CN117423249A - Bus priority method and system for vehicle-road cloud cooperation - Google Patents
Bus priority method and system for vehicle-road cloud cooperation Download PDFInfo
- Publication number
- CN117423249A CN117423249A CN202311302824.XA CN202311302824A CN117423249A CN 117423249 A CN117423249 A CN 117423249A CN 202311302824 A CN202311302824 A CN 202311302824A CN 117423249 A CN117423249 A CN 117423249A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- priority
- bus
- road
- priority application
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000004044 response Effects 0.000 claims description 42
- 238000004891 communication Methods 0.000 claims description 31
- 230000003993 interaction Effects 0.000 claims description 21
- 238000011217 control strategy Methods 0.000 claims description 17
- 238000005516 engineering process Methods 0.000 claims description 14
- 230000002159 abnormal effect Effects 0.000 claims description 12
- 230000006870 function Effects 0.000 claims description 8
- 230000006855 networking Effects 0.000 claims description 7
- 230000004672 jump response Effects 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 5
- 230000008676 import Effects 0.000 description 32
- 238000004088 simulation Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 239000000306 component Substances 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 239000011425 bamboo Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 3
- 235000017491 Bambusa tulda Nutrition 0.000 description 3
- 241001330002 Bambuseae Species 0.000 description 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 3
- 230000006399 behavior Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 238000000819 phase cycle Methods 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000002776 aggregation Effects 0.000 description 2
- 238000004220 aggregation Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 206010000117 Abnormal behaviour Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005465 channeling Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
- G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
- G08G1/137—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops the indicator being in the form of a map
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The embodiment of the invention discloses a bus priority method and a bus priority system for vehicle-road cloud cooperation, and relates to the technical field of intelligent transportation. The invention is invented for guaranteeing the efficiency of the priority bus route. The method comprises the following steps: receiving a priority application sent by a vehicle end, wherein the priority application comprises parameter information obtained according to data information of the vehicle end, a road end and a public traffic service cloud platform; adjusting the time for submitting the priority application according to the parameter information; and submitting the priority application to a annunciator so that the annunciator responds to the priority application. The invention is suitable for the actual road bus running scene.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a bus priority method and system for vehicle-road cloud cooperation.
Background
To alleviate traffic jams and reduce environmental pollution, public transportation is beginning to be actively promoted nationally. However, with the increase of private cars, road congestion is caused, the arrival rate of buses on time is reduced year by year, the number of people selecting buses for traveling is also reduced continuously, and the bus running speed and the arrival accuracy become important factors for restricting the promotion of bus competitiveness. The bus priority scheme is to realize bus signal priority by adjusting traffic signal lamp timing, thereby achieving the purpose of reducing bus delay. By executing the bus priority scheme, the bus communication efficiency can be effectively improved, and traffic jam can be relieved.
However, the bus priority policy in the conventional bus priority scheme has the problems that the priority application is not processed, the resources of the fixed priority window are wasted, the conflict of the priority application cannot be arbitrated, and the like, and the efficiency of the priority bus route is difficult to ensure in actual implementation.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a bus priority method and a bus priority system for vehicle-road cloud cooperation, which are convenient for guaranteeing the efficiency of priority bus routes.
In a first aspect, the bus priority method for vehicle-road cloud collaboration provided by the embodiment of the invention includes the steps of:
receiving a priority application sent by a vehicle end, wherein the priority application comprises parameter information obtained according to data information of the vehicle end, a road end and a public traffic service cloud platform; adjusting the time for submitting the priority application according to the parameter information; and submitting the priority application to the annunciator so that the annunciator responds to the priority application according to a priority control strategy and an intersection response mode.
Optionally, before receiving the priority application sent by the vehicle end, the method further includes: interconnecting the vehicle end and the road end, and interconnecting the bus service cloud platform and the vehicle end; the vehicle end comprises a vehicle-mounted gateway, vehicle-mounted sensing equipment and a driver interaction screen, and the road end comprises a road side gateway, a trinocular camera and a signal machine.
Optionally, the interconnecting the vehicle end and the road end, and interconnecting the public traffic service cloud platform and the vehicle end includes: and interconnecting the vehicle end and the road end by a V2X technology through the vehicle-mounted gateway and the road side gateway, and butting the vehicle-mounted gateway with a public transport service cloud platform by a 5G VPN.
Optionally, the vehicle-mounted gateway integrates vehicle-mounted CAN bus, high-precision satellite positioning, 5G communication and 5.9GC-V2X communication technical components, and bears a vehicle-end networking function, so that the vehicle-mounted gateway is interconnected with the vehicle-mounted sensing equipment and the driver interaction screen.
Optionally, the parameter information includes at least one of: the method comprises the steps of predicting time for a current bus to reach a stop line, number of passengers in the current bus, scheduling state of the current bus, traffic flow of a bus direction crossing, queuing length, whether abnormal vehicles exist or not, switching working modes of a signal machine and road side guarantee records of communication response.
Optionally, the adjusting the time of submitting the priority application according to the parameter information includes: judging whether special conditions related to the priority application exist or not according to the parameter information, and canceling the priority application if the special conditions related to the priority application exist, wherein the special conditions comprise at least one of the following: the working mode of the annunciator is a manual control mode or a strong centralized coordination mode, and vehicles with abnormal driving directions of buses and the current buses can directly pass through a parking line; and determining which vehicle end submits the priority application according to the parameter information when the priority application is simultaneously sent to the plurality of vehicle ends in the phase conflict direction.
Optionally, the determining, according to the parameter information, which vehicle end submits the priority application includes: and determining priority weight information according to the number of passengers in the current bus, and determining which bus end to submit a priority application according to the priority weight information.
Optionally, the bus priority control strategy comprises a left-turn vehicle avoidance strategy, a half-way countdown reduction strategy, a peak strategy, a flat peak strategy, a period fixing strategy and a direction balancing strategy; the crossing response mode comprises direct non-response, phase jump response, green light extension response and green light early-break response.
