CN114255587B - Method and system for optimizing layout of automatic bus lane under open strategy - Google Patents
Method and system for optimizing layout of automatic bus lane under open strategy Download PDFInfo
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Abstract
The application relates to a method and a system for optimizing the layout of an automatic bus lane under an open strategy, wherein the method comprises the following steps: setting a limited opening strategy of a special road, and constructing a double-layer planning model aiming at the maximum social overall benefit; the upper layer of the model is a network-connected automatic bus lane layout scheme, and the layout of the lane is mainly and continuously set by taking straight lines under the limit of turning times; the lower layer of the model is a multi-mode balance model, and travel demand distribution and traffic flow distribution in the network-connected automatic buses, the network-connected automatic buses and the artificial buses under the limited opening strategy are calculated; the application solves the problems of unreasonable design and road resource waste in the layout of the network automatic bus lane, realizes the reasonable layout of the network automatic bus lane, improves the utilization rate of the network automatic bus lane on the premise of ensuring the service level of the network automatic bus lane, and reduces the road resource waste.
Description
Technical Field
The application relates to the technical field of intelligent transportation, in particular to a method and a system for optimizing the layout of an automatic bus lane under an open policy.
Background
With the rapid development of 5G technology and autopilot technology, currently, autopilot vehicles (network-connected autopilots) with real-time communication in some enterprises have been tried on open roads, for example, waymo tries to operate a first network-connected autopilot on a urban open road in a phoenix city in 2018, and starts to use full-automatic driving taxi calling service by general people in 10 months and 8 days in 2020; the hundred-degree Apollo online automatic taxis currently start operation service in three cities of Changsha, cangzhou and Beijing, and serve more than 21 ten thousand people. Compared with the internet-connected automatic buses, governments around the world have greatly developed internet-connected automatic buses (internet-connected automatic buses) which are carried with the internet of vehicles, such as the internet-connected automatic buses which start to operate on the 85B line of the capital oslo of Norway; singapore is currently developing a DART (Dynamic Autonomous Road Transit) system, and is planning to bring in an online automatic bus and an online automatic micro-bus into a bus system before 2030; the China has tried running the network connection automatic buses on the open roads of a plurality of cities at present, for example, in the 2017, in Shenen, one unmanned bus carrying an alpha bar-intelligent driving bus system is tried running, and in the 2020, the electric intelligent bus network connection automatic buses are tried running in the Yangtze river New region of Changsha of Hunan.
In the near future, when the Internet-connected automatic buses are applied on a large scale, the Internet-connected automatic buses and the artificial buses can be operated in the road network at the same time. In order to better utilize the larger transportation capacity of the internet-connected automatic buses and improve the travel efficiency of the road network, a manager may arrange special lanes on certain road sections for the operation of the internet-connected automatic buses, which is called an internet-connected automatic bus special lane. However, the existing method for optimizing the layout of the public transportation lane is mainly aimed at the conventional manual vehicle running environment, and is difficult to be applied to the mixed running environment of the internet-connected automatic vehicle and the manual vehicle; and the conventional optimization method mainly aims at theoretical optimization, and the characteristic that the actual bus lane is mainly and continuously arranged in a straight line is rarely considered. In addition, under the pure internet-connected automatic driving environment, the lane traffic capacity is obviously improved, and the pure internet-connected automatic bus lane has the technical advantages of wasting road resources and reducing the internet-connected automatic driving.
At present, aiming at the problems of unreasonable design and road resource waste existing in the layout of the network-connected automatic bus lane in the related technology, no effective solution is proposed yet.
Disclosure of Invention
The embodiment of the application provides a method and a system for optimizing the layout of an automatic bus lane under an open policy, which at least solve the problems of unreasonable design and road resource waste in the layout of the network-connected automatic bus lane in the related technology.
In a first aspect, an embodiment of the present application provides a method for optimizing an automatic bus lane layout under an open policy, where the method includes:
constructing a multimode traffic network according to the actual road network topology and the bus route, wherein the multimode traffic network comprises candidate road sections of the network-connected automatic bus special road;
setting a limited opening strategy, allowing part of the network-connected automatic buses to enter the network-connected automatic bus lane and enabling the network-connected automatic buses to travel in a mixed mode;
constructing a network connection automatic bus lane layout scheme according to the actual road network topology and the bus line;
constructing a road section traffic capacity calculation formula in the multi-mode traffic network according to the road section physical attribute, the purpose and the traffic flow composition, and further obtaining a road section running time calculation formula;
under the limited opening strategy, a multimode balance model is built according to the multimode traffic network, and travel demand distribution of travel demands on an internet-connected automatic bus, an internet-connected automatic car and an artificial car and traffic distribution of three traffic flows on the multimode traffic network are calculated;
calculating the social overall benefit under the network-connected automatic bus lane layout scheme according to the travel demand distribution and the road section travel time calculation formula;
And determining an optimal network automatic bus lane layout scheme by taking the maximum social overall benefit as an objective function.
