CN108470455B - Bus priority system and control method - Google Patents
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- CN108470455B CN108470455B CN201810237678.XA CN201810237678A CN108470455B CN 108470455 B CN108470455 B CN 108470455B CN 201810237678 A CN201810237678 A CN 201810237678A CN 108470455 B CN108470455 B CN 108470455B
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Abstract
The invention provides a bus priority system and a control method, wherein a signal lamp cloud end controller is installed on a signal lamp to control the signal lamp, a high-precision positioning system is installed on a bus and used for acquiring the high-precision position of the bus, and a bus running route and time schedule database stores a running route map and a time schedule of the bus planned in advance by a bus company. The bus priority system acquires states of all signal lamps, high-precision positions of all buses, operation route maps and time tables of all buses through the cloud, and sends instructions to the controller to control the signal lamps in real time through a cloud bus priority algorithm, so that the bus is in on-spot operation. The invention encourages citizens to take buses, weakens the requirement on private car traveling, slows down urban road congestion and reduces urban air pollution.
Description
Technical Field
The invention relates to the technical field of urban traffic control, in particular to a bus priority system and a control method.
Background
Urban public transport has great influence on the development of urban political economy, cultural education, scientific technology and the like, is an essential part of common people in daily life, and is an important aspect of urban construction and development. However, as the number of domestic cars increases, urban traffic congestion is caused, buses cannot run at the right place, road traffic accidents increase due to vicious circle, and urban air, noise and other pollution become serious day by day. The method ensures the on-line running of the buses, encourages citizens to use more buses and less private buses, and is one of important means for solving the increasingly worsened urban traffic jam and air pollution.
The invention adopts the technical means to connect all traffic lights and bus information of a city to a network, realizes the real-time accurate position information (lane level) of all buses, the route and schedule information of each bus and the state information of each traffic light, controls the traffic lights of the routes traveled by the buses at the early and late points through cloud computing, and ensures that the buses do not arrive late or walk early at each bus station.
The prior technical scheme of the bus comprises the following steps:
the bus priority control system (patent application number: 201410766510.X) consists of vehicle-mounted equipment and intersection equipment, wherein the vehicle-mounted equipment comprises a GPS (global positioning system), a vehicle-mounted host and an OBU (on-board unit), the GPS is connected with the vehicle-mounted host, the vehicle-mounted host is communicated with the OBU, the OBU is used for acquiring vehicle information in the vehicle-mounted host, the intersection equipment comprises an RSU and priority application access equipment, the RSU is communicated with the OBU and used for acquiring the vehicle information in the OBU, the RSU is also used for transmitting the vehicle information to the priority application access equipment, the priority application access equipment is used for sending a priority control signal according to the received vehicle information, the priority application access equipment is connected with a signal controller and transmits the priority control signal to the signal controller, and the signal controller is connected with a signal lamp and controls the display state of the signal lamp according to the priority.
The bus priority traffic control system is composed of a directional reader-writer installed at the intersection and an active electronic tag (RFID) installed on a bus (patent application number: 201310605961.0), when the bus approaches the intersection, the directional reader-writer corresponds to the active electronic tag on the bus and interacts with a traffic signal control system of a traffic command center, and the bus priority traffic control is carried out by controlling the change of traffic signal lamps at the intersection.
The bus priority control system consists of a signal control module, a signal machine monitoring module and a bus monitoring module (patent application number: 201410821106.8). The signal control module respectively receives and analyzes monitoring data from the signal lamp monitoring module, the annunciator monitoring module and the public traffic monitoring module, and the signal control module sequentially judges whether a public traffic vehicle exists, whether the signal lamp signal is consistent with the annunciator signal, and whether the signal lamp signal is a release signal. The signal control module timely adjusts signal lamp signals, and the bus release is preferentially guaranteed.
The London bus system adopts a bus priority system scheme consisting of vehicle-mounted equipment, intersection traffic light equipment and a bus running time table, wherein the vehicle-mounted equipment with the bus priority mainly consists of a GPS (global positioning system), a radio communication system connected with the traffic light and a running database (a map, a route, a time table and the like), a bus at an punctual point is not authorized to send a priority request, and a bus at a late point can send the priority request within a certain distance from the next traffic light. The intersection traffic light equipment consists of a communication device and a control device, and when the bus priority request is not received, the switching of the traffic lights is controlled according to a preset program. After the traffic light equipment receives the bus priority request, the green light time is determined to be prolonged or the red light is switched to the green light according to the current state of the requested signal light, and meanwhile, the linkage of the signal lights in other directions is ensured to ensure the traffic safety.