Optionally, the method further comprises: and determining the maximum bus priority window time of the bus priority control strategy implemented on the preset road section through traffic simulation software, and determining whether each intersection of the preset road section opens up a priority window for the bus under the condition and the maximum priority time.
In a second aspect, a bus priority system for vehicle-road cloud collaboration provided by an embodiment of the present invention includes: a roadside gateway; the roadside gateway includes: application receiving module: the method comprises the steps of receiving a priority application sent by a vehicle end, wherein the priority application comprises parameter information obtained according to data information of the vehicle end, a road end and a public traffic service cloud platform; the timing adjustment module: the time for submitting the priority application is adjusted according to the parameter information; application submitting module: and the priority application is submitted to the annunciator so that the annunciator responds to the priority application.
Optionally, the system further comprises: and (3) an interconnection module: the bus terminal is used for interconnecting the bus terminal and the road terminal and interconnecting the bus service cloud platform and the bus terminal; the vehicle end comprises a vehicle-mounted gateway, vehicle-mounted sensing equipment and a driver interaction screen, and the road end comprises a road side gateway, a trinocular camera and a signal machine.
Optionally, the interconnection module is specifically configured to interconnect the vehicle end and the road end through a vehicle gateway and a road side gateway by using a V2X technology, and dock the vehicle gateway with a 5G VPN and a public transportation service cloud platform.
Optionally, the vehicle-mounted gateway integrates vehicle-mounted CAN bus, high-precision satellite positioning, 5G communication and 5.9GC-V2X communication technical components, and bears a vehicle-end networking function, so that the vehicle-mounted gateway is interconnected with the vehicle-mounted sensing equipment and the driver interaction screen.
Optionally, the parameter information includes at least one of: the method comprises the steps of predicting time for a current bus to reach a stop line, number of passengers in the current bus, scheduling state of the current bus, traffic flow of a bus direction crossing, queuing length, whether abnormal vehicles exist or not, switching working modes of a signal machine and road side guarantee records of communication response.
Optionally, the timing adjustment module includes: and a judging sub-module: and judging whether special conditions related to the priority application exist or not according to the parameter information, and canceling the priority application if the special conditions related to the priority application exist, wherein the special conditions comprise at least one of the following: the working mode of the annunciator is a manual control mode or a strong centralized coordination mode, and vehicles with abnormal driving directions of buses and the current buses can directly pass through a parking line; conflict resolution submodule: when the phase conflict sends the priority application to the plurality of vehicle ends at the same time, determining which vehicle end submits the priority application according to the parameter information.
Optionally, the conflict judging sub-module is further configured to determine priority weight information according to the number of passengers in the current bus, and determine for which vehicle end to submit the priority application according to the priority weight information.
Optionally, the application submitting module is specifically configured to submit the priority application to a traffic signal, so that the traffic signal responds to the priority application according to a bus priority control policy and an intersection response mode.
Optionally, the bus priority control strategy comprises a left-turn vehicle avoidance strategy, a half-way countdown reduction strategy, a peak strategy, a flat peak strategy, a period fixing strategy and a direction balancing strategy; the crossing response mode comprises direct non-response, phase jump response, green light extension response and green light early-break response.
Optionally, the system further comprises: and (3) a simulation module: and the traffic simulation software is used for measuring the maximum bus priority window time of the bus priority control strategy implemented on the preset road section, and determining whether each intersection of the preset road section opens up a priority window for the bus under the condition, and the maximum priority time.
The bus priority method and the bus priority system for the vehicle-road cloud cooperation can receive the priority application sent by the vehicle end, wherein the priority application comprises parameter information obtained according to the data information of the vehicle end, the road end and the bus service cloud platform; the gateway on the road side can adjust the time for submitting the priority application according to the parameter information; and submitting the priority application to a annunciator so that the annunciator responds to the priority application. Therefore, the problems that the priority application is not processed, the resource waste of the fixed priority window is avoided, and the priority application conflict cannot be arbitrated can be avoided by adjusting the time of the priority application and responding to the priority application according to the priority control strategy and the intersection response mode, so that the priority bus line efficiency is convenient to guarantee.
Drawings
In order to more clearly illustrate the embodiments of the 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, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a bus priority method of vehicle-road cloud cooperation provided by an embodiment of the invention;
fig. 2 is an interaction schematic diagram of a vehicle end, a road end and a cloud end according to an embodiment of the present invention;
fig. 3 is a schematic architecture diagram of a bus priority system with vehicle-road cloud cooperation according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. 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.
Example 1
In order to facilitate guaranteeing the efficiency of a priority bus route, the embodiment of the invention provides a bus priority method of vehicle-road cloud cooperation. Referring to fig. 1, fig. 1 is a schematic flow chart of a bus priority method of vehicle-road cloud cooperation according to an embodiment of the present invention, where the bus priority method of vehicle-road cloud cooperation includes:
s1: and receiving a priority application sent by the vehicle end, wherein the priority application comprises parameter information obtained according to the data information of the vehicle end, the road end and the public traffic service cloud platform.
Specifically, the bus can form a direct communication path with a special short-distance radio between the signal machine, a 5.9G frequency band is used as an operating frequency band of the direct communication of the Internet of vehicles based on the C-V2X technology of LTE (Long Term Evolution ), and the C-V2X technology is a cellular V2X technology. The road side gateway can receive a priority application sent by the vehicle-mounted gateway when the bus enters the preset position, and then submits the priority application to the annunciator. The priority application may further include a specific phase sequence number in the present period, for example, the phase sequence number of the present period may include four conflict phases, that is, a first phase, a second phase, a third phase, and a fourth phase, where each conflict phase includes a red light time and a green light time.
In some embodiments, the parameter information includes at least one of: the method comprises the steps of predicting time for a current bus to reach a stop line, number of passengers in the current bus, scheduling state of the current bus, traffic flow of a bus direction crossing, queuing length, whether abnormal vehicles exist or not, switching working modes of a signal machine and road side guarantee records of communication response.
