CN114595973A - Method and system for dispatching road traffic vehicles - Google Patents
Method and system for dispatching road traffic vehicles Download PDFInfo
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- CN114595973A CN114595973A CN202210237579.8A CN202210237579A CN114595973A CN 114595973 A CN114595973 A CN 114595973A CN 202210237579 A CN202210237579 A CN 202210237579A CN 114595973 A CN114595973 A CN 114595973A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06311—Scheduling, planning or task assignment for a person or group
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/26—Government or public services
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
Abstract
The invention discloses a method and a system for dispatching road traffic vehicles, which are characterized in that when the vehicles stop overtime or abnormal traffic at a station, vehicle position information, road speed limit information and intersection information are acquired; judging whether a current road section has an intersection or not, if so, calculating the optimized speed of the vehicle according to the speed limit information of the road section, acquiring the vehicle state information after the optimized speed, and controlling the phase change of the signal lamp according to the vehicle state information; if not, the optimized speed of the vehicle is directly calculated by combining the operation schedule of the vehicle, and the vehicle is controlled to run at the optimized speed. The method can send an accurate speed optimizing instruction to a driver in real time, and can constantly ensure that the virtual rail train passes through the intersection at the highest priority by controlling the phase change of the signal lamp.
Description
Technical Field
The invention relates to the field of rail traffic or road traffic, in particular to a method and a system for dispatching road traffic vehicles.
Background
The construction of track traffic modes such as subways and the like in small and medium-sized cities is limited, urban roads are easily crowded due to the fact that a large number of passenger cars appear, the virtual rail train has the characteristic of large passenger capacity, smooth running and punctual arrival of the virtual rail train are guaranteed, the traveling problem of most people can be solved, and compared with the virtual rail train, the using amount of the passenger cars can be reduced, so that the traffic congestion problem can be solved to a great extent.
The control method of the existing public transportation dispatching system for ensuring the vehicle to arrive at the station at the right point is that a vehicle sensing device is arranged at a road fixed position between the stations, when the vehicle is sensed to pass through, the state data of the vehicle is sent to a remote dispatching room, and the remote dispatching room informs a driver that the vehicle needs to accelerate or decelerate. The method needs the cooperation of a remote dispatching room, has low real-time performance, can adjust the speed only when the vehicle passes through the induction device, and cannot adjust the speed in time when the vehicle stops abnormally in a place without the induction device, so that the arrival of a vehicle at a point cannot be guaranteed.
In addition, in the existing vehicle scheduling method for controlling the speed of the virtual rail train in combination with the change of the signal lamp phase, the speed of the vehicle is only controlled to be the highest speed, the purpose is only to ensure that the vehicle does not have overspeed in each road section, and in the signal lamp phase control strategy, the virtual rail train is not taken as the vehicle passing the highest priority, and smooth operation and accurate point arrival of the virtual rail train cannot be realized.
Disclosure of Invention
The invention aims to solve the technical problem that the prior art is insufficient, and provides a method and a system for dispatching road traffic vehicles, which ensure that the road traffic vehicles pass through an intersection with the highest priority and ensure that the vehicles arrive at the station at a correct point.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a road traffic vehicle comprising the steps of:
s1, when the vehicle stops overtime or the traffic is abnormal at the station, acquiring the vehicle position information, the road section speed limit information and the intersection information;
s2, judging whether the current road section has an intersection or not, if so, calculating the optimized speed of the vehicle according to the speed limit information of the road section, acquiring the vehicle state information after the optimized speed, and controlling the phase change of the signal lamp according to the vehicle state information; if not, the optimized speed of the vehicle is directly calculated by combining the operation schedule of the vehicle, and the vehicle is controlled to run at the optimized speed.
