CN108597222A - It is a kind of based on bus or train route collaboration public transport arrival time prediction technique, apparatus and system - Google Patents
It is a kind of based on bus or train route collaboration public transport arrival time prediction technique, apparatus and system Download PDFInfo
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- CN108597222A CN108597222A CN201810390978.1A CN201810390978A CN108597222A CN 108597222 A CN108597222 A CN 108597222A CN 201810390978 A CN201810390978 A CN 201810390978A CN 108597222 A CN108597222 A CN 108597222A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
- G08G1/054—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed photographing overspeeding vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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Abstract
The present invention relates to intelligent transportation field, specially a kind of public transport arrival time prediction technique cooperateed with based on bus or train route, apparatus and system.The system of the present invention includes roadside unit, board units and existing communal facility.The present invention utilizes bus or train route Synergistic method, pass through the real-time information interaction between board units and roadside unit, when so that bus entering in DSRC communication ranges, roadside unit can be according to current demand signal phase, into road junction queuing vehicle, the actual conditions of section vehicle, go out the delay time at stop of bus by a kind of analysis delay estimation model prediction of practicality, it is supplied to traffic control and management center, and then accurately predict public transport arrival time in time, and make further Optimal Decision-making for traffic administration personnel, the quantity of operation of urban bus passenger transport can significantly be promoted, to alleviate urban traffic pressure to a certain extent.
Description
Technical field
The present invention relates to intelligent transportation field, specially a kind of public transport arrival time prediction technique cooperateed with based on bus or train route,
Apparatus and system.
Background technology
Public transit vehicle arrival time is one of the information that passenger pays close attention to the most, and the fortune of bus is obtained by car networking technology
The row delay time at stop is supplied to traffic control and management center, and then accurately predicts public transport arrival time in time, and for traffic
Administrative staff make further Optimal Decision-making, to reduce the stand-by period of passenger, can also significantly promote city bus
The quantity of operation of passenger traffic, to alleviate urban traffic pressure to a certain extent.The application of this technology attracts improving public transport
Power, promotion passenger satisfaction are of great significance.
Invention content
The technical problems to be solved by the invention
Existing public transport arrival time Predicting Technique includes mainly temporal data model prediction model, artificial neural network mould
Type and kalman filter models etc..The current accuracy evaluating method that arrives at a station mostly uses greatly website and experiences method, this side on the spot
The manpower and materials that method expends are larger, the limited sample size of sampling.And in order to realize that dynamic characteristic, many models have used respectively
The monitoring technology and sensor of kind various kinds measure traffic flow parameter, and cost is larger.
The technical problem to be solved in the present invention is to provide it is a kind of based on bus or train route collaboration public transport arrival time prediction technique and
System predicts the bus running time by car networking technology, is supplied to traffic control and management center, and then timely and accurate
It calculates public transport to arrive at a station the delay time at stop, and makees further Optimal Decision-making for traffic administration personnel.
Means used by solving the problems, such as
Used technical solution is to solve above-mentioned technical problem：
A kind of public transport arrival time prediction technique based on bus or train route collaboration, including：
Information of vehicles obtaining step, for being obtained in real time using car-mounted device and the roadside unit on track
The trip information of bus；
Time prediction step in crossing is based on the operation when judging that vehicle cannot pass through intersection with rubato
Parameter information calculates delay time at stop of the vehicle by intersection；
Section time prediction step, when judge vehicle not with rubato when driving, be based on the trip information, meter
Calculate delay time at stop when vehicle sections of road；
Arrival time prediction steps pass through the delay running time of intersection and/or vehicle section based on the vehicle
And bus travels the arrival time of required time prediction vehicle with rubato.
In at least one embodiment of the present invention, in the information of vehicles obtaining step, board units obtain public affairs in real time
The information of vehicle is handed over, which includes automobile's instant velocity, acceleration, location information, and sends it to roadside unit, and roadside unit obtains
Take current phase information data, queuing vehicle number and time headway information.