In some embodiments, a ground Cors (Continuous Operational Reference System, continuous operation satellite positioning service system) service station network is employed to provide high-precision, high-frequency positioning of bus vehicles; the vehicle end can be configured with high-precision positioning, and can comprehensively utilize the information of ground enhanced centimeter satellite positioning, inertial navigation, wheel speed meters and the like, and continuously and stably work in environments such as overhead, tunnels, urban high buildings and the like. The high-precision positioning is used for constructing a high-precision map, and the high-precision map processing production of a preset road section is realized by means of a high-precision measurement technology and a ground auxiliary measurement correction technology through a vehicle-mounted high-performance camera module and high-precision positioning equipment.
The processing and production method flow of the high-precision map can comprise equipment installation and parameter calibration; collecting data; preprocessing data; generating a point cloud; map labeling and derivation.
It can be understood that the vehicle-mounted gateway can process the vehicle speed information in combination with the positioning information to obtain the predicted time of the current bus reaching the stop line, the vehicle-mounted gateway can obtain the own vehicle dispatching plan from the bus service cloud platform, the own vehicle dispatching plan is a priority application, the vehicle-mounted gateway can calculate the dispatching state of the current bus relative to the established dispatching plan in combination with the current position, and the dispatching state comprises: advance and retard.
Referring to fig. 2, fig. 2 is an interaction schematic diagram of a vehicle end, a road end and a cloud end according to an embodiment of the present invention. To reduce bus delays and improve bus priority signal accuracy and improve mass transit quality of service, in some embodiments, before receiving the priority application sent by the vehicle end, the method further comprises: interconnecting the vehicle end and the road end, and interconnecting the bus service cloud platform and the vehicle end; the vehicle end comprises a vehicle-mounted gateway, vehicle-mounted sensing equipment and a driver interaction screen, and the road end comprises a road side gateway, a trinocular camera and a signal machine.
It can be understood that the cloud mainly relates to a public traffic service cloud platform, and the main operation service platform of public traffic comprises two plates, namely scheduling management, machine management, security inspection, cashing settlement and the like, and the two plates are most closely related to the scheme. Specifically, data exchange between the vehicle end and the public traffic service cloud platform can be realized through a 5G communication network, and intersection broadcasting service and point-to-point communication between the vehicle end and a downstream intersection are realized through a C-V2X network. The road side gateway can be interconnected with the traffic police cloud platform besides the vehicle-mounted gateway, and after receiving the priority application sent by the vehicle-mounted gateway, the road side gateway can pass through a priority signal application path (private network), pass through the traffic police cloud platform and submit the priority application to the traffic police cloud platform.
Specifically, the vehicle-mounted sensing device can be a sensing device which is configured by a bus and can count up and down passenger flows when the bus is at a stop, and the data of the vehicle-mounted sensing device can be used by the vehicle-mounted gateway to calculate the instant passenger capacity of the bus at the traffic moment of the bus end, namely the number of passengers in the current bus. The driver interaction screen can be arranged on a vehicle cab and used for displaying driving auxiliary information; wherein the driving assistance information may include: the method comprises the steps of downstream traffic light state, downstream traffic light countdown, whether a priority application is actively sent currently, feedback results of the priority application, recommended driving speed after priority response and whether irregular driving behaviors exist in the driving process. The road side gateway integrates 5.9G C-V2X functions, can directly communicate with a vehicle end within a range of about 500 meters through a PC5 link, is a direct communication interface of the PC5, performs a communication interface between terminals, and can be used for short-distance direct communication among infrastructures such as vehicles, people, roads and the like. The three-eye camera can sense real-time road conditions, and video full coverage detection is carried out on 120 meters before and after a preset road section by taking a crosswalk as a dividing line, so that the conditions of traffic flow, queuing length, traffic jam, traffic event, abnormal vehicles and the like of an intersection are detected, and omnibearing data and intersection information are provided for bus initiative priority.
To create a vehicle-end informationized hub around the vehicle-mounted gateway, which in some embodiments integrates vehicle-mounted CAN (Controller Area Network ) buses, high-precision satellite positioning, 5G communications, and 5.9G C-V2X communications technology components, carries vehicle-end networking functionality, and interconnects the vehicle-mounted awareness devices and the driver interactive screen. Specifically, the vehicle passenger flow change sensing can be realized through the vehicle-mounted sensing equipment at the vehicle end, and the driving auxiliary information display can be realized through the driver interaction screen at the vehicle end.
Specifically, it can be understood that the vehicle-mounted gateway is used as a core component, and a vehicle-end informatization hub can be built around the vehicle-mounted gateway. The creating a vehicle-side informationized hub around the vehicle-mounted gateway may include: the components of the whole vehicle are uniformly accessed into the vehicle-mounted gateway in a star topology mode, and the positioning, network communication and vehicle basic data of the vehicle-mounted gateway are shared, such as start-stop, vehicle speed, steering and other data; the CAN bus data of ECU (Electronic Control Unit ) components including a battery, a motor, a driver, an instrument, a whole vehicle controller, a vehicle body controller and the like are incorporated into an informatization system; the protocol and service linkage mechanism of the vehicle end can be re-combed through the vehicle-mounted gateway, the PC5 communication interface is accepted through the reserved or marked vehicle-mounted gateway 5G module, high-bandwidth and low-delay communication from the vehicle end to the cloud end is completed, information such as the position, the speed and the posture of the vehicle is sent to the road-side gateway and the annunciator, and meanwhile, the current signal lamp state is obtained and a priority application is sent to the road-side gateway; the cloud mainly comprises a public traffic service cloud platform.