In some of these embodiments, constructing the multi-mode traffic network based on the actual road network topology and the bus routes comprises:
dividing a road section passed by a public transport line in an actual road network into a conventional lane road section and a candidate road section of an online automatic public transport special road according to a public transport line scheme to obtain a modified road network topology;
constructing a car network directed graph special for car running according to the modified road network topology;
according to the bus route scheme, constructing a bus network directed graph special for the running of the Internet-connected automatic bus;
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 policy is set to allow a part of the internet-connected automatic buses to enter the internet-connected automatic bus lane, and the hybrid driving with the internet-connected automatic buses comprises:
by constraint formulaA limited opening strategy is set, a part of the network-connected automatic buses are allowed to enter the network-connected automatic bus special lane and are mixed with the network-connected automatic buses to run so as to improve the utilization rate of the network-connected automatic bus special lane, and the manual buses are not allowed to enter the special lane, wherein l represents a special lane section; / >Representing the traffic of the special road section l on-line automatic car, A2 represents the mode of the on-line automatic car running on the special road;representing the traffic of a special road section l on-line automatic bus; η (eta) l The method is characterized in that the method is a binary variable, and represents whether a network-linked automatic bus lane is arranged on a road section I; alpha is a control parameter, so that the running efficiency of the network-connected automatic bus on a special road is ensured; />The method comprises the following steps of representing the traffic capacity of a network-connected automatic bus lane, wherein A represents a network-connected automatic car mode; />And the conversion coefficient of converting the network connection automatic bus into the equivalent network connection automatic bus is represented.
In some embodiments, before constructing the road segment traffic capacity calculation formula in the multi-mode traffic network according to the road segment physical attribute, the purpose and the traffic flow composition, and further obtaining the road segment running time calculation formula, the method further includes:
and determining the position of the network automatic bus lane in the multi-mode traffic network according to the network automatic bus lane layout scheme.
In some embodiments, the constructing the network-connected automatic bus lane layout scheme according to the actual road network topology and the bus route includes:
Constructing a directed connection graph and a straight road section set forming straight road at an intersection according to the actual road network topology;
determining the number of routes of the network-linked automatic bus lane to be laid and the maximum turning times of each route according to the bus route, the directed connection graph and the straight road section set;
and under the layout constraint of limiting the turning times of the network automatic bus lane route, constructing a network automatic bus lane layout scheme.
In some embodiments, constructing a road section traffic capacity calculation formula in the multi-mode traffic network according to the road section physical attribute, the purpose and the traffic flow composition, and further obtaining a road section running time calculation formula includes:
constructing a road section traffic capacity calculation formula according to the road section physical attribute, the purpose and the traffic flow composition, and calculating the traffic capacities of the small car network road section and the public traffic network road section 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 section and the bus network road section, and calculating running time of the network automatic buses, the network automatic buses and the manual buses in the multi-mode traffic network.
In some embodiments, constructing a car network directed graph dedicated to car travel according to the modified road network topology includes:
constructing a car network directed graph G special for car running according to the modified road network topology a ＝(N a ,L a ,L CAB ,NL a ) Wherein N is a To include node sets of all intersections, L a For edge set containing conventional lane sections and network-connected automatic bus special lane candidate sections, L CAB For edge sets comprising network-connected bus lane candidates, NL a Is an association set of road segments and intersections.
In some embodiments, constructing a public transportation network directed graph dedicated to the running of the internet-connected automatic bus according to a public transportation route scheme comprises:
constructing a public transport network directed graph G special for running of network-connected automatic buses according to public transport line scheme b ＝(N b ,L b ,NL b ) Wherein N is b For node set containing all bus stops, L b For edge sets comprising road sections traversed by a bus route, NL b Is the association set of road segments and bus stops.
In a second aspect, the embodiment of the application provides a system for optimizing the layout of an automatic bus lane under an open policy, which comprises 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 multimode traffic network according to the actual road network topology and the bus route, wherein the multimode traffic network comprises candidate road sections of the network-connected automatic bus lane;
the opening policy module is provided with a limited opening policy, and allows part of the network-connected automatic buses to enter the network-connected automatic bus lane and travel in a mixed mode with the network-connected automatic buses;
the upper layer constraint module constructs a network connection automatic bus lane layout scheme according to the actual road network topology and the bus route;
the lower planning module constructs a road section traffic capacity calculation formula in the multi-mode traffic network according to the road section physical attribute, the application and the traffic flow composition, and further obtains a road section running time calculation formula;
the lower planning module builds a multimode balanced model according to the multimode traffic network under the limited opening strategy, and calculates travel demand distribution of travel demands on the network-connected automatic buses, the network-connected automatic buses and the artificial buses and traffic distribution of three traffic flows on the multimode traffic network;
the benefit feedback module calculates the social overall benefit under the network-connected automatic bus lane layout scheme according to the travel demand distribution and the road section travel time calculation formula;
And the benefit feedback module determines an optimal network connection automatic bus lane layout scheme by taking the maximum social overall benefit as an objective function.
In some of these embodiments, the system further comprises a data transfer module;
before the lower planning module constructs a road section traffic capacity calculation formula in the multi-mode traffic network according to the road section physical attribute, the purpose and the traffic flow composition, and further obtains a road section running time calculation formula;
and the data transmission module determines the position of the network automatic bus lane in the multi-mode traffic network according to the network automatic bus lane layout scheme, and transmits the network automatic bus lane layout scheme constructed by the upper constraint module to the lower planning module.
