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

Modularized bus operation and charging scheduling method without intermittent main line Download PDF

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CN115115243A
CN115115243A CN202210788838.6A CN202210788838A CN115115243A CN 115115243 A CN115115243 A CN 115115243A CN 202210788838 A CN202210788838 A CN 202210788838A CN 115115243 A CN115115243 A CN 115115243A
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范林强
刘昱岗
易洪波
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Institute Of Transportation Development Strategy & Planning Of Sichuan Province
Southwest Jiaotong University
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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

Modularized bus operation and charging scheduling method without intermittent main line
Technical Field
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.
Background
Public transportation is a key factor for ensuring the mobile efficiency of a large city and is also an important method for promoting green transportation. The implementation of the all-electric bus is helpful to reduce fossil fuel consumption, carbon dioxide emission and local air pollution, however, the normal operation of the bus system is interrupted by the charging plan of the common all-electric bus, the operation efficiency of the bus system is affected, and the operation cost is increased. At present, the influence of charging on public transport operation is mainly reduced by adopting modes such as hybrid motorcade and quick charging, but the generated effect is limited.
With the development of automatic driving technology and vehicle manufacturing technology, fully-automatic driving modular buses are expected to become important components in urban public transportation systems in the future. The characteristic that the modular buses can be disassembled and combined can ensure the electric quantity of the main line electric buses by replacing partial modules, so that the main line buses are not influenced by the electric quantity, and uninterrupted operation is realized. However, the modular public transport has some problems waiting to be solved in the application:
1. the characteristic of the detachable combination of the modular buses is different from that of the conventional buses, and a new grouping and scheduling mode suitable for exerting the advantages of the modular buses is needed.
2. The characteristics of the modular buses are utilized to ensure that the main buses are not interrupted by the charging requirements in the operation, the main buses, the branch buses and the modular buses on the charging facilities need to be reasonably scheduled, and the charging requirements of the modular buses are met while the operation efficiency of the main buses is ensured.
3. The vehicle in charge can not carry out the operation task, needs rationally to formulate the charging plan and reduce the operation cost.
Therefore, the modular bus operation and charging scheduling method for guaranteeing uninterrupted operation of the main bus is provided, the technical bottleneck of the application of the modular bus is overcome, and the method is suitable for the green and intelligent development trend of future traffic.
Disclosure of Invention
The invention aims to provide a modular bus operation and charging scheduling method for guaranteeing uninterrupted operation of main buses aiming at the development trend of a future urban bus system. The operation method of the modular public traffic system has the following characteristics:
the bus on the main line runs on the fixed line, and the modular buses on the main line are guaranteed to always keep the state of sufficient electric quantity through the split combination of the modular buses connected with the branch lines, so that the bus running can not be interrupted due to the charging requirement.
And secondly, on the premise of ensuring that the requirements of modular combination and replacement of the main bus can be met, flexibly dispatching the modular buses in the branch line area in a demand response mode, and connecting the modular buses with the main bus at a fixed point position.
And thirdly, the branch line areas comprise a branch line area containing a charging facility and a branch line area without the charging facility, and the modular vehicles in the area without the charging pile are transferred to the area containing the charging facility for charging in a mode of merging into the main line.
The invention can ensure the electric quantity of the main bus, prevent the operation of the main bus from being influenced by charging, solve the charging problem by using the branch buses, meet the traveling requirements of passengers and simultaneously improve the operation and charging efficiency. The method disclosed by the invention has strong flexibility and practicability.
The terms of modular buses, combination, split, transfer and the like in the invention are explained as follows:
modular Vehicle (Modular Vehicle): a modular vehicle based on roads is composed of low-capacity modular units, an automatic-driving and full-electric-energy-driven public transport vehicle 1, electric control vehicle doors 2 with switchable opening and closing states are arranged at the two sides of the vehicle, the head and the tail of the vehicle, and a large-capacity storage battery is configured at the same time. The modular buses can be freely combined and disassembled.
Combining and splitting: a plurality of modularized public transport vehicles are combined to form a modularized public transport vehicle fleet 4, and an electric control vehicle door 6 between two adjacent modularized vehicles is opened to form a passage. The modular fleet 4 closes the closed aisle of the electrically controlled vehicle doors 6 and is then split into multiple modular fleets.
Transfer: the modularized bus 3 and the modularized bus 5 are combined to form a modularized bus fleet 4, the electric control vehicle door 6 is opened to form a passage, passengers in the modularized bus 3 enter the modularized bus 5, then the grouping of the modularized bus fleet 4 is removed, and transfer is completed.
The technical scheme of the invention is as follows:
a modular bus operation and charging scheduling method without an intermittent main line is characterized in 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 comprises the following steps:
the bus main line 7 station is fixed and comprises a station 10 connected with a branch line area and a common bus station 11, 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 station 10. The modular buses run uninterruptedly on the main line 7 along the fixed line and the stations.
The modular bus provided by the invention completes charging in the branch line area 8 containing the charging facility. The vehicles in the area 8 directly travel to the charging facility for charging. The modular buses 13 in the branch area 9 without the charging facility are merged into the buses on the main line and the main line at the docking station to form a fleet 14, are disassembled at the docking station 10 of the branch area 8 with the charging facility, enter the area 8, and run to the charging facility for charging 15. When the residual electric quantity does not meet the operation requirement, the modular vehicle 17 on the main bus leaves the main line at the connection station 10, enters the branch line area, and operates to the charging facility for charging 18.
The modular bus can be regrouped at the docking station 10 according to the requirements of passengers and electric quantity, a main line modular bus fleet sends a modular bus requirement for a branch line area of a next docking station at a previous docking station, the branch line area waits at the docking station before the main line bus fleet arrives, and the main line modular bus fleet is replaced or combined with the branch line modular bus fleet after the main line modular bus fleet arrives.
The modular bus fleet opens the electric control vehicle door 6 to form a passage in the running process, and informs running routes of all modular vehicles, so that passengers can select the compartment 4 required to arrive according to self requirements.