In order to further optimize the vehicle-end architecture, in some embodiments, the vehicle-mounted gateway obtains original observation data of a reference station required by a differential algorithm from a local Cors reference service station through a 4G/5G network, and sends the original observation data into a Beidou and GPS dual-mode RTK (Real-time dynamic positioning) centimeter-level high-energy precision positioning module to be matched for resolving to obtain high-precision and high-frequency positioning data, wherein the positioning data comprises positions, altitudes, vehicle speeds, observation star numbers and the like; considering that Cors stations of operators are deployed on a public network, and some buses adopt an APN (Access Point Name ) intranet, such as Suzhou buses, a vehicle-mounted gateway is internally provided with two paths of WAN (Wide Area Network ) dialing modules, two flow cards can be respectively installed, and the actual requirements are met; the vehicle gateway is internally provided with an MEMS (Micro-electro-mechanical system) gyroscope sensor, CAN monitor the vehicle gesture in real time, monitor the behaviors of acceleration, deceleration, steering, collision and the like of the vehicle, and comprehensively evaluate the vehicle state and driving behaviors by combining data such as acceleration, brake pedal, rotating speed, vehicle speed and the like and high-precision positioning data from the CAN of the whole vehicle so as to judge whether abnormal behaviors related to initiative priority exist; considering that some bus driver interaction screens are accessed into the vehicle-mounted gateway through modification software, the bus driver interaction screens are stably operated for more than three years, for example, new-area buses can be stably operated, the research target can be realized through supplementing protocols between the bus driver interaction screens and the vehicle-mounted gateway, and information such as downstream signal lamp states, priority application states, signal machine feedback states, suggested vehicle speeds and the like can be displayed through the driver interaction screens; the device for directly or indirectly detecting the passenger flow, such as a passenger flow instrument, a POS machine, a slot machine and the like, can be accessed to the vehicle-mounted gateway by referring to the current mode (interface and protocol) of the bus.
It can be understood that the vehicle gateway is substantially integrated with functions such as a 5G router, a tv (vehicle networking) and an OBU (On Board Unit), and has functions of acquiring necessary information of a vehicle end required by active priority, receiving and transmitting a PC5 message of the vehicle networking, reminding a driver, and supervising the vehicle state. Meanwhile, the method meets the informatization requirement of the bus end, and even reserves space for future automatic driving technology application.
In some embodiments, the interconnecting the vehicle end and the road end, and interconnecting the public traffic cloud platform and the vehicle end, includes: and interconnecting the vehicle end and the road end by a V2X technology through the vehicle-mounted gateway and the road side gateway, and butting the vehicle-mounted gateway with a public transport service cloud platform by a 5G VPN.
Specifically, the vehicle-mounted gateway and the road side gateway can be interconnected by a V2X technology, the road side gateway can receive data information from equipment such as a three-view camera, a signal machine and the like at a road end, and the vehicle-mounted gateway can receive data information from equipment such as vehicle-mounted sensing equipment and a driver interaction screen and the like at a vehicle end. Therefore, the equipment of the vehicle end and the road end can be integrated into the big data center, and the remote monitoring data of the vehicle end and the road end can be collected in real time by the big data center. Big data middle station for data application and function expansion base; the big data center may include an application layer, a data layer, an access layer, and a sense layer. The application layer comprises intelligent public transportation application (safety, operation management and supervision) and a large intelligent city platform; the data layer comprises operation service, safety monitoring, a vehicle-road cooperative engine, a business analysis engine, a basic algorithm model, operation data, scheduling management data, third party data and the like, and adopts a unified data interface, such as DSAPI (Domino Web Server Application Programming Interface, application programming interface of C language); the access layer aggregates positioning, communication benchmarks, metadata generation, structuring, and V2X communications, employing a unified device service interface such as DSAPI; the perception layer comprises perception business equipment, safety equipment, vehicle states, personnel and the like, and can be perfected as required. It can be understood that the vehicle-mounted gateway is in butt joint with the public transportation service cloud platform through the 5G VPN, so that real-time high-speed transmission of vehicle-end data information can be realized.
In order to realize the whole vehicle data aggregation and break the difficult problem of system isolation of service platforms provided by different manufacturers, in some embodiments, the driver interaction screen can be accessed to a vehicle-mounted gateway at a vehicle end and then the vehicle-mounted gateway is accessed to the public transportation service cloud platform.
It can be understood that the "network optimization" of the public transport group company aims at comprehensively utilizing the capacity resources in the group, solving the problem of long departure interval in peak period, and realizing the capability of dynamically dispatching vehicles across branch companies and across lines. The scheme fully considers the situation when the vehicle-mounted gateway is introduced into the vehicle terminal, and by way of example, when different lines of public buses and new-area buses are involved in implementing a road section with public buses as a public bus priority, and different systems of two branch companies are required to be respectively docked in an implementation period, the driver interaction screen is firstly accessed into the vehicle-mounted gateway at the vehicle terminal and then is accessed into the scheduling system by the vehicle-mounted gateway, so that unbinding of the driver interaction screen and the public bus service cloud platform can be completed, and whole vehicle data aggregation is realized.
S2: and adjusting the time for submitting the priority application according to the parameter information.
In order to reduce the refusal probability of the priority application and arbitrate the conflict of the priority application, in some embodiments, the adjusting the time for submitting the priority application according to the parameter information may include: judging whether special conditions related to the priority application exist or not according to the parameter information, and canceling the priority application if the special conditions related to the priority application exist, wherein the special conditions comprise at least one of the following: the working mode of the annunciator is a manual control mode or a strong centralized coordination mode, and vehicles with abnormal driving directions of buses and the current buses can directly pass through a parking line; in this way, oversubscription can be avoided, and the probability of the priority application being refused is reduced. When the phase conflict transmits the priority application to the plurality of vehicle ends at the same time, the vehicle end can be determined to submit the priority application according to the parameter information. Therefore, when the plurality of vehicle ends in the phase conflict direction simultaneously send the priority application to the road side gateway and cannot give consideration to the priority application, the signal priority arbitration part of the road side gateway can determine which vehicle end is used for submitting the priority application according to the parameter information.
