CN116863701A - Electric demand response module bus scheduling method - Google Patents

Electric demand response module bus scheduling method Download PDF

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CN116863701A
CN116863701A CN202310951303.0A CN202310951303A CN116863701A CN 116863701 A CN116863701 A CN 116863701A CN 202310951303 A CN202310951303 A CN 202310951303A CN 116863701 A CN116863701 A CN 116863701A
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demand response
response module
module bus
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CN116863701B (en
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袁昀
李依桐
李欣
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Dalian Maritime University
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Abstract

The invention provides a bus dispatching method of an electric demand response module. The method is based on the internet of things technology and big data service to collect travel demand information (comprising preferential travel time, boarding points and destinations of passengers) of the passengers, and further constructs an electric demand response module bus scheduling model with operation plans, charging plans and passenger journey planning being cooperatively optimized. The dispatching task of the electric demand response module bus is realized, and the travel scheme (comprising boarding points, boarding time, transfer information, destination arrival time and the like of passengers), the opportunity charging strategy, the operation route of the bus and the schedule are provided for the passengers.

Description

Electric demand response module bus scheduling method
Technical Field
The invention relates to the technical field of bus dispatching of an electric demand response module considering dynamic transfer and charge and discharge of passengers, in particular to a bus dispatching method of the electric demand response module.
Background
At present, the urban traffic environment problem and the aim of realizing urban sustainable development are in contradiction and conflict, the problems of energy shortage and environmental pollution are increasingly severe, and in order to alleviate the problems, the urban traffic system is gradually turned to electrification. The electric bus has the advantages of less pollution and low operation cost; the modular bus has the advantages of flexible capacity, dynamic transfer of passengers and the like. The electric demand response module bus is a customized flexible traffic operation mode, is different from the traditional bus, has a fixed route and a fixed schedule, and can collect travel demand information (comprising preferential travel time, boarding points and destinations of passengers) of the passengers based on the Internet of things technology and big data service before operation, so that an electric demand response module bus scheduling model with cooperatively optimized operation plan, charging plan and passenger travel plan is built. And distributing the passenger to different lines based on the boarding point, the destination and the preferential travel time of the passenger, then distributing the line combination to different electric module buses for operation, and finally deciding the boarding information of the passenger, the driving route and schedule of the module buses and the charging plan. The method realizes the electricity supplement of the electric module buses in the running clearance, and determines an operation plan and a charging plan according to the requirements of passengers, thereby realizing the maximization of productivity and the minimization of operation cost under the limited fleet scale, and bringing the electric performance of the demand response buses and the dynamic transfer advantages of the module buses into play with the greatest benefit. However, in the prior art, the complicated electric demand response module bus dispatching design method considering the dynamic transfer and charge and discharge of passengers has the following defects:
1. In the operation scheduling of the traditional electric buses, the traditional electric buses can only run on fixed routes and on the basis of fixed schedules, so that flexible dynamic passenger demands cannot be met, and charging plans cannot be flexibly adjusted according to the passenger demands, so that the optimization of the traditional electric buses has limitations;
2. the existing customized module bus system considers the dynamic transfer of passengers and the combination and separation of the module buses, but does not consider the charge and discharge, so that the cruising ability of the conventional customized module bus is not strong as that of the electric module bus;
therefore, how to provide an efficient dynamic transfer strategy and opportunistic charging strategy for passengers, and determine an operation plan and a charging plan according to the requirements of the passengers, so that the motorization of demand response buses and the dynamic transfer advantage of modular buses exert the greatest benefit are problems to be solved by those skilled in the art.
Disclosure of Invention
According to the technical problems that the existing electric demand response buses cannot realize dynamic transfer of passengers on the buses and the module buses cannot be charged so that the endurance capacity is not strong, and the like, the electric demand response module bus scheduling method taking the dynamic transfer and opportunistic charging strategies of the passengers into consideration is provided, the travel demand information (comprising the preferential travel time, the boarding point and the destination of the passengers) of the passengers is collected based on the Internet of things technology and the big data service, and then an electric demand response module bus scheduling model with the operation plan, the charging plan and the passenger travel plan being cooperatively optimized is constructed. The dispatching task of the electric demand response module bus is realized, and the travel scheme (comprising boarding points, boarding time, transfer information, destination arrival time and the like of passengers), the opportunity charging strategy, the operation route of the bus and the schedule are provided for the passengers.
The invention adopts the following technical means:
a method for dispatching an electric demand response module bus comprises the following steps:
s1, acquiring passenger travel demand information, constructing a total objective function, and initializing the total objective function by combining operation experience of a bus and charge and discharge characteristics of an electric bus to obtain relevant parameters of the electric demand response module bus;
s2, generating initial electric module bus operation information under the condition that the electric module bus path constraint and the electric module bus capacity constraint are met according to the acquired passenger travel demand information;
s3, carrying out a charging decision according to the generated initial electric module bus operation information so as to determine whether the electric module bus needs to be charged in the operation process, and if so, determining the charging time; under the condition of meeting the time constraint of the electric module buses, improving the driving route and the bus schedule of each running electric module bus according to the charging strategy;
s4, carrying out linearization processing on the absolute value in the objective function, and carrying out route distribution of passengers on the basis of the generated electric module bus driving route; if a passenger needs to dynamically transfer in the module buses, the two module buses which need to be transferred by the passenger need to be combined and time synchronism is guaranteed, and under the condition that transfer constraint and passenger time constraint are met, the operation plan, the charging plan and the passenger journey plan of the electric module buses are optimized in a cooperative mode until the optimal running route and schedule of the electric demand response module buses are obtained.
Further, in the step S1:
the acquired passenger travel demand information comprises the number of passengers getting on a demand point, the passenger getting on a destination and preference travel time;
the constructed total objective function can simultaneously minimize departure cost, road cost, charging cost, passenger time cost and transfer cost;
the obtained relevant parameters of the electric demand response module bus comprise operation parameters, cost parameters, vehicle capacity, battery parameters, power consumption coefficients and charging rate of a charging station.