Further, the solving model of the modular bus operation and charging scheduling method of the invention is that the model for calculating the grouping solution scheduling table and the charging scheduling table of each modular bus is as follows:
the objective function of the model is the minimum of the total cost of the system:
min Z＝Z b +Z d +Z c +Z t
Figure BDA0003732863800000031
Figure BDA0003732863800000032
Figure BDA0003732863800000033
Figure BDA0003732863800000034
z is the total system cost, and j represents the number of modular buses in the system. Wherein Z b For the cost of the battery, the battery is worn out during use, c b And for unit power loss cost (rahwh), the pci and the pdi are respectively the average power of the ith modular bus battery in the charging and discharging processes, and the hci and the hdi are respectively the charging and discharging time of the ith modular bus battery. Z d The distance cost is the loss of the vehicle such as depreciation in the driving process, and the cost is the distance l of the vehicle d In connection with, c d Loss cost per unit distance (rah/km), l for modular buses di The distance traveled by the ith modular bus in the operating time. Z is a linear or branched member c For charging cost, c c Is the cost (/ kw) of the unit quantity of electricity ci The electricity quantity used in one day for the ith modular bus. 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 And a punishment coefficient for transferring the modularized bus for k times in the two charging operation processes.
The model constraint conditions are as follows:
Figure BDA0003732863800000041
Figure BDA0003732863800000042
Figure BDA0003732863800000043
Figure BDA0003732863800000044
Figure BDA0003732863800000045
Figure BDA0003732863800000046
Figure BDA0003732863800000047
Figure BDA0003732863800000048
t i,n ＜T i,n
wherein
Figure BDA0003732863800000049
For the operation state of the modular public transport vehicle i at the moment t,
Figure BDA00037328638000000410
the variables are 0 and 1, wherein 0 represents that the bus is not put into operation, 1 represents that the bus is in operation, and the constraint ensures that one modular bus can only carry out one trip at most once.
Figure BDA00037328638000000411
For the charging state of the modular public transport vehicle i at time t,
Figure BDA00037328638000000412
the variables are 0 and 1, wherein 0 represents no charging, and 1 represents charging at the charging station m, and the constraint ensures that a modular bus can only be charged at one charging facility at one time and the maximum capacity of the charging facility is not exceeded. The modular bus can only keep one state of operation or charging at the same time.
Figure BDA00037328638000000413
For the state of charge of the modular bus i at time t,
Figure BDA00037328638000000414
the variables are 0 and 1, where 0 indicates that the next charging facility of the latest charging facility cannot be reached, and 1 indicates that the next charging facility of the latest charging facility can be reached.
Figure BDA0003732863800000051
For the remaining capacity of the modular bus i at the moment t,
Figure BDA0003732863800000052
for the modular public transport vehicle i
Figure BDA0003732863800000053
Internal required electric quantity, travel time
Figure BDA0003732863800000054
And the electric quantity required by the vehicle to run to the nearest charging facility from the moment t is restrained to ensure that the modular bus can run to the nearest charging facility for charging.
Figure BDA0003732863800000055
For the modular public transport vehicle i
Figure BDA0003732863800000056
The internal required electric quantity E is the charging power (kwh) and the travel time of the modular bus battery
Figure BDA0003732863800000057
And when the residual electric quantity of the modular bus can reach the nearest charging facility and can not reach the next charging facility of the nearest charging facility, the modular bus is charged.
Figure BDA0003732863800000058
The residual capacity of the modular bus i at the moment t +1 is equal to
Figure BDA0003732863800000059
Subtract time t to time t +1, vehicle discharge, plus vehicle charge.
Figure BDA00037328638000000510
The electric quantity of the modularized bus in the initial operation is restricted to ensure that the electric quantity of the modularized bus in the operation is in a full electric quantity state。
t i,n For modularizing the time, T, of a bus arriving at a stop n in a branch line area i,n The time of the modular bus on the bus main line reaching the station n is restricted to ensure that the modular bus on the main line does not need to wait in the connection process.
Solving the model:
the model involved in the invention is a mixed integer linear programming model, and can be accurately solved by a branch-and-bound method. The operation of the modular public transport vehicles on the public transport main line at each connection station, the operation of the modular public transport vehicles on the main line in the branch line area for connection, the charging path of each modular public transport vehicle, and the operation time, the operation distance and the charging time of each modular public transport vehicle can be determined by solving the model. The operation schedule and the charging schedule of the modular bus are arranged according to the model solving result, so that the total cost of the system can be minimized on the premise of ensuring the passenger demand of the main bus and the electric quantity demand of the modular bus.
The modular bus operation and charge scheduling method has the advantages that the electric quantity of the main bus can be guaranteed, the operation of the main bus is not influenced by charging, the problem of charging is solved by using the branch buses, the travel requirements of passengers are met, and the operation and charging efficiency is improved.
Drawings
Figure 1 shows a modular public transport vehicle according to the invention.
Fig. 2 shows a modular vehicle grouping and transfer according to the invention.
Fig. 3 shows an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, so that those skilled in the art can better understand the present invention.
Examples
This example is shown in fig. 3, which is a modular public transportation system composed of a public transportation 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.
1. The bus main line 7 determines the initial grouping and departure interval according to the passenger demand, and modular buses in a branch line area 8 containing the charging facility and a branch line area 9 not containing the charging facility operate respectively according to the passenger demand response;
2. under the condition that the transport capacity is met, when the residual electric quantity does not meet the operation requirement, the modular vehicle 17 on the bus main line leaves the main line at the connection station 10, enters a branch line area, and operates to a charging facility to be charged 18;
3. under the condition that the capacity of the modular bus 17 on the bus main line is insufficient when the modular bus 17 leaves the main line, the modular bus 17 is replaced with the modular bus with sufficient electric quantity in the branch line area which arrives in advance at the docking station 10, the modular bus in the original area 8 is merged into the main line to run, and the modular bus on the original bus main line enters the area 8 to be charged;
4. vehicles in the area 8 directly drive to a charging facility for charging;
5. the modular vehicles 13 in the branch area 9 without the charging facility are merged into the main line at the docking station and form a fleet 14 with the modular buses on the main line, are disassembled at the docking station 10 of the branch area 8 with the charging facility, enter the area 8, and run to the charging facility for charging 15;
6. and circulating the steps.
Due to the constraint and optimization of the model, the modular bus operation and charge scheduling method can fully guarantee the electric quantity of the modular bus on the main line, so that the operation of the main line bus is not influenced by charging, the problem of charging is solved by using the branch buses, and the operation and charging efficiency is improved while the travel requirements of passengers are met.