In some embodiments, the determining, according to the parameter information, which vehicle end submits the priority application includes: and determining priority weight information according to the number of passengers in the current bus, and determining which bus end to submit a priority application according to the priority weight information.
S3: and submitting the priority application to a annunciator so that the annunciator responds to the priority application.
It will be appreciated that in order to provide a public transportation priority method with universal implementation, the communication protocol content between the road side gateway and the traffic signal can be formulated, and the communication protocol content is shown in table 1.
TABLE 1
Specifically, the part label external expansion 'road side gateway registers with the signal machine', and the road side gateway can inform the signal machine of necessary information such as a local address, a port, a device number and the like when the Ethernet communication is adopted, so that the signal machine can confirm the validity of the road side gateway and can clearly determine the receiving address of the road side gateway, and the part label external expansion is the necessary expansion. The extension of the part mark outside is that the road side gateway sends the state to the signal machine, so that unnecessary data output of the signal machine can be effectively reduced, and the burden of the signal machine is reduced when the signal priority is not started, which is an advantageous extension. In order to realize the initiative public transit priority, the part mark expands "road side gateway request public transit priority", is different from the passive priority of traditional scheme, and the road side gateway in this scheme behind receiving the positioning data of bus can decide whether to apply for necessity, what kind of priority is applied to and what kind of application in the different vehicles of conflict direction, on the one hand can let public traffic part adjust the basis of deciding, on the other hand, also can reduce the interference to the normal work of signal machine through the leading interception of road side gateway. The part mark externally expands that a road side gateway cancels public traffic priority, on one hand, the accident of vehicles in the actual implementation process, such as traffic accidents, abnormal insertion of social vehicles and bus parking waiting, is considered, and the originally planned priority application cannot play a role at the moment, and timely cancellation is beneficial to improving the overall traffic rate of the road; on the other hand, the priority application of the road side gateway must consider a certain allowance, when the bus passes over the stop line, the road side gateway immediately cancels the priority, and the traffic signal recovers the residual light color time window, so that the whole traffic rate of the road can be improved.
It can be understood that before the vehicle-mounted gateway submits the priority application, whether the priority application is necessary can also be judged first, and when the vehicle approaches the signal control intersection area, the vehicle-mounted gateway can firstly receive an SPAT (Signal phase timing message, traffic light phase and time sequence message) message through the PC5, wherein the SPAT message comprises data information of the road side gateway, data information of the annunciator and data information of the three-wood camera, the current phase number of the annunciator and the time difference between the current phase number and the target passing phase of the vehicle are determined according to the SPAT message, and the predicted time for reaching the parking line is judged according to the fusion perception and the current vehicle speed, so that whether the priority application is required is judged. If the vehicle-mounted gateway needs to apply, the vehicle-mounted gateway sends out a priority application of the designated phase sequence number in the period to the road side gateway when the vehicle runs to a proper position, and the vehicle speed starts to be actively regulated once the request response of the annunciator is received, so that the vehicle is not stopped and passes through the intersection.
The bus priority method for the vehicle-road cloud cooperation can receive a priority application sent by a vehicle end, wherein the priority application comprises parameter information obtained according to data information of the vehicle end, a road end and a bus service cloud platform; the gateway on the road side can adjust the time for submitting the priority application according to the parameter information; and submitting the priority application to a annunciator so that the annunciator responds to the priority application. Therefore, the problems that the priority application is not processed, the resource waste of the fixed priority window is avoided, and the priority application conflict cannot be arbitrated can be avoided by adjusting the time of the priority application and responding to the priority application according to the priority control strategy and the intersection response mode, so that the priority bus line efficiency is convenient to guarantee.
To achieve a balance of "guaranteeing priority bus line efficiency" and "controlling influence on social vehicles" with respect to each other, in some embodiments, the submitting the priority application to the annunciator to cause the annunciator to respond to the priority application may include: and submitting the priority application to the annunciator so that the annunciator responds to the priority application according to a bus priority control strategy and an intersection response mode.
In some embodiments, the bus priority control policy may include a left-turn vehicle avoidance policy, a half-way countdown curtailment policy, a peak policy, a flat peak policy, a cycle fixing policy, and a direction balancing policy; the crossing response mode can comprise direct non-response, phase jump response, green light extension response and green light early-break response.
Specifically, the left-turn vehicle avoidance strategy can be used for relieving intersection congestion; in a predetermined implementation road section, the left-turn lane is used as a social vehicle right-turn lane and a public traffic straight-going right-turn lane at the same time. For left-turn buses that are far from the stop line, for example, more than 50 meters, to exit at a halfway station, it is required to turn left with social vehicles in a left-turn lane. A half-way countdown reduction strategy for reserving sufficient priority adjustment margin; for example, in order to solve the contradiction between the countdown time course of about 12 seconds adopted by most intersections in Suzhou and the flexible mechanism adopted by the project, a solution for compressing the countdown time course to within 5 seconds is proposed. Peak strategies for reducing interference to social vehicles; and in the peak period of road traffic flow, the active priority is realized by adopting a green light extension and red light early-break mechanism. The peak flattening strategy is used for improving the application rate of active priority in the peak flattening period; when the traffic of the road is in a flat period and the vehicle waiting for the bus to collide with the phase to run is not obvious in queuing, a mechanism for inserting a special bus phase can be introduced to be used together with a special bus phase lamp. The cycle fixing strategy is used for keeping the coordination control scheme oriented to the social vehicles to be effective, and does not adjust the signal cycle of each intersection of the important trunk road. The direction balance strategy is used for keeping the overall traffic efficiency of the single intersection optimal; the priority time given to the bus is fixed by delaying the relatively low phase acquisition from each direction at the intersection.