Compared with the related art, the method and the system for optimizing the layout of the automatic bus lane under the opening strategy provided by the embodiment of the application have the advantages that the limited opening strategy is set, and on the premise of ensuring the service level of the network-connected automatic bus, part of the network-connected automatic buses are allowed to enter the special lane and are mixed with the network-connected automatic bus to run; constructing a double-layer planning model with the maximum social overall benefit as a target, wherein the upper layer of the model is a network-connected automatic bus lane layout scheme, and the layout of the network-connected automatic bus lane is mainly and continuously set under the limit of turning times; the lower layer of the model is a multi-mode balancing model, and travel demand distribution in the network-connected automatic buses, the network-connected automatic buses and the artificial buses and the distribution of three traffic flows in the road network under the limited opening strategy are calculated; the method has the advantages that the layout scheme of the automatic bus lane with the greatest overall benefit is determined, the problems of unreasonable design and road resource waste in the layout of the automatic bus lane with the net are solved, the reasonable layout of the automatic bus lane with the net is realized, the utilization rate of the automatic bus lane with the net is improved on the premise of ensuring the service level of the automatic bus with the net, the technical advantage of automatic driving with the net is improved, and the road resource waste is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of steps of a method for optimizing an automatic bus lane layout 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 traffic network;
FIG. 4 is a schematic view of a straight-line network-connected automatic bus lane;
FIG. 5 is a schematic diagram of a network-connected automatic bus lane with one turn;
FIG. 6 is a schematic diagram of a networked automated bus lane with two turns;
FIG. 7 is a schematic diagram of a Sioux Falls road network;
FIG. 8 is a schematic diagram of four networked automatic bus route undirected graphs;
FIG. 9 is a schematic diagram of a car network based on Sioux Falls road network;
FIG. 10 is a schematic diagram of a public transportation network based on Sioux Falls road network;
fig. 11 is a block diagram 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 planning module; 115. and the benefit feedback module.
Detailed Description
The present application will be described and illustrated with reference to the accompanying drawings and examples in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. All other embodiments, which can be made by a person of ordinary skill in the art based on the embodiments provided by the present application without making any inventive effort, are intended to fall within the scope of the present application.
It is apparent that the drawings in the following description are only some examples or embodiments of the present application, and it is possible for those of ordinary skill in the art to apply the present application to other similar situations according to these drawings without inventive effort. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases 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. It is to be expressly and implicitly understood by those of ordinary skill in the art that the described embodiments of the application can be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "a," "an," "the," and similar referents in the context of the application are not to be construed as limiting the quantity, but rather as singular or plural. The terms "comprising," "including," "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in connection with the present application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as used herein means two or more. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. The terms "first," "second," "third," and the like, as used herein, are merely distinguishing between similar objects and not representing a particular ordering of objects.
The embodiment of the application provides a method for optimizing the layout of an automatic bus lane under an open policy, and fig. 1 is a flow chart of steps of the method for optimizing the layout of the automatic bus lane under the open policy according to the embodiment of the application, 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 route, wherein the multi-mode traffic network comprises candidate road sections of the network-connected automatic bus lane;
step S104, setting a limited opening strategy, and allowing part of the networked automatic buses to enter the networked automatic bus lane and travel in a mixed mode with the networked automatic buses;
step S106, constructing a network automatic bus lane layout scheme according to the actual road network topology and the bus route;
step S108, constructing a road section traffic capacity calculation formula in the multi-mode traffic network according to the road section physical attribute, the purpose and the traffic flow composition, and further obtaining a road section running time calculation formula;
step S110, under a limited opening strategy, constructing a multimode balanced model according to the multimode traffic network, and calculating travel demand distribution of the travel demands on the internet-connected automatic buses, the internet-connected automatic buses and the artificial buses and traffic distribution of three traffic flows on the multimode traffic network;
It should be noted that the travel demand refers to the total number of people needing to travel, and the travel demand distribution refers to the traffic mode selected by the people to travel, namely the number of people distributed on different traffic modes;
step S112, calculating the social overall benefit under the network-connected automatic bus lane layout scheme according to travel demand distribution and a road section travel time calculation formula;
step S114, determining the optimal network connection automatic bus lane 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 in the layout of the network automatic bus lane are solved, the reasonable layout of the network automatic bus lane is realized, the utilization rate of the network automatic bus lane is improved on the premise of ensuring the service level of the network automatic bus lane, the technical advantage of network automatic driving is improved, and the road resource waste is reduced.
Further, in some embodiments, step S102, constructing the multi-mode traffic network according to the actual road network topology and the bus route includes:
FIG. 2 is a schematic diagram of a modified road network topology, as shown in FIG. 2, according to a bus route scheme, road segments traversed by a bus route in an actual road network are divided into a conventional lane road segment and a candidate road segment of a network-connected automatic bus lane, and the two candidate road segments are respectively represented by two road segments with the same starting point and the same ending point, so as to obtain the modified road network topology;
Constructing a car network directed graph special for car running according to the modified road network topology;
specifically, according to the modified road network topology, constructing a car network directed graph G special for car driving a ＝(N a ,L a ,L CAB ,NL a ) Wherein N is a To include node sets of all intersections, L a For edge set containing conventional lane sections and network-connected automatic bus special lane candidate sections, L CAB For edge sets comprising network-connected bus lane candidates, NL a Is an association set of road segments and intersections.
According to the bus route scheme, constructing a bus network directed graph special for the running of the Internet-connected automatic bus;
specifically, according to the bus route scheme, a public transport network directed graph G special for the running of the Internet-connected automatic bus is constructed b ＝(N b ,L b ,NL b ) Wherein N is b For node set containing all bus stops, L b For edge sets comprising road sections traversed by a bus route, NL b Is the association set of road segments and bus stops.
