CN114255587A - Method and system for automatically optimizing bus lane layout under open strategy - Google Patents

Method and system for automatically optimizing bus lane layout under open strategy Download PDF

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CN114255587A
CN114255587A CN202111342520.7A CN202111342520A CN114255587A CN 114255587 A CN114255587 A CN 114255587A CN 202111342520 A CN202111342520 A CN 202111342520A CN 114255587 A CN114255587 A CN 114255587A
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automatic
road
traffic
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CN114255587B (en
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吴越
钱国敏
沈坚
季青原
夏秉诚
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Yinjiang Technology Co ltd
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    • G—PHYSICS
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    • 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
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • 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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    • G08G1/0125—Traffic data processing

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Abstract

The application relates to a method and a system for automatic bus lane layout optimization under an open strategy, wherein the method comprises the following steps: setting a special lane limited open strategy, and constructing a double-layer planning model with the maximum social overall benefit as a target; the upper layer of the model is a network automatic bus lane layout scheme, and the layout of the lane is mainly and continuously arranged by taking a straight line under the limitation of the steering times; the lower layer of the model is a multi-mode balance model, and travel demand distribution and traffic flow distribution in the networked automatic bus, the networked automatic car and the artificial car under the limited open strategy are calculated; the optimal network connection automatic bus lane layout scheme is determined, through the method and the device, the problems that the design is unreasonable and road resources are wasted in the layout of the network connection automatic bus lane are solved, the reasonable layout of the network connection automatic bus lane is realized, the utilization rate of the network connection automatic bus lane is improved on the premise that the service level of the network connection automatic bus is guaranteed, and the road resources are wasted.

Description

Method and system for automatically optimizing bus lane layout under open strategy
Technical Field
The application relates to the technical field of intelligent transportation, in particular to a method and a system for automatically optimizing bus lane layout under an open strategy.
Background
With the rapid development of 5G technology and automatic driving technology, automatic driving vehicles (internet automatic vehicles) with real-time communication of some enterprises at present are subjected to trial operation on open roads, for example, in the year 2018 by Waymo, a first internet automatic taxi is subjected to trial operation on open roads in rural areas of Phoenix city, and in the year 2020, 10 and 8 days, general people are opened to use full-automatic driving taxi calling service; one hundred-degree Apollo networked automatic taxis have opened their operation service in three cities of Changsha, Cangzhou and Beijing, and have served more than 21 ten thousand trips. Compared with the internet-connected automatic cars, governments of various countries around the world rapidly develop automatic-driving buses (internet-connected automatic buses) with internet of carrying vehicles, such as the internet-connected automatic buses started to be operated on 85B lines of capital Olso in Norway; dart (dynamic automated Road transit) system is currently being developed in singapore, and internet automatic buses and internet automatic micro buses are planned to be brought into the bus system by 2030; china currently tries to run the internet-linked automatic bus on open roads of a plurality of cities, for example, in 2017, an unmanned bus carrying an 'alpha bus-intelligent driving bus system' is tried to run in Shenzhen, and in 2020, the electric 'intelligent bus' internet-linked automatic bus is tried to run in the Changshan Xiangjiang river new region in Hunan.
In the near future, when the networked automatic vehicles are applied on a large scale, networked automatic buses, networked automatic cars and manual cars are operated simultaneously in the road network. In order to better utilize the larger transportation capacity of the networked automatic bus and improve the traveling efficiency of the road network, a manager may arrange a special road on some road sections for the networked automatic bus to run, and the special road is called a networked automatic bus special road. However, the existing layout optimization method of the bus lane mainly aims at the conventional manual vehicle running environment and is difficult to be suitable for the mixed running environment of the networked automatic vehicles and the manual vehicles; and the conventional optimization method mainly aims at theoretical optimization, and rarely considers the characteristic that the actual bus lane is mainly straight and is continuously arranged. In addition, under the pure network connection automatic driving environment, the lane traffic capacity is obviously improved, and the pure network connection automatic bus special lane has the technical advantages of road resource waste and reduction of network connection automatic driving.
At present, no effective solution is provided for the problems of unreasonable design and road resource waste of the arrangement of the network automatic bus lane in the related technology.
Disclosure of Invention
The embodiment of the application provides a method and a system for automatic bus lane layout optimization under an open strategy, so as to at least solve the problems of unreasonable design and road resource waste of the layout of networked automatic bus lanes in the related technology.
In a first aspect, an embodiment of the present application provides a method for automatically optimizing a bus lane layout under an open policy, where the method includes:
constructing a multi-mode traffic network according to the actual road network topology and the bus routes, wherein the multi-mode traffic network comprises candidate road sections of an automatic bus-only road in an internet connection manner;
setting a limited opening strategy, allowing part of the networked automatic cars to enter the networked automatic bus lane and to run in a mixed manner with the networked automatic buses;
constructing an automatic network connection bus lane layout scheme according to the actual road network topology and the bus lines;
constructing a calculation formula of road section traffic capacity in the multi-mode traffic network according to the physical attributes, the purposes and the traffic flow composition of the road sections, and further obtaining a calculation formula of road section driving time;
under the limited open strategy, a multi-mode balance model is constructed according to the multi-mode traffic network, and the travel demand distribution of travel demands on the networked automatic bus, the networked automatic car and the manual car and the traffic flow distribution of three traffic flows on the multi-mode traffic network are calculated;
calculating the social overall benefit under the network connection automatic bus lane arrangement scheme according to the travel demand distribution and the road section travel time calculation formula;
and determining the optimal network connection automatic bus lane layout scheme according to the maximum social overall benefit as an objective function.