In order to respond differently to priority applications issued by buses, in some embodiments, the intersection response mode includes: the direct non-response mainly exists in a manual control mode of the annunciator or in a strong centralized coordination mode of executing a guard route; the mechanism of inquiring the working mode of the signaler in advance by the gateway at the road side can be added, so that unnecessary priority requests are prevented from being initiated. Phase jump response, a special, strong response mode that allows for the use of a low peak overall traffic flow at the trunk junction. And the green light is prolonged and responded, the buses at the tail end of the queuing are responded, and the green light is prolonged at any stage for the intersections without countdown. For a half-way countdown signal lamp, the green light can only be prolonged before the countdown is started; for a full count down signal, the response must be modified to half pass or the count down must be cancelled in order to implement the response. The green light early-break response is used for responding to the bus at the head of the queuing queue and reducing the waiting time of the bus. The special phase lamp is arranged on the upstream of the signal control intersection and is close to the intersection, so that the bus is allowed to turn left on the right-turn lane in order to avoid the risk caused by the fact that the bus needs to turn left after continuously short time and continuously changing lanes, and the bus on the right-turn lane is determined to be in the first place of a queuing queue through vehicle-mounted sensing or road side sensing to send out a priority request, so that the special left-turn phase of the bus can be temporarily inserted, the bus is allowed to turn left in advance, and waiting time is reduced.
In order to verify the effect of the bus priority control policy and evaluate the effect of bus priority traffic, in some embodiments, before receiving the priority application sent by the bus end, the method may further include: and determining the maximum bus priority window time of the bus priority control strategy implemented on the preset road section through traffic simulation software, and determining whether each intersection of the preset road section opens up a priority window for the bus under the condition and the maximum priority time.
In particular, the traffic simulation software may be VISSIM software.
By taking the current bamboo garden road channeling and signal control scheme as reference, calculating traffic flow of each period, obtaining a traffic flow model, and establishing a simulation verification system.
The process for establishing the simulation verification system comprises the following steps: building a road network; loading flow; the path is opened; inputting a bus line; setting a detector; designing a signal; road right priority; and (5) simulation test.
Specifically, it is first verified whether there is a condition for opening up a priority window for the bus and how much the maximum priority time of each intersection is in the current signal timing and flow state. And (3) keeping the comprehensive service level of all the intersections above a second level, wherein each phase delay of the intersections in the peak period is not lower than level E, namely the average travel speed is not lower than level D, namely the average travel speed is not lower than level 22km/h, setting all the buses to trigger priority application necessarily, and verifying through repeated experiments, wherein the maximum priority time scheme of each intersection is shown in table 2.
TABLE 2
It can be understood that yellow flashing is a safety warning lamp, which indicates that the intersection is not controlled by traffic lights, and when passing vehicles pass through the intersection, the surrounding situation needs to be observed by themselves to determine whether to stop. As shown in table 2, the peak leveling time of each active priority intersection of the bamboo garden road section is at least 5 seconds priority time, so as to meet the minimum requirement of phase insertion; the peak leveling period can be more sufficient in priority time, and the effect is more obvious. And respectively verifying early-cut of a peak red light, extension of a green light and insertion of a peaked phase into an active priority control strategy according to the same set conditions. Taking a Zhujiang road-bamboo garden road intersection as an example, in the peak period of road traffic flow, the original phase time of the red light before the driving priority is 24 seconds, the green light is 36 seconds, the strategy of early breaking of the red light for 5 seconds is adopted after the vehicle is sensed to arrive in the red light state, the driving priority is high, the red light time is 19 seconds, and the green light is 41 seconds; the original phase time of the active priority green light is 36 seconds, the red light is 24 seconds, the green light is extended for 5 seconds after the vehicle is sensed under the green light state, the active priority is changed into 41 seconds, and the red light is changed into 19 seconds. And in the peak period of road traffic flow, the original phase time of the active priority front red light is 60 seconds, and when the arrival of a vehicle is sensed, a green light phase of 5 seconds can be inserted after 36 seconds, so that the bus can pass through. Simulation shows that the bus priority control strategy has feasibility.
Taking the road junction of Zhujiang road and Zhuyuan road as an example, the feasibility of the initiative priority is verified through simulation, and meanwhile, the influence of the initiative priority response mode of buses on the passing of social vehicles is also evaluated. Taking the intersection of the Zhujiang road and the bamboo garden road as an example, the east-west direction of the road is the main road, and the vehicles in the straight-going society can pass along with the priority buses at the same time, so that the east-west straight-going delay is generally reduced.
The data of the social vehicle forward delay before implementing the initiative preference at the early peak time are as follows: east import delay 54.1 seconds, west import delay 53.1 seconds, south import delay 76.3 seconds, and north import delay 86.3 seconds; data of social vehicle forward running delay of initiative priority and precedence is implemented in early peak hours: east import delay 50.2 seconds, west import delay 49.6 seconds, south import delay 76.8 seconds, and north import delay 85.6 seconds. The data of the prior social vehicle straight running delay of implementing initiative preference at peak leveling are as follows: east import delay 38.4 seconds, west import delay 39.1 seconds, south import delay 40.9 seconds, and north import delay 36.7 seconds; the data for implementing the social vehicle forward running delay of the initiative priority sequence in peak leveling are as follows: east import delay 35.2 seconds, west import delay 33.5 seconds, south import delay 46.7 seconds, and north import delay 48.8 seconds.
The social vehicle left turn delay data before the implementation of the initiative in early rush hour are as follows: east import delay 62.3 seconds, west import delay 90.1 seconds, south import delay 66.5 seconds, and north import delay 63.6 seconds; social vehicle left turn delay data of initiative priority order is implemented in early peak hours: east import delay 63.1 seconds, west import delay 88.5 seconds, south import delay 73.4 seconds, and north import delay 67.7 seconds. The left-turn delay data of the social vehicle before the implementation of initiative priority at the time of peak leveling are as follows: east import delay 45.7 seconds, west import delay 41.6 seconds, south import delay 49.5 seconds, and north import delay 41.1 seconds; the social vehicle left turn delay data for implementing active priority and sequence during peak leveling are as follows: east import delay 53.6 seconds, west import delay 48.3 seconds, south import delay 56.3 seconds, and north import delay 50.1 seconds.
