CN115115243A - Modularized bus operation and charging scheduling method without intermittent main line - Google Patents

Abstract

The invention belongs to the technical field of urban public transportation service, and particularly relates to a modular public transportation operation and charging scheduling method without an intermittent main line. The bus main line station in the method comprises a station connected with a branch line area and a common bus station, the initial grouping and departure frequency of the main line bus is determined by the requirement of passengers, and the modular bus is only allowed to be split, combined or replaced at the connection station. The modular buses run continuously along fixed lines and stations on the main line. On the premise of meeting the requirements of modular combination and replacement of the main buses, the modular buses in the branch line area are flexibly scheduled in a demand response mode, and are connected with the main buses at a fixed connection station. The modular bus operation and charge scheduling method can guarantee the electric quantity of the main bus, enables the operation of the main bus not to be influenced by charging, solves the charging problem by utilizing the branch buses, meets the traveling requirements of passengers, and improves the operation and charging efficiency.

Description

A modular bus operation and charging scheduling method with uninterrupted main line

technical field

The invention belongs to the technical field of urban bus services, in particular to a modular bus operation and charging scheduling method with uninterrupted main lines.

Background technique

Public transportation is a key factor to ensure the mobility efficiency of big cities, and it is also an important method to promote green transportation. The implementation of all-electric buses will help to reduce fossil fuel consumption, carbon dioxide emissions and local air pollution, however, the charging schedule of ordinary all-electric buses will interrupt the normal operation of the bus system, affect the operating efficiency of the public transport system, increase the operation cost. At present, the research mainly adopts mixed fleet, fast charging and other methods to reduce the impact of charging on bus operation, but the effect is relatively limited.

With the development of autonomous driving technology and vehicle manufacturing technology, fully autonomous modular buses are expected to become an important part of future urban bus systems. The characteristics of modular buses that can be split and combined can ensure the power of the main line electric buses by replacing some modules, so that the main line buses are not affected by the power and realize uninterrupted operation. However, there are still some problems waiting to be solved in the application of modular bus:

1. The characteristics of modular public transport vehicles that can be split and combined are different from those of conventional public transport, and a new grouping and dispatching mode that is suitable for the advantages of modular public transport is required.

2. Utilize the characteristics of modular buses to ensure that the main line buses are not interrupted by the charging demand during operation. It is necessary to reasonably schedule the main line buses, branch buses and modular buses on charging facilities, so as to ensure the operation efficiency of the main line buses and meet the requirements of the modular buses. charging needs.

3. The charging vehicle cannot carry out operational tasks, and a reasonable charging plan needs to be formulated to reduce operating costs.

Therefore, this paper proposes a modular bus operation and charging scheduling method to ensure the uninterrupted operation of the main line bus, overcomes the technical bottleneck in the application of modular bus, and adapts to the development trend of green and smart traffic in the future.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a modularized bus operation and charging scheduling method that guarantees the uninterrupted operation of the main line bus according to the development trend of the urban bus system in the future. The operation method of the modular bus system of the present invention has the following characteristics:

1. The main line bus runs on a fixed line. Through the splitting and combination of modular buses at the connection position of the branch line, it is guaranteed that the modular buses on the main line will always maintain a state of sufficient electricity, and the operation of the main line buses will not be interrupted due to charging requirements.

2. Under the premise of ensuring that the modular combination and replacement of main line buses can be met, the modular buses in the branch line areas will be flexibly dispatched in the form of demand response, and connected to the main line buses at fixed points.

3. The branch line area includes the branch line area with charging facilities and the branch line area without charging facilities. Modular vehicles in the area without charging piles are transferred to the area containing charging facilities for charging by merging into the main line.

The invention can guarantee the power of the main line bus, make the main line bus operation not affected by charging, solve the charging problem by using the branch line bus, and improve the operation and charging efficiency while satisfying the travel demand of passengers. The method disclosed in the present invention has strong flexibility and practicability.

The explanations for the terms of the modular bus vehicle, combination, split and transfer in the present invention are as follows:

Modular Vehicle: A road-based modular vehicle, consisting of low-capacity modular units, self-driving, fully electric-driven public transport vehicle 1, both sides of the vehicle, both sides of the vehicle, and electric switches that can be switched on and off. Control the door 2, and configure a large-capacity battery at the same time. Modular bus vehicles can be freely combined and split.

Combination and splitting: a plurality of modular bus vehicles are combined to form a modular bus fleet 4, and the electrically controlled vehicle doors 6 between two adjacent modular vehicles are opened to form a passage. The modular fleet 4 closes the electric control door 6 to close the passage, and then splits into multiple modular fleets.

Transfer: Modular bus 3 and modular bus 5 are combined to form modular fleet 4, open the electric control door 6 to form a passage, passengers in modular bus 3 enter modular bus 5, and then ungroup modular fleet 4, complete transfer.