In at least one embodiment of the present invention, the crossing time prediction step calculates bus based on following formula and subtracts
The delay time at stop Δ t of queuing stages is added in speedcd：
Δtcd=tcd-tcdf；
Wherein：
sd(τ2)=vi(τ1)2/(2·acd)；
tcd=vi(τ1)/ad；
tcdf=sd(τ2)/vi(τ1)；
In formula：sd(τ2)-bus reduces speed now the distance passed through to speed by 0；vi(τ1Before)-bus slows down
Rubato；acdBus slows down acceleration at the intersection；tcdBus is in intersection braking section running time；
tcdfBus is the time required to intersection braking section is travelled with rubato；ΔtcdThe intersection braking section delay time at stop.
In at least one embodiment of the present invention, it in the crossing time prediction step, is lined up wagon flow and evacuates the stage, it is public
For Car Return in stationary state, it is the time when stage is delayed thus to be lined up wagon flow evacuation time, and it is thin to be lined up wagon flow based on following formula calculating
The time is dissipated,:
The elapsed time in this stage is：
In formula, kqIt is lined up vehicle number before (τ)-bus；The average headway of queuing vehicle；It is lined up vehicle
Flow evacuation time.
In at least one embodiment of the present invention, in the crossing time prediction step, bus is calculated based on following formula
Accelerate the delay time at stop Δ t by the intersection stageca：
Δtca=tca-tcaf；
Wherein：
sa(τ5)=vi(τ1)2/(2·aca)；
tca=vi(τ1)/aca；
tcaf=sa(τ5)/vi(τ1)；
In formula, sa(τ5)-bus accelerates to the operating range of rubato；vi(τ1Freedom before the acceleration of)-bus
Speed；acaBus accelerates acceleration at the intersection；tcaBus is in intersection accelerating sections running time；tcafIt is public
Hand over vehicle in intersection accelerating sections with rubato running time；ΔtcaBus is in the intersection accelerating sections delay time at stop.
In at least one embodiment of the present invention, in the section time prediction step, bus is calculated based on following formula
It is decelerated to the delay time at stop Δ t of low speed wagon flowrd：
Δtrd=trd-trdf
Wherein,
sd(τ7)=vi(τ1)2-vq(τ)2/(2·ad)；
trd=vi(τ1)-vq(τ)/ard；
trdf=sd(τ7)/vi(τ1)；
In formula, sd(τ7)-bus is decelerated to the operating range of low speed flow speeds；vi(τ1)-bus subtracts in section
Rubato before speed；vq(τ)-section low-speed vehicle stream travel speed；ardBus is in section deceleration acceleration；trdIt is public
Hand over vehicle deceleration time on section；trdfBus is in section braking section with rubato running time；ΔtrdBus exists
The section braking section delay time at stop.
In at least one embodiment of the present invention, in the section time prediction step, bus is calculated based on following formula
With the delay time at stop Δ t of the speed of low speed wagon flow at the uniform velocity travel phaserc：
Δtrc=tc-trcf.
Wherein：
trcf=sc(τ7)/vi(τ1)；
In formula, sc(τ7)-bus at the uniform velocity operating range；Low-speed vehicle stream average headway；kl(τ7)-low
Fast wagon flow vehicle number；vl(τ)-low-speed vehicle stream travel speed；trcThe at the uniform velocity running time of low speed wagon flow is added in bus；
trcfBus is in section at the uniform velocity section with rubato running time；ΔtrcBus is in the section at the uniform velocity section delay time at stop.
In at least one embodiment of the present invention, in the section time prediction step, bus is calculated based on following formula
Accelerate to the delay time at stop Δ t in rubato stagera：
Δtra=tra-traf
Wherein：
sa(τ9)=vi(τ1)2-vq(τ)2/(2·aa)；
tra=vi(τ1)-vq(τ)/ara；
traf=sa(τ9)/vi(τ1)；
In formula, sa(τ9)-bus accelerates to the operating range of rubato；vi(τ1Freedom before the deceleration of)-bus
Speed；vq(τ)-low-speed vehicle stream travel speed；araBus is in section accelerating sections acceleration；traBus adds in section
Fast section running time；trafBus is on the accelerating sections of section with rubato running time；ΔtraBus adds in section
The fast section delay time at stop.