FIG. 3 is a schematic diagram of a multi-mode traffic network, as shown in FIG. 3, constructing a set L of bus passenger boarding road segments em Set of get-off road segments L al Associated set NL with road segment node ab And establishing a connection between the public transport network and the car network to obtain the multi-mode transport network.
Further, in some embodiments, step S104, setting a limited opening policy, allowing a part of the networked automatic buses to enter the networked automatic bus lane, and driving with the networked automatic bus lane includes:
the method is characterized in that the method is realized by the following constraint that part of the networked automatic buses are allowed to enter a special road and are mixed with the networked automatic buses to run:
wherein l represents a private road section;representing the traffic of the special road section l on-line automatic car, A2 represents the mode of the on-line automatic car running on the special road; />Representing the traffic of a special road section l on-line automatic bus; η (eta) l Is a binary variable, eta l The network connection automatic bus lane is arranged on the road section l, otherwise, the network connection automatic bus lane is not arranged; alpha is a control parameter, so that the running efficiency of the network-connected automatic bus on a special road is ensured; />The method comprises the following steps of representing the traffic capacity of a network-connected automatic bus lane, wherein A represents a network-connected automatic car mode; />And the conversion coefficient of converting the network connection automatic bus into the equivalent network connection automatic bus is represented.
Further, in some embodiments, step S106, constructing the network-connected automatic bus lane layout scheme according to the actual road network topology and the bus route includes:
Constructing a directed connection graph and a straight road section set forming 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 topology r ＝(N r ,L r ,NL r ) And a set omega of all road segment combinations forming straight at the intersection, where N r To include node sets of all intersections, L r To include the edge set of all road segments, NL r Is an association set of road segments and intersections.
Determining the number of routes of the network-linked automatic bus lane to be laid and the maximum turning times of each route according to the bus route, the directed connection diagram and the straight road section set;
specifically, fig. 4 is a schematic diagram of a line-type network-connected automatic bus special road, fig. 5 is a schematic diagram of a line-connected automatic bus special road with one turn, fig. 6 is a schematic diagram of a line-connected automatic bus special road with two turns, as shown in fig. 4 to 6, the number of the line-connected automatic bus special road routes to be laid and the maximum turn times of each route are determined, and the road section through which each bus route passes is determined according to the bus route actually running;
under the layout constraint of limiting the turning times of the network automatic bus lane, a network automatic bus lane layout scheme is constructed.
Specifically, the following constraints are constructed to obtain a continuous layout scheme of the networked automatic bus lane with the steering times limitation:
wherein:
Ω＝{(i,j,k)|(i,j),(j,k)∈L A -representing a set of road segment combinations that make up a straight run at an intersection;
the method comprises the steps of collecting road sections with all tail points being nodes j;
the method comprises the steps of collecting road sections with all head points being nodes j;
the method is characterized in that the method comprises the steps of representing an online automatic bus route, and r represents a special road route of the online automatic bus;
for binary parameter, express networking automatic bus route +.>Whether or not to pass the road section (i, j), is->Automatic bus route for showing internet connection>The road section (i, j) is passed, otherwise the road section (i, j) is not passed;
is a binary variable +.>Indicating whether the node i is the start point of the dedicated way route r; />Indicating whether the node i is the end point of the private road route r; />Indicating whether the private road line r passes through the road section (i, j); />Indicating whether the link (i, j) and the link (j, k) on the private road route r form a turn,/or not>Indicating that a turn is formed ∈ ->Representing that the road section (i, j) and the road section (j, k) form a straight line;
a sequence label representing node i on route r, starting from 1;
m is a sufficiently large positive integer;
and iota is a control parameter, and limits the number of times of turning the network-connected automatic bus lane route.
Formula (2) represents a sequence number indicating the start point of the lane routeSet to 1; the number of the node on the special road route r is sequentially added with 1 in the formula (3); the formula (4) ensures that the sequence number of the nodes which do not pass through the special road route r is 0; equations (5) and (6) ensure that each lane route has only one start point and one end point; formulas (7) and (8) avoid closed-loop dedicated road routes; the special road is ensured to be only allowed to be arranged on a road section where the network-connected automatic bus line passes through by the formula (9); the (10) ensuresConnectivity of the dedicated way route; the formula (11) judges whether adjacent road sections on the special road line r form straight running or not; equation (12) limits the number of turns per lane route; equations (13) - (16) are binary constraints.
Further, in some embodiments, in step S108, before constructing the road segment traffic capacity calculation formula in the multi-mode traffic network according to the road segment physical attribute, the usage and the traffic flow composition, and further obtaining the road segment travel time calculation formula, the method further includes:
and determining the position of the network automatic bus lane in the multi-mode traffic network according to the network automatic bus lane layout scheme.
Specifically, the location of networked autospecific tracks in a multi-mode traffic network may be determined by the following constraints:
η l ∈{0,1} l∈L CAB (18)
Wherein AR is edge set L r And L a A set of matching road segments.