The disadvantages of the prior art are as follows:
(1) except for the London bus priority system, other bus priority methods are blind because all buses do not need to be prioritized at all intersections, and the final purpose of bus priority is to ensure that the buses operate at right points, improve service quality and enable passengers to plan a journey instead of enabling the buses to arrive at a destination in advance.
(2) At present, a bus priority system is only interaction between a bus and a traffic light at a front intersection, and cannot realize priority optimization of buses at a single intersection in different directions and optimization of multiple intersections. When a plurality of buses in the same direction or different directions at a certain intersection request priority at the same time, the conventional method is in an unordered state, and decision optimization cannot be performed according to the number and the late degree of all buses at the late points near the intersection. And the decision optimization can not be carried out according to the state of each bus subsequent intersection. For example, a subsequent section of the bus A is heavily congested, while a subsequent section of the other bus B is clear, and obviously the bus B passes preferentially over the A.
(3) Traffic lights at a plurality of intersections are controlled by lanes (such as a left-going lane, a left-going and straight-going shared lane, a straight-going and right-going shared lane and a right-going lane), and the current bus priority system cannot control the traffic lights at the lane level.
Disclosure of Invention
The invention provides a bus priority system and a control method, which adopt a network of urban traffic lights and buses, realize the interaction of a bus high-precision positioning technology and a cloud control traffic light, realize the global optimization of the control of the traffic lights in the whole city or regional lane level, and ensure the punctual running of all the buses.
Based on this, the technical scheme adopted by the invention is as follows:
a bus priority system comprising:
signal lamp cloud end controller: the device is arranged on a signal lamp and used for controlling the signal lamp;
high-precision positioning system: the system is installed on a bus, and the high-precision position of the bus is obtained in real time;
bus travel route and schedule database: storing a running route map and a time table of a bus planned in advance by a bus company;
the bus priority system acquires states of all signal lamps, high-precision positions of all buses, operation route maps and timetables of all buses through the cloud, and sends instructions to the signal lamp cloud controller through a cloud bus priority algorithm to control the signal lamps in real time, so that the bus can run at an end on schedule.
Further, the high-precision position refers to a geographical position with positioning precision reaching centimeter level.
Furthermore, the high-precision positioning system positions the bus by receiving the navigation signal and the correction information to acquire the high-precision position of the bus.
Further, the navigation signal comprises a GPS and a Beidou pseudo range and a carrier phase observed quantity.
Further, if part of the roads are closed, the operation route map and the time schedule of the bus are adjusted in real time, and the operation route map and the time schedule are updated in the database of the bus operation route and the time schedule in real time.
And further, the cloud controls the signal lamp according to the updated bus running route map and the updated schedule, so that the bus is in normal running.
A bus priority system control method comprises the following steps:
the signal lamp cloud end controller is arranged on the signal lamp and used for controlling the signal lamp;
the high-precision positioning system is arranged on the bus to obtain the high-precision position of the bus;
the bus running route and time table database stores running route maps and time tables of buses planned in advance by a bus company;
the bus priority system acquires states of all signal lamps, high-precision positions and advancing directions of all buses, and operation route maps and time tables of all buses through the cloud, and sends instructions to the signal lamp controllers through a cloud bus priority algorithm to control the signal lamps, so that the buses are in punctual operation.
Further, the cloud bus priority algorithm is as follows:
the bus priority system determines an operation route map and a time schedule of each bus and acquires the state of each signal lamp;
judging whether the buses are running at the right moment, if so, continuously determining the accurate position, the running route map and the time schedule of each bus; if not, acquiring the state of the next signal lamp driven by the late bus;
judging whether bus priority request conflicts exist at the intersection, if so, determining the bus passing priority, sequentially controlling intersection signal lamps for the buses with high priority to give the buses priority to pass, and controlling the intersection signal lamps to recover to be normal after the priority control is completed; if not, the signal lamp of the intersection is controlled to give the bus priority to pass, and the signal lamp of the intersection is controlled to be recovered to be normal after the bus passes through the intersection.
Further, if the priority of the A-way n-number bus and the B-way m-number bus intersection is in conflict, determining the bus passing priority specifically comprises:
● judging whether the time of the night of the n number bus on the A route is larger than the time of the m number bus on the B route; if yes, the priority of the A way bus with the number n is high; if not, the priority of the B-way m-number bus is high; or
●, acquiring a pre-planned operation route map of the A-way n-number bus, and judging whether the next signal lamp is jammed, wherein if not, the priority of the A-way n-number bus is high; if yes, the priority of the B-way m-number bus is high; or
●, acquiring a pre-planned operation route map of the B-path m-number bus, and judging whether the next signal lamp is jammed, wherein if not, the B-path m-number bus has high priority; if yes, the priority of the A-way n-number bus is high.