Further, the total objective function is specifically:
wherein Y is the total objective function, lambda 1 The fixed use cost of the electric demand response module bus is realized; lambda (lambda) 2 Punishing costs for the waiting time of the electric demand response module bus or passengers; lambda (lambda) 3 The road cost of the electric demand response module bus is; lambda (lambda) 4 The unit charging cost of the electric demand response module bus is set; lambda (lambda) 5 Transfer costs for passengers; lambda (lambda) 6 Time cost for passengers; b is a collection of passengers; k is a set of electric demand response module buses; p is a collection of boarding points of passengers; q is a collection of passenger getting-off points; d is a set of electric demand response module bus stations; g is a collection of charging stations; n=p u Q is a set of driving nodes of the electric demand response module bus including a get-on point and a get-off point; v=n u.d.u.g. is a set of all driving nodes of the electric demand response module bus; zeta type toy b Preference travel time for passenger b; τ v，v′ The driving time between the driving nodes v and v'; η is the fixed service time of the electric demand response module bus at each on-off point; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k is used or not;the non-negative variable represents the time when the electric demand response module bus k reaches the passenger boarding point p; />In order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated from the boarding point p to the driving node v'; />To take on a variable of 0 or 1, this representsWhether the electric demand response module bus k runs from the driving node v to the driving node v'; />The charging time of the electric demand response module bus k at the charging station g is represented by a non-negative variable; />To take a variable with a value of 0 or 1, it is indicated whether passenger b is transferred from electric demand response module bus k to electric demand response module bus k' at point n; />Is a non-negative variable representing the time at which passenger b leaves point v.
Further, in the step S2, the generated initial electric module bus operating information includes a driving route of each running electric module bus, and specifically includes:
S21, ensuring that the electric module buses start from the station and finally return to the station:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k reaches a driving node v' from a station d; />For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k returns to the station d from the driving node v;
s22, guaranteeing the uniqueness of the vehicle path:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
s23, traffic conservation constraint, namely that the vehicle inflow at the driving node is equal to the vehicle outflow:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; />For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k is from the driving node v' to the driving node v;
s24, the vehicle can only run among driving nodes when in use:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus is used or not;
S25, each on-board and off-board point reaches at least one electric demand response module bus, but the total number of the buses cannot be exceeded:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus is used or not;
s26, only when the electric demand response module bus reaches the get-on point, the electric demand response module bus reaches the corresponding get-off point:
s27, the electric demand response module buses cannot bypass at the same driving node:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
s28, eliminating a sub-loop of a vehicle path in the VRP problem:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; />Is an auxiliary variable in the sub-path elimination constraint; r is a coefficient in the sub-path cancellation constraint;
s29, only when the electric demand response module bus is used, the number of passengers on the bus is calculated:
wherein M is an infinitely large positive number; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus is used or not;the non-negative variable represents the number of passengers on the bus at the driving node v of the electric demand response module bus k;
s210, calculating the total number of passengers on the electric demand response module bus:
in the method, in the process of the invention,to take a variable of 0 or 1, it is indicated whether the passenger b is riding on the electric demand responseThe bus k should be modularized from the boarding point p to the driving node v';
s211, ensuring that the total number of passengers on the electric demand response module bus does not exceed the capacity of the bus:
in CAP max The capacity of the bus is the electric demand response module;
s212, when the electric demand response module bus is at a station, no passengers are on the bus:
in the method, in the process of the invention,as a non-negative variable, representing the total number of passengers on board the electric demand response module bus k at station d;
s213, when the electric demand response module bus arrives at the charging station, no passenger exists on the bus:
in the method, in the process of the invention,being a non-negative variable, represents the total number of passengers on board the electric demand response module bus k at the charging station g.
Further, the step S3 specifically includes:
s31, only when the electric module bus is used, calculating the electric quantity of the electric module bus:
In the method, in the process of the invention,the electric demand response module is used for representing the electric quantity of the bus k at the driving node v' and is a non-negative variable;
s32, calculating the electricity consumption of the electric demand response module bus between two driving nodes:
in the formula e v，v′ The electric demand response module is used for representing the electric quantity consumption between driving nodes v and v' of the bus, wherein the electric quantity consumption is a non-negative variable; alpha is a power consumption coefficient related to the driving time; τ v，v′ The driving time between the driving nodes v and v';
s33, calculating the electric quantity of the electric demand response module bus which leaves the station and arrives at the next station when the electric demand response module bus is in a full-electricity state when the electric demand response module bus starts from the station:
in the method, in the process of the invention,the electric quantity of the electric demand response module bus k at the boarding point p is calculated; e, e d，p The electric quantity consumption from the station to the boarding point of the electric module bus is realized;
s34, calculating the electric quantity of the bus at the upper and lower driving points of the known electric demand response module, and calculating the electric quantity of the bus at the next driving node:
in the method, in the process of the invention,the electric quantity of the electric demand response module bus k at the boarding point and the alighting point n is calculated; e, e n，v′ The electric quantity consumption from the on-off point to the next driving node of the electric module bus is realized;
s35, after the electric demand response module bus is charged in the station, calculating the electric quantity from the charging station to the next driving node:
Wherein θ is a charging rate of the charging station;the charging time of the electric demand response module bus k at the charging station g; e, e g，v′ The electric quantity consumption from the charging station to the next driving node for the electric module bus;
s36, charging at a charging station does not exceed the battery capacity:
in the method, in the process of the invention,to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is driven from the driving nodePoint v to charging station g;
s37, the electric quantity of the electric demand response module bus at each point is not lower than the lower limit of the electric quantity of the battery:
in SOC min Is the lower limit of the electric quantity of the battery;
s38, when the electric demand response module bus passes through the driving node, the arrival time of the bus can be optimized:
in the method, in the process of the invention,the non-negative variable represents the time when the electric demand response module bus k reaches the driving node v';
s39, when the electric demand response module bus leaves the driving node, the departure time of the bus can be optimized:
in the method, in the process of the invention,the non-negative variable represents the time when the electric demand response module bus k leaves the driving node v;
s310, the time when the electric demand response module bus leaves the charging station is equal to the time when the electric demand response module bus arrives at the charging station plus the charging time:
In the method, in the process of the invention,the non-negative variable represents the time when the electric demand response module bus k arrives at the charging station g; />As a non-negative variable, representing the time when the electric demand response module bus k leaves the charging station g; />The charging time of the electric demand response module bus k at the charging station g;
s311, a logic relationship between charging time and path:
in the method, in the process of the invention,for a variable with a value of 0 or 1, whether the electric demand response module bus k goes from the on-off point n to the charging station g is indicated;
s312, ensuring time continuity of the electric demand response module bus:
in the method, in the process of the invention,the non-negative variable represents the time of the electric demand response module bus k to get on/off the bus point n;the non-negative variable represents the time when the electric demand response module bus k leaves the on-off point n; the eta electric demand response module is used for fixing the service time of the bus at each on-off point; />The non-negative variable represents the time of the electric demand response module bus k reaching the boarding point p; />The non-negative variable represents the time when the electric demand response module bus k leaves the station d; τ d，p The driving time from the station d to the boarding point of the electric demand response module bus is set; / >Is an electric demand response moduleThe charging time of the traffic vehicle k at the charging station g; m is an infinitely large positive number; τ g，v′ The travel time of the bus from the charging station g to the next driving node is the electric demand response module.