The technical scheme of the present invention is:

A modular bus operation and charging scheduling method for an uninterrupted main line, the public transportation system is composed of a main bus line 7, several branch line areas 8 including charging facilities, several branch line areas 9 not including charging facilities, and several modular vehicles.

The bus operation and charging scheduling method of the present invention is as follows:

The bus main line 7 according to the present invention has fixed stations, including connecting stations 10 with branch line areas and ordinary bus stations 11. The initial grouping and departure frequency of the main bus lines are determined by passenger demand, and modular bus splitting is only allowed at the connecting station 10. , combine or replace. Modular buses run uninterrupted along fixed routes and stops on Main Line 7.

The modular bus vehicle according to the present invention completes charging in the branch line area 8 including charging facilities. Vehicles in area 8 drive directly to the charging facility for charging. The modular vehicles 13 in the branch line area 9 that does not contain charging facilities are merged into the main line at the connecting point to form a fleet 14 of modular bus vehicles on the main line, and are disassembled at the connecting station 10 in the branch line area 8 containing charging facilities, Enter area 8, run to the charging facility for charging 15. The modular vehicle 17 on the main line bus leaves the main line at the connecting station 10 and enters the branch line area when the remaining power does not meet the operation demand, and runs to the charging facility for charging 18 .

The modular bus vehicle of the present invention can be regrouped at the connecting station 10 according to the demand of passengers and electricity, and the main line modular bus team sends out the modular bus vehicles for the branch line area of the next connecting station at the previous connecting station. Demand, the branch line area waits at the transfer station before the arrival of the main line fleet, and is replaced or combined with the main line modular bus fleet after the arrival.

The modular bus fleet of the present invention opens the electric control door 6 to form a passage during operation, and informs the operation route of each modular vehicle, and passengers select the carriage 4 they need to reach according to their own needs.

Further, the solution model of the modular bus operation and charging scheduling method according to the present invention, that is, the model for calculating the marshalling and decomposing schedule and the charging schedule of each modular vehicle is as follows:

The objective function of the model is to minimize the total cost of the system:

min Z = Z _b + Z _d + Z _c + Z _t

Z is the total cost of the system, and j is the number of modular buses in the system. Among them, Z _b is the battery cost, the battery will be lost during use, c _b is the unit power loss cost (￥/kwh), pci and pdi are the average power during the charging and discharging process of the ith modular bus battery, respectively , hci and hdi are the charging and discharging times of the i-th modular bus battery, respectively. Z _d is the distance cost, and the vehicle will produce depreciation and other losses during the driving process. This cost is related to the vehicle travel distance l _d , c _d is the loss cost per unit distance of the modular bus vehicle (￥/km), and l _di is The distance traveled by the ith modular bus vehicle during operating hours. Z _c is the charging cost, _cc is the cost per unit of electricity (￥/kw), and e _ci is the electricity used by the ith modular bus vehicle in one day. Z _t is the transfer cost of passengers, including transfer waiting time cost and transfer inconvenience cost, which is related to the number of transfers, c _t is the initial transfer cost, β is the transfer penalty coefficient, and β _k is the modular bus vehicle in two Penalty coefficient for k times of transfers during the charging operation process.

The model constraints are:

t _i,n <T _i,n

为模块化公交车辆i在t时刻的运营状态，

为0、1变量，0表示未投入运营，1表示在运营，约束保证一个模块化公交一次最多只能进行一次行程。

为模块化公交车辆i在t时刻的充电状态，

为0、1变量，0表示未充电，1表示在充电站m充电，约束保证一个模块化公交一次只能在一个充电设施充电，且不超过充电设施最大容量。模块化公交在同一时刻只能保持运营或充电中的一种状态。in

is the operation state of the modular bus i at time t,

It is a variable of 0 and 1, 0 means it is not in operation, 1 means it is in operation, and the constraint ensures that a modular bus can only make one trip at most at a time.

is the charging state of the modular bus i at time t,

It is a variable of 0 and 1, 0 means not charging, 1 means charging at charging station m, the constraint ensures that a modular bus can only be charged in one charging facility at a time, and does not exceed the maximum capacity of the charging facility. Modular buses can only maintain one state of operation or charging at a time.

为模块化公交车辆i在t时刻的电量状态，

为0、1变量，0表示不能到达最近充电设施的下一个充电设施时，1表示可以到达最近充电设施的下一个充电设施时。

is the power state of the modular bus i at time t,

It is a variable of 0 and 1, 0 indicates that the next charging facility of the nearest charging facility cannot be reached, and 1 indicates that the next charging facility of the nearest charging facility can be reached.