Further, if there is a priority request conflict between the passage of the n number buses on the a route and the passage of the m number buses on the B route, the step of determining the passage priority of the buses specifically comprises the following steps:
step 1, judging whether the late time of the n number bus on the A route is greater than the late time of the m number bus on the B route, if so, executing step 2; if not, executing the step 3;
step 2, acquiring a pre-planned operation route map of the N number-A bus, and judging whether the next signal lamp is jammed, wherein the N number-A bus has high priority if the next signal lamp is not jammed; if yes, the priority of the B-way m-number bus is high;
step 3, acquiring a pre-planned operation route map of the B-path m-number bus, and judging whether the next signal lamp is jammed, wherein if not, the priority of the B-path m-number bus is high; if yes, the priority of the A-way n-number bus is high.
Further, the step of controlling the intersection signal lamps to give the bus priority to pass specifically comprises the following steps:
acquiring a high-precision position of a bus;
determining a lane where the bus is located;
and controlling a signal lamp of a lane where the bus is located.
The invention adopts high-precision positioning, cloud computing and internet technologies, and cooperates with the interaction and optimization of the bus and the traffic lights to realize the punctual operation of the urban bus, encourage citizens to take the bus, weaken the requirement on the trip of private cars and reduce the urban air pollution. The invention can achieve the following beneficial technical effects:
(1) obtaining the accurate positions of all buses in real time;
(2) obtaining the states of all signal lamps in real time;
(3) controlling the switching of all signal lamps in real time;
(4) according to all bus route diagrams and an operation schedule, lane-level traffic light control is carried out according to the operation state (position, punctuality or not) of the bus, so that the global optimization of bus operation in a city range is realized, and the bus is ensured to operate at punctual points according to a preset route;
(5) in case of emergency (for example, the road is closed accidentally), the bus lines and the schedule can be adjusted in real time according to the plan and can be issued to the passengers in real time.
Drawings
FIG. 1 is a bus priority system architecture diagram of the present invention;
FIG. 2 is a flow chart of a cloud bus priority algorithm of the present invention;
FIG. 3 is a flow chart of a method for determining priority according to the present invention;
fig. 4 is a flow chart of the signal lamp control when giving priority to the bus according to the invention.
Detailed Description
The invention adopts the technical means to connect all traffic lights and bus information of a city to a network, realizes the real-time accurate position information (lane level) of all buses, the route and schedule information of each bus and the state information of each traffic light, controls the traffic lights of the routes traveled by the buses at the early and late points through cloud computing, and ensures that the buses do not arrive late or walk early at each bus station.
The invention is further illustrated below with reference to the figures and examples. The bus priority system is a traffic management system which adopts various measures to ensure that the bus passes before other vehicles in proper time and at proper sections in order to ensure the bus is right. Fig. 1 is a bus priority system architecture diagram, which is based on cloud control signal lamps and high-precision position time information, and comprises the following four parts:
(1) cloud end controller for signal lamp
The signal lamp cloud end controller is installed on a signal lamp (traffic light), and the signal lamp cloud end controller adopts the concept of the Internet of things to network the existing traffic light controller to the cloud end, so that the cloud end control function is increased, and if the network has problems, the existing control mode is degraded.
(2) High-precision positioning system
The high-precision positioning system is installed on the bus, can receive satellite navigation system GPS and big dipper pseudo range and carrier phase observed quantity, has single point standard location and utilizes the reinforcing information to carry out centimeter level location's ability.
(3) Bus operation line and time table database
The bus operation route and schedule database stores a bus operation route map and a schedule, which are planned in advance by a bus company, for example, the arrival and departure schedules of 10 buses from a first bus to a last bus at each bus stop, and each bus operating on 10 routes stores information in the database in real time when departing from a starting point, so that each bus traveling on 10 routes has a schedule for reserving and departing from each stop. If part of the road is closed according to a predetermined schedule, the route is changed and updated in the database. If part of roads are closed temporarily, part of buses running on the roads need to change the roads temporarily, in this case, part of the buses need special lines and schedules, and the lines need to be updated in real time in a database by dispatching personnel of a bus company according to a plan. The bus driver and the cloud algorithm both use the information of the database as a reference, the bus driver drives according to the emergency route, and the cloud optimizes the control of the traffic lights according to the emergency route and the new schedule, so that the bus is in punctual operation.