A kind of public transport arrival time prediction meanss based on bus or train route collaboration, including：
Information of vehicles acquisition module, for being obtained in real time using car-mounted device and the roadside unit on track
The trip information of bus；
Time prediction module in crossing is joined when judging that vehicle cannot pass through intersection with rubato based on the operation
Number information, calculates delay time at stop of the vehicle by intersection；
Time prediction module in section is not based on the trip information, meter when driving when judging vehicle with rubato
Calculate delay time at stop when vehicle sections of road；
Arrival time prediction module passes through the delay running time of intersection and/or vehicle section based on the vehicle
And bus travels the arrival time of required time prediction vehicle with rubato.
A kind of public transport arrival time forecasting system based on bus or train route collaboration, including：
Car-mounted device, the trip information for obtaining bus, including digital sampling and processing, DSRC communicate mould
Block and GPS module；
Intersection monitoring system is set to intersection, includes the video acquisition device for obtaining queuing vehicle number, and
For obtaining the time headway of vehicle, the trackside coil of space headway.
Apparatus for measuring road, built-in ethernet communication module, DSRC communication modules, data processing module, for receiving the vehicle
The vehicle data for setting transmission is carried, and calculates the vehicle delay time at stop.
Invention effect
As can be seen from the above description, the present invention obtains the operating parameter of bus by bus or train route coordination technique and traffic flow is joined
Number, carries out time prediction of arriving at a station, and make further Optimal Decision-making for traffic administration personnel, to subtract with certain algorithm
The stand-by period of passenger is lacked, can also significantly promote the quantity of operation of urban bus passenger transport, to delay to a certain extent
Solve urban traffic pressure.The application of this technology is of great significance to improving public transport attraction, promoting passenger satisfaction.
Description of the drawings
Fig. 1 is the system function module figure of the present invention；
Fig. 2 is the flow chart of the present invention；
Fig. 3 is the schematic diagram of a scenario of the present invention.
Specific implementation mode
The effect of to make to structure feature of the invention and being reached, has a better understanding and awareness, to preferable
Embodiment and attached drawing cooperation detailed description, are described as follows：
A kind of public transport arrival time forecasting system based on bus or train route collaboration of the present embodiment, including board units and trackside list
Member, wherein：
Board units include digital sampling and processing, the real-time running state information for obtaining vehicle, including instantaneous
Speed, acceleration etc.；GPS positioning module is mainly used for obtaining the location information of vehicle；Communication module is mainly used for passing through
DSRC is communicated with roadside unit communication equipment.
Roadside unit includes data processing module, mainly for the treatment of board units send travel condition of vehicle data,
The delay time at stop is calculated in conjunction with intersection phase information, traffic flow parameter etc.；Communication module, for receiving board units transmission
The phase information of travel condition of vehicle data and signalized intersections, and send the data to traffic control and management center etc.；
In addition, video collector is additionally provided with above Intersections, for obtaining queuing vehicle number；Roadside is equipped with line
Circle, time headway, space headway for obtaining vehicle.
Fig. 1 is the system function module figure of the present invention, is please referred to Fig.1.In the present embodiment, system equipment is based on GPS positioning
Technology and DSRC, Ethernet transmission technology using the mounting means of the prior art, including are installed on vehicle-mounted on public transit vehicle
Device 1, apparatus for measuring road 2 and existing communal facility 4 mounted on roadside.Car-mounted device 1 and apparatus for measuring road 2 are respectively adopted independent
Power supply is supplied.GPS module 13, DSRC communication modules 12, digital sampling and processing 11 wherein built in board units, for detecting
Car status information sends vehicle status data；Roadside unit, built-in Ethernet communication modules 23, DSRC communication modules 22,
Data processing module 21, for receive public transit vehicle transmission vehicle data, in conjunction with acquisition telecommunication flow information using model into
Row delay estimation.Specifically, vehicle position information is sent to vehicle-mounted control processing module 11 by GPS module 13, and DSRC communicates mould
Block 12 and 22 carries out wireless communication connection, and digital sampling and processing 11 transmits car status information by DSRC communication modules,
Data processing module 21 is connected with video acquisition device 41, coil 42, and data processing module 21 communicates mould by Ethernet
Block 23 is communicated with traffic control and management center.
Fig. 2 is the flow chart of the present invention, please refers to Fig. 2.
When bus enters in DSRC communication ranges, roadside unit and board units begin setting up wireless communication connection.
Board units obtain the information of bus in real time, which includes automobile's instant velocity, acceleration, location information, and logical using DSRC
Believe that it is sent to roadside unit, roadside unit judges bus present position information according to the location information that board units acquire,
Roadside unit obtains the letters such as current intersection phase information data, intersection queuing vehicle number, time headway, space headway simultaneously
Breath.Roadside unit carries out modeling operation according to the data obtained, and prediction result result is communicated by Ethernet and sends best friend
Logical control administrative center, and then accurately predict public transport arrival time in time, and make further for traffic administration personnel
Optimal Decision-making.
The arrival time prediction technique of the present embodiment is further described below.
The prediction technique of the present embodiment includes the following steps：
S1：When bus enters in DSRC communication ranges, roadside unit and board units begin setting up wireless communication and connect
It connects；
S2：Board units obtain the information of bus in real time, which includes automobile's instant velocity, acceleration, location information, and
Roadside unit is sent it to, roadside unit obtains current phase information data, queuing vehicle number and time headway information；
S3：Roadside unit carries out delay estimation according to the data obtained, and result of calculation is sent to traffic control and management center,
And then accurately predict public transport arrival time in time, and make further Optimal Decision-making for traffic administration personnel.
In above-mentioned public transport arrival time prediction technique, the public transport arrival time prediction model is：
Fig. 3 is the bus time distance schematic diagram of the present invention, please refers to Fig. 3.V in figureCIndicate low speed wagon flow on section
Travel speed, VfIndicate the free travel speed of bus.Bus arrival time is broadly divided into through intersection running time
With link travel time two parts.
(1) for by intersection running time, being divided into two kinds of situations：When Intersections are green light, it is public
It hands over vehicle to pass through with rubato, not will produce delay；Second is that when Intersections are red light, bus passes through intersection meeting
Delay is generated, finds front cross mouth because red light occurs being lined up and reducing speed now for starting point, to be lined up vehicle with bus driver
It is terminal that public transport vehicle speed, which is restored to rubato, after stream dissipates, this process is broadly divided into four-stage：Deceleration queuing, queuing etc.
It waits for, queue clearance, acceleration pass through.
1. slowing down in bus is added queuing stages, when bus is with rubato vi(τ1) intersection is driven towards, driver exists
τ1Moment finds that travel direction there are queuing phenomena before intersection and reduces speed now to τ2Moment, at this time vi(τ2)=0, as shape
Shown in state a, the delay time at stop in this stage is：
Δtcd=tcd-tcdf；
Wherein：
sd(τ2)=vi(τ1)2/(2·acd)；
tcd=vi(τ1)/acd；
tcdf=sd(τ2)/vi(τ1)；
In formula：sd(τ2)-bus reduces speed now the distance passed through to speed by 0；vi(τ1Before)-bus slows down
Rubato；acdBus slows down acceleration at the intersection；tcdBus is in intersection deceleration time；tcdfIt is public
Hand over vehicle the time required to intersection braking section is travelled with rubato；ΔtcdThe intersection braking section delay time at stop.
2. waiting in line the green light stage in bus addition, the stand-by period is remaining red time tr(τ)。
Wherein, trThe remaining red time after being lined up is added in (τ)-bus.
3. in the queue clearance stage, signal lamp state is in τ3Queuing vehicle starts to dissipate when moment becomes green light, public at this time
Hand over the state and τ of vehicle2Moment is consistent, until τ4Moment bus has enough space headways to start to accelerate to pass through intersection.This rank
Section delay time at stop be：
In formula, kqIt is lined up vehicle number before (τ)-bus；The average headway of queuing vehicle；It is lined up vehicle
Flow evacuation time.
4. accelerating through the intersection stage, bus accelerates to τ5At the moment, speed is rubato v at this timei(τ1), i.e.,
Shown in state b, the delay time at stop in this stage is：
Δtca=tca-tcaf；
Wherein：
sa(τ5)=vi(τ1)2/(2·aca)；
tca=vi(τ1)/aca；
tcaf=sa(τ5)/vi(τ1)；
In formula, sa(τ5)-bus accelerates to the operating range of rubato；vi(τ1Freedom before the acceleration of)-bus
Speed；acaBus accelerates acceleration at the intersection；tcaBus acceleration time at the intersection；ΔtcaPublic transport
Vehicle is in the intersection accelerating sections delay time at stop；tcafBus is the time required to intersection accelerating sections is travelled with rubato.
(2) for link travel time, if bus is travelled with rubato always, delay is not generated.If encountering low
Fast wagon flow, then may experienced three stages before bus arrival：It is decelerated to the travel speed of low speed wagon flow, with low speed wagon flow
Speed at the uniform velocity travels, wagon flow accelerates to rubato after dissipating, and running time calculates as follows：
1. in the travel speed stage for being decelerated to low speed wagon flow, in τ6Moment bus finds that there is low speed wagon flow in front and opens
Begin to slow down, until τ7Moment is added low speed wagon flow and starts to be travelled with the travel speed of low speed wagon flow, as shown in state c, this rank
Section delay time at stop be：
Δtrd=trd-trdf
Wherein,
sd(τ7)=vi(τ1)2-vq(τ)2/(2·ad)；
trd=vi(τ1)-vq(τ)/ard；
trdf=sd(τ7)/vi(τ1)；
In formula, sd(τ7)-bus is decelerated to the operating range of low speed flow speeds；vi(τ1)-bus subtracts in section
Rubato before speed；vq(τ)-section low-speed vehicle stream travel speed；ardBus is in section deceleration acceleration；trdIt is public
Hand over vehicle deceleration time on section；trdfBus is in section with rubato running time；ΔtrdBus subtracts in section
The fast section delay time at stop.
2. with the speed of low speed wagon flow at the uniform velocity travel phase, in τ7Moment is added low speed wagon flow and starts with low speed wagon flow
Travel speed traveling, until τ8The dissipation of moment low speed wagon flow finishes, and bus starts to accelerate, as shown in state d, this stage
Delay time at stop is：
Δtrc=tc-trcf.
Wherein：
trcf=sc(τ7)/vi(τ1)；
In formula, sc(τ7)-bus at the uniform velocity operating range；Low-speed vehicle stream average headway；kl(τ7)-low
Fast wagon flow vehicle number；vl(τ)-low-speed vehicle stream travel speed；trcBus at the uniform velocity running time；trcfBus is in section
At the uniform velocity section is with rubato running time；ΔtrcBus is in the section at the uniform velocity section delay time at stop.
3. accelerating to the rubato stage, in τ8Moment bus starts to accelerate, until τ9Moment accelerates to rubato simultaneously
Start to travel with rubato, as shown in state e, the delay time at stop in this stage is：
Δtra=tra-traf
Wherein：
sa(τ9)=vi(τ1)2-vq(τ)2/(2·aa)；
tra=vi(τ1)-vq(τ)/ara；
traf=sa(τ9)/vi(τ1)；
In formula, sa(τ9)-bus accelerates to the operating range of rubato；vi(τ1Freedom before the deceleration of)-bus
Speed；vq(τ)-low-speed vehicle stream travel speed；araBus is in section accelerating sections acceleration；traBus adds in section
Fast section running time；trafBus is on the accelerating sections of section with rubato running time；ΔtraBus adds in section
The fast section delay time at stop.
So bus arrival predicted time is：
Wherein:
∑tf=∑ trcf+∑trdf+∑traf+∑tcaf+∑tcdf；
∑Δta=∑ Δ tca+∑Δtra；
∑Δtd=∑ Δ tcd+∑Δtrd.
Parameter involved in formula has been described above.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Profit requires under protected ambit, can also make replacement or deformation, each fall within protection scope of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (10)
1. a kind of public transport arrival time prediction technique based on bus or train route collaboration, which is characterized in that including：
Information of vehicles obtaining step, for obtaining public transport in real time using car-mounted device and the roadside unit on track
The trip information of vehicle；
Time prediction step in crossing is based on the operating parameter when judging that vehicle cannot pass through intersection with rubato
Information calculates delay time at stop of the vehicle by intersection；
Section time prediction step, when judge vehicle not with rubato when driving, be based on the trip information, calculate vehicle
Delay time at stop when sections of road；
Arrival time prediction steps, based on the vehicle by the delay running time in intersection and/or vehicle section and
The arrival time of prediction vehicle the time required to bus is travelled with rubato.
2. a kind of public transport arrival time prediction technique based on bus or train route collaboration according to claim 1, which is characterized in that institute
State in information of vehicles obtaining step, board units obtain the information of bus in real time, the information include automobile's instant velocity, acceleration,
Location information, and roadside unit is sent it to, when roadside unit obtains current phase information data, queuing vehicle number and headstock
Away from information.
3. a kind of public transport arrival time prediction technique based on bus or train route collaboration according to claim 1, which is characterized in that institute
Crossing time prediction step is stated, the delay time at stop Δ t that queuing stages are added in bus deceleration is calculated based on following formulacd：
Δtcd=tcd-tcdf；
Wherein：
sd(τ2)=vi(τ1)2/(2·acd)；
tcd=vi(τ1)/ad；
tcdf=sd(τ2)/vi(τ1)；
In formula：sd(τ2)-bus reduces speed now the distance passed through to speed by 0；vi(τ1Freedom before the deceleration of)-bus
Speed；acdBus slows down acceleration at the intersection；tcdBus is in intersection deceleration time；tcdfBus exists
The time required to intersection braking section is travelled with rubato；ΔtcdThe intersection braking section delay time at stop.
4. a kind of public transport arrival time prediction technique based on bus or train route collaboration according to claim 1, which is characterized in that institute
It states in crossing time prediction step, is lined up wagon flow and evacuates the stage, bus remains static, and is lined up wagon flow evacuation time and is
Time when this stage is delayed is calculated based on following formula and is lined up wagon flow evacuation time,:
The elapsed time in this stage is：
In formula, kqIt is lined up vehicle number before (τ)-bus；The average headway of queuing vehicle；Wagon flow is lined up to dredge
Dissipate the time.
5. a kind of public transport arrival time prediction technique based on bus or train route collaboration according to claim 1, which is characterized in that institute
It states in crossing time prediction step, the delay time at stop Δ t that bus acceleration passes through the intersection stage is calculated based on following formulaca：
Δtca=tca-tcaf；
Wherein：
sa(τ5)=vi(τ1)2/(2·aca)；
tca=vi(τ1)/aca；
tcaf=sa(τ5)/vi(τ1)；
In formula, sa(τ5)-bus accelerates to the operating range of rubato；vi(τ1Rubato before the acceleration of)-bus；
acaBus accelerates acceleration at the intersection；tcaBus acceleration time at the intersection；tcafBus is being handed over
Prong accelerating sections is with rubato running time；ΔtcaBus is in the intersection accelerating sections delay time at stop.
6. a kind of public transport arrival time prediction technique based on bus or train route collaboration according to claim 1, which is characterized in that institute
It states in section time prediction step, the delay time at stop Δ t that bus is decelerated to low speed wagon flow is calculated based on following formulard：
Δtrd=trd-trdf
Wherein,
sd(τ7)=vi(τ1)2-vq(τ)2/(2·ad)；
trd=vi(τ1)-vq(τ)/ard；
trdf=sd(τ7)/vi(τ1)；
In formula, sd(τ7)-bus is decelerated to the operating range of low speed flow speeds；vi(τ1Before)-bus slows down in section
Rubato；vq(τ)-section low-speed vehicle stream travel speed；ardBus is in section deceleration acceleration；trdBus
The deceleration time on section；trdfBus is in section braking section with rubato running time；ΔtrdBus is in section
The braking section delay time at stop.
7. a kind of public transport arrival time prediction technique based on bus or train route collaboration according to claim 1, which is characterized in that institute
It states in section time prediction step, bus is calculated with the delay time at stop of the speed of low speed wagon flow at the uniform velocity travel phase based on following formula
Δtrc：
Δtrc=tc-trcf.
Wherein：
trcf=sc(τ7)/vi(τ1)；
In formula, sc(τ7)-bus at the uniform velocity operating range；Low-speed vehicle stream average headway；kl(τ7)-low-speed vehicle
Flow vehicle number；vl(τ)-low-speed vehicle stream travel speed；trcBus at the uniform velocity running time；trcfBus section at the uniform velocity
Section is with rubato running time；ΔtrcBus is in the section at the uniform velocity section delay time at stop.
8. a kind of public transport arrival time prediction technique based on bus or train route collaboration according to claim 1, which is characterized in that institute
It states in section time prediction step, the delay time at stop Δ t that bus accelerates to the rubato stage is calculated based on following formulara：
Δtra=tra-traf
Wherein：
sa(τ9)=vi(τ1)2-vq(τ)2/(2·aa)；
tra=vi(τ1)-vq(τ)/ara；
traf=sa(τ9)/vi(τ1)；
In formula, sa(τ9)-bus accelerates to the operating range of rubato；vi(τ1Rubato before the deceleration of)-bus；
vq(τ)-low-speed vehicle stream travel speed；araBus is in section accelerating sections acceleration；traBus is in section accelerating sections row
Sail the time；trafBus is in section accelerating sections with rubato running time；ΔtraBus is delayed in section accelerating sections
Time.
9. a kind of public transport arrival time prediction meanss based on bus or train route collaboration, which is characterized in that including：
Information of vehicles acquisition module, for obtaining public transport in real time using car-mounted device and the roadside unit on track
The trip information of vehicle；
Time prediction module in crossing is believed when judging that vehicle cannot pass through intersection with rubato based on the operating parameter
Breath calculates delay time at stop of the vehicle by intersection；
Time prediction module in section is not based on the trip information with rubato when judging vehicle, calculates vehicle when driving
Delay time at stop when sections of road；
Arrival time prediction module, it is when driving and public by the delay in intersection and/or vehicle section based on the vehicle
The arrival time of prediction vehicle the time required to handing over vehicle to be travelled with rubato.
10. a kind of public transport arrival time forecasting system based on bus or train route collaboration, which is characterized in that including：
Car-mounted device, the trip information for obtaining bus, including digital sampling and processing, DSRC communication modules with
And GPS module；
Intersection monitoring system is set to intersection, includes the video acquisition device for obtaining queuing vehicle number, and be used for
Obtain the time headway of vehicle, the trackside coil of space headway.
Apparatus for measuring road, built-in ethernet communication module, DSRC communication modules, data processing module, for receiving the vehicle-mounted dress
The vehicle data of transmission is set, and calculates the vehicle delay time at stop.
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