The invention aims at the problems that the stop time is too long due to too many passengers in the previous station, or the stop waiting time cannot be accurately reached due to the fact that the running time of the section is too long due to the condition that the section traffic road conditions are too much (traffic accidents or other vehicles mistakenly break into special road sections), or the vehicles are forced to stop waiting due to the fact that red lights meet at the intersection, and the like. The invention can ensure that the virtual rail train passes through the intersection with the highest priority at any time, and can more accurately realize the accurate point arrival of the vehicle.
Before step S1, the method further includes:
judging whether the vehicle is in the station, if so, judging whether the vehicle is overtime according to the stop time record and the planned stop time; otherwise, the process proceeds to step S2.
In the present invention, before determining whether the vehicle is inside the station, the method further includes: judging whether the real-time speed of the vehicle is 0 or not, if so, judging whether the vehicle is in the station or not according to the real-time position information of the vehicle and the position information of the station; otherwise, the vehicle is running normally.
The method comprises the steps of firstly judging whether the speed of the vehicle is 0, if so, judging whether the vehicle is in a station, and if not, normally running the vehicle. The invention firstly judges whether the vehicle has the parking behavior or not, and carries out the subsequent operation only if the vehicle has the parking behavior, thereby simplifying the scheduling process and improving the scheduling efficiency.
In the invention, after a parking behavior occurs, whether a vehicle is in a station needs to be judged, if so, the vehicle is judged to park and enter the station at the moment, whether parking is overtime needs to be further judged, whether a vehicle speed optimization strategy is adopted is determined according to whether parking is overtime, if not, the vehicle is judged to park due to a traffic accident or other reasons outside the station, the vehicle speed optimization strategy is directly adopted, and the process has the function of judging the reason why the vehicle parks, so that accurate scheduling is realized.
In the above step S2, the optimized speed of the vehicle satisfies the following condition:
wherein, Vup、tup、SupRespectively representing the final speed, the acceleration time and the displacement of the vehicle acceleration section; vdown、tdown、SdownRespectively representing the initial speed, the deceleration time and the displacement of the vehicle deceleration section; vun、tun、SunRespectively representing the speed, time and displacement of the vehicle in the uniform speed stage, wherein VunThe vehicle speed control module calculates the optimal running speed of the vehicle for achieving the aim of vehicle quasi-point arrival; t isjpin-TbRepresenting the remaining road section running time of arriving at the station on time when the vehicle starts running; sj-SbRepresenting a distance between the current position of the vehicle and the next stop; vlimRepresenting the highest speed limit for the road section.
Traditional public transport vehicle only guarantees that it can accurate point arrive at a station at first and last station, and the arrival time of vehicle at each station can not accurate consideration, and the operation process curve of vehicle does not have the law, to the overtime or the problem that other traffic accidents lead to the vehicle to park of stopping at a station, the driver only carries out the speed-up to the vehicle according to experience to guarantee that the vehicle accurately arrives next station as far as possible, still can't guarantee vehicle arrival time accurately.
The virtual rail train runs on a fixed line according to a typical running chart curve, the vehicle typical running chart curve is mainly established by combining the running simulation calculation and the running test result of the vehicle in the early stage, and the establishment of the curve needs to consider a plurality of factors including different road slopes, curve conditions, load conditions of the vehicle and the like. Based on the typical map curve of the vehicle, and the current operating conditions of the vehicle (the slope, the current speed, the load condition, etc.), the operating process curve of the vehicle in a future specified period of time (including the acceleration, the speed, the displacement of the vehicle at any time in the future period of time) can be determined, and based on this, when the vehicle actually stops in the station for a time-out or stops in the middle of the road between the stations due to other traffic accidents, the operation curve of the vehicle needs to be re-planned, the total distance of the curve is the distance between the current position of the vehicle and the next station, the total time of the curve is the remaining driving time of the vehicle when the vehicle is guaranteed to arrive at the station, the curve comprises an acceleration section curve, a constant speed section curve and a deceleration section curve of the vehicle, and the length distribution strategy of the three sections of curves is determined by taking the constraint condition required by the formula as a target.