(4) Cloud bus priority algorithm
The cloud bus priority algorithm is shown in fig. 2, and a bus priority system is started to obtain operation route maps and time tables of all buses, high-precision positions and advancing directions of all buses and states of each signal lamp.
The bus priority system determines an operation route map and a time schedule of each bus, judges whether the buses are in normal operation or not, and if so, continuously determines the accurate position, the operation route map and the time schedule of each bus; if not, the state of the next signal lamp of the late bus is obtained.
Judging whether bus priority request conflicts exist at the intersection, if so, determining the bus passing priority, sequentially controlling intersection signal lamps for the buses with high priority to give the buses priority to pass, and controlling the intersection signal lamps to recover to be normal after the priority control is completed; if not, the signal lamp of the intersection is controlled to give the bus priority to pass, and the signal lamp of the intersection is controlled to be recovered to be normal after the bus passes through the intersection.
If the priority of the bus passing through the intersection of the n buses on the A route and the m buses on the B route conflicts, the following method can be adopted to determine the passing priority of the buses, and the method specifically comprises the following steps:
● judging whether the time of the night of the n number bus on the A route is larger than the time of the m number bus on the B route; if yes, the priority of the A way bus with the number n is high; if not, the priority of the B-way m-number bus is high; or
●, acquiring a pre-planned operation route map of the A-way n-number bus, and judging whether the next signal lamp is jammed, wherein if not, the priority of the A-way n-number bus is high; if yes, the priority of the B-way m-number bus is high; or
●, acquiring a pre-planned operation route map of the B-path m-number bus, and judging whether the next signal lamp is jammed, wherein if not, the B-path m-number bus has high priority; if yes, the priority of the A-way n-number bus is high.
If there is a conflict between the passage of the n number bus on the a route and the passage of the m number bus on the B route, the priority of the passage of the buses needs to be determined, and fig. 3 is a priority determination method provided by this embodiment, as shown in fig. 3, including the following steps:
step 1, judging whether the late time of the n number bus on the A route is greater than the late time of the m number bus on the B route, if so, executing step 2; if not, executing the step 3;
step 2, acquiring a pre-planned operation route map of the N number-A bus, and judging whether the next signal lamp is jammed, wherein the N number-A bus has high priority if the next signal lamp is not jammed; if yes, the priority of the B-way m-number bus is high;
step 3, acquiring a pre-planned operation route map of the B-path m-number bus, and judging whether the next signal lamp is jammed, wherein if not, the priority of the B-path m-number bus is high; if yes, the priority of the A-way n-number bus is high.
Fig. 4 is an embodiment of signal lamp control when giving priority to an a-way n-number bus, specifically including the following steps:
acquiring a high-precision position of an A-way n-number bus;
determining a lane where an A-way n-number bus is located;
and controlling a lane signal lamp where the A-way n-number bus is located.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above, and therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. A bus priority system, comprising:
the signal lamp cloud end controller is arranged on the signal lamp and used for controlling the signal lamp;
the high-precision positioning system is arranged on the bus to obtain the high-precision position of the bus;
the bus running route and time table database stores running route maps and time tables of buses planned in advance by a bus company;
the bus priority system acquires the states of all signal lamps, the high-precision positions of all buses, the operation route maps and the time tables of all the buses through the cloud end, controls the signal lamps through a cloud bus priority algorithm and realizes the on-spot operation of the buses;
the cloud public transport priority algorithm comprises the following steps:
the bus priority system determines the accurate position, the operation route map and the time schedule of each bus and acquires the state of each signal lamp in real time;
judging whether the buses are running at the right moment, if so, continuously determining the accurate position, the running route map and the time schedule of each bus; if not, acquiring the state of the next signal lamp driven by the late bus;
judging whether bus requests conflict at the intersection, if so, determining the bus passing priority, sequentially controlling intersection signal lamps for buses with high priority to give the buses priority to pass, and controlling the intersection signal lamps to recover to be normal after the priority control is finished; if not, controlling an intersection signal lamp to give the bus priority to pass, and controlling the intersection signal lamp to recover to be normal after the bus passes through the intersection;
if the priority of the bus number n on the A way conflicts with the priority of the bus number m on the B way, the step of determining the bus passing priority specifically comprises the following steps:
acquiring a pre-planned operation route map of the A route n bus, and judging whether the next signal lamp is jammed, wherein if not, the priority of the A route n bus is high; if yes, the priority of the B-way m-number bus is high; or
Acquiring a pre-planned operation route map of the B-path m-number bus, and judging whether the next signal lamp is jammed, wherein if not, the priority of the B-path m-number bus is high; if yes, the priority of the A way bus with the number n is high; or
Step 1, judging whether the late time of the n number bus on the A route is greater than the late time of the m number bus on the B route, if so, executing step 2; if not, executing the step 3;
step 2, acquiring a pre-planned operation route map of the N number-A bus, and judging whether the next signal lamp is jammed, wherein the N number-A bus has high priority if the next signal lamp is not jammed; if yes, the priority of the B-way m-number bus is high;
step 3, acquiring a pre-planned operation route map of the B-path m-number bus, and judging whether the next signal lamp is jammed, wherein if not, the priority of the B-path m-number bus is high; if yes, the priority of the A-way n-number bus is high.