In some embodiments, constructing a multi-mode transportation network based on the actual road network topology and the bus routes includes:
according to the bus route scheme, dividing road sections where bus routes pass in an actual road network into conventional lane road sections and candidate road sections of networked automatic bus special roads to obtain modified road network topology;
constructing a car network directed graph special for driving cars according to the modified road network topology;
constructing a bus network directed graph specially used for the network connection automatic bus to run according to a bus route scheme;
and constructing a bus passenger getting-on road section set, a getting-off road section set and a road section node association set, and establishing the connection between the bus network and the car network to obtain the multi-mode traffic network.
In some embodiments, a limited opening strategy is set, part of networked automatic cars are allowed to enter the networked automatic bus lane, and the hybrid driving with the networked automatic buses comprises the following steps:
by constrained formulas
Figure BDA0003352696670000031
Setting a limited opening strategy, allowing part of networked automatic buses to enter the networked automatic bus lane and allowing the networked automatic buses to run in a mixed mode with the networked automatic buses so as to improve the utilization rate of the networked automatic bus lane, wherein the manual buses are not allowed to enter the bus lane, and l represents a bus section of the bus lane;
Figure BDA0003352696670000032
the method comprises the steps of representing the traffic flow of the internet automatic car on a special road section l, wherein A2 represents an internet automatic car mode running on a special road;
Figure BDA0003352696670000033
the automatic bus traffic flow of the internet connection of the special road section l is represented; etalFor binary variables, indicating whether or not a link l is laid outConnecting with an automatic public transport lane by a network; alpha is a control parameter, so that the running efficiency of the network-linked automatic bus on the special road is ensured;
Figure BDA0003352696670000034
the traffic capacity of the network-connected automatic bus lane is represented, and A represents a network-connected automatic car mode;
Figure BDA0003352696670000035
and the conversion coefficient of the network connection automatic bus converted into the equivalent network connection automatic car is shown.
In some embodiments, before constructing a calculation formula of road section traffic capacity in the multi-mode traffic network according to the physical attribute, the purpose and the traffic flow composition of the road section, and further obtaining a calculation formula of road section travel time, the method further comprises:
and determining the position of the network connection automatic bus way in the multi-mode traffic network according to the network connection automatic bus way layout scheme.
In some embodiments, constructing an internet automatic bus route layout scheme according to the actual road network topology and the bus routes includes:
constructing a directed connection graph and a straight road section set which forms straight at the intersection according to the actual road network topology;
determining the number of routes of the networked automatic bus special roads to be laid and the maximum steering times of each route according to the bus routes, the directed connection graph and the straight road section set;
and constructing an automatic network connection bus way layout scheme under the layout constraint of limiting the steering times of the network connection automatic bus way route.
In some embodiments, constructing a calculation formula of road section traffic capacity in the multi-mode traffic network according to the physical attributes, the purposes and the traffic flow composition of the road sections, and further obtaining a calculation formula of road section travel time comprises:
constructing a road section traffic capacity calculation formula according to the physical attributes, the purposes and the traffic flow composition of road sections, and calculating the traffic capacities of the car network road sections and the bus network road sections in the multi-mode traffic network;
and constructing a road section running time calculation formula according to the traffic capacities of the car network road sections and the bus network road sections, and calculating the running time of the network-linked automatic bus, the network-linked automatic car and the artificial car in the multi-mode traffic network.
In some of these embodiments, constructing a car network directed graph dedicated for car driving according to the modified road network topology comprises:
according to the modified road network topology, constructing a car network directed graph G special for driving carsa＝(Na,La,LCAB,NLa) Wherein N isaFor a set of nodes containing all intersections, LaFor a set of edges comprising a section of a conventional lane and a candidate section of an online automatic bus route, LCABFor edge sets, NL, containing candidate road sections of networked automatic bus routesaIs an association set of road segments and intersections.
In some embodiments, constructing a bus network directed graph dedicated for network connection automatic bus driving according to a bus route scheme includes:
according to the bus route scheme, a bus network directed graph G specially used for network connection automatic bus running is constructedb＝(Nb,Lb,NLb) Wherein N isbIs a set of nodes containing all bus stops, LbFor containing sets of edges, NL, of road sections traversed by the bus routebIs an association set of road segments and bus stops.
In a second aspect, an embodiment of the present application provides a system for automatic bus lane layout optimization under an open policy, where the system includes a network construction module, an open policy module, an upper constraint module, a lower planning module, and a benefit feedback module;
the network construction module constructs a multi-mode traffic network according to the actual road network topology and the bus routes, wherein the multi-mode traffic network comprises candidate road sections of the networked automatic bus-only lanes;
the open strategy module is provided with a limited open strategy to allow part of the networked automatic cars to enter the networked automatic bus lane and to run in a mixed manner with the networked automatic buses;
the upper layer constraint module constructs an automatic network connection bus lane layout scheme according to the actual road network topology and the bus lines;
the lower layer planning module constructs a calculation formula of road section traffic capacity in the multi-mode traffic network according to road section physical attributes, purposes and traffic flow composition so as to obtain a calculation formula of road section running time;
the lower-layer planning module constructs a multi-mode balance model according to the multi-mode traffic network under the limited open strategy, and calculates the travel demand distribution of travel demands on the networked automatic bus, the networked automatic car and the networked artificial car and the traffic flow distribution of three traffic flows on the multi-mode traffic network;
the benefit feedback module calculates the social overall benefit under the network connection automatic bus special lane arrangement scheme according to the travel demand distribution and the road section travel time calculation formula;
the benefit feedback module determines the optimal network connection automatic bus lane layout scheme according to the maximum social overall benefit as an objective function.