Further, in some embodiments, step S108 constructs a road segment traffic capacity calculation formula in the multi-mode traffic network according to the road segment physical attribute, the usage and the traffic flow composition, and further obtains a road segment travel time calculation formula comprising:
constructing a road section traffic capacity calculation formula according to the road section physical properties, the purposes and the traffic flow composition, and calculating the traffic capacities of the small car network road sections and the bus network road sections in the multi-mode traffic network;
specifically, a multi-mode traffic network road section traffic capacity calculation formula is constructed, and the calculation formula is specifically shown as formulas (19) and (20):
wherein:
representing the traffic capacity of the car network section l;
representing the traffic capacity of a bus network segment l' paired with a car network segment l;
the traffic capacity of a road section l when the purely artificial car runs is represented;
n l the number of lanes representing the road section l;
the artificial car flow on the road section l is represented, and H represents an artificial car mode;
representing the internet-connected automatic car traffic on a conventional lane segment l, A1 representing an internet-connected automatic car mode running on a conventional lane;
and constructing a road section running time calculation formula according to the traffic capacities of the car network road section and the bus network road section, and calculating the running time of the Internet-connected automatic buses, the Internet-connected automatic buses and the artificial buses in the multi-mode traffic network.
Specifically, a calculation formula of the travel time of each mode road section of the multi-mode traffic network is constructed, and the calculation formula is specifically shown in formulas (21) - (25):
wherein:
o represents the influence of the car on the speed of the internet-connected automatic bus;
zeta represents the influence of a networked automatic bus on the speed of a car;
and->Respectively representing the running time of the internet-connected automatic bus, the internet-connected automatic car and the artificial car on the road section l;
and->The free running time of the network-connected automatic buses, the network-connected automatic buses and the artificial buses on the road section l is respectively represented;
α B sum sigma B Representing two parameters in a BPR function in a network connection automatic bus mode;
α A sum sigma A Representing two parameters in the BPR function in car mode;
f r(j) indicating departure frequency of a bus route r passing through the terminal of the upper road section (i, j);
t al representing fixed bus passenger getting-off time;
formulas (21) - (25) are used for calculating the running time of the public transport network, the on-board road section, the off-board road section and the regular road section of the car network respectively, and the running time of the on-board automatic car of the road section special for the on-board automatic public transport.
Further, in some embodiments, step S110, under a limited opening policy, constructs a multimode balance model according to a multimode traffic network, calculates travel demand distribution of travel demands on a networked automatic bus, a networked automatic car and an artificial car, and traffic distribution of three traffic flows on the multimode traffic network;
Specifically, the multi-mode balancing model determines the distribution of travel demands in networked automatic buses, networked automatic buses and artificial buses and the distribution of three traffic flows in road networks under a limited opening strategy through the following constraints:
/>
wherein:
indicating OD (trip start stop) versus w-to-w congestionThe travel requirement of the manual car is met;
the method comprises the steps of representing the travel requirement of an OD on an online automatic car among w;
indicating the selection of travel pattern m between OD and w 1 Travel demand, m 1 E { H, B1}, wherein B1 represents a networked automatic bus mode, and the passenger flow of the system is derived from the travel requirement of the artificial car;
indicating the selection of travel pattern m between OD and w 2 Travel demand, m 2 E { A, B2}, wherein B2 represents an online automatic bus mode, and the passenger flow of the online automatic bus mode is derived from the travel requirement of the online automatic bus;
θ 1 、two calibration parameters of the logic model are used for dividing travel requirements of the artificial car>Distribution between the artificial cars and the networked automatic buses;
θ 2 、for two calibration parameters of the logic model, the method is used for dividing travel requirements of the network-connected automatic car>Distribution between networked automatic cars and networked automatic buses;
delta is a link node association matrix;
Selecting mode m for OD versus W 1 Road traffic vector, m of travel 1 ∈{H,B1}；
Selecting mode m for OD versus W 2 Road traffic vector, m of travel 2 ∈{A,B2}；
E w For a node vector with a dimension N, only two non-zero values are contained, a numeral 1 indicates that the corresponding node is the starting point of OD to w, and a numeral-1 indicates that the corresponding node is the end point of OD to w;
γ l 、/>lagrangian multipliers of formulae (27) - (32), respectively; />And->Node potential energy of different OD to different travel modes, gamma l Extra waiting time for bus passengers, < >>Control delay of the Internet-connected automatic car on the Internet-connected automatic bus lane;
formulas (27) - (30) are flow conservation constraints; the passenger flow rate on the public transport network section I is ensured not to exceed the traffic capacity of the public transport network section I by the method (31)The (32) represents that the network connection automatic bus lane resource is opened for part of the network connection automatic car, and the part of the network connection automatic bus lane resource is allowed to enterRunning; ensuring that the internet-connected automatic buses, the internet-connected automatic buses and the artificial buses respectively run on the allowed road sections; formula (38) is a non-negative constraint; equations (39) - (44) ensure that the head-to-tail node potential energy difference for each road segment does not exceed the sum of travel time and additional waiting time for the corresponding road segment; formulae (45) and (46) are each the variables +.>And->Is a dual constraint of (2); formulas (47) and (48) are non-negative constraints; equation (49) ensures that on a regular lane, the networked automated guided vehicle has no control delays.
Further, in some embodiments, step S112 calculates the social overall benefit under the network-connected automatic bus lane layout scheme 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:
further, in some embodiments, step S114 determines the maximum value of the overall social benefit through the objective function, thereby determining the network-connected automatic bus lane layout scheme with the maximum overall social benefit.