2. The bus priority system as claimed in claim 1, wherein the high-precision position is a geographical position with a positioning precision of centimeter.
3. The bus priority system as recited in claim 1, wherein the high-precision positioning system obtains the high-precision position of the bus by receiving the navigation signal and the correction information to position the bus.
4. The bus priority system of claim 3 wherein the navigation signals include GPS and Beidou pseudoranges and carrier phase observations.
5. The bus priority system as recited in claim 1, wherein if a portion of the roads are closed, the route and schedule of travel of the bus are adjusted in real time and updated in real time in the bus route and schedule database.
6. The bus priority system as claimed in claim 5, wherein the cloud controls the signal lamps according to the real-time updated bus operation route map and the real-time updated schedule, so as to realize the on-spot operation of the bus.
7. A bus priority system control method is characterized by comprising the following steps:
the signal lamp cloud end controller is arranged on the signal lamp and used for controlling the signal lamp;
the high-precision positioning system is arranged on the bus to obtain the high-precision position of the bus;
the bus running route and time table database stores running route maps and time tables of buses planned in advance by a bus company;
the bus priority system acquires the states of all signal lamps, the high-precision positions and the advancing directions of all buses, and the operation route maps and the time tables of all the buses through the cloud end, and sends instructions to the signal lamp cloud end controller through a cloud bus priority algorithm to control the signal lamps in real time, so that the bus can run at an punctual place;
the cloud public transport priority algorithm comprises the following steps:
the bus priority system determines the accurate position, the operation route map and the time schedule of each bus and acquires the state of each signal lamp in real time;
judging whether the buses are running at the right moment, if so, continuously determining the accurate position, the running route map and the time schedule of each bus; if not, acquiring the state of the next signal lamp driven by the late bus;
judging whether bus requests conflict at the intersection, if so, determining the bus passing priority, sequentially controlling intersection signal lamps for buses with high priority to give the buses priority to pass, and controlling the intersection signal lamps to recover to be normal after the priority control is finished; if not, controlling an intersection signal lamp to give the bus priority to pass, and controlling the intersection signal lamp to recover to be normal after the bus passes through the intersection;
if the priority of the bus number n on the A way conflicts with the priority of the bus number m on the B way, the step of determining the bus passing priority specifically comprises the following steps:
acquiring a pre-planned operation route map of the A route n bus, and judging whether the next signal lamp is jammed, wherein if not, the priority of the A route n bus is high; if yes, the priority of the B-way m-number bus is high; or
Acquiring a pre-planned operation route map of the B-path m-number bus, and judging whether the next signal lamp is jammed, wherein if not, the priority of the B-path m-number bus is high; if yes, the priority of the A way bus with the number n is high; or
Step 1, judging whether the late time of the n number bus on the A route is greater than the late time of the m number bus on the B route, if so, executing step 2; if not, executing the step 3;
step 2, acquiring a pre-planned operation route map of the N number-A bus, and judging whether the next signal lamp is jammed, wherein the N number-A bus has high priority if the next signal lamp is not jammed; if yes, the priority of the B-way m-number bus is high;
step 3, acquiring a pre-planned operation route map of the B-path m-number bus, and judging whether the next signal lamp is jammed, wherein if not, the priority of the B-path m-number bus is high; if yes, the priority of the A-way n-number bus is high.
8. The bus priority system control method as claimed in claim 7, wherein the step of controlling the intersection signal lamps to give the bus priority to pass specifically comprises the steps of:
acquiring a high-precision position of a bus;
determining a lane where the bus is located;
and controlling a signal lamp of a lane where the bus is located.
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| JP7012049B2 (en) | 2019-07-31 | 2022-01-27 | コイト電工株式会社 | Traffic control equipment and traffic lights |
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