The invention calculates the optimized speed of the vehicle, under the condition of normal operation, the operation process curve of the vehicle between each station is planned, the vehicle can be kept to arrive at a collimation point at each station when operating according to the curve, when other accidents occur (the vehicle stops overtime or stops midway between the stations), the operation process curve is re-planned, the vehicle operates according to the re-planned operation process curve, and the planning target of the vehicle operation process curve is the formula. Compared with the prior art, the method can ensure that the virtual rail train accurately arrives at the station at the vehicle punctuality.
The implementation process for controlling the phase change of the signal lamp according to the vehicle state information comprises the following steps: when the vehicle-mounted module detects that the stop line of the vehicle away from the first intersection is Km, the vehicle speed is still kept at the optimized speed VunWhen the vehicle is running, the signal lamp receiver of the first intersection receives the signal lampVehicle state information sent from an on-board module and an optimized speed V of the vehicleunAnd the signal lamp control is combined with the current phase information of the signal lamp to control the time of the signal lamp to be prolonged or shortened or unchanged; k is a set distance threshold;
when the vehicle-mounted module detects that the vehicle passes through the first intersection and is away from the stop line Km of the second intersection, the vehicle keeps the optimized speed VunWhen the vehicle runs, the signal lamp receiver of the second intersection receives the vehicle state information and the optimized speed of the vehicle sent by the vehicle-mounted module and sends the vehicle state information and the optimized speed of the vehicle to the signal lamp controller, and the signal lamp controller controls the time change of the signal lamp of the second intersection;
and so on until the vehicle passes through all intersections.
The control principle of each intersection signal lamp in the invention is as follows: the vehicle can smoothly pass through the intersection at the current speed without changing the speed. The speed control of the vehicle and the phase control of the signal lamps are decoupled in the control mode, the speed control of the vehicle only needs to consider the position and the arrival time of each station and does not need to consider the influence of an intersection, the phase control of the signal lamps only needs to consider the optimized current speed and position of the vehicle and does not need to consider how the vehicle controls the speed, and the control process is simpler and more convenient for engineering realization.
Using formulas
Calculating the signal lamp change time T of the ith intersectioni；ScrossIndicating the length of the intersection, VunIndicating the optimal speed, T, of the vehicleirIndicating the remaining time of the red light, TbArriveIndicating the time required for the vehicle to reach the intersection,
Tigindicating the remaining time of the green light, TbCrossIndicating the time required for the vehicle to pass through the intersection,
the judgment principle of the invention is as follows: when the vehicle is 100m away from the nearest intersection (the determination principle of the distance mainly ensures that the vehicle-mounted equipment can normally communicate with the communication equipment of the intersection, and the specific value can be determined according to the communication distance of the equipment), if the signal lamp is a green lamp, whether the current remaining time of the green lamp is enough for the vehicle to pass through the intersection needs to be considered, so that the time from the time when the vehicle enters the intersection to the time when the vehicle completely passes through the intersection at the current speed needs to be considered; if the signal lamp is a red lamp at present, in order to ensure that the vehicle smoothly passes through the intersection, when the phase of the signal lamp is switched to be a green lamp when the vehicle reaches the intersection, only the time required by the vehicle to move from the current position to the intersection needs to be considered.
The invention also provides a dispatching system of the virtual rail train, which comprises computer equipment; the computer device is configured or programmed for performing the steps of the above-described method of the invention.
The road traffic vehicles in the present invention include virtual rail trains, trams, BRTs and other similar rapid road traffic vehicles (vehicles targeting rapid, quasi-point to station).
Compared with the prior art, the invention has the beneficial effects that:
1. the method can send an accurate optimized speed instruction to a driver in real time, and can constantly ensure that the virtual rail train passes through the intersection at the highest priority by controlling the phase change of the signal lamp, thereby realizing the dual control of the vehicle speed and the signal lamp, more accurately realizing the accurate arrival of the vehicle at the station and solving the problem that the train cannot accurately arrive at the next station due to the overlong stop time of the road traffic vehicle;
2. the invention can reduce the problem of road traffic and solve the problem of delay of the travel of other vehicles occupying special roads;
3. the invention optimizes the traffic light phase, improves the train operation efficiency and achieves the aim of rapid and accurate arrival at the station.