Specifically, the optimal network-connected automatic bus lane layout scheme is obtained by optimizing a double-layer planning model consisting of an upper-layer constraint consisting of formulas (2) - (18) and (50) and a lower-layer planning model consisting of formulas (19) - (49) by taking a formula (51) as an objective function:
maxNW(51)
the embodiment of the application provides a method for optimizing the layout of an automatic bus lane under an open policy, wherein fig. 7 is a schematic diagram of a Sioux Falls road network, and as shown in fig. 7, the road network comprises 24 nodes, 76 road sections and 196 pairs; fig. 8 is a schematic diagram of an undirected view of four network-connected automatic bus routes, and as shown in fig. 8, four bus routes are operated. The method comprises the following steps:
Step 1: construction of Sioux Falls road network topology directed graph G r ＝(N r ,L r ,NL r ) And a set Ω of road segment combinations that make up straight at the intersection, as shown in table 1:
table 1 Sioux Falls road network topology and straight road segment combination set example
Step 2: according to the running route of the network automatic bus, constructing a multi-mode traffic network comprising candidate network automatic bus special road sections for running the network automatic bus, the network automatic car and the manual car, and specifically comprising the following steps:
step 2.1: FIG. 9 is a schematic diagram of a car network based on Sioux Falls road network, as shown in FIG. 9, using two road segments with the same start point and end point to divide the road segments traversed by the network-linked automatic bus route into a regular lane segment and a candidate network-linked automatic bus lane segment, resulting in a modified road network topology;
step 2.2: constructing a car network topology directed graph G according to the modified road network topology a ＝(N a ,L a ,L CAB ,NL a ) As shown in table 2:
table 2 car network topology set example
Step 2.3: FIG. 10 is a schematic diagram of a bus network based on Sioux Falls road network, abstracting to obtain a bus network topology, and constructing a bus network topology directed graph G as shown in FIG. 10 b ＝(N b ,L b ,NL b ) As shown in table 3:
table 3 bus network topology set example
Step 2.4: constructing a set L of bus passenger boarding road sections em And a set of get-off road segments L al Link node association set NL ab The connection between the public transport network and the car network is established as shown in table 4:
table 4 example of a set of bus passenger get on and off road segments
Step 3: investigation is carried out to obtain various model parameters, including the number of prearranged network connection automatic bus special road lines, the number of turning times iota of the network connection automatic bus special road lines, and the road section passed by each bus lineTravel requirement of all origin-destination pairs with artificial cars +.>And travel requirement with a networked automatic car->Free-flow travel time of each road section of each travel mode>Departure frequency f of each bus line r(j) Time t of getting off al BPR model parameter alpha A 、σ A 、α B Sum sigma B Logit model parameters θ 1 、/>θ 2 And->And determining the network connection automatic bus lane resource opening rate alpha.
Step 4: and solving a double-layer planning model to obtain a continuous layout scheme of the network automatic bus lane with the greatest social overall benefit under the condition of implementing a limited opening strategy and limiting the turning times of the special road line, and the distribution of travel demands on the network automatic bus, the network automatic car and the artificial car and the distribution of three traffic flows in the road network under the scheme.
The solution results are as follows: on the basis of only allowing one steering at most, the layout schemes of two optimal continuous network-connected automatic buses and special lanes under a limited opening strategy are (1-4-15-11-8) and (37-39-75-65-67), the social overall benefit is-11801.812, and the distribution of travel demands on the network-connected automatic buses, the network-connected automatic buses and the artificial buses and the distribution results of three traffic flows in a road network are shown in tables 5-7:
TABLE 5 partial origin-destination-to-traveler distribution among modes
Table 6 network traffic distribution for cars
TABLE 7 bus network passenger flow distribution
It should be noted that the steps illustrated in the above-described flow or 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 other than that illustrated herein.
The embodiment of the application provides a system for optimizing the layout of an automatic bus lane under an open policy, and fig. 11 is a structural block diagram of the system for optimizing the layout of the automatic bus lane under the open policy according to the embodiment of the application, as shown in fig. 11, the system comprises a network construction module 111, an open policy module 112, an upper constraint module 113, a lower planning module 114 and a benefit feedback module 115;
The network construction module 111 constructs a multimode traffic network according to the actual road network topology and the bus route, wherein the multimode traffic network comprises candidate road sections of the network-connected automatic bus lane;
the opening policy module 112 sets a limited opening policy, and allows part of the network-connected automatic buses to enter the network-connected automatic bus lane and travel in a mixed mode with the network-connected automatic buses;
the upper constraint module 113 constructs an automatic bus lane layout scheme of the network connection according to the actual road network topology and the bus route;
the lower planning module 114 constructs a road section traffic capacity calculation formula in the multi-mode traffic network according to the road section physical attribute, the purpose and the traffic flow composition, and further obtains a road section running time calculation formula;
the lower planning module 114 builds a multimode balanced model according to the multimode traffic network under a limited opening strategy, calculates travel demand distribution of travel demands on the internet-connected automatic buses, the internet-connected automatic buses and the artificial buses, and traffic distribution of three traffic flows on the multimode traffic network;
the benefit feedback module 115 calculates the social overall benefit under the network-connected 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 networked automatic bus lane layout scheme with the greatest overall social benefit as an objective function.
In some of these embodiments, the system further comprises a data transfer module;
before the lower planning module 114 constructs a road section traffic capacity calculation formula in the multi-mode traffic network according to the road section physical attribute, the purpose and the traffic flow composition, and further obtains a road section running time calculation formula;
the data transmission module determines the position of the internet-connected automatic bus lane in the multi-mode traffic network according to the internet-connected automatic bus lane layout scheme, and transmits the internet-connected automatic bus lane layout scheme constructed by the upper constraint module 113 to the lower planning module 114.