In some of these embodiments, the system further comprises a data transfer module;
constructing a calculation formula of road section traffic capacity in the multi-mode traffic network at the lower layer planning module according to the physical attributes, the purposes and the traffic flow composition of the road sections, and further obtaining the calculation formula of the road section running time;
and the data transmission module determines the position of the network connection automatic bus way in the multi-mode traffic network according to the network connection automatic bus way layout scheme, and transmits the network connection automatic bus way layout scheme constructed by the upper-layer constraint module to the lower-layer planning module.
Compared with the prior art, the method and the system for automatic bus lane layout optimization under the open strategy provided by the embodiment of the application are provided with the limited open strategy, and on the premise of ensuring the service level of the network-linked automatic bus, partial network-linked automatic cars are allowed to enter the dedicated lane and run in a mixed manner with the network-linked automatic bus; constructing a double-layer planning model aiming at the maximum social overall benefit, wherein the upper layer of the model is an internet automatic bus lane arrangement scheme, and the arrangement of the internet automatic bus lane is mainly and continuously arranged by taking a straight line under the limitation of steering times; the lower layer of the model is a multi-mode balance model, and the travel demand distribution in the network-linked automatic bus, the network-linked automatic car and the artificial car under the limited open strategy and the distribution of three traffic flows in a road network are calculated; the method determines the layout scheme of the automatic bus lane with the maximum overall benefit, solves the problems of unreasonable design and road resource waste of the layout of the automatic bus lane with the internet, realizes the reasonable layout of the automatic bus lane with the internet, improves the utilization rate of the automatic bus lane with the internet, improves the technical advantages of automatic driving with the internet and reduces the road resource waste on the premise of ensuring the service level of the automatic bus with the internet.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart illustrating steps of a method for automatic bus lane layout optimization under an open policy according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a modified road network topology;
FIG. 3 is a schematic diagram of a multi-mode transportation network;
FIG. 4 is a schematic view of a linear type network connection automatic bus-only road line;
FIG. 5 is a schematic view of an Internet automatic bus route with one turn;
FIG. 6 is a schematic view of an internet automated public transport route with two turns;
FIG. 7 is a schematic diagram of a Sioux Falls road network;
FIG. 8 is a schematic diagram of an undirected graph of four networked automatic bus operation routes;
FIG. 9 is a schematic diagram of a network of cars based on the Sioux Falls road network;
FIG. 10 is a schematic diagram of a public transportation network based on a Sioux Falls road network;
fig. 11 is a block diagram of a structure of an automatic bus lane layout optimization system under an open policy according to an embodiment of the present application.
Description of the drawings: 111. a network construction module; 112. an open policy module; 113. an upper layer constraint module; 114. a lower layer planning module; 115. and a benefit feedback module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as referred to herein means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The embodiment of the application provides a method for automatically optimizing the layout of a bus lane under an open strategy, fig. 1 is a flow chart of steps of the method for automatically optimizing the layout of the bus lane under the open strategy according to the embodiment of the application, and as shown in fig. 1, the method comprises the following steps:
step S102, constructing a multi-mode traffic network according to the actual road network topology and the bus routes, wherein the multi-mode traffic network comprises candidate road sections of the networked automatic bus lane;
step S104, a limited opening strategy is set, and partial network-connected automatic cars are allowed to enter a network-connected automatic bus lane and travel in a mixed mode with the network-connected automatic buses;
step S106, constructing an automatic network connection bus lane layout scheme according to the actual road network topology and the bus lines;
step S108, constructing a calculation formula of road section traffic capacity in the multi-mode traffic network according to the road section physical attributes, the purposes and the traffic flow composition, and further obtaining a calculation formula of road section travel time;
step S110, under a limited open strategy, constructing a multi-mode balance model according to the multi-mode traffic network, and calculating the travel demand distribution of the travel demands on the networked automatic bus, the networked automatic car and the networked artificial car and the traffic flow distribution of three traffic flows on the multi-mode traffic network;
it should be noted that the travel demand refers to the total number of people who need to travel, and the travel demand distribution refers to which transportation mode is selected by the people to travel, that is, the number of people distributed on different transportation modes;
step S112, calculating the social overall benefit under the network connection automatic bus lane layout scheme according to the travel demand distribution and the road section travel time calculation formula;
and S114, determining the optimal network automatic bus way layout scheme by taking the maximum social overall benefit as an objective function.
Through the steps S102 to S114 in the embodiment of the application, the problems of unreasonable design and road resource waste existing in the arrangement of the automatic public transport lanes of the internet are solved, the reasonable arrangement of the automatic public transport lanes of the internet is realized, the utilization rate of the automatic public transport lanes of the internet is improved on the premise of ensuring the service level of the automatic public transport vehicles of the internet, the technical advantage of automatic driving of the internet is improved, and the road resource waste is reduced.
Further, in some embodiments, the step S102, constructing the multi-mode transportation network according to the actual road network topology and the bus routes includes:
fig. 2 is a schematic diagram of a modified road network topology, as shown in fig. 2, according to a bus route scheme, a road segment through which a bus route in an actual road network passes is divided into a conventional lane road segment and a candidate road segment of an automatic bus-only road for network connection, and the two road segments with the same starting point and the same ending point are respectively represented to obtain the modified road network topology;
constructing a car network directed graph special for driving cars according to the modified road network topology;
specifically, according to the modified road network topology, a car network directed graph G dedicated for driving cars is constructeda＝(Na,La,LCAB,NLa) Wherein N isaFor a set of nodes containing all intersections, LaFor a set of edges comprising a section of a conventional lane and a candidate section of an online automatic bus route, LCABFor edge sets, NL, containing candidate road sections of networked automatic bus routesaIs an association set of road segments and intersections.