It was found that the east-west entrance delay was reduced on average by 3.7 seconds during the peak period and by 4.4 seconds during the flat peak period. The average delay during the peak of the north-south social vehicle is less affected, and the average delay during the peak rises for about 8 seconds, but is better than the set minimum service level.
Simulation results show that bus delay can be reduced in the range of effectively controlling the traffic influence on social vehicles, and practical application experience is provided for the ground application of the bus priority signal control method of vehicle-road cloud cooperation.
Example two
The embodiment of the invention also provides a bus priority system for the vehicle-road cloud cooperation. Referring to fig. 3, fig. 3 is a schematic architecture diagram of a bus priority system with vehicle-road cloud cooperation according to an embodiment of the present invention, where the bus priority system with vehicle-road cloud cooperation may include: a roadside gateway; the roadside gateway includes: the application receiving module 31: the method comprises the steps of receiving a priority application sent by a vehicle end, wherein the priority application comprises parameter information obtained according to data information of the vehicle end, a road end and a public traffic service cloud platform; the timing adjustment module 32: the time for submitting the priority application is adjusted according to the parameter information; application submission module 33: and the priority application is submitted to the annunciator so that the annunciator responds to the priority application.
The bus priority system for vehicle-road cloud cooperation provided by the embodiment of the invention comprises a road side gateway; the road side gateway comprises an application receiving module, a timing adjustment module and an application submitting module; the application receiving module can receive a priority application sent by the vehicle end, wherein the priority application comprises parameter information obtained according to data information of the vehicle end, the road end and the public traffic service cloud platform; the time adjustment module can adjust the time for submitting the priority application according to the parameter information; the application submission module may submit the priority application to a traffic signal to cause the traffic signal to respond to the priority application. Therefore, the problems that the priority application is not processed, the resource waste of the fixed priority window and the conflict of the priority application cannot be arbitrated can be avoided by receiving the priority application, adjusting the time of the priority application and responding to the priority application according to the priority control strategy and the intersection response mode, and therefore the priority bus line efficiency is convenient to guarantee.
In some embodiments, the system further comprises: and (3) an interconnection module: the bus terminal is used for interconnecting the bus terminal and the road terminal and interconnecting the bus service cloud platform and the bus terminal; the vehicle end comprises a vehicle-mounted gateway, vehicle-mounted sensing equipment and a driver interaction screen, and the road end comprises a road side gateway, a trinocular camera and a signal machine.
In some embodiments, the interconnection module is specifically configured to interconnect the vehicle end and the road end through the vehicle gateway and the road side gateway by V2X technology, and dock the vehicle gateway with the public transportation service cloud platform by 5G VPN.
In some embodiments, the on-board gateway integrates on-board CAN bus, high precision satellite positioning, 5G communications and 5.9G C-V2X communications technology components, carrying on-board networking functionality to interconnect the on-board gateway with the on-board awareness equipment and the driver interaction screen.
In some embodiments, the parameter information includes at least one of: the method comprises the steps of predicting time for a current bus to reach a stop line, number of passengers in the current bus, scheduling state of the current bus, traffic flow of a bus direction crossing, queuing length, whether abnormal vehicles exist or not, switching working modes of a signal machine and road side guarantee records of communication response.
In some embodiments, the timing adjustment module includes: and a judging sub-module: and judging whether special conditions related to the priority application exist or not according to the parameter information, and canceling the priority application if the special conditions related to the priority application exist, wherein the special conditions comprise at least one of the following: the working mode of the annunciator is a manual control mode or a strong centralized coordination mode, and vehicles with abnormal driving directions of buses and the current buses can directly pass through a parking line; conflict resolution submodule: when the phase conflict sends the priority application to the plurality of vehicle ends at the same time, determining which vehicle end submits the priority application according to the parameter information.
In some embodiments, the conflict resolution sub-module is further configured to determine priority weight information according to the number of passengers in the current bus, and determine for which vehicle end to submit a priority application according to the priority weight information.
In some embodiments, the application submitting module is specifically configured to submit the priority application to a traffic signal, so that the traffic signal responds to the priority application according to a bus priority control policy and an intersection response mode.
In some embodiments, the bus priority control strategy comprises a left-turn vehicle avoidance strategy, a half-way countdown reduction strategy, a peak strategy, a flat peak strategy, a cycle fixing strategy and a direction balancing strategy; the crossing response mode comprises direct non-response, phase jump response, green light extension response and green light early-break response.
In some embodiments, the system further comprises: and (3) a simulation module: and the traffic simulation software is used for measuring the maximum bus priority window time of the bus priority control strategy implemented on the preset road section, and determining whether each intersection of the preset road section opens up a priority window for the bus under the condition, and the maximum priority time.
It should be noted that in this document, relational terms such as first and second, and the like are used solely to refer to
One entity or operation is distinguished from another entity or operation without necessarily requiring or implying any such
There may be any such actual relationship or order between entities or operations. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.
For convenience of description, if related to a system, a server, etc., it may be separately described in terms of functional division into various units/modules. Of course, the functions of the various elements/modules may be implemented in the same piece or pieces of software and/or hardware when implementing the present invention.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. The bus priority method for the vehicle-road cloud cooperation is characterized by comprising the following steps of:
receiving a priority application sent by a vehicle end, wherein the priority application comprises parameter information obtained according to data information of the vehicle end, a road end and a public traffic service cloud platform;
adjusting the time for submitting the priority application according to the parameter information;
and submitting the priority application to a annunciator so that the annunciator responds to the priority application.
2. The bus priority method of vehicle-road cloud cooperation according to claim 1, wherein before receiving the priority application sent by the vehicle end, the method further comprises:
interconnecting the vehicle end and the road end, and interconnecting the bus service cloud platform and the vehicle end; the vehicle end comprises a vehicle-mounted gateway, vehicle-mounted sensing equipment and a driver interaction screen, and the road end comprises a road side gateway, a trinocular camera and a signal machine.