Drawings
FIG. 1 is an overall flow chart of a method of scheduling road traffic vehicles in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a virtual rail train operation mode and train speed optimization according to an embodiment of the present invention;
fig. 3 is a schematic diagram of the speed optimization and intersection signal light control process of the virtual rail train according to the embodiment of the invention:
in fig. 3: the trackless system 1 represents a vehicle-mounted module, the electronic map module 2, the speed control module 3, the signal lamp receiver 4 and the signal lamp phase controller 5.
Detailed Description
Aiming at a virtual rail train which runs on a fixed route and has a fixed operation mode, the embodiment of the invention provides a scheduling method and a scheduling system which combine speed control and signal lamp phase control through optimizing the virtual rail train, so as to solve the problem that the vehicle delays the journey because of too long stop time or road traffic problems. The system comprises an electronic map module, a vehicle-mounted module (such as an information acquisition module on an intelligent driving vehicle), a speed control module, a wireless signal receiver and a signal lamp phase controller.
The electronic map module is used for storing and numbering position information of each station and each intersection and speed limit information of each road section in the operation route; the vehicle-mounted module has the functions of recording time in real time, sensing the position and the speed of the vehicle in real time and sending vehicle state information to the intersection signal machine; the speed control module is mainly used for calculating an optimized speed command of the vehicle and sending the optimized speed command to a vehicle driver and the vehicle-mounted module.
The intersection signal lamp receiver is mainly used for receiving vehicle state information and vehicle optimized speed information and sending the information to the signal lamp phase controller; the signal lamp phase controller is mainly used for controlling the phase change of signal lamps and ensuring that vehicles do not need to wait for directly passing through the intersection after arriving at the intersection.
When the vehicle stops overtime at a station or stops due to abnormal traffic, the speed control module receives vehicle position information sensed by the vehicle-mounted module and road section speed limit information and intersection information provided by the electronic map module, if the current road section has no intersection, the optimized speed of the vehicle is directly calculated by combining an operation schedule of the vehicle and is sent (prompted) to a vehicle driver, if the road section has the intersection, after the vehicle speed is optimized by the speed control module, the intersection signal machine receives vehicle state information after the vehicle speed is optimized and sends the vehicle state information to the signal phase control machine, and the signal phase control machine controls the phase change of a signal lamp, so that the vehicle is ensured to smoothly pass through the intersection.
The following describes a specific implementation process of the embodiment of the present invention in detail with reference to the flowchart of fig. 1, as follows:
step 1: detecting the speed of the vehicle in real time;
the vehicle speed is detected in real time through a vehicle-mounted module on the vehicle, when the vehicle speed is not 0, the normal operation plan operation is kept, and when the vehicle speed is detected to be 0, the next judgment is carried out.
Step 2: judging whether the vehicle is in the station;
and vehicle position information is obtained through sensing of a vehicle-mounted module on the vehicle and is compared with the station position in the electronic map. If the positions are the same, the vehicle is in the station, and the step 3 is skipped to judge; and if the positions are different, the vehicle is outside the station, and the step 4 is skipped to judge.
And step 3: judging whether the vehicle stops in the station or not;
when the vehicle position sensed by the vehicle-mounted module is the same as the station position in the electronic map, the vehicle is indicated to enter the station, and the time point T at the moment in the vehicle-mounted module is recorded for the first timejin(ii) a When the vehicle speed sensed by the vehicle-mounted module changes from 0, the vehicle is indicated to start to exit, and the time point T at the moment in the vehicle-mounted module is recorded for the second timejout. The vehicle stop time is:
Tjm＝Tjout-Tjin
when T isjm＜TjpWhen the vehicle stops, the vehicle stops without time-out and is right after the vehicle leaves the stationCarrying out normal operation; when T isjm＞TjpAnd if so, stopping the vehicle for overtime, and entering the step 4 for judgment. T isjpRepresenting the planned stop time in the vehicle operation plan.
And 4, step 4: calculating optimal speed of vehicle
As shown in fig. 2, the virtual rail train has a fixed operation mode, and is divided into a maximum acceleration stage, a maximum speed constant speed stage and a maximum deceleration stage, and when the vehicle stops overtime or stops due to traffic conditions on the road, the vehicle can be guaranteed to arrive at the station on time by optimizing the maximum speed of the vehicle. The speed control module of the vehicle acquires the position information and the planned arrival time of the next station from the electronic map, acquires the current position information and the current time of the vehicle from the vehicle-mounted module, and always assumes that the vehicle can smoothly pass through the intersection without stopping. From the information obtained, and from the maximum acceleration and the maximum deceleration of the vehicle, the optimal speed of the vehicle can be calculated. The calculation process is as follows:
(1) the initial speed is 0, and the highest speed, the acceleration time and the displacement of an acceleration section in an acceleration interval are calculated (determined according to an acceleration section curve in a typical running chart of the vehicle);
(2) the final speed is 0, and the initial speed, the deceleration time and the deceleration section displacement when the vehicle starts to decelerate in the deceleration section are inversely calculated (determined according to a deceleration section curve in a typical running chart of the vehicle);
(3) the optimal speed of the vehicle needs to satisfy the following conditions simultaneously:
in the above formula: vup，Tup，SupRespectively representing the final speed, the acceleration time and the displacement of the vehicle acceleration section;
Vdown，Tdown，Sdownrespectively representing the initial speed, the deceleration time and the displacement of the vehicle deceleration section;
Vun，Tun，Sunrespectively representing the speed, time and position of the uniform speed stage of the vehicleMoving;
Tjpin-Tbrepresenting the remaining road section running time of arriving at the station on time when the vehicle starts running;
Sj-Sbindicating the distance (course) between the current position of the vehicle and the next station;
Vlimrepresenting the highest speed limit for the road section.
And 5: judging whether an intersection exists between the current position of the vehicle and the next station;
the vehicle position information provided by the vehicle-mounted module can be used for knowing which two stations of the electronic map the vehicle is positioned between, and then the electronic map can be used for knowing whether an intersection exists between the two stations.
Step 6: a phase change strategy of a signal lamp at the intersection;
(1) when no intersection exists between the two stations, the phase of the signal lamp does not need to be changed;
(2) when a plurality of intersections exist between two stations, only the signal lamps of the intersection nearest to the vehicle are controlled. Because the vehicle speed control strategy is calculated on the premise that the vehicle can smoothly pass through the intersection, when the vehicle-mounted module detects that the vehicle is away from the stop line 100m of the first intersection (the distance is determined according to the principle that normal communication between the vehicle-mounted equipment and the communication equipment of the intersection can be ensured, and specific values can be determined according to the communication distance of the equipment), the vehicle speed is still kept at the optimized speed VunThe signal lamp receiver of the first intersection receives the vehicle state information and the optimized speed information V of the vehicle sent by the vehicle-mounted moduleunAnd the signal light is sent to a signal light controller which can ensure that the vehicle still can use VunIf the traffic light passes through the intersection smoothly, the current phase information of the traffic light is required to be combined to determine whether the time of the traffic light is prolonged or shortened or unchanged;
when the vehicle-mounted module detects that the vehicle passes through the first intersection and is 100m away from the stop line of the second intersection, the vehicle still stops without deceleration or stopping due to accidentsWhile maintaining the optimum speed VunThe signal lamp receiver of the second intersection receives the vehicle state information and the optimized speed information of the vehicle sent by the vehicle-mounted module and sends the vehicle state information and the optimized speed information to the signal lamp controller, so that the time change of the signal lamp of the second intersection is controlled;
the signal lamps of the following crossroads are controlled by the method until the vehicle passes through all the crossroads;
(4) the signal lamp controller adopts three control strategies as follows:
prolonging the green light time: if the current corresponding traffic light is in the green light phase, the vehicle can not pass through the intersection within the corresponding remaining green light time, and then a green light prolonging mechanism is adopted;
and cutting off the red light time: if the current corresponding traffic light is in the red light phase, the remaining time of the red light is long, and the red light phase is not finished when the vehicle runs to the stop line of the intersection, a red light cut-off mechanism is adopted;
and (3) no treatment: if the current signal lamp is in the red lamp phase, the signal lamp can be normally switched to the green lamp before the vehicle runs to the stop line of the intersection; or the duration of the green light signal is long enough, namely the green light time is not finished after the vehicle completely passes through the intersection, and a non-processing mechanism is adopted.
According to the optimized speed information and the position information of the vehicle, if the signal lamp is at the red lamp phase position, the time T required by the vehicle to reach the ith intersection is calculatedbArriveThe calculation formula is as follows:
if the signal lamp is in the green lamp phase at present, calculating the time T required by the vehicle to pass through the ith intersectionbCrossThe calculation formula is as follows:
the calculation formula of the traffic light change time (red light cutoff or green light extension) at the ith intersection is as follows:
in the above formula: scrossIndicating the length of the crossroad, VunIndicating the optimal speed, T, of the vehicleiIndicating time of change of traffic light (red light cut-off or green light extended), TirIndicating the remaining time of the red light, TbArriveIndicating the time required for the vehicle to reach the intersection, TigIndicating the remaining time of the green light, TbCrossIndicating the time required for the vehicle to pass through the intersection.
In fig. 3: the system comprises an on-board module 1, an electronic map module 2, a speed control module 3, a signal lamp receiver 4 and a signal lamp phase controller 5.
Fig. 3 shows: when the vehicle is away from the stop line 100 of the intersection, the vehicle sends the optimized speed information and the vehicle state information to the signal lamp receiver, the signal lamp receiver transmits the optimized speed information and the optimized vehicle state information to the signal lamp phase controller, and the signal lamp phase controller controls the phase of the signal lamp according to the principle to ensure that the vehicle smoothly passes through the intersection.
Claims (7)
1. A method for dispatching road traffic vehicles is characterized by comprising the following steps:
s1, when the vehicle stops overtime or the traffic is abnormal at the station, acquiring the vehicle position information, the road section speed limit information and the intersection information;
s2, judging whether the current road section has an intersection or not, if so, calculating the optimized speed of the vehicle according to the speed limit information of the road section, acquiring the vehicle state information after the optimized speed, and controlling the phase change of the signal lamp according to the vehicle state information; if not, directly calculating the optimized speed of the vehicle by combining with the operation schedule of the vehicle, and controlling the vehicle to run at the optimized speed.
2. The method of claim 1, wherein before step S1, the method further comprises:
judging whether the vehicle is in the station, if so, judging whether the vehicle is overtime according to the stop time record and the planned stop time; otherwise, the process advances to step S2.
3. The method of claim 2, wherein determining whether the vehicle is within the station further comprises: judging whether the real-time speed of the vehicle is 0 or not, if so, judging whether the vehicle is in the station or not according to the real-time position information of the vehicle and the position information of the station; otherwise, the vehicle is running normally.
4. The method for dispatching road traffic vehicles according to claim 1, wherein in step S2, the optimized speed of the vehicle satisfies the following condition:
wherein, Vup、tup、SupRespectively representing the final speed, the acceleration time and the displacement of the vehicle acceleration section; vdown、tdown、SdownRespectively representing the initial speed, the deceleration time and the displacement of the vehicle deceleration section; vun、tun、SunRespectively representing the speed, time and displacement of the vehicle in the uniform speed stage, VunNamely the optimized speed of the vehicle; t isjpin-TbRepresenting the remaining road section running time of arriving at the station on time when the vehicle starts running; sj-SbRepresenting a distance between the current position of the vehicle and the next stop; vlimRepresenting the highest speed limit for the road section.