Constructing a bus network directed graph specially used for the network connection automatic bus to run according to a bus route scheme;
specifically, according to the bus route scheme, a bus network directed graph G specially used for network connection automatic bus running is constructedb＝(Nb,Lb,NLb) Wherein N isbIs a set of nodes containing all bus stops, LbFor containing sets of edges, NL, of road sections traversed by the bus routebIs an association set of road segments and bus stops.
FIG. 3 is a schematic view of a multi-mode transportation network, as shown in FIG. 3, constructing a set L of bus passenger boarding passesemGet-off section set LalAnd road segment node association set NLabAnd establishing the connection between the public transport network and the car network to obtain the multi-mode traffic network.
Further, in some embodiments, in step S104, a limited-opening policy is set to allow a part of the networked automatic cars to enter the networked automatic bus lane, and the hybrid driving with the networked automatic buses includes:
the method allows part of the networked automatic cars to enter a special lane and run together with the networked automatic buses by the following constraints:
Figure BDA0003352696670000081
wherein l represents a dedicated road segment;
Figure BDA0003352696670000082
the method comprises the steps of representing the traffic flow of the internet automatic car on a special road section l, wherein A2 represents an internet automatic car mode running on a special road;
Figure BDA0003352696670000083
the automatic bus traffic flow of the internet connection of the special road section l is represented; etalBeing binary variables, η l1, laying an automatic network connection bus lane on a road section l, or else, not laying; alpha is a control parameter, so that the running efficiency of the network-linked automatic bus on the special road is ensured;
Figure BDA0003352696670000084
the traffic capacity of the network-connected automatic bus lane is represented, and A represents a network-connected automatic car mode;
Figure BDA0003352696670000085
and the conversion coefficient of the network connection automatic bus converted into the equivalent network connection automatic car is shown.
Further, in some embodiments, in step S106, constructing an internet-connected automatic bus lane layout scheme according to the actual road network topology and the bus routes includes:
constructing a directed connection graph and a straight road section set which forms straight at an intersection according to the actual road network topology;
specifically, a directed connection graph G is constructed according to the actual road network topologyr＝(Nr,Lr,NLr) Set omega combined with all road segments making straight-going at the intersection, where NrFor a set of nodes containing all intersections, LrFor edge sets containing all road segments, NLrIs an association set of road segments and intersections.
Determining the number of routes of the networked automatic bus-only lanes to be laid and the maximum steering times of each route according to the bus routes, the directed connection graph and the straight road section set;
specifically, fig. 4 is a schematic diagram of a linear network-connected automatic bus-only road line, fig. 5 is a schematic diagram of a network-connected automatic bus-only road line with one steering direction, fig. 6 is a schematic diagram of a network-connected automatic bus-only road line with two steering directions, as shown in fig. 4 to 6, the number of network-connected automatic bus-only roads to be laid and the maximum steering times of each route are determined, and a road section through which each bus route passes is determined according to an actually running bus route;
and constructing a layout scheme of the network connection automatic bus lane under the layout constraint of limiting the steering times of the network connection automatic bus lane.
Specifically, the following constraints are constructed to obtain an internet automatic bus lane continuous layout scheme with the limitation of the steering times:
Figure BDA0003352696670000091
Figure BDA0003352696670000092
Figure BDA0003352696670000093
Figure BDA0003352696670000094
Figure BDA0003352696670000095
Figure BDA0003352696670000096
Figure BDA0003352696670000097
Figure BDA0003352696670000098
Figure BDA0003352696670000099
Figure BDA00033526966700000910
Figure BDA00033526966700000911
Figure BDA00033526966700000912
Figure BDA00033526966700000913
Figure BDA00033526966700000914
Figure BDA00033526966700000915
in the formula:
Ω＝{(i,j,k)|(i,j),(j,k)∈LAmeans a set of link combinations constituting a straight line at an intersection;
Figure BDA0003352696670000101
the method comprises the steps of collecting all road sections with tail points as nodes j;
Figure BDA0003352696670000102
the method comprises the steps of collecting all road sections with head points as nodes j;
Figure BDA0003352696670000103
the method comprises the steps of representing an internet automatic bus route, wherein r represents an internet automatic bus lane route;
Figure BDA0003352696670000104
representing the automatic public traffic line of the internet for binary parameters
Figure BDA0003352696670000105
Whether a link (i, j) is passed,
Figure BDA0003352696670000106
automatic public traffic line for indicating internet connection
Figure BDA00033526966700001017
Passing through the section (i, j), otherwise not passing through;
Figure BDA0003352696670000107
in the form of a binary variable, the variable,
Figure BDA0003352696670000108
indicating whether the node i is the starting point of the exclusive road route r;
Figure BDA0003352696670000109
indicating whether the node i is the end point of the dedicated lane route r;
Figure BDA00033526966700001010
indicating whether the exclusive road route r passes through the section (i, j);
Figure BDA00033526966700001011
indicating whether the road section (i, j) on the exclusive road route r and the road section (j, k) form a turn,
Figure BDA00033526966700001012
it is shown that a turn is formed,
Figure BDA00033526966700001013
indicating that the link (i, j) and the link (j, k) form a straight line;
Figure BDA00033526966700001014
is an integer variable representing the order label of node i on route r, starting from 1;
m is a sufficiently large positive integer;
and iota is a control parameter and limits the turning times of the network connection automatic bus lane route.