The above-described respective modules may be functional modules or program modules, and may be implemented by software or hardware. For modules implemented in hardware, the various modules described above may be located in the same processor; or the above modules may be located in different processors in any combination.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It should be understood by those skilled in the art that the technical features of the above-described embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above-described embodiments are not described, however, they should be considered as being within the scope of the description provided herein, as long as there is no contradiction between the combinations of the technical features.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. The method for optimizing the layout of the automatic bus lane under the open strategy is characterized by comprising the following steps:
constructing a multimode traffic network according to the actual road network topology and the bus route, wherein the multimode traffic network comprises candidate road sections of the network-connected automatic bus special road;
setting a limited opening strategy, allowing part of the network-connected automatic buses to enter the network-connected automatic bus lane and enabling the network-connected automatic buses to travel in a mixed mode;
Constructing a network connection automatic bus lane layout scheme according to the actual road network topology and the bus line;
constructing a road section traffic capacity calculation formula in the multi-mode traffic network according to the road section physical attribute, the purpose and the traffic flow composition, and further obtaining a road section running time calculation formula;
under the limited opening strategy, constructing a multimode balanced model according to the multimode traffic network so as toCalculating travel demand distribution of travel demands on the internet-connected automatic buses, the internet-connected automatic buses and the artificial buses and traffic distribution of three traffic flows on the multi-mode traffic network as an objective function; wherein,
represents the selection of a travel mode m between an OD travel starting and stopping point pair w 1 Travel demand, m 1 E { H, B1}, wherein B1 represents a networked automatic bus mode, and the passenger flow of the system is derived from the travel requirement of the artificial car;
indicating the selection of travel pattern m between OD and w 2 Travel demand, m 2 E { A, B2}, wherein B2 represents an online automatic bus mode, and the passenger flow of the online automatic bus mode is derived from the travel requirement of the online automatic bus;
θ 1 、for two calibration parameters of a logic model, the method is used for dividing travel demand D of an artificial car 1 w Distribution between the artificial cars and the networked automatic buses;
θ 2 、for two calibration parameters of the logic model, the method is used for dividing travel requirements of the network-connected automatic car>Distribution between networked automatic cars and networked automatic buses;
the traffic capacity on the bus network section l;
representing ODThe travel requirement of the artificial car is met between w;
the method comprises the steps of representing the travel requirement of an OD on an online automatic car among w;
γ l 、/>is Lagrangian multiplier, wherein gamma l Extra waiting time for bus passengers, < >>Control delay of the Internet-connected automatic car on the Internet-connected automatic bus lane;
representing the traffic of a special road section l on-line automatic bus;
η l is a binary variable, eta l The network connection automatic bus lane is arranged on the road section l, otherwise, the network connection automatic bus lane is not arranged; alpha is a control parameter, so that the running efficiency of the network-connected automatic bus on a special road is ensured;
the method comprises the following steps of representing the traffic capacity of a network-connected automatic bus lane, wherein A represents a network-connected automatic car mode;
the conversion coefficient of converting the online automatic buses into equivalent online automatic buses is represented;
L a to comprise a conventional vehicleEdge set of road section and network-connected special bus road candidate section L b H represents an artificial car mode for an edge set comprising road sections traversed by a bus line;
Calculating the social overall benefit under the network-connected automatic bus lane layout scheme according to the travel demand distribution and the road section travel time calculation formula;
and determining an optimal network automatic bus lane layout scheme by taking the maximum social overall benefit as an objective function.
2. The method of claim 1, wherein constructing the multi-mode traffic network based on the actual road network topology and the bus route comprises:
dividing a road section passed by a public transport line in an actual road network into a conventional lane road section and a candidate road section of an online automatic public transport special road according to a public transport line scheme to obtain a modified road network topology;
constructing a car network directed graph special for car running according to the modified road network topology;
according to the bus route scheme, constructing a bus network directed graph special for the running of the Internet-connected automatic bus;
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 of claim 1, wherein a limited opening policy is set to allow a portion of the networked automatic buses to enter the networked automatic bus lane, and wherein the method includes:
By constraint formulaSetting a limited opening strategy, allowing part of the networked automatic buses to enter the networked automatic bus lane and to be mixed with the networked automatic bus lane, wherein l represents a special roadA segment; />Representing the traffic of the special road section l on-line automatic car, A2 represents the mode of the on-line automatic car running on the special road; />Representing the traffic of a special road section l on-line automatic bus; η (eta) l The method is characterized in that the method is a binary variable, and represents whether a network-linked automatic bus lane is arranged on a road section I; alpha is a control parameter, so that the running efficiency of the network-connected automatic bus on a special road is ensured; />The method comprises the following steps of representing the traffic capacity of a network-connected automatic bus lane, wherein A represents a network-connected automatic car mode; />And the conversion coefficient of converting the network connection automatic bus into the equivalent network connection automatic bus is represented.
4. The method of claim 1, wherein before constructing a road segment traffic capacity calculation formula in the multi-mode traffic network according to the road segment physical attribute, the use, and the traffic flow composition, and further obtaining a road segment travel time calculation formula, the method further comprises:
and determining the position of the network automatic bus lane in the multi-mode traffic network according to the network automatic bus lane layout scheme.