Further, the step S4 specifically includes:
s41, assume that all passengers get out from the boarding point:
in the method, in the process of the invention,in order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v'; o (o) b A boarding point for passenger b;
s42, assume that all passengers can reach the destination:
wherein s is b A destination for passenger b;
s43, conservation of flow of passengers at non-starting and ending points:
in the method, in the process of the invention,to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is from the driving node v 'to the driving node v';
s44, associating a passenger path and a vehicle path variable, wherein the vehicle path is a precondition that the passenger path exists because the passengers travel by bus, and the constraint is used for ensuring that the passengers travel only on the vehicle path:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
S45, no path exists after the passenger reaches the end point:
in the method, in the process of the invention,in order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v'; s is(s) b A destination for passenger b;
s46, the passenger can only sit one car if sitting on the car:
in the middle ofIn order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v';
s47, assume that the passenger cannot have a circulation path at the same point:
in the method, in the process of the invention,in order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v';
s48, assuming that the buses of the two modules needing to be transferred are running before the passengers transfer the passengers:
in U k′ For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k' is used;for a variable with a value of 0 or 1, indicating whether the passenger b gets on or off the bus n from the electric demand response module bus k to the electric demand response module bus k';
s49, assuming that the module bus k and the module bus k 'can reach the point v, the passenger b is transferred from the module bus k to the module bus k' at the point v:
In the method, in the process of the invention,for a variable with a value of 0 or 1, indicating whether the passenger b is transferred from the electric demand response module bus k to the electric demand response module bus k 'at the driving node v'; o (o) b A boarding point for passenger b; s is(s) b A destination for passenger b;
s410, if the passenger b is transferred at the v ', the passenger b needs to take the module bus k to reach the v' point, and then sit the module bus k 'to leave the v' point:
in the method, in the process of the invention,for a variable with a value of 0 or 1, indicating whether the passenger b takes the electric demand response module bus k from the driving node v' to the driving node v; />For a variable with a value of 0 or 1, indicating whether the passenger b is transferred from the electric demand response module bus k to the electric demand response module bus k 'at the driving node v';
s411, if the passenger b is transferred from the module bus k to the module bus k 'at the v' point, the passenger b sits on the module bus k to reach the v 'point, and does not sit on the module bus k to leave the v' point:
in the method, in the process of the invention,for a variable with a value of 0 or 1, indicating whether the passenger b takes the electric demand response module bus k from the driving node v' to the driving node v; />For a variable with a value of 0 or 1, indicating whether the passenger b is transferred from the electric demand response module bus k to the electric demand response module bus k 'at the driving node v';
S412, assuming that the time premise that the passengers can transfer successfully is that the departure time of the module bus k' after transfer is not earlier than the arrival time of the module bus k before transfer:
in the middle of，The non-negative variable represents the time when the electric demand response module bus k reaches the driving node v; />The non-negative variable represents the time when the electric demand response module bus k leaves the driving node v;
s413, limiting the total transfer times of each passenger not to exceed Tr max Secondary:
in the formula, tr max An upper limit for the total number of transfers for the passenger;
s414, when the passenger passes the point, the arrival time of the passenger can be optimized:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v'; o (o) b A boarding point for passenger b;
s415, when the passenger leaves the point, the passenger' S leaving time can be optimized:
in the method, in the process of the invention,as a non-negative variable, representing the time of passenger b leaving the driving node v; s is(s) b A destination for passenger b;
s416, the time for the passenger to reach the boarding point is the preferential travel time of the passenger:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v; zeta type toy b Preference travel time for passenger b; o (o) b A boarding point for passenger b;
s417, the time for the passenger to reach the terminal is equal to the time for the vehicle to reach the terminal:
In the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v'; />The non-negative variable represents the time when the electric demand response module bus k reaches the driving node v'; />In order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
s418, the time when the vehicle leaves the demand point is necessarily later than the arrival time of the passenger:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v; />The non-negative variable represents the time when the electric demand response module bus k leaves the driving node v; />For a variable with a value of 0 or 1, indicating whether the passenger b takes the electric demand response module bus k from the driving node v' to the driving node v;
s419, guaranteeing time synchronization of people and vehicles:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v'; />The non-negative variable represents the time when the electric demand response module bus k reaches the driving node v'; />As a non-negative variable, representing the time of passenger b leaving the driving node v; />The non-negative variable represents the time when the electric demand response module bus k leaves the driving node v; o (o) b A boarding point for passenger b; s is(s) b A destination for passenger b;
s420, linearizing an absolute value of an objective function:
wherein Y is the total objective function, lambda 1 The fixed use cost of the electric demand response module bus is realized; lambda (lambda) 2 Punishing costs for the waiting time of the electric demand response module bus or passengers; lambda (lambda) 3 The road cost of the electric demand response module bus is; lambda (lambda) 4 The unit charging cost of the electric demand response module bus is set; lambda (lambda) 5 Transfer costs for passengers; lambda (lambda) 6 Time cost for passengers; b is a collection of passengers; k is a set of electric demand response module buses; p is a collection of boarding points of passengers; q is a collection of passenger getting-off points; d is a set of electric demand response module bus stations; g is a collection of charging stations; N=PU.Q is that including the get-on point andthe electric demand response module of the departure point is used for collecting driving nodes of the buses; v=n u.d.u.g. is a set of all driving nodes of the electric demand response module bus; zeta type toy b Preference travel time for passenger b; τ v，v′ The driving time between the driving nodes v and v'; η is the fixed service time of the electric demand response module bus at each on-off point; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k is used or not; The non-negative variable represents the time when the electric demand response module bus k reaches the passenger boarding point p; />In order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated from the boarding point p to the driving node v'; />In order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k runs from the driving node v to the driving node v'; />The charging time of the electric demand response module bus k at the charging station g is represented by a non-negative variable; />To take a variable with a value of 0 or 1, it is indicated whether passenger b is transferred from electric demand response module bus k to electric demand response module bus k' at point n; />Is a non-negative variable representing the time at which passenger b leaves point v; />Is a non-negative variable which is not a negative variable,is an auxiliary variable for linearizing the objective function.
Compared with the prior art, the invention has the following advantages:
1. the electric demand response module bus dispatching method fully considers the travel demands of passengers, the transfer of passengers, the combination and separation of module buses and the charging demands of the electric demand response module buses. The scheduling of the electric demand response module buses is completed based on the consideration of the opportunity charging strategy and the dynamic transfer of passengers, so that the dynamic passenger travel demands can be met, the operation cost, the charging cost, the transfer cost and the time cost of passengers can be minimized, and the utilization rate of the electric demand response module buses is improved.
2. According to the electric demand response module bus dispatching method, the problems that passengers cannot dynamically transfer in buses and the module buses cannot be charged so that the cruising ability is not strong and the like are solved through collaborative optimization of the operation plan, the charging plan and the passenger journey plan.
3. According to the electric demand response module bus scheduling method provided by the invention, the module buses are considered, and the module buses can be flexibly combined and separated, so that passengers can realize transfer in the buses instead of waiting at a transfer station, the traveling experience of the passengers is improved, and the time can be saved.
4. According to the electric demand response module bus dispatching method provided by the invention, the module buses and the electric operation are effectively combined, and the development of new energy automobiles has remarkable effects of reducing petroleum dependence, reducing carbon emission, preventing and treating haze in cities, improving air quality and the like in China.
5. According to the method for dispatching the electric demand response module buses, dispatching of the electric demand response module buses based on the opportunistic charging strategy is completed, whether a vehicle is charged by a charging station or not can be considered after passengers on the finished buses are serviced, if the passengers need to be charged for a long time, the passengers on the next journey can be serviced continuously after the passengers are charged, and the cruising ability of the electric demand response module buses is greatly improved.
Based on the reasons, the invention can be widely popularized in the fields of electric demand response module bus dispatching and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1, the present invention provides a method for dispatching a bus with an electric demand response module, comprising:
s1, acquiring passenger travel demand information, constructing a total objective function, and initializing the total objective function by combining operation experience of a bus and charge and discharge characteristics of an electric bus to obtain relevant parameters of the electric demand response module bus;
s2, generating initial electric module bus operation information under the condition that electric module bus path constraint and electric module bus capacity constraint are met according to acquired passenger travel demand information, namely passenger boarding points, destinations and preference travel time;
s3, carrying out a charging decision according to the generated initial electric module bus operation information so as to determine whether the electric module bus needs to be charged in the operation process, and if so, determining the charging time; under the condition of meeting the time constraint of the electric module buses, improving the driving route and the bus schedule of each running electric module bus according to the charging strategy;
and S4, carrying out linearization processing on the absolute value in the objective function, and carrying out route distribution of passengers on the basis of the generated electric module bus driving route, so that the passengers can reach the destination from the boarding point, and the passengers can reach the destination as soon as possible. If a passenger needs to dynamically transfer in the module buses, the two module buses which need to be transferred by the passenger need to be combined and time synchronism is guaranteed, and under the condition that transfer constraint and passenger time constraint are met, the operation plan, the charging plan and the passenger journey plan of the electric module buses are optimized in a cooperative mode until the optimal running route and schedule of the electric demand response module buses are obtained.
In specific implementation, as a preferred embodiment of the present invention, in the step S1:
the acquired passenger travel demand information comprises the number of passengers getting on a demand point, the passenger getting on a destination and preference travel time;
the constructed total objective function can simultaneously minimize departure cost, road cost, charging cost, passenger time cost and transfer cost;
the obtained relevant parameters of the electric demand response module bus comprise operation parameters, cost parameters, vehicle capacity, battery parameters, power consumption coefficients and charging rate of a charging station.
In specific implementation, as a preferred embodiment of the present invention, the total objective function is specifically:
wherein Y is the total objective function, lambda 1 The fixed use cost of the electric demand response module bus is realized; lambda (lambda) 2 Punishing costs for the waiting time of the electric demand response module bus or passengers; lambda (lambda) 3 The road cost of the electric demand response module bus is; lambda (lambda) 4 The unit charging cost of the electric demand response module bus is set; lambda (lambda) 5 Transfer costs for passengers; lambda (lambda) 6 Time cost for passengers; b is a collection of passengers; k is a set of electric demand response module buses; p is a collection of boarding points of passengers; Q is a collection of passenger getting-off points; d is a set of electric demand response module bus stations; g is a collection of charging stations; n=p u Q is a set of driving nodes of the electric demand response module bus including a get-on point and a get-off point; v=n u.d.u.g. is a set of all driving nodes of the electric demand response module bus; zeta type toy b Preference travel time for passenger b; τ v，v′ The driving time between the driving nodes v and v'; η is the fixed service time of the electric demand response module bus at each on-off point; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k is used or not;the non-negative variable represents the time when the electric demand response module bus k reaches the passenger boarding point p; />In order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated from the boarding point p to the driving node v'; />In order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k runs from the driving node v to the driving node v'; />The charging time of the electric demand response module bus k at the charging station g is represented by a non-negative variable; />To take a variable with a value of 0 or 1, it is indicated whether passenger b is transferred from electric demand response module bus k to electric demand response module bus k' at point n; / >Is a non-negative variable representing the time at which passenger b leaves point v.
In specific implementation, as a preferred embodiment of the present invention, in the step S2, the generated initial electric module bus operating information includes a driving route of each electric module bus operated, and specifically includes:
s21, ensuring that the electric module buses start from the station and finally return to the station:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k reaches a driving node v' from a station d; />For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k returns to the station d from the driving node v;
s22, guaranteeing the uniqueness of the vehicle path: namely, the electric demand response module bus starts from a certain station and has at most one path:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
s23, traffic conservation constraint, namely that the vehicle inflow at the driving node is equal to the vehicle outflow:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; / >For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k is from the driving node v' to the driving node v;
s24, the vehicle can only run among driving nodes when in use:
/>
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus is used or not;
s25, each on-board and off-board point reaches at least one electric demand response module bus, but the total number of the buses cannot be exceeded:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus is used or not;
s26, only when the electric demand response module bus reaches the get-on point, the electric demand response module bus reaches the corresponding get-off point:
s27, the electric demand response module buses cannot bypass at the same driving node:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
S28, eliminating a sub-loop of a vehicle path in the VRP problem:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; />Is an auxiliary variable in the sub-path elimination constraint; r is a coefficient in the sub-path cancellation constraint;
s29, only when the electric demand response module bus is used, the number of passengers on the bus is calculated:
wherein M is an infinitely large positive number; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus is used or not;the non-negative variable represents the number of passengers on the bus at the driving node v of the electric demand response module bus k;
s210, calculating the total number of passengers on the electric demand response module bus:
in the method, in the process of the invention,in order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated from the boarding point p to the driving node v';
s211, ensuring that the total number of passengers on the electric demand response module bus does not exceed the capacity of the bus:
in CAP max The capacity of the bus is the electric demand response module;
s212, when the electric demand response module bus is at a station, no passengers are on the bus:
in the method, in the process of the invention,as a non-negative variable, representing the total number of passengers on board the electric demand response module bus k at station d;
S213, when the electric demand response module bus arrives at the charging station, no passenger exists on the bus:
in the method, in the process of the invention,being a non-negative variable, represents the total number of passengers on board the electric demand response module bus k at the charging station g.
In specific implementation, as a preferred embodiment of the present invention, the step S3 specifically includes:
s31, only when the electric module bus is used, calculating the electric quantity of the electric module bus:
in the method, in the process of the invention,the electric demand response module is used for representing the electric quantity of the bus k at the driving node v' and is a non-negative variable;
s32, calculating the electricity consumption of the electric demand response module bus between two driving nodes:
in the formula e v，v′ The electric demand response module is used for representing the electric quantity consumption between driving nodes v and v' of the bus, wherein the electric quantity consumption is a non-negative variable; alpha is a power consumption coefficient related to the driving time; τ v，v′ The driving time between the driving nodes v and v';
s33, calculating the electric quantity of the electric demand response module bus which leaves the station and arrives at the next station when the electric demand response module bus is in a full-electricity state when the electric demand response module bus starts from the station:
in the method, in the process of the invention,the electric quantity of the electric demand response module bus k at the boarding point p is calculated; e, e d，p The electric quantity consumption from the station to the boarding point of the electric module bus is realized;
S34, calculating the electric quantity of the bus at the upper and lower driving points of the known electric demand response module, and calculating the electric quantity of the bus at the next driving node:
in the method, in the process of the invention,the electric quantity of the electric demand response module bus k at the boarding point and the alighting point n is calculated; e, e n，v′ The electric quantity consumption from the on-off point to the next driving node of the electric module bus is realized;
s35, after the electric demand response module bus is charged in the station, calculating the electric quantity from the charging station to the next driving node:
wherein θ is a charging rate of the charging station;the charging time of the electric demand response module bus k at the charging station g; e, e g，v′ The electric quantity consumption from the charging station to the next driving node for the electric module bus;
s36, charging at a charging station does not exceed the battery capacity:
in the method, in the process of the invention,for a variable with a value of 0 or 1, indicating whether the electric demand response module bus k goes from the driving node v to the charging station g;
s37, the electric quantity of the electric demand response module bus at each point is not lower than the lower limit of the electric quantity of the battery:
in SOC min Is the lower limit of the electric quantity of the battery;
s38, when the electric demand response module bus passes through the driving node, the arrival time of the bus can be optimized:
in the method, in the process of the invention, The non-negative variable represents the time when the electric demand response module bus k reaches the driving node v';
s39, when the electric demand response module bus leaves the driving node, the departure time of the bus can be optimized:
in the method, in the process of the invention,the non-negative variable represents the time when the electric demand response module bus k leaves the driving node v;
s310, the time when the electric demand response module bus leaves the charging station is equal to the time when the electric demand response module bus arrives at the charging station plus the charging time:
in the method, in the process of the invention,the non-negative variable represents the time when the electric demand response module bus k arrives at the charging station g; />As a non-negative variable, representing the time when the electric demand response module bus k leaves the charging station g; />When charging in charging station g for electric demand response module bus kA compartment;
s311, a logic relationship between charging time and path:
in the method, in the process of the invention,for a variable with a value of 0 or 1, whether the electric demand response module bus k goes from the on-off point n to the charging station g is indicated; />
S312, ensuring time continuity of the electric demand response module bus:
in the method, in the process of the invention,the non-negative variable represents the time of the electric demand response module bus k to get on/off the bus point n; The non-negative variable represents the time when the electric demand response module bus k leaves the on-off point n; the eta electric demand response module is used for fixing the service time of the bus at each on-off point; />The non-negative variable represents the time of the electric demand response module bus k reaching the boarding point p; />The non-negative variable represents the time when the electric demand response module bus k leaves the station d; τ d，p The driving time from the station d to the boarding point of the electric demand response module bus is set; />The charging time of the electric demand response module bus k at the charging station g; m is an infinitely large positive number; τ g，v′ The travel time of the bus from the charging station g to the next driving node is the electric demand response module.
In specific implementation, as a preferred embodiment of the present invention, the step S4 specifically includes:
s41, assume that all passengers get out from the boarding point:
in the method, in the process of the invention,in order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v'; o (o) b A boarding point for passenger b;
s42, assume that all passengers can reach the destination:
wherein s is b A destination for passenger b;
s43, conservation of flow of passengers at non-starting and ending points:
/>
In the method, in the process of the invention,to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is from the driving node v 'to the driving node v';
s44, associating a passenger path and a vehicle path variable, wherein the vehicle path is a precondition that the passenger path exists because the passengers travel by bus, and the constraint is used for ensuring that the passengers travel only on the vehicle path:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
s45, no path exists after the passenger reaches the end point:
in the method, in the process of the invention,in order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v'; s is(s) b A destination for passenger b;
s46, the passenger can only sit one car if sitting on the car:
in the middle ofIn order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v';
s47, assume that the passenger cannot have a circulation path at the same point:
in the method, in the process of the invention,in order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v';
S48, assuming that the buses of the two modules needing to be transferred are running before the passengers transfer the passengers:
in U k′ To take the value of 0 or 1 variableIndicating whether the electric demand response module bus k' is used;for a variable with a value of 0 or 1, indicating whether the passenger b gets on or off the bus n from the electric demand response module bus k to the electric demand response module bus k';
s49, assuming that the module bus k and the module bus k 'can reach the point v, the passenger b is transferred from the module bus k to the module bus k' at the point v:
in the method, in the process of the invention,for a variable with a value of 0 or 1, indicating whether the passenger b is transferred from the electric demand response module bus k to the electric demand response module bus k 'at the driving node v'; o (o) b A boarding point for passenger b; s is(s) b A destination for passenger b;
s410, if the passenger b is transferred at the v ', the passenger b needs to take the module bus k to reach the v' point, and then sit the module bus k 'to leave the v' point:
in the method, in the process of the invention,for a variable with a value of 0 or 1, indicating whether the passenger b takes the electric demand response module bus k from the driving node v' to the driving node v; />To take a variable of 0 or 1, it is indicated whether the passenger b is transferring from the electric demand response module bus k at the driving node v To the electric demand response module bus k' vehicle;
s411, if the passenger b is transferred from the module bus k to the module bus k 'at the v' point, the passenger b sits on the module bus k to reach the v 'point, and does not sit on the module bus k to leave the v' point:
in the method, in the process of the invention,for a variable with a value of 0 or 1, indicating whether the passenger b takes the electric demand response module bus k from the driving node v' to the driving node v; />For a variable with a value of 0 or 1, indicating whether the passenger b is transferred from the electric demand response module bus k to the electric demand response module bus k 'at the driving node v';
s412, assuming that the time premise that the passengers can transfer successfully is that the departure time of the module bus k' after transfer is not earlier than the arrival time of the module bus k before transfer:
in the method, in the process of the invention,the non-negative variable represents the time when the electric demand response module bus k reaches the driving node v; />The non-negative variable represents the time when the electric demand response module bus k leaves the driving node v;
s413, limiting the total transfer times of each passenger not to exceed Tr max Secondary:
in the formula, tr max An upper limit for the total number of transfers for the passenger;
s414, when the passenger passes the point, the arrival time of the passenger can be optimized:
In the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v'; o (o) b A boarding point for passenger b;
s415, when the passenger leaves the point, the passenger' S leaving time can be optimized:
/>
in the method, in the process of the invention,as a non-negative variable, representing the time of passenger b leaving the driving node v; s is(s) b A destination for passenger b;
s416, the time for the passenger to reach the boarding point is the preferential travel time of the passenger:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v; zeta type toy b Preference travel time for passenger b; o (o) b A boarding point for passenger b;
s417, the time for the passenger to reach the terminal is equal to the time for the vehicle to reach the terminal:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v'; />The non-negative variable represents the time when the electric demand response module bus k reaches the driving node v'; />In order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
s418, the time when the vehicle leaves the demand point is necessarily later than the arrival time of the passenger:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v; />The non-negative variable represents the time when the electric demand response module bus k leaves the driving node v; / >For a variable with a value of 0 or 1, indicating whether the passenger b takes the electric demand response module bus k from the driving node v' to the driving node v;
s419, guaranteeing time synchronization of people and vehicles:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v'; />The non-negative variable represents the time when the electric demand response module bus k reaches the driving node v'; />As a non-negative variable, representing the time of passenger b leaving the driving node v; />Representing an electric demand response module as a non-negative variableThe time when the bus k leaves the driving node v; o (o) b A boarding point for passenger b; s is(s) b A destination for passenger b;
s420, linearizing an absolute value of an objective function:
wherein Y is the total objective function, lambda 1 The fixed use cost of the electric demand response module bus is realized; lambda (lambda) 2 Punishing costs for the waiting time of the electric demand response module bus or passengers; lambda (lambda) 3 The road cost of the electric demand response module bus is; lambda (lambda) 4 The unit charging cost of the electric demand response module bus is set; lambda (lambda) 5 Transfer costs for passengers; lambda (lambda) 6 Time cost for passengers; b is a collection of passengers; k is a set of electric demand response module buses; p is a collection of boarding points of passengers; q is a collection of passenger getting-off points; d is a set of electric demand response module bus stations; g is a collection of charging stations; n=p u Q is a set of driving nodes of the electric demand response module bus including a get-on point and a get-off point; v=n u.d.u.g. is a set of all driving nodes of the electric demand response module bus; zeta type toy b Preference travel time for passenger b; τ v，v′ The driving time between the driving nodes v and v'; η is the fixed service time of the electric demand response module bus at each on-off point; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k is used or not;the non-negative variable represents the time when the electric demand response module bus k reaches the passenger boarding point p; />In order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated from the boarding point p to the driving node v'; />In order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k runs from the driving node v to the driving node v'; />The charging time of the electric demand response module bus k at the charging station g is represented by a non-negative variable; />To take a variable with a value of 0 or 1, it is indicated whether passenger b is transferred from electric demand response module bus k to electric demand response module bus k' at point n; />Is a non-negative variable representing the time at which passenger b leaves point v; />Is a non-negative variable, is an auxiliary variable for linearizing the objective function.
In summary, the invention discloses an electric demand response module bus dispatching method considering a dynamic transfer and opportunistic charging strategy of passengers, which collects passenger travel demand information including preferential travel time of passengers, boarding places and specific positions of alighting places through a mobile phone app and constructs an electric demand response module bus dispatching model with an operation plan, a charging plan and a passenger journey plan being cooperatively optimized. The modular vehicles have the capability of being physically connected and disconnected with each other, can run in rows with less energy consumption, and the total vehicle capacity can be adjusted as required due to the combination and separation of the modular vehicles, and the vehicle capacity can be enlarged according to the requirements of peak time so as to combine the modular vehicles; operating separately during off-peak hours or in areas of lower demand density. Because the module buses can be dynamically combined and separated, passengers can realize dynamic transfer in the buses, compared with the traditional buses, the module buses have the advantages that the passengers need to get to a transfer station to wait for the buses, the transfer time of the passengers is greatly saved, and the traveling experience of the passengers is improved. And distributing the passenger to different lines based on the boarding point, the destination and the preferential travel time of the passenger, then distributing the line combination to different electric module buses for operation, and finally deciding the boarding information of the passenger, the driving route and schedule of the module buses and the charging plan. The method realizes the electricity supplement of the electric module buses in the running clearance, and determines an operation plan and a charging plan according to the requirements of passengers, thereby realizing the maximization of productivity and the minimization of operation cost under the limited fleet scale, and bringing the electric performance of the demand response buses and the dynamic transfer advantages of the module buses into play with the greatest benefit.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (6)

1. The electric demand response module bus dispatching method is characterized by comprising the following steps of:
s1, acquiring passenger travel demand information, constructing a total objective function, and initializing the total objective function by combining operation experience of a bus and charge and discharge characteristics of an electric bus to obtain relevant parameters of the electric demand response module bus;
s2, generating initial electric module bus operation information under the condition that the electric module bus path constraint and the electric module bus capacity constraint are met according to the acquired passenger travel demand information;
s3, carrying out a charging decision according to the generated initial electric module bus operation information so as to determine whether the electric module bus needs to be charged in the operation process, and if so, determining the charging time; under the condition of meeting the time constraint of the electric module buses, improving the driving route and the bus schedule of each running electric module bus according to the charging strategy;
S4, carrying out linearization processing on the absolute value in the objective function, and carrying out route distribution of passengers on the basis of the generated electric module bus driving route; if a passenger needs to dynamically transfer in the module buses, the two module buses which need to be transferred by the passenger need to be combined and time synchronism is guaranteed, and under the condition that transfer constraint and passenger time constraint are met, the operation plan, the charging plan and the passenger journey plan of the electric module buses are optimized in a cooperative mode until the optimal running route and schedule of the electric demand response module buses are obtained.
2. The electric demand response module bus scheduling method according to claim 1, wherein in the step S1:
the acquired passenger travel demand information comprises the number of passengers getting on a demand point, the passenger getting on a destination and preference travel time;
the constructed total objective function can simultaneously minimize departure cost, road cost, charging cost, passenger time cost and transfer cost;
the obtained relevant parameters of the electric demand response module bus comprise operation parameters, cost parameters, vehicle capacity, battery parameters, power consumption coefficients and charging rate of a charging station.
3. The electric demand response module bus scheduling method according to claim 2, wherein the total objective function is specifically:
wherein Y is the total objective function, lambda 1 The fixed use cost of the electric demand response module bus is realized; lambda (lambda) 2 Punishing costs for the waiting time of the electric demand response module bus or passengers; lambda (lambda) 3 The road cost of the electric demand response module bus is; lambda (lambda) 4 The unit charging cost of the electric demand response module bus is set; lambda (lambda) 5 Transfer costs for passengers; lambda (lambda) 6 Time cost for passengers; b is a collection of passengers; k is a set of electric demand response module buses; p is a collection of boarding points of passengers; q is a collection of passenger getting-off points; d is a set of electric demand response module bus stations; g is a collection of charging stations; n=p u Q is a set of driving nodes of the electric demand response module bus including a get-on point and a get-off point; v=n u.d.u.g. is a set of all driving nodes of the electric demand response module bus; zeta type toy b Preference travel time for passenger b; τ v，vt The driving time between the driving nodes v and v'; η is the fixed service time of the electric demand response module bus at each on-off point; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k is used or not;the non-negative variable represents the time when the electric demand response module bus k reaches the passenger boarding point p; />In order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated from the boarding point p to the driving node v'; />To take a variable with a value of 0 or 1, the electric demand response module is representedWhether the bus k runs from the driving node v to the driving node v'; />The charging time of the electric demand response module bus k at the charging station g is represented by a non-negative variable; />To take a variable with a value of 0 or 1, it is indicated whether passenger b is transferred from electric demand response module bus k to electric demand response module bus k' at point n; />Is a non-negative variable representing the time at which passenger b leaves point v.
4. The electric demand response module bus scheduling method according to claim 1, wherein in the step S2, the generated initial electric module bus operating information includes a driving route of each operated electric module bus, and specifically includes:
s21, ensuring that the electric module buses start from the station and finally return to the station:
In the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k reaches a driving node v' from a station d; />For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k returns to the station d from the driving node v;
s22, guaranteeing the uniqueness of the vehicle path:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
s23, traffic conservation constraint, namely that the vehicle inflow at the driving node is equal to the vehicle outflow:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; />For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k is from the driving node v' to the driving node v;
s24, the vehicle can only run among driving nodes when in use:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus is used or not;
s25, each on-board and off-board point reaches at least one electric demand response module bus, but the total number of the buses cannot be exceeded:
In the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus is used or not;
s26, only when the electric demand response module bus reaches the get-on point, the electric demand response module bus reaches the corresponding get-off point:
s27, the electric demand response module buses cannot bypass at the same driving node:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
s28, eliminating a sub-loop of a vehicle path in the VRP problem:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v'; />Is an auxiliary variable in the sub-path elimination constraint; r is a coefficient in the sub-path cancellation constraint;
s29, only when the electric demand response module bus is used, the number of passengers on the bus is calculated:
wherein M is an infinitely large positive number; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus is used or not;the non-negative variable represents the number of passengers on the bus at the driving node v of the electric demand response module bus k;
S210, calculating the total number of passengers on the electric demand response module bus:
in the method, in the process of the invention,in order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated from the boarding point p to the driving node v';
s211, ensuring that the total number of passengers on the electric demand response module bus does not exceed the capacity of the bus:
in CAP max The capacity of the bus is the electric demand response module;
s212, when the electric demand response module bus is at a station, no passengers are on the bus:
in the method, in the process of the invention,as a non-negative variable, representing the total number of passengers on board the electric demand response module bus k at station d;
s213, when the electric demand response module bus arrives at the charging station, no passenger exists on the bus:
in the method, in the process of the invention,being a non-negative variable, represents the total number of passengers on board the electric demand response module bus k at the charging station g.
5. The method for dispatching the electric demand response module bus according to claim 1, wherein the step S3 specifically comprises:
s31, only when the electric module bus is used, calculating the electric quantity of the electric module bus:
in the method, in the process of the invention,the electric demand response module is used for representing the electric quantity of the bus k at the driving node v' and is a non-negative variable;
S32, calculating the electricity consumption of the electric demand response module bus between two driving nodes:
in the formula e v，v′ The electric demand response module is used for representing the electric quantity consumption between driving nodes v and v' of the bus, wherein the electric quantity consumption is a non-negative variable; alpha is a power consumption coefficient related to the driving time; τ v，v′ The driving time between the driving nodes v and v';
s33, calculating the electric quantity of the electric demand response module bus which leaves the station and arrives at the next station when the electric demand response module bus is in a full-electricity state when the electric demand response module bus starts from the station:
in the method, in the process of the invention,the electric quantity of the electric demand response module bus k at the boarding point p is calculated; e, e d，p The electric quantity consumption from the station to the boarding point of the electric module bus is realized;
s34, calculating the electric quantity of the bus at the upper and lower driving points of the known electric demand response module, and calculating the electric quantity of the bus at the next driving node:
in the method, in the process of the invention,the electric quantity of the electric demand response module bus k at the boarding point and the alighting point n is calculated; e, e n，v′ The electric quantity consumption from the on-off point to the next driving node of the electric module bus is realized;
s35, after the electric demand response module bus is charged in the station, calculating the electric quantity from the charging station to the next driving node:
Wherein θ is a charging rate of the charging station;the charging time of the electric demand response module bus k at the charging station g; e, e g，vt The electric quantity consumption from the charging station to the next driving node for the electric module bus;
s36, charging at a charging station does not exceed the battery capacity:
in the method, in the process of the invention,for a variable with a value of 0 or 1, indicating whether the electric demand response module bus k goes from the driving node v to the charging station g;
s37, the electric quantity of the electric demand response module bus at each point is not lower than the lower limit of the electric quantity of the battery:
in SOC min Is the lower limit of the electric quantity of the battery;
s38, when the electric demand response module bus passes through the driving node, the arrival time of the bus can be optimized:
in the method, in the process of the invention,the non-negative variable represents the time when the electric demand response module bus k reaches the driving node v';
s39, when the electric demand response module bus leaves the driving node, the departure time of the bus can be optimized:
in the method, in the process of the invention,the non-negative variable represents the time when the electric demand response module bus k leaves the driving node v;
s310, the time when the electric demand response module bus leaves the charging station is equal to the time when the electric demand response module bus arrives at the charging station plus the charging time:
In the method, in the process of the invention,the non-negative variable represents the time when the electric demand response module bus k arrives at the charging station g; />As a non-negative variable, representing the time when the electric demand response module bus k leaves the charging station g; />The charging time of the electric demand response module bus k at the charging station g;
s311, a logic relationship between charging time and path:
in the method, in the process of the invention,for a variable with a value of 0 or 1, whether the electric demand response module bus k goes from the on-off point n to the charging station g is indicated;
s312, ensuring time continuity of the electric demand response module bus:
in the method, in the process of the invention,the non-negative variable represents the time of the electric demand response module bus k to get on/off the bus point n; />The non-negative variable represents the time when the electric demand response module bus k leaves the on-off point n; the eta electric demand response module is used for fixing the service time of the bus at each on-off point; />The non-negative variable represents the time of the electric demand response module bus k reaching the boarding point p; />The non-negative variable represents the time when the electric demand response module bus k leaves the station d; τ d，p The driving time from the station d to the boarding point of the electric demand response module bus is set; / >The charging time of the electric demand response module bus k at the charging station g; m is an infinitely large positive number; τ g，v′ The travel time of the bus from the charging station g to the next driving node is the electric demand response module.