Expression (2) indicates the sequence numbering of the starting points of the exclusive road routes
Figure BDA00033526966700001015
Is set to 1; formula (3) shows that the serial numbers of the nodes on the special road route r are sequentially added with 1; the formula (4) ensures that the sequence number of the nodes which the special road route r does not pass through is 0; equations (5) and (6) ensure that each lane has only one start point and one end point; formulas (7) and (8) avoid the occurrence of a closed loop dedicated track route; the formula (9) ensures that the special road is only allowed to be arranged on the road section through which the automatic bus line with the internet passes; equation (10) ensures the connectivity of the dedicated lane route; judging whether the adjacent road sections on the special road line r form straight movement or not by the formula (11); equation (12) limits the number of turns for each of the dedicated lanes; equations (13) - (16) are binary constraints.
Further, in some embodiments, before the step S108, constructing a calculation formula of road section traffic capacity in the multi-mode traffic network according to the physical attributes, the uses and the traffic flow composition of the road sections, and further obtaining the calculation formula of the travel time of the road sections, the method further includes:
and determining the position of the network connection automatic bus lane in the multi-mode traffic network according to the network connection automatic bus lane layout scheme.
Specifically, the location of the networked automatic private road in the multi-mode transportation network may be determined by the following constraints:
Figure BDA00033526966700001016
ηl∈{0,1} l∈LCAB (18)
wherein AR is an edge set LrAnd LaOf the set of matching road segments.
Further, in some embodiments, in step S108, constructing a calculation formula of road section traffic capacity in the multi-mode traffic network according to the physical attributes, the usage and the composition of the traffic flow, and obtaining the calculation formula of the road section travel time includes:
constructing a road section traffic capacity calculation formula according to the physical attributes, the purposes and the traffic flow composition of the road sections, and calculating the traffic capacities of the car network road sections and the bus network road sections in the multi-mode traffic network;
specifically, a calculation formula of the road section traffic capacity of the multi-mode traffic network is constructed, and specifically, the calculation formula is shown in formulas (19) and (20):
Figure BDA0003352696670000111
Figure BDA0003352696670000112
in the formula:
Figure BDA0003352696670000113
representing the traffic capacity of the car network section l;
Figure BDA0003352696670000114
representing the traffic capacity of a bus network section l' paired with a car network section l;
Figure BDA0003352696670000115
representing the traffic capacity of the road section l when the pure artificial car runs;
nlrepresents the number of lanes of the link i;
Figure BDA0003352696670000116
the traffic flow of the artificial car on the road section l is represented, and H represents an artificial car mode;
Figure BDA0003352696670000117
representing the traffic flow of the networked automatic car on the road section l of the conventional lane, and A1 represents the networked automatic car mode running on the conventional lane;
and constructing a road section running time calculation formula according to the traffic capacities of the car network road sections and the bus network road sections, and calculating the running time of the network-linked automatic bus, the network-linked automatic car and the artificial car in the multi-mode traffic network.
Specifically, a calculation formula of the travel time of each mode section of the multi-mode traffic network is constructed, and the calculation formula is specifically shown in formulas (21) to (25):
Figure BDA0003352696670000118
Figure BDA0003352696670000121
Figure BDA0003352696670000122
Figure BDA0003352696670000123
Figure BDA0003352696670000124
in the formula:
o represents the influence of the car on the speed of the networked automatic bus;
ζ represents the influence of the network connection automatic bus on the speed of the car;
Figure BDA0003352696670000125
and
Figure BDA0003352696670000126
respectively representing the running time of the network connection automatic bus, the network connection automatic car and the artificial car on a road section l;
Figure BDA0003352696670000127
and
Figure BDA0003352696670000128
respectively representing the free-stream driving time of the network-connected automatic bus, the network-connected automatic car and the artificial car on a road section l;
αBand σBRepresenting two parameters in a BPR function under the network connection automatic bus mode;
αAand σARepresenting two parameters in the BPR function in the car mode;
fr(j)representing the departure frequency of a bus route r passing through the end point of the getting-on road section (i, j);
talrepresenting a fixed bus passenger disembarkation time;
the equations (21) - (25) are respectively used for calculating the driving time of the public transport network, the getting-on road section, the getting-off road section and the conventional road section of the car network and the driving time of the on-line automatic car on the on-line automatic public transport special road section.
Further, in some embodiments, in step S110, under a limited open policy, a multi-mode equilibrium model is constructed according to the multi-mode traffic network, and the travel demand distribution of the travel demand on the internet-connected automatic bus, the internet-connected automatic car and the artificial car, and the traffic flow distribution of the three traffic flows on the multi-mode traffic network are calculated;
specifically, the multi-mode equilibrium model determines the distribution of travel demands in the networked automatic bus, the networked automatic car and the artificial car and the distribution of three traffic flows in the road network under the limited open strategy through the following constraints:
Figure BDA0003352696670000129
Figure BDA0003352696670000132
Figure BDA0003352696670000133
Figure BDA0003352696670000134
Figure BDA0003352696670000135
Figure BDA0003352696670000136
Figure BDA0003352696670000137
Figure BDA0003352696670000138
Figure BDA0003352696670000139
Figure BDA00033526966700001310
Figure BDA00033526966700001311
Figure BDA00033526966700001312
Figure BDA00033526966700001313
Figure BDA00033526966700001314
Figure BDA00033526966700001315
Figure BDA00033526966700001316
Figure BDA00033526966700001317
Figure BDA00033526966700001318
Figure BDA00033526966700001319
Figure BDA00033526966700001320
Figure BDA00033526966700001321
Figure BDA00033526966700001322
Figure BDA0003352696670000141
Figure BDA0003352696670000142
in the formula:
Figure BDA0003352696670000143
representing the travel requirement of OD (travel starting and stopping point) on the artificial car between w;
Figure BDA0003352696670000144
expressing the travel requirement of OD on the automatic online car between w;
Figure BDA0003352696670000145
represents that the travel mode m is selected between OD and w1Travel demand of (1), m1E { H, B1}, wherein B1 represents a networked automatic bus mode, and the passenger flow of the networked automatic bus mode is derived from the travel demand of owning an artificial car;
Figure BDA0003352696670000146
represents that the travel mode m is selected between OD and w2Travel demand of (1), m2E { A, B2}, wherein B2 represents a networked automatic bus mode, and the passenger flow of the networked automatic bus mode is derived from the travel demand of the owned networked automatic bus;
θ1、
Figure BDA0003352696670000147
two calibration parameters are set for the logit model, and the two calibration parameters are used for dividing the travel demand of the car with the artificial cars
Figure BDA0003352696670000148
The distribution between the artificial cars and the network-linked automatic buses;
θ2、
Figure BDA0003352696670000149
two calibration parameters for the logit model are used for dividing the travel demand of the automatic car with internet connection
Figure BDA00033526966700001410
The distribution between the network connection automatic car and the network connection automatic bus;
delta is a road section node incidence matrix;
Figure BDA00033526966700001411
selecting a mode m for between OD and w1Road section flow vector, m, of trip1∈{H,B1}；
Figure BDA00033526966700001412
Selecting a mode m for between OD and w2Road section flow vector, m, of trip2∈{A,B2}；
EwA node vector with a dimension of N only contains two non-zero values, wherein a numeral 1 represents that a corresponding node is a starting point of OD to w, and a numeral-1 represents that a corresponding node is an end point of OD to w;
Figure BDA00033526966700001413
γl、
Figure BDA00033526966700001414
lagrange multipliers of equations (27) - (32), respectively;
Figure BDA00033526966700001415
and
Figure BDA00033526966700001416
node potential energy, gamma, for different ODs for different trip modeslFor the extra waiting time of the passengers in the bus,
Figure BDA00033526966700001417
delay control of the automatic car for the automatic bus lane of the internet connection;
equations (27) - (30) are flow conservation constraints; equation (31) ensures that passenger traffic on bus network segment l does not exceed its capacity
Figure BDA00033526966700001418
Formula (32) represents that the automatic network connection bus lane resources are opened for partial network connection automatic cars and are allowed to run; formulas (33) - (37) ensure that the network connection automatic bus, the network connection automatic car and the artificial car respectively run on the respective allowed road sections; equation (38) is non-negative constraint; equations (39) - (44) ensure that the head-to-tail node potential energy difference of each road segment does not exceed the sum of the travel time and the extra waiting time of the corresponding road segment; the formulae (45) and (46) are each a variable
Figure BDA00033526966700001419
And
Figure BDA00033526966700001420
dual constraints of (2); equations (47) and (48) are non-negative constraints; equation (49) ensures that there is no control delay for networked automatic cars on a conventional roadway.
Further, in some embodiments, in step S112, the social overall benefit under the internet automatic bus way layout scheme is calculated according to the travel demand distribution and the road section travel time calculation formula;
specifically, the social overall benefit can be calculated by the following model:
Figure BDA0003352696670000151
further, in some embodiments, in step S114, the maximum value of the overall social benefit is determined through the objective function, and then the networking automatic bus way layout scheme with the maximum overall social benefit is determined.
Specifically, the optimal networked automatic bus lane layout scheme is obtained by optimizing a double-layer planning model composed of upper-layer constraints formed by equations (2) - (18) and (50) and a lower-layer planning model formed by equations (19) - (49) according to an objective function of equation (51):
maxNW(51)
the specific embodiment of the present application provides a method for automatically optimizing the layout of public transportation dedicated roads under an open policy, fig. 7 is a schematic diagram of a sieux Falls road network, as shown in fig. 7, taking the sieux Falls road network as an example, the road network includes 24 nodes, 76 road segments, and 196 pairs; fig. 8 is a schematic diagram of an undirected graph of four internet automatic bus operation lines, as shown in fig. 8, four bus lines are operated. The method comprises the following steps:
step 1: constructing a topology directed graph G of the Sioux Falls road networkr＝(Nr,Lr,NLr) And a set Ω of link combinations that make straight runs at the intersection, as shown in table 1:
table 1 example of combination set of topology and straight road segments of Sioux Falls road network
Figure BDA0003352696670000152
Step 2: according to the network connection automatic bus running route, a multi-mode traffic network containing candidate network connection automatic bus special road sections is constructed for the network connection automatic bus, the network connection automatic car and the artificial car to run, and the method specifically comprises the following steps:
step 2.1: fig. 9 is a schematic diagram of a car network based on a Sioux Falls road network, and as shown in fig. 9, a road section through which an operation route of an internet-connected automatic bus passes is divided into a conventional lane road section and a candidate internet-connected automatic bus-dedicated road section by using two road sections with the same starting point and the same finishing point to obtain a modified road network topology;
step 2.2: constructing a car network topology directed graph G according to the modified road network topologya＝(Na,La,LCAB,NLa) As shown in table 2:
TABLE 2 example of a set of car network topologies
Figure BDA0003352696670000161
Step 2.3: FIG. 10 is a schematic diagram of a public transportation network based on a Sioux Falls road network, a public transportation network topology is abstracted, and a public transportation network topology directed graph G is constructed as shown in FIG. 10b＝(Nb,Lb,NLb) As shown in table 3:
TABLE 3 bus network topology set example
Figure BDA0003352696670000162
Step 2.4: constructing a bus passenger getting-on road section set LemAnd a set of lower vehicle sections LalAnd link node association set NLabEstablishing a connection between the public transport network and the car network, e.g. a table4, and (2) is as follows:
table 4 bus passenger on/off road section set example
Figure BDA0003352696670000171
And step 3: investigating to obtain various model parameters including the number of pre-laid network connection automatic bus special way lines, the turning times iota of the network connection automatic bus special way lines, and the road sections through which each bus line passes
Figure BDA0003352696670000172
Travel requirement of each origin-destination possessing artificial car
Figure BDA0003352696670000173
And the trip demand of the automatic car with the internet
Figure BDA0003352696670000174
Free stream travel time of each road section in each travel mode
Figure BDA0003352696670000175
Frequency f of departure of each bus liner(j)Get-off time talBPR model parameter αA、σA、αBAnd σBLogit model parameter θ1、
Figure BDA0003352696670000176
θ2And
Figure BDA0003352696670000177
and determining the resource opening rate alpha of the networked automatic bus way.
And 4, step 4: and solving the double-layer planning model to obtain a continuous layout scheme of the networked automatic bus lane with the maximum social overall benefit under the condition of implementing a limited opening strategy and limiting the steering times of the special road line, the distribution of travel demands on the networked automatic buses, the networked automatic cars and the artificial cars under the scheme, and the distribution of three traffic flows in the road network.
The solution results are as follows: on the basis of allowing only one turn at most, the layout schemes of two optimal continuous internet automatic bus lanes under the limited opening strategy are (1 → 4 → 15 → 11 → 8) and (37 → 39 → 75 → 65 → 67), the social overall benefit is-11801.812, the distribution of travel demands on the internet automatic buses, the internet automatic cars and the artificial cars and the distribution results of three traffic flows in the road network are shown in tables 5-7:
TABLE 5 distribution of partial origin-destination travelers between modes
Figure BDA0003352696670000181
TABLE 6 car network traffic distribution
Figure BDA0003352696670000191
TABLE 7 public transport network passenger flow distribution
Figure BDA0003352696670000201
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
The embodiment of the application provides a system for automatic bus lane layout optimization under an open policy, fig. 11 is a structural block diagram of the system for automatic bus lane layout optimization under the open policy according to the embodiment of the application, and as shown in fig. 11, the system includes a network construction module 111, an open policy module 112, an upper layer constraint module 113, a lower layer planning module 114 and a benefit feedback module 115;
the network construction module 111 constructs a multi-mode traffic network according to the actual road network topology and the bus routes, wherein the multi-mode traffic network comprises candidate road sections of the networked automatic bus lane;
the opening strategy module 112 sets a limited opening strategy to allow part of the networked automatic cars to enter the networked automatic bus lane and to run in a mixed manner with the networked automatic buses;
the upper layer constraint module 113 constructs an automatic network connection bus lane layout scheme according to the actual road network topology and the bus lines;
the lower layer planning module 114 constructs a calculation formula of road section traffic capacity in the multi-mode traffic network according to the physical attributes, the purposes and the traffic flow composition of the road sections, and further obtains a calculation formula of road section travel time;
the lower layer planning module 114 constructs a multi-mode balance model according to the multi-mode traffic network under a limited open strategy, and calculates the travel demand distribution of the travel demands on the internet automatic bus, the internet automatic car and the artificial car and the traffic flow distribution of three traffic flows on the multi-mode traffic network;
the benefit feedback module 115 calculates the social overall benefit under the network connection automatic bus lane layout scheme according to the travel demand distribution and the road section travel time calculation formula;
the benefit feedback module 115 determines the optimal network connection automatic bus lane layout scheme according to the maximum social overall benefit as an objective function.
In some of these embodiments, the system further comprises a data transfer module;
constructing a calculation formula of road section traffic capacity in the multi-mode traffic network at the lower layer planning module 114 according to the physical attributes, the purposes and the traffic flow composition of the road sections, and further obtaining the calculation formula of the road section running time;
the data transmission module determines the position of the network connection automatic bus way in the multi-mode traffic network according to the network connection automatic bus way layout scheme, and transmits the network connection automatic bus way layout scheme constructed by the upper-layer constraint module 113 to the lower-layer planning module 114.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A method for automatically optimizing the layout of a bus lane under an open strategy is characterized by comprising the following steps:
constructing a multi-mode traffic network according to the actual road network topology and the bus routes, wherein the multi-mode traffic network comprises candidate road sections of an automatic bus-only road in an internet connection manner;
setting a limited opening strategy, allowing part of the networked automatic cars to enter the networked automatic bus lane and to run in a mixed manner with the networked automatic buses;
constructing an automatic network connection bus lane layout scheme according to the actual road network topology and the bus lines;
constructing a calculation formula of road section traffic capacity in the multi-mode traffic network according to the physical attributes, the purposes and the traffic flow composition of the road sections, and further obtaining a calculation formula of road section driving time;
under the limited open strategy, a multi-mode balance model is constructed according to the multi-mode traffic network, and the travel demand distribution of travel demands on the networked automatic bus, the networked automatic car and the manual car and the traffic flow distribution of three traffic flows on the multi-mode traffic network are calculated;
calculating the social overall benefit under the network connection automatic bus lane arrangement scheme according to the travel demand distribution and the road section travel time calculation formula;
and determining the optimal network connection automatic bus lane layout scheme according to the maximum social overall benefit as an objective function.
2. The method of claim 1, wherein constructing a multi-mode transportation network based on the actual road network topology and the bus routes comprises:
according to the bus route scheme, dividing road sections where bus routes pass in an actual road network into conventional lane road sections and candidate road sections of networked automatic bus special roads to obtain modified road network topology;
constructing a car network directed graph special for driving cars according to the modified road network topology;
constructing a bus network directed graph specially used for the network connection automatic bus to run according to a bus route scheme;
and constructing a bus passenger getting-on road section set, a getting-off road section set and a road section node association set, and establishing the connection between the bus network and the car network to obtain the multi-mode traffic network.