为模块化公交车辆i在t时刻的剩余电量，

为模块化公交车辆i在行程时间

内所需电量，行程时间

为车辆从t时刻运行至最近充电设施所需电量，约束保证模块化公交车辆可以运行至最近充电设施进行充电。

is the remaining power of modular bus i at time t,

travel time for modular transit vehicle i

required power, travel time

For the power required by the vehicle to run to the nearest charging facility from time t, the constraint ensures that the modular bus vehicle can run to the nearest charging facility for charging.

为模块化公交车辆i在行程时间

内所需电量，E为模块化公交电池充电功率(kwh)，行程时间

为车辆从t时刻运行至最近充电设施的下一个充电设施所需电量，当模块化公交车辆剩余电量能达到最近充电设施且不能到达最近充电设施的下一个充电设施时，则对模块化公交车辆进行充电操作。

travel time for modular transit vehicle i

The required amount of electricity inside, E is the charging power of the modular bus battery (kwh), the travel time

It is the power required for the vehicle to run from the time t to the next charging facility of the nearest charging facility. When the remaining power of the modular bus vehicle can reach the nearest charging facility and cannot reach the next charging facility of the nearest charging facility, then the modular bus vehicle will be charged. Carry out the charging operation.

模块化公交车辆i在t+1时刻的剩余电量，等于

减去t时刻至t+1时刻车辆放电、加上车辆充电。

是模块化公交车初始运营时的电量，约束保证模块化公交车辆在投入运营时的电量都是满电量状态。

The remaining power of modular bus i at time t+1 is equal to

Subtract the vehicle discharge from time t to time t+1 and add the vehicle charge.

It is the power of the modular bus at the initial operation, and the constraint ensures that the power of the modular bus is fully charged when it is put into operation.

t _i,n is the time for the modular bus vehicles in the branch line area to arrive at station n, and T _i,n is the time for the modular bus vehicles on the main bus line to arrive at station n. The constraints ensure that the modular bus vehicles on the main line during the connection process No need to wait.

Model solution:

The model involved in the present invention is a mixed integer linear programming model, which can be accurately solved by the branch and bound method. By solving the model, the operation of the modular bus vehicle on the main bus line at each connection station, the operation of connecting the modular bus in the branch line area with the modular vehicle on the main line, the charging path of each modular bus vehicle, and each module can be determined. The running time, running distance and charging time of bus vehicles are optimized. Arranging the operation schedule and charging schedule of the modular bus vehicle according to the model solution result can minimize the total system cost on the premise of ensuring the passenger demand of the main line bus and the electricity demand of the modular bus vehicle.

The beneficial effects of the present invention are that the modularized bus operation and charging scheduling method of the present invention can ensure the power of the main line bus, so that the main line bus operation is not affected by charging, and use the branch bus to solve the charging problem. and charging efficiency.

Description of drawings

FIG. 1 shows a modular bus vehicle according to the present invention.

FIG. 2 shows the modular vehicle formation and transfer according to the present invention.

FIG. 3 shows an embodiment of the present invention.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the drawings, so that those skilled in the art can better understand the present invention.

Example

This example is shown in FIG. 3 , which is a modular bus system consisting of a main bus line 7 , several branch line areas 8 including charging facilities, several branch line areas 9 not including charging facilities, and several modular vehicles.

1. The main bus line 7 determines the initial grouping and departure interval according to the needs of passengers, and the modular buses in the branch line area 8 that includes charging facilities and the branch line area 9 that do not include charging facilities operate according to the needs of passengers;

2. Under the condition that the transportation capacity is satisfied, the modular vehicle 17 on the main bus line leaves the main line at the connecting station 10 and enters the branch line area when the remaining power does not meet the operation demand, and runs to the charging facility for charging 18 ;

3. In the event that the modular vehicles 17 on the main bus line have insufficient capacity to leave the main line, the modular vehicles 17 are replaced at the connecting station 10 with the modular buses with sufficient power in the branch line area that arrives ahead of schedule. The new modular bus is merged into the main line for operation, and the modular vehicles on the original bus line enter the area 8 for charging;

4. Vehicles in area 8 drive directly to the charging facility for charging;

5. Modular vehicles 13 in the branch line area 9 that do not include charging facilities are merged into the main line at the connecting station to form a fleet 14 of modular bus vehicles on the main line, and dismantled at the connecting station 10 in the branch line area 8 containing charging facilities. Solution, enter the area 8, run to the charging facility for charging 15;

6. Repeat the above steps.

Due to the constraints and optimization of the model, the modular bus operation and charging scheduling method involved in the present invention can fully guarantee the power of the modular bus vehicles on the main line, so that the main line bus operation is not affected by charging, and the branch bus is used to solve the charging problem, While meeting the travel needs of passengers, the operation and charging efficiency are improved.

Claims (1)

1. A modular bus operation and charging scheduling method without an interrupted main line defines that a bus system is composed of a bus main line (7), a plurality of branch line areas (8) containing charging facilities, a plurality of branch line areas (9) not containing charging facilities and a plurality of modular vehicles; the bus operation and charging scheduling method is characterized by comprising the following steps:

the station of the bus main line (7) is fixed and comprises a connection station (10) and a bus station (11) which are in branch line areas, the modular buses run on the bus main line (7) uninterruptedly, and the modular buses are split, combined or replaced at the connection station (10);

the charging mode of the modularized public transport vehicle is as follows: disassembling a modular bus to be charged at a connection station (10), and entering a branch area (8) to operate to a charging facility for charging;

modular public transport vehicles in the branch line area (9) are merged into the main line at the docking station (10) and form a fleet with the modular public transport vehicles on the public transport main line (7);

the motorcade formed by the modular buses opens the electric control vehicle door (6) to form a passage in the running process, and informs running routes of all the modular vehicles, and passengers select carriages required to arrive according to self requirements;

the specific method for the modular bus splitting, combining or replacing at the docking station (10) by the modular bus comprises the following steps: grouping is carried out according to the requirements of passengers and electric quantity, a main line bus fleet on a bus main line (7) sends a modular bus requirement for a branch line area of a next connection station at a previous connection station, the branch line area waits at the connection station before the main line bus fleet arrives, the main line modular bus fleet is replaced or combined with the main line modular bus fleet after arriving, and an operation scheme solving model is established by taking the minimum total system cost as a target as follows:

the objective function of the model is:

minZ＝Z _b +Z _d +Z _c +Z _t

wherein Z is the total system cost, j represents the number of modular buses in the system, Z _b For the cost of the battery, the battery is worn out during use, c _b Cost per unit power loss, p _ci And p _di Average power h in charging and discharging processes of ith modular bus battery _ci And h _di Time of charging and discharging battery of ith modular bus, Z _d Distance cost, distance cost and vehicle travel distance l _d In connection with, c _d Loss cost per unit distance traveled by a modular bus, | _di For the distance traveled by the ith modular bus in the operating time, Z _c For charging cost, c _c Cost per unit of electricity, e _ci For the electricity quantity used by the ith modular bus within one day, Z _t Transfer costs for passengers, including transfer waiting time costs and transfer inconvenience costs, related to the number of transfers, c _t Is the initial transfer cost, beta is the transfer penalty coefficient, beta _k A punishment coefficient for transferring the modular bus for k times in the two charging operation processes;

the model constraint conditions are as follows:

t _i,n <T _i,n

wherein

For the operation state of the modular public transport vehicle i at the moment t,

the variable is 0 and 1, 0 represents that the operation is not put into operation, 1 represents that the operation is in progress, the constraint ensures that one modular bus can only carry out a journey at most once,

for the charging state of the modular public transport vehicle i at time t,

the variables are 0 and 1, wherein 0 represents no charging, 1 represents charging at a charging station m, and the constraint ensures that a modular bus can only be charged at one charging facility at one time and does not exceed the maximum capacity of the charging facility, and the modular bus can only keep one state of operation or charging at the same time;

for the state of charge of the modular bus i at time t,

variables 0 and 1, wherein 0 represents that the next charging facility of the latest charging facility cannot be reached, and 1 represents that the next charging facility of the latest charging facility is reached;

for the remaining capacity of the modular bus i at the moment t,

for the modular public transport vehicle i

Internal required electric quantity, travel time

The electric quantity required for the vehicle to run from the moment t to the nearest charging facility is restricted to ensure that the modular bus can run to the nearest charging facility for charging,

for the modular public transport vehicle i

The internal required electric quantity E is the charging power (kwh) and the travel time of the modular bus battery

When the residual electric quantity of the modular bus can reach the nearest charging facility and cannot reach the next charging facility of the nearest charging facility, the modular bus is charged;

the residual capacity of the modular bus i at the moment t +1 is equal to

Minus the vehicle discharge from time t to time t +1 plus the vehicle charge,

the electric quantity of the modular bus in the initial operation is restricted to ensure that the electric quantity of the modular bus in the operation is in a full electric quantity state; t is t _i,n For modularizing the time, T, of a bus arriving at a stop n in a branch line area _i,n Constraint guarantees that the modular public transport vehicles on the main line do not need to wait in the connection process for the time when the modular public transport vehicles on the main line reach the station n;

the method comprises the steps of accurately solving a model by adopting a branch and bound method, determining the operation of a bus main line modular bus at each connection station through the solved model, connecting the modular bus in a branch line area with the modular bus on the main line, arranging a modular bus operation schedule and a modular bus charging schedule according to a model solving result, wherein the operation time, the operation distance and the charging time of each modular bus are arranged according to the model solving result, and therefore the total cost of the system is lowest on the premise of guaranteeing the bus passenger demand and the modular bus electric quantity demand.

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