5. The method of claim 1, wherein controlling the implementation of signal lamp phase changes based on vehicle status information comprises: when the vehicle-mounted module detects the distance between the vehiclesAt the stop line Km from the first intersection, the vehicle speed is still maintained at the optimum speed VunWhen the vehicle runs, the signal lamp receiver of the first intersection receives the vehicle state information sent by the vehicle-mounted module and the optimized speed V of the vehicleunAnd the signal lamp control is combined with the current phase information of the signal lamp to control the time of the signal lamp to be prolonged or shortened or unchanged; k is a set distance threshold;
when the vehicle-mounted module detects that the vehicle passes through the first intersection and is away from the stop line Km of the second intersection, the vehicle keeps the optimized speed VunWhen the vehicle runs, the signal lamp receiver of the second intersection receives the vehicle state information and the optimized speed of the vehicle sent by the vehicle-mounted module and sends the vehicle state information and the optimized speed to the signal lamp controller, and the signal lamp controller controls the time change of the signal lamp of the second intersection;
and so on until the vehicle passes through all intersections.
6. The method of claim 5, wherein the formula is utilized
Calculating the signal lamp change time T of the ith intersectioni；ScrossIndicating the length of the intersection, VunIndicating the optimal speed, T, of the vehicleirIndicating the remaining time of the red light, TbArriveIndicating the time required for the vehicle to reach the intersection,
Tigindicating the remaining time of the green light, TbCrossIndicating the time required for the vehicle to pass through the intersection,
7. the virtual rail train dispatching system of claim 1, comprising a computer device; the computer device is configured or programmed for carrying out the steps of the method according to one of claims 1 to 6.
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| CN202210237579.8A CN114595973A (en) | 2022-03-10 | 2022-03-10 | Method and system for dispatching road traffic vehicles |
| PCT/CN2022/135754 WO2023169005A1 (en) | 2022-03-10 | 2022-12-01 | Road traffic vehicle dispatching method and system |
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| WO2023169005A1 (en) * | 2022-03-10 | 2023-09-14 | 中车株洲电力机车有限公司 | Road traffic vehicle dispatching method and system |
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|---|---|---|---|---|
| CN106846871B (en) * | 2017-03-21 | 2020-08-28 | 广东数相智能科技有限公司 | Method, device and system for planning vehicle speed according to navigation path |
| CN110379164B (en) * | 2019-07-26 | 2021-09-21 | 公安部交通管理科学研究所 | Dynamic regulation and control bus punctuality control method and system |
| CN112562326A (en) * | 2020-11-26 | 2021-03-26 | 上汽通用五菱汽车股份有限公司 | Vehicle speed guiding method, server and readable storage medium |
| CN113516866B (en) * | 2021-04-28 | 2022-06-14 | 大连理工大学 | Bus punctual arrival scheduling method under integration of intelligent networking technology |
| CN113538935B (en) * | 2021-05-12 | 2022-11-04 | 南京理工大学 | Bus punctuality rate optimization induction type control method under special road right-free environment |
| CN114595973A (en) * | 2022-03-10 | 2022-06-07 | 中车株洲电力机车有限公司 | Method and system for dispatching road traffic vehicles |
-
2022
- 2022-03-10 CN CN202210237579.8A patent/CN114595973A/en active Pending
- 2022-12-01 WO PCT/CN2022/135754 patent/WO2023169005A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023169005A1 (en) * | 2022-03-10 | 2023-09-14 | 中车株洲电力机车有限公司 | Road traffic vehicle dispatching method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023169005A1 (en) | 2023-09-14 |
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