3. The method as claimed in claim 1, wherein a limited opening strategy is set for allowing a part of the networked automatic cars to enter the networked automatic bus lane to travel in a mixed manner with the networked automatic buses, comprising:
by constrained formulas
Figure FDA0003352696660000011
Setting a limited opening strategy, allowing part of the networked automatic cars to enter the networked automatic bus lane and to run in a mixed manner with the networked automatic buses, wherein l represents a dedicated lane section;
Figure FDA0003352696660000012
the method comprises the steps of representing the traffic flow of the internet automatic car on a special road section l, wherein A2 represents an internet automatic car mode running on a special road;
Figure FDA0003352696660000021
the automatic bus traffic flow of the internet connection of the special road section l is represented; etalThe binary variable indicates whether the network connection automatic bus lane is laid on the road section l; alpha is a control parameter, so that the running efficiency of the network-linked automatic bus on the special road is ensured;
Figure FDA0003352696660000022
display netThe traffic capacity of the automatic bus lane is connected, and A represents an automatic car mode connected with the internet;
Figure FDA0003352696660000023
and the conversion coefficient of the network connection automatic bus converted into the equivalent network connection automatic car is shown.
4. The method of claim 1, wherein before constructing a calculation formula of road segment traffic capacity in the multi-mode traffic network according to road segment physical attributes, uses and traffic flow compositions, and further obtaining a calculation formula of road segment travel time, the method further comprises:
and determining the position of the network connection automatic bus way in the multi-mode traffic network according to the network connection automatic bus way layout scheme.
5. The method of claim 1, wherein constructing an internet-based automatic bus route layout scheme based on the actual road network topology and the bus routes comprises:
constructing a directed connection graph and a straight road section set which forms straight at the intersection according to the actual road network topology;
determining the number of routes of the networked automatic bus special roads to be laid and the maximum steering times of each route according to the bus routes, the directed connection graph and the straight road section set;
and constructing an automatic network connection bus way layout scheme under the layout constraint of limiting the steering times of the network connection automatic bus way route.
6. The method of claim 1, wherein constructing a calculation formula of road segment traffic capacity in the multi-mode traffic network according to road segment physical attributes, purposes and traffic flow composition, and further obtaining a calculation formula of road segment travel time comprises:
constructing a road section traffic capacity calculation formula according to the physical attributes, the purposes and the traffic flow composition of road sections, and calculating the traffic capacities of the car network road sections and the bus network road sections in the multi-mode traffic network;
and constructing a road section running time calculation formula according to the traffic capacities of the car network road sections and the bus network road sections, and calculating the running time of the network-linked automatic bus, the network-linked automatic car and the artificial car in the multi-mode traffic network.
7. The method of claim 2, wherein constructing a car network directed graph dedicated for car driving based on the modified road network topology comprises:
according to the modified road network topology, constructing a car network directed graph G special for driving carsa＝(Na,La,LCAB,NLa) Wherein N isaFor a set of nodes containing all intersections, LaFor a set of edges comprising a section of a conventional lane and a candidate section of an online automatic bus route, LCABFor edge sets, NL, containing candidate road sections of networked automatic bus routesaIs an association set of road segments and intersections.
8. The method of claim 2, wherein constructing a bus network directed graph dedicated for network-linked automatic buses according to a bus route plan comprises:
according to the bus route scheme, a bus network directed graph G specially used for network connection automatic bus running is constructedb＝(Nb,Lb,NLb) Wherein N isbIs a set of nodes containing all bus stops, LbFor containing sets of edges, NL, of road sections traversed by the bus routebIs an association set of road segments and bus stops.
9. A system for automatic bus lane layout optimization under an open strategy is characterized by comprising a network construction module, an open strategy module, an upper layer constraint module, a lower layer planning module and a benefit feedback module;
the network construction module constructs a multi-mode traffic network according to the actual road network topology and the bus routes, wherein the multi-mode traffic network comprises candidate road sections of the networked automatic bus-only lanes;
the open strategy module is provided with a limited open strategy to allow part of the networked automatic cars to enter the networked automatic bus lane and to run in a mixed manner with the networked automatic buses;
the upper layer constraint module constructs an automatic network connection bus lane layout scheme according to the actual road network topology and the bus lines;
the lower layer planning module constructs a calculation formula of road section traffic capacity in the multi-mode traffic network according to road section physical attributes, purposes and traffic flow composition so as to obtain a calculation formula of road section running time;
the lower-layer planning module constructs a multi-mode balance model according to the multi-mode traffic network under the limited open strategy, and calculates the travel demand distribution of travel demands on the networked automatic bus, the networked automatic car and the networked artificial car and the traffic flow distribution of three traffic flows on the multi-mode traffic network;
the benefit feedback module calculates the social overall benefit under the network connection automatic bus special lane arrangement scheme according to the travel demand distribution and the road section travel time calculation formula;
the benefit feedback module determines the optimal network connection automatic bus lane layout scheme according to the maximum social overall benefit as an objective function.
10. The system of claim 9, further comprising a data transfer module;
constructing a calculation formula of road section traffic capacity in the multi-mode traffic network at the lower layer planning module according to the physical attributes, the purposes and the traffic flow composition of the road sections, and further obtaining the calculation formula of the road section running time;
and the data transmission module determines the position of the network connection automatic bus way in the multi-mode traffic network according to the network connection automatic bus way layout scheme, and transmits the network connection automatic bus way layout scheme constructed by the upper-layer constraint module to the lower-layer planning module.
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