5. The method of claim 1, wherein constructing an online automatic bus lane layout scheme based on the actual road network topology and the bus route comprises:
constructing a directed connection graph and a straight road section set forming straight road at an intersection according to the actual road network topology;
determining the number of routes of the network-linked automatic bus lane to be laid and the maximum turning times of each route according to the bus route, the directed connection graph and the straight road section set;
and under the layout constraint of limiting the turning times of the network automatic bus lane route, constructing a network automatic bus lane layout scheme.
6. The method of claim 1, wherein constructing a road segment traffic capacity calculation formula in the multi-mode traffic network according to the road segment physical attribute, the use and the traffic flow composition, and further obtaining a road segment travel time calculation formula comprises:
constructing a road section traffic capacity calculation formula according to the road section physical attribute, the purpose and the traffic flow composition, and calculating the traffic capacities of the small car network road section and the public traffic network road section 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 section and the bus network road section, and calculating running time of the network automatic buses, the network automatic buses and the manual buses in the multi-mode traffic network.
7. The method of claim 2, wherein constructing a car network directed graph dedicated to car travel based on the modified road network topology comprises:
constructing a car network directed graph G special for car running according to the modified road network topology a ＝(N a ,L a ,L CAB ,NL a ) Wherein N is a To include node sets of all intersections, L a For edge set containing conventional lane sections and network-connected automatic bus special lane candidate sections, L CAB For edge sets comprising network-connected bus lane candidates, NL a Is an association set of road segments and intersections.
8. The method of claim 2, wherein constructing a directed graph of a public transportation network dedicated to the running of networked automatic buses according to a public transportation route scheme comprises:
constructing a public transport network directed graph G special for running of network-connected automatic buses according to public transport line scheme b ＝(N b ,L b ,NL b ) Wherein N is b For node set containing all bus stops, L b For edge sets comprising road sections traversed by a bus route, NL b Is the association set of road segments and bus stops.
9. The system for optimizing the layout of the automatic bus lane under the open strategy is characterized by comprising a network construction module, an open strategy module, an upper constraint module, a lower planning module and a benefit feedback module;
the network construction module constructs a multimode traffic network according to the actual road network topology and the bus route, wherein the multimode traffic network comprises candidate road sections of the network-connected automatic bus lane;
the opening policy module is provided with a limited opening policy, and allows part of the network-connected automatic buses to enter the network-connected automatic bus lane and travel in a mixed mode with the network-connected automatic buses;
the upper layer constraint module constructs a network connection automatic bus lane layout scheme according to the actual road network topology and the bus route;
the lower planning module constructs a road section traffic capacity calculation formula in the multi-mode traffic network according to the road section physical attribute, the application and the traffic flow composition, and further obtains a road section running time calculation formula;
the lower planning module builds a multi-mode balancing model according to the multi-mode traffic network under the limited opening strategy so as to Calculating travel demand distribution of travel demands on network-connected automatic buses, network-connected automatic buses and artificial buses as objective functions, andthree traffic flows are distributed in the traffic flow of the multi-mode traffic network; wherein,
represents the selection of a travel mode m between an OD travel starting and stopping point pair w 1 Travel demand, m 1 E { H, B1}, wherein B1 represents a networked automatic bus mode, and the passenger flow of the system is derived from the travel requirement of the artificial car;
indicating the selection of travel pattern m between OD and w 2 Travel demand, m 2 E { A, B2}, wherein B2 represents an online automatic bus mode, and the passenger flow of the online automatic bus mode is derived from the travel requirement of the online automatic bus;
θ 1 、for two calibration parameters of a logic model, the method is used for dividing travel demand D of an artificial car 1 w Distribution between the artificial cars and the networked automatic buses;
θ 2 、for two calibration parameters of the logic model, the method is used for dividing travel requirements of the network-connected automatic car>Distribution between networked automatic cars and networked automatic buses;
the traffic capacity on the bus network section l;
indicating the travel requirement of an OD on an artificial car in w;
the method comprises the steps of representing the travel requirement of an OD on an online automatic car among w;
γ l 、/>Is Lagrangian multiplier, wherein gamma l Extra waiting time for bus passengers, < >>Control delay of the Internet-connected automatic car on the Internet-connected automatic bus lane;
representing the traffic of a special road section l on-line automatic bus;
η l is a binary variable, eta l The network connection automatic bus lane is arranged on the road section l, otherwise, the network connection automatic bus lane is not arranged; alpha is a control parameter, so that the running efficiency of the network-connected automatic bus on a special road is ensured;
the method comprises the following steps of representing the traffic capacity of a network-connected automatic bus lane, wherein A represents a network-connected automatic car mode;
indicating conversion of an online automatic bus into an equivalent amount of online automatic busConversion coefficient of car;
L a for edge set containing conventional lane sections and network-connected automatic bus special lane candidate sections, L b H represents an artificial car mode for an edge set comprising road sections traversed by a bus line;
the benefit feedback module calculates the social overall benefit under the network-connected automatic bus lane layout scheme according to the travel demand distribution and the road section travel time calculation formula;
and the benefit feedback module determines an optimal network connection automatic bus lane layout scheme by taking the maximum social overall benefit as an objective function.
10. The system of claim 9, further comprising a data transfer module;
before the lower planning module constructs a road section traffic capacity calculation formula in the multi-mode traffic network according to the road section physical attribute, the purpose and the traffic flow composition, and further obtains a road section running time calculation formula;
and the data transmission module determines the position of the network automatic bus lane in the multi-mode traffic network according to the network automatic bus lane layout scheme, and transmits the network automatic bus lane layout scheme constructed by the upper constraint module to the lower planning module.
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