock passes through.Tramcar special rail
Road is laid among main road, as shown in Figure 1.
The present invention considers the actual motion environment of tramcar, with platform relative to the different distributing position of level crossing
For criteria for classification, classified using Different Strategies and realized, its implementation process is：
(1) when tramcar reaches " control area " (region within level crossing A rice), GPS module detects
Tramcar real time information be effective information, and be delivered to whistle control system.The effective information is judged under tramcar
The key of one second transport condition." control area " has just been reached in tramcar, has judged tramcar direction of travel (hereinafter referred to as
" positive direction "), whether there is tramcar platform before first level crossing, if so, into (2), if not having, into (9).
(2) according to practical experience, take the average i of tramcar actual dwell time to be fixed for this patent tramcar and stop
Time, judge vehicle stop start after the i seconds whether run into its current phase green light, if can, into (3), if can not, enter
(8) (unit：s).
(3) green light remaining time g when vehicle reaches stop line is judgedIt is surplusWhether more than vehicle level crossing is at the uniform velocity passed through
Time t, if gIt is surplus＞ t, then tramcar directly pass through level crossing according to former transport condition；If gIt is surplus＜ t, then it is (single to enter (4)
Position：s).
(4) the phase green time is divided equally from intermediate time, judges whether the vehicle launch moment is located at the phase green light
The time later half period, if so, into (5), if it is not, then taking " green light extension " tactful, vehicle can safety.It is assuming that green
The lamp extension time is α.Then α=t-gIt is surplus(unit：s).
(5) according to practical experience, on the basis of the tramcar dwell time is the i second, it is assumed that the acceptable rail of platform
The maximum time of electric car pre-cooling is b, judges gIt is surplus+b≥t1If so, the adjustment dwell time, into (6), otherwise enters (7).
Wherein,X=l+w+c (units：s).In formula,
t1：Time of the tramcar with peak acceleration by intersection
x：Tramcar passes through the distance of level crossing from parking stall is started to
l：Distance of the tramcar platform to level crossing
w：The width of level crossing
c：The length of tramcar
amax：The peak acceleration of tramcar
(6) known by (5), adjustment tramcar when vehicle is travelled with peak acceleration, can pacify in the dwell time of platform
Full by level crossing, the dwell time of tramcar is e after adjustment1, e1=i-b (units：s).
(7) judge to learn through (5), even if vehicle shifts to an earlier date b, the second leaves platform, also can not be in residue with peak acceleration traveling
Pass through level crossing, the method for now taking " adjustment down time " and " green light extension " to be combined, when stopping in green time
Between be still adjusted to e1, the green light extension m seconds, m=t1-gIt is surplus- b (units：s).
(8) by (2) judge obtain, tramcar start when can not run into its institute current phase green light, then take " adjust
Dwell time " strategy, makes tramcar pass through level crossing under green wave band.Startup time distance should after if tramcar stops
The time of current phase green light is the d seconds, then e2=i+ (d-t2),In formula,
t2：Time of the tramcar with minimum acceleration by intersection,
amin：The minimum acceleration of tramcar.
(9) due to there is no platform before first crossing of positive direction, whether there is platform after judging first crossing of positive direction, if
Have, into (10), if not having, into (14).
(10) judge that tramcar is current whether in green wave band downward driving, if so, then driving through usual friendship with normal speed
Crossing, otherwise, into (11).
(11) judge tramcar reach level crossing when whether by its current phase previous phase, if so, taking
" red light is early disconnected " strategy, after stopping thread detector and detecting that vehicle reaches information, no through traffic for current phase, signal lamp switching
To the current phase of tramcar.If it is not, into (12).
(12) judge tramcar reach level crossing when whether by its current phase latter phase, if so, using
" green light extension " strategy, next phase is switched to after tramcar safety, otherwise enters (13).
(13) judge to know more than, when vehicle reaches neither before passed through phase, also do not adopted then after passed through phase
Take the strategy of " adjustment speed ".Assuming that when tramcar reaches level crossing the time of a distance current phase thereon be k, then
V'=v+amaxThe speed that k, v' are adjusted by tramcar, v are the speed of tramcar normally travel.
(14) judge whether there is the level crossing of two and the above between tramcar and the nearest platform of positive direction, if
It is that adjustment car speed makes it be run under green wave band, otherwise, into (15).
(15) judge whether tramcar runs into green light in neighbouring intersection, if so, passing through friendship according to normally travel state
Prong, otherwise, perform (11)-(13).