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
Figure FDA0003732863790000011
Figure FDA0003732863790000012
Figure FDA0003732863790000013
Figure FDA0003732863790000021
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:
Figure FDA0003732863790000022
Figure FDA0003732863790000023
Figure FDA0003732863790000024
Figure FDA0003732863790000025
Figure FDA0003732863790000026
Figure FDA0003732863790000027
Figure FDA0003732863790000028
Figure FDA0003732863790000029
t i,n <T i,n
wherein
Figure FDA00037328637900000210
For the operation state of the modular public transport vehicle i at the moment t,
Figure FDA00037328637900000211
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,
Figure FDA00037328637900000212
for the charging state of the modular public transport vehicle i at time t,
Figure FDA0003732863790000031
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;
Figure FDA0003732863790000032
for the state of charge of the modular bus i at time t,
Figure FDA0003732863790000033
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;
Figure FDA0003732863790000034
for the remaining capacity of the modular bus i at the moment t,
Figure FDA0003732863790000035
for the modular public transport vehicle i
Figure FDA0003732863790000036
Internal required electric quantity, travel time
Figure FDA0003732863790000037
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,
Figure FDA0003732863790000038
for the modular public transport vehicle i
Figure FDA0003732863790000039
The internal required electric quantity E is the charging power (kwh) and the travel time of the modular bus battery
Figure FDA00037328637900000310
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;
Figure FDA00037328637900000311
the residual capacity of the modular bus i at the moment t +1 is equal to
Figure FDA00037328637900000312
Minus the vehicle discharge from time t to time t +1 plus the vehicle charge,
Figure FDA00037328637900000313
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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CN116863701A (en) * 2023-07-31 2023-10-10 大连海事大学 Electric demand response module bus scheduling method
CN116863701B (en) * 2023-07-31 2024-02-06 大连海事大学 Electric demand response module bus scheduling method
CN117610750A (en) * 2023-11-23 2024-02-27 大连海事大学 Modularized bus dispatching method based on multi-mode travel scene

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