6. The method for dispatching the electric demand response module bus according to claim 1, wherein the step S4 specifically comprises:
s41, assume that all passengers get out from the boarding point:
in the method, in the process of the invention,in order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v'; o (o) b A boarding point for passenger b;
s42, assume that all passengers can reach the destination:
wherein s is b A destination for passenger b;
s43, conservation of flow of passengers at non-starting and ending points:
in the method, in the process of the invention,to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is from the driving node v 'to the driving node v';
s44, associating a passenger path and a vehicle path variable, wherein the vehicle path is a precondition that the passenger path exists because the passengers travel by bus, and the constraint is used for ensuring that the passengers travel only on the vehicle path:
in the method, in the process of the invention,in order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
S45, no path exists after the passenger reaches the end point:
in the method, in the process of the invention,in order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v'; s is(s) b A destination for passenger b;
s46, the passenger can only sit one car if sitting on the car:
in the middle ofIn order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v';
s47, assume that the passenger cannot have a circulation path at the same point:
in the method, in the process of the invention,in order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated to go from the driving node v to the driving node v';
s48, assuming that the buses of the two modules needing to be transferred are running before the passengers transfer the passengers:
in U k′ For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k' is used;for a variable with a value of 0 or 1, indicating whether the passenger b gets on or off the bus n from the electric demand response module bus k to the electric demand response module bus k';
s49, assuming that the module bus k and the module bus k 'can reach the point v, the passenger b is transferred from the module bus k to the module bus k' at the point v:
In the method, in the process of the invention,for a variable with a value of 0 or 1, indicating whether the passenger b is transferred from the electric demand response module bus k to the electric demand response module bus k 'at the driving node v'; o (o) b A boarding point for passenger b; s is(s) b A destination for passenger b;
s410, if the passenger b is transferred at the v ', the passenger b needs to take the module bus k to reach the v' point, and then sit the module bus k 'to leave the v' point:
in the method, in the process of the invention,for a variable with a value of 0 or 1, indicating whether the passenger b takes the electric demand response module bus k from the driving node v' to the driving node v; />For a variable with a value of 0 or 1, indicating whether the passenger b is transferred from the electric demand response module bus k to the electric demand response module bus k 'at the driving node v';
s411, if the passenger b is transferred from the module bus k to the module bus k 'at the v' point, the passenger b sits on the module bus k to reach the v 'point, and does not sit on the module bus k to leave the v' point:
in the method, in the process of the invention,for a variable with a value of 0 or 1, indicating whether the passenger b takes the electric demand response module bus k from the driving node v' to the driving node v; />For a variable with a value of 0 or 1, indicating whether the passenger b is transferred from the electric demand response module bus k to the electric demand response module bus k 'at the driving node v';
S412, assuming that the time premise that the passengers can transfer successfully is that the departure time of the module bus k' after transfer is not earlier than the arrival time of the module bus k before transfer:
in the method, in the process of the invention,the non-negative variable represents the time when the electric demand response module bus k reaches the driving node v; />The non-negative variable represents the time when the electric demand response module bus k leaves the driving node v;
s413, limiting the total transfer times of each passenger not to exceed Tr max Secondary:
in the formula, tr max An upper limit for the total number of transfers for the passenger;
s414, when the passenger passes the point, the arrival time of the passenger can be optimized:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v'; o (o) b A boarding point for passenger b;
s415, when the passenger leaves the point, the passenger' S leaving time can be optimized:
in the method, in the process of the invention,as a non-negative variable, representing the time of passenger b leaving the driving node v; s is(s) b A destination for passenger b;
s416, the time for the passenger to reach the boarding point is the preferential travel time of the passenger:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v; zeta type toy b Preference travel time for passenger b; o (o) b A boarding point for passenger b;
s417, the time for the passenger to reach the terminal is equal to the time for the vehicle to reach the terminal:
In the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v'; />The non-negative variable represents the time when the electric demand response module bus k reaches the driving node v'; />In order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k is from the driving node v to the driving node v';
s418, the time when the vehicle leaves the demand point is necessarily later than the arrival time of the passenger:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v; />The non-negative variable represents the time when the electric demand response module bus k leaves the driving node v; />For a variable with a value of 0 or 1, indicating whether the passenger b takes the electric demand response module bus k from the driving node v' to the driving node v;
s419, guaranteeing time synchronization of people and vehicles:
in the method, in the process of the invention,as a non-negative variable, representing the time of arrival of passenger b at driving node v'; />The non-negative variable represents the time when the electric demand response module bus k reaches the driving node v'; />As a non-negative variable, representing the time of passenger b leaving the driving node v; />The non-negative variable represents the time when the electric demand response module bus k leaves the driving node v; o (o) b A boarding point for passenger b; s is(s) b A destination for passenger b;
s420, linearizing an absolute value of an objective function:
wherein Y is the total objective function, lambda 1 The fixed use cost of the electric demand response module bus is realized; lambda (lambda) 2 Punishing costs for the waiting time of the electric demand response module bus or passengers; lambda (lambda) 3 The road cost of the electric demand response module bus is; lambda (lambda) 4 The unit charging cost of the electric demand response module bus is set; lambda (lambda) 5 Transfer costs for passengers; lambda (lambda) 6 Time cost for passengers; b is a collection of passengers; k is a set of electric demand response module buses; p is a collection of boarding points of passengers; q is a collection of passenger getting-off points; d is a collection of electric demand response module bus stationsThe method comprises the steps of carrying out a first treatment on the surface of the G is a collection of charging stations; n=p u Q is a set of driving nodes of the electric demand response module bus including a get-on point and a get-off point; v=n u.d.u.g. is a set of all driving nodes of the electric demand response module bus; zeta type toy b Preference travel time for passenger b; τ v，v′ The driving time between the driving nodes v and v'; η is the fixed service time of the electric demand response module bus at each on-off point; u (U) k For a variable with a value of 0 or 1, indicating whether the electric demand response module bus k is used or not; The non-negative variable represents the time when the electric demand response module bus k reaches the passenger boarding point p; />In order to take a variable with a value of 0 or 1, whether the passenger b takes the electric demand response module bus k or not is indicated from the boarding point p to the driving node v'; />In order to take a value of 0 or 1, the variable represents whether the electric demand response module bus k runs from the driving node v to the driving node v'; />The charging time of the electric demand response module bus k at the charging station g is represented by a non-negative variable; />To take a variable with a value of 0 or 1, it is indicated whether passenger b is transferred from electric demand response module bus k to electric demand response module bus k' at point n; />Is a non-negative variable representing the time at which passenger b leaves point v; />Is a non-negative variable, is an auxiliary variable for linearizing the objective function. />
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