Claims (1)
1. a kind of tramcar crossing cooperative control method for considering platform berthing time, it is characterised in that comprise the following steps：
(1) when tramcar reaches detection zone, whether have before judging first on tramcar direction of travel level crossing
Tramcar platform, if so, into (2), if not having, into (9)；
(2) judge after tramcar platform stops the i seconds, tramcar, which starts to whether first level crossing runs into it, to be led to
The green light of row phase, if can, into (3), if can not, into (8)；
(3) green light remaining time g when tramcar reaches stop line is judgedIt is surplusWhether more than tramcar usual friendship road is at the uniform velocity passed through
The time t of mouth, if gIt is surplus＞ t, then tramcar directly pass through level crossing according to former transport condition；If gIt is surplus＜ t, then enter (4)；
(4) the phase green time is divided into first half period and later half period from intermediate time, judges that the vehicle launch moment is
It is no to be located at the phase green time later half period, if so, into (5)；If it is not, then by the Green extension α seconds, then allow rail
Electric car passes through, wherein α=t-gIt is surplus。
(5) g is judged whetherIt is surplus+b≥t1, if so, the adjustment dwell time, into (6), otherwise enters (7)；Wherein,x
=l+w+c, in formula, b is the maximum time of the acceptable tramcar pre-cooling of platform, t1Accelerated for tramcar with maximum
Degree by intersection time, x be tramcar from start to parking stall pass through level crossing distance, l is tramcar platform
To the distance of level crossing, w is the width of level crossing, and c is the length of tramcar, amaxAccelerate for the maximum of tramcar
Degree；
(6) dwell time for adjusting tramcar is e1Second, wherein e1=i-b, tramcar stop e1With most greatly after second startup
Speed travels and passes through crossing；
(7) dwell time for adjusting tramcar is e1Second, green light extends the m seconds, wherein m=t1-gIt is surplus- b, tramcar stop e1
Travelled after second startup with peak acceleration and pass through crossing；
(8) dwell time for adjusting tramcar is e2Second, wherein e2=i+ (d-t2),In formula, d is tramcar
Startup time is apart from the time of the phase green light that passes through, t after stopping2For tramcar with minimum acceleration by intersection when
Between, aminFor the minimum acceleration of tramcar；
(9) whether there is platform after judging first level crossing of tramcar travel direction, if so, into (10), if not having, enter
Enter (14).
(10) judge that tramcar is current whether in green wave band downward driving, if so, level crossing is then driven through with normal speed,
Otherwise, into (11)；
(11) judge tramcar reach level crossing when whether by its current phase previous phase, if so, taking red light
Early disconnected, after stopping thread detector and detecting that vehicle reaches information, no through traffic for current phase, and signal lamp is switched to tramcar
Current phase；If it is not, into (12)；
(12) judge tramcar reach level crossing when whether by its current phase latter phase, if so, using green light
Extend, next phase is switched to after tramcar safety, otherwise enters (13)；
(13) it is v', wherein v'=v+a to adjust tramcar speedmaxK, in formula, k be when tramcar reaches level crossing away from
The time of a current phase from thereon, v are the speed before tramcar adjustment；
(14) judge whether there is the level crossing of two and the above between tramcar platform nearest in travel direction, if
It is that adjustment car speed makes it be run under green wave band, otherwise, into (15)；
(15) judge whether tramcar is running into green light in neighbouring intersection, if so, according to normally travel state by intersection,
Otherwise, (11)-(13) are performed.
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Cited By (3)
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| CN111301491A (en) * | 2020-05-15 | 2020-06-19 | 北京全路通信信号研究设计院集团有限公司 | Train operation plan adjusting method and system |
| CN114194258A (en) * | 2021-11-08 | 2022-03-18 | 东风悦享科技有限公司 | Avoidance scheduling method, system and device for railway vehicle |
| CN115214751A (en) * | 2022-05-26 | 2022-10-21 | 卡斯柯信号有限公司 | Tramcar running chart representing method considering factors of level crossing and adjusting method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301491A (en) * | 2020-05-15 | 2020-06-19 | 北京全路通信信号研究设计院集团有限公司 | Train operation plan adjusting method and system |
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| CN114194258A (en) * | 2021-11-08 | 2022-03-18 | 东风悦享科技有限公司 | Avoidance scheduling method, system and device for railway vehicle |
| CN114194258B (en) * | 2021-11-08 | 2023-09-19 | 东风悦享科技有限公司 | Avoidance scheduling method, system and device for railway vehicle |
| CN115214751A (en) * | 2022-05-26 | 2022-10-21 | 卡斯柯信号有限公司 | Tramcar running chart representing method considering factors of level crossing and adjusting method |
| CN115214751B (en) * | 2022-05-26 | 2023-08-22 | 卡斯柯信号有限公司 | Tramcar running chart representation method considering level crossing factors and adjustment method |
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