3. The bus priority method of vehicle-road cloud cooperation according to claim 2, wherein interconnecting the vehicle end and the road end and interconnecting the bus service cloud platform and the vehicle end comprises:
and interconnecting the vehicle end and the road end by a V2X technology through the vehicle-mounted gateway and the road side gateway, and butting the vehicle-mounted gateway with a public transport service cloud platform by a 5G VPN.
4. The bus priority method of vehicle-road cloud cooperation according to claim 2, wherein the vehicle-mounted gateway integrates vehicle-mounted CAN bus, high-precision satellite positioning, 5G communication and 5.9G C-V2X communication technical components, and carries a vehicle-end networking function so as to interconnect the vehicle-mounted gateway with the vehicle-mounted sensing device and the driver interaction screen.
5. The bus priority method of vehicle-road cloud cooperation according to claim 1, wherein the parameter information includes at least one of:
the method comprises the steps of predicting time for a current bus to reach a stop line, number of passengers in the current bus, scheduling state of the current bus, traffic flow of a bus direction crossing, queuing length, whether abnormal vehicles exist or not, switching working modes of a signal machine and road side guarantee records of communication response.
6. The bus priority method of vehicle-road cloud cooperation according to claim 1, wherein the adjusting the time for submitting the priority application according to the parameter information comprises:
judging whether special conditions related to the priority application exist or not according to the parameter information, and canceling the priority application if the special conditions related to the priority application exist, wherein the special conditions comprise at least one of the following: the working mode of the annunciator is a manual control mode or a strong centralized coordination mode, and vehicles with abnormal driving directions of buses and the current buses can directly pass through a parking line; the method comprises the steps of,
When the phase conflict transmits the priority application to the plurality of vehicle ends at the same time, determining which vehicle end submits the priority application according to the parameter information.
7. The bus priority method of vehicle-road cloud cooperation according to claim 6, wherein the determining, according to the parameter information, which vehicle end submits a priority application includes:
and determining priority weight information according to the number of passengers in the current bus, and determining which bus end to submit a priority application according to the priority weight information.
8. The bus priority method of vehicle-road cloud cooperation according to claim 1, wherein submitting the priority application to a traffic signal to cause the traffic signal to respond to the priority application comprises:
and submitting the priority application to the annunciator so that the annunciator responds to the priority application according to a bus priority control strategy and an intersection response mode.
9. The bus priority method of vehicle-road cloud cooperation as set forth in claim 8, wherein,
the bus priority control strategy comprises a left-turn vehicle avoidance strategy, a half-way countdown reduction strategy, a peak strategy, a flat peak strategy, a period fixing strategy and a direction balancing strategy;
The crossing response mode comprises direct non-response, phase jump response, green light extension response and green light early-break response.
10. The bus priority method of vehicle-road cloud cooperation according to claim 1, wherein the method further comprises:
and determining the maximum bus priority window time of the bus priority control strategy implemented on the preset road section through traffic simulation software, and determining whether each intersection of the preset road section opens up a priority window for the bus under the condition and the maximum priority time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311302824.XA CN117423249A (en) | 2023-10-09 | 2023-10-09 | Bus priority method and system for vehicle-road cloud cooperation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311302824.XA CN117423249A (en) | 2023-10-09 | 2023-10-09 | Bus priority method and system for vehicle-road cloud cooperation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117423249A true CN117423249A (en) | 2024-01-19 |
Family
ID=89523879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311302824.XA Pending CN117423249A (en) | 2023-10-09 | 2023-10-09 | Bus priority method and system for vehicle-road cloud cooperation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117423249A (en) |
-
2023
- 2023-10-09 CN CN202311302824.XA patent/CN117423249A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109285373B (en) | Intelligent network traffic system for whole road network | |
| CN109118758B (en) | Intelligent networking traffic management system for mobile sharing | |
| RU2674744C1 (en) | Interaction between vehicles for streamlining traffic | |
| CN111210618B (en) | Automatic internet public traffic road system | |
| US20200312133A1 (en) | Express Lane Planning Method and Unit | |
| Chen et al. | Cooperative intersection management: A survey | |
| US20190311616A1 (en) | Connected and automated vehicle systems and methods for the entire roadway network | |
| KR100986279B1 (en) | Method for control intelligent traffic signal and system thereof | |
| EP3916508A1 (en) | Method and apparatus for driving control, device, medium, and system | |
| WO2019080874A1 (en) | Method for vehicle to pass by switching lanes and control center | |
| CN106971579A (en) | The trackside operational support system and method for a kind of intelligent network connection automobile | |
| CN108615384A (en) | Track distribution method based on cloud platform and the cloud platform for track distribution | |
| CN109003467A (en) | A kind of method, apparatus and system preventing vehicle collision | |
| CN112466115A (en) | Bus intersection priority passing control system and method based on edge calculation | |
| JP7207670B2 (en) | Highway system for connected autonomous vehicles and methods using it | |
| CN107564310A (en) | A kind of bus or train route interacted system and method based on the processing of Traffic Information cloud | |
| WO2021262367A1 (en) | Function allocation for automated driving systems | |
| WO2022042355A1 (en) | Right-of-way allocation and supervision method and apparatus | |
| JPWO2019163262A1 (en) | Traffic signal control devices, traffic signal control methods, and computer programs | |
| CN117651848A (en) | Method and system for planning and decision-making of road rights of vehicle-road cooperation multiple vehicle paths and roadbed unit | |
| WO2020258276A1 (en) | Yielding method and apparatus for intelligent driving vehicle, and vehicle-mounted device | |
| Vermesan et al. | IoT technologies for connected and automated driving applications | |
| Park et al. | Glossary of connected and automated vehicle terms | |
| CN108053663A (en) | Urban traffic control system based on big data platform | |
| WO2020248136A1 (en) | Driving control method, apparatus, device, medium, and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |