CN111599172A - Automatic driving bus dispatching method, device and storage medium based on vehicle-road cooperation - Google Patents
Automatic driving bus dispatching method, device and storage medium based on vehicle-road cooperation Download PDFInfo
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- CN111599172A CN111599172A CN202010362985.8A CN202010362985A CN111599172A CN 111599172 A CN111599172 A CN 111599172A CN 202010362985 A CN202010362985 A CN 202010362985A CN 111599172 A CN111599172 A CN 111599172A
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- 238000004891 communication Methods 0.000 claims abstract description 8
- 238000004590 computer program Methods 0.000 claims description 6
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- 230000001276 controlling effect Effects 0.000 description 9
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
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- G06Q50/40—
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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
- G08G1/0125—Traffic data processing
Abstract
The invention relates to a method, a device and a storage medium for automatically driving a bus based on bus-road coordination, comprising the following steps: s1, arranging a plurality of road side units at equal intervals along the side of a road, wherein the road side units are used for realizing automatic driving bus relay communication between a bus main station and the road; s2, controlling bus master stations to send out at equal intervals aiming at the A-way bus lines; s3, controlling the automatic driving bus on the A-way bus line to upload the number of passengers at the bus stop to a bus master station through a way side unit every time the automatic driving bus passes through one bus stop; and S4, controlling the bus master station to monitor the number of passengers in real time, marking the automatically-driven buses uploaded by the number of passengers as recourse vehicles when the number of passengers exceeds a set single-time riding threshold, marking the bus stops where the number of passengers occurs as overload stops, and then informing the automatically-driven buses in the next shift of the recourse vehicles to accelerate to the overload stops through the road side unit. The method is used for accelerating and relieving the congestion situation of excessive pedestrian flow at the bus stop.
Description
Technical Field
The invention relates to the field of public transport control, in particular to an automatic driving bus dispatching method, automatic driving bus dispatching equipment and an automatic driving bus dispatching storage medium based on vehicle-road cooperation.
Background
The existing bus departure can be roughly divided into two time periods, namely a peak time of departure and a normal time period, in the peak time of departure and departure of the bus, the bus is dispatched at equal intervals at a fixed interval H1, in the normal time period, the bus is dispatched at equal intervals at a fixed interval H2, and after the bus is dispatched, the bus head station only carries out emergency treatment on the departure vehicle, so that the whole bus dispatching does not have the capability of being suitable for actual dynamic regulation.
Disclosure of Invention
The invention aims to dynamically schedule the automatically-driven bus according to the real-time bus taking condition on the bus line so as to accelerate and relieve the congestion condition of excessive pedestrian flow at the bus stop.
Therefore, the automatic driving bus dispatching method based on the vehicle-road cooperation is provided, and comprises the following steps:
s1, arranging a plurality of road side units at equal intervals along the side of a road, wherein the road side units are used for realizing automatic driving bus relay communication between a bus main station and the road;
s2, controlling bus master stations to send out at equal intervals aiming at the A-way bus lines;
s3, controlling the automatic driving bus on the A-way bus line to upload the number of passengers at the bus stop to a bus master station through a way side unit every time the automatic driving bus passes through one bus stop;
and S4, controlling the bus master station to monitor the number of passengers in real time, marking the automatically-driven buses uploaded to the number of passengers as recourse vehicles and marking the bus stops where the number of passengers occurs as overload stops when the number of passengers exceeds a set single-time riding threshold, and then informing the automatically-driven buses in the next shift of the recourse vehicles to accelerate to the overload stops through the road side unit.
Preferably, the step S3 further includes: and taking the number of times of bus fee collection as the number of passengers for statistics.
Preferably, the step S4 further includes: and for the automatically-driven bus which is accelerated to the overload stop, the automatically-driven bus is controlled to return to the original speed to operate after the automatically-driven bus exits the overload stop.
Preferably, the method further comprises step S5: and controlling the bus master station to count the number of the recourse vehicles on the A-way bus line in real time, and shortening the departure interval of the bus master station when the number exceeds a set line load threshold value.
Preferably, the step S5 further includes: and if no increase of the recourse vehicles is monitored within the set time, the departure interval of the bus master station is recovered.
Preferably, the step S5 further includes: adjusting the shortened step of the departure interval based on the extent of the exceeding of the number relative to the line load threshold.
Preferably, the step S5 further includes: and setting a plurality of sequentially increasing line load thresholds in a grading manner, distributing a set departure interval for each line load threshold, determining the maximum line load threshold exceeding the number, and carrying out departure according to the departure interval corresponding to the maximum line load threshold.
Preferably, the step S5 further includes: the line load threshold value is inversely related to the departure interval value.
There is also provided an apparatus, wherein the apparatus comprises:
a controller; and the number of the first and second groups,
a memory arranged to store computer executable instructions which, when executed, cause the controller to implement the method described above.
A computer-readable storage medium is also provided, wherein the computer-readable storage medium stores one or more programs which, when executed by a controller, implement the above-described method.
Has the advantages that:
according to the invention, the speed of the buses of the next shift is adjusted based on the real-time number of passengers in the station of the buses of the previous shift, so that each automatic bus is dynamically scheduled in the operation process, and adjacent shifts can be mutually matched, thereby accelerating and relieving the pedestrian flow in the congested station and achieving the purpose of regulating and controlling the traffic condition in real time.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings.
In the drawings:
FIG. 1 is a flow chart illustrating an implementation of the method for automatically driving a bus based on vehicle-to-road coordination according to the present invention;
FIG. 2 is a schematic structural diagram of an electronic device according to the present invention;
fig. 3 is a schematic structural diagram of a computer-readable storage medium according to the present invention.
Detailed Description
The bus referred to in the embodiment is an automatic driving bus, and an automatic driving system composed of a conventional laser sensor (Ibeo), a vision sensor (binocular vision camera), a position sensor (GPS), a front and rear radar and a main control computer (Nuvo-5095GC industrial personal computer) is arranged on the bus, so that conventional sensing detection and driving control required by automatic driving can be implemented.
The automatic driving bus dispatching method based on the vehicle-road coordination of the embodiment comprises the following steps S1-S4 shown in FIG. 1:
s1, arranging a plurality of road side units at equal intervals along the side of a road, wherein the road side units are used for realizing automatic driving bus relay communication between a bus main station and the road.
Specifically, the road side unit refers to a network communication device based on mobile communication technology, and when the road side unit is arranged, along the traveling direction, a plurality of road side units are arranged at equal intervals beside the road, the communication ranges of the road side units are arranged to be adjacent and not overlapped, then each road side unit is controlled to take the road side unit as a coordinator, the automatic driving bus-mounted unit located in the communication range of the road side unit is periodically broadcasted and paged, and the vehicle-mounted unit is used as a node to carry out networking so as to form a local area network with a star topology structure, then, each road side unit is controlled to carry out remote communication with the bus master station respectively, and at the moment, the road side units bear the data relay transmission function between the automatic driving buses and the bus master station on the road, so that the automatic driving buses can interact with the bus master station in real time in the road running according to the bus line, and the bus master station can monitor all the automatic driving buses on the bus line on line.
And S2, controlling the bus master station to dispatch at equal intervals aiming at the A-way bus line.
For each bus route, the bus station performs independent scheduling control according to the same method, and for simplification, only one bus route a is described in the embodiment.
For the A-way bus route, in the initial stage, the bus master station sends buses at equal intervals at fixed initial intervals (such as 15min), and the sent buses are controlled to drive at a set speed v1, for example, automatic driving buses A1, A2 and A3 … … exist, the bus master station sends A1 for the first time, the speed of the bus is controlled to be v1, after 15min, A2 is sent, after 15min, A3 is sent, and the like until the operation time of the buses is cut off.
And S3, controlling the automatic driving bus on the A-way bus line to upload the number of passengers at the bus stop to a bus master station through the way side unit every time the automatic driving bus passes through one bus stop.
For example, when the autonomous bus a1 enters the bus stop 1, 26 people get on the bus, the autonomous bus a1 is controlled to upload a bus record data packet to the bus master station through the road side unit at the moment of exiting the bus stop 1, the data packet includes the ID number of the autonomous bus a1, the number of the bus stop 1, and the number of passengers (i.e., 26) at the bus stop 1, and when the autonomous bus a1 enters the bus stop 2, the above process is also implemented, the number of passengers at the bus stop 2 of the autonomous bus a1 is recorded, and so on, so that the bus master station is ensured to track the dynamic data of the number of passengers on the bus route of the autonomous bus a1 in real time.
The automatic bus driving system can utilize the existing bus fee collection system, collect times of bus fees are counted, the collect times are used as times of passengers, and convenient statistics is achieved.
And S4, controlling the bus master station to monitor the number of passengers in real time, marking the automatically-driven buses uploaded to the number of passengers as recourse vehicles and marking the bus stops where the number of passengers occurs as overload stops when the number of passengers exceeds a set single-time riding threshold, and then informing the automatically-driven buses in the next shift of the recourse vehicles to accelerate to the overload stops through the road side unit.
Specifically, after receiving the passenger number information, the bus station receives a history chart for monitoring, compares the current passenger number with a set single-time passenger threshold, when the current passenger number exceeds the single-time passenger threshold, the passenger flow density of a corresponding station is high, accesses a data packet where the current passenger number is located, inquires corresponding automatic driving buses and bus stations from the data packet, if the current passenger number is A1 and station 1, then marks A1 as a recourse vehicle, and marks station 1 as an overload station.
Then, the road-side unit notifies a2, which is the next bus of a1, to increase the speed to accelerate the travel to the station 1, thereby quickly relieving the flow of the congested people in the station 1.
If the number of passengers still exceeds the single-riding threshold after the A2 enters the station 1, the A2 is further marked as a recourse vehicle, then the A3 is informed to accelerate to the station 1, and the like is repeated until the number of the current passengers in the station 1 is lower than the single-riding threshold.
In order to ensure that the sequence of the station entering and leaving of each shift does not change and maintain the stable shift, the automatic driving public transport accelerated to the overload station is controlled to return to the original speed operation after exiting the overload station, for example, in the above, after the A2 accelerated to enter the station 1, the speed of the automatic driving public transport is controlled to return to v1 at the moment of exiting the station 1.
According to the embodiment, the speed of the next bus is adjusted based on the number of real-time passengers in the station of the previous bus, so that each automatic-driving bus can be dynamically scheduled in the operation process, adjacent buses can be matched with each other, the speed of people in the station with congestion is quickened, and the purpose of regulating and controlling the traffic condition in real time is achieved.
Further, when a large area station congestion occurs, the traffic pressure cannot be relieved by dynamic scheduling between adjacent shifts, and based on this, a step S5 is further provided to dynamically adjust the number of shifts. Step S5 is to control the bus station to count the number of recourse vehicles on the A-way bus line in real time, and when the number exceeds the set line load threshold value, the departure interval of the bus station is shortened.
Specifically, a plurality of line load thresholds are set in a grading manner in advance, the values of the line load thresholds are sequentially increased, then a set departure interval is allocated to each line load threshold, wherein the greater the value of the line load threshold, the smaller the departure interval set for the line load threshold is, for example, three values of 5, 9 and 12 are set for the line load threshold, which correspond to three departure intervals of 10min, 5min and 3min respectively,
when the bus master station monitors that the number of vehicles marked as rescue vehicles on the A-way bus line exceeds a first threshold value of 5, the departure interval of the bus master station is adjusted to 10min to accelerate the investment of the number of the shifts, so that the pressure of the stream of people at each station is comprehensively relieved, and then if the number of the rescue vehicles continues to climb to indicate that the investment of the number of the shifts is still insufficient, the departure interval is further shortened to 5min when the number exceeds a second threshold value of 9, and the departure interval is shortened to 3min when the number exceeds a third threshold value of 12.
If the increase of the recourse vehicles is not monitored in the set time (such as within half an hour) of the bus master station, which means that the pressure of people flow at each station is relieved, the departure interval of the bus master station is recovered to the initial interval, namely 15 min.
The number of shifts that the embodiment put into operation through the interval of dispatching a car carries out dynamic adjustment, can realize alleviating the stream of people pressure of each website comprehensively, further improves traffic conditions regulation and control effect.
It should be noted that:
the method of the present embodiment may be implemented by a method that is converted into program steps and apparatuses that can be stored in a computer storage medium and invoked and executed by a controller.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the apparatus for detecting a wearing state of an electronic device according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, fig. 2 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device conventionally comprises a processor 21 and a memory 22 arranged to store computer-executable instructions (program code). The memory 22 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 22 has a storage space 23 storing program code 24 for performing any of the method steps in the embodiments. For example, the storage space 23 for the program code may comprise respective program codes 24 for implementing respective steps in the above method. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable storage medium such as described in fig. 3. The computer readable storage medium may have memory segments, memory spaces, etc. arranged similarly to the memory 22 in the electronic device of fig. 2. The program code may be compressed, for example, in a suitable form. In general, the memory unit stores program code 31 for performing the steps of the method according to the invention, i.e. program code readable by a processor such as 21, which when run by an electronic device causes the electronic device to perform the individual steps of the method described above.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. The automatic driving bus dispatching method based on the vehicle-road cooperation is characterized by comprising the following steps of:
s1, arranging a plurality of road side units at equal intervals along the side of a road, wherein the road side units are used for realizing automatic driving bus relay communication between a bus main station and the road;
s2, controlling bus master stations to send out at equal intervals aiming at the A-way bus lines;
s3, controlling the automatic driving bus on the A-way bus line to upload the number of passengers at the bus stop to a bus master station through a way side unit every time the automatic driving bus passes through one bus stop;
and S4, controlling the bus master station to monitor the number of passengers in real time, marking the automatically-driven buses uploaded to the number of passengers as recourse vehicles and marking the bus stops where the number of passengers occurs as overload stops when the number of passengers exceeds a set single-time riding threshold, and then informing the automatically-driven buses in the next shift of the recourse vehicles to accelerate to the overload stops through the road side unit.
2. The method according to claim 1, wherein the step S3 further comprises: and taking the number of times of bus fee collection as the number of passengers for statistics.
3. The method according to claim 1, wherein the step S4 further comprises: and for the automatically-driven bus which is accelerated to the overload stop, the automatically-driven bus is controlled to return to the original speed to operate after the automatically-driven bus exits the overload stop.
4. The method according to claim 1, further comprising step S5: and controlling the bus master station to count the number of the recourse vehicles on the A-way bus line in real time, and shortening the departure interval of the bus master station when the number exceeds a set line load threshold value.
5. The method according to claim 4, wherein the step S5 further comprises: and if no increase of the recourse vehicles is monitored within the set time, the departure interval of the bus master station is recovered.
6. The method according to claim 4, wherein the step S5 further comprises: adjusting the shortened step of the departure interval based on the extent of the exceeding of the number relative to the line load threshold.
7. The method according to claim 6, wherein the step S5 further comprises: and setting a plurality of sequentially increasing line load thresholds in a grading manner, distributing a set departure interval for each line load threshold, determining the maximum line load threshold exceeding the number, and carrying out departure according to the departure interval corresponding to the maximum line load threshold.
8. The method according to claim 7, wherein the step S5 further comprises: the line load threshold value is inversely related to the departure interval value.
9. Storage medium storing a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 8.
10. An apparatus, wherein the apparatus comprises:
a controller; and the number of the first and second groups,
a memory arranged to store computer executable instructions that, when executed, cause the controller to implement the method of any one of claims 1-8.
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| CN202010362985.8A CN111599172A (en) | 2020-04-30 | 2020-04-30 | Automatic driving bus dispatching method, device and storage medium based on vehicle-road cooperation |
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| CN202010362985.8A CN111599172A (en) | 2020-04-30 | 2020-04-30 | Automatic driving bus dispatching method, device and storage medium based on vehicle-road cooperation |
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| CN107481512A (en) * | 2017-08-17 | 2017-12-15 | 深圳市海梁科技有限公司 | The intelligent dispatching method of automatic Pilot public transport |
| CN109035751A (en) * | 2018-08-30 | 2018-12-18 | 郑州云海信息技术有限公司 | A kind of dispatching method and relevant apparatus of public transport |
| CN109166303A (en) * | 2018-08-30 | 2019-01-08 | 北京航天控制仪器研究所 | A kind of public transport is arranged an order according to class and grade the method and system of scheduling |
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2020
- 2020-04-30 CN CN202010362985.8A patent/CN111599172A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2011007553A1 (en) * | 2009-07-13 | 2011-01-20 | 国立大学法人東京大学 | On-demand bus service scheduling system and method using service history |
| CN105185148A (en) * | 2015-09-30 | 2015-12-23 | 青岛海信网络科技股份有限公司 | Bus scheduling method, device and system |
| CN107481512A (en) * | 2017-08-17 | 2017-12-15 | 深圳市海梁科技有限公司 | The intelligent dispatching method of automatic Pilot public transport |
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Application publication date: 20200828 |