Guiding method, device and equipment for marshalling vehicles passing through intersection
By obtaining the movement information and signal timing information of public buses, predicting the passing time window and sorting and grouping them, the problem of vehicle grouping being affected by traffic lights at intersections is solved, the integrity of vehicle grouping and the orderliness of station entry control are achieved, and the utilization efficiency of the station is improved.
Patent Information
- Application Number
- CN202510947430.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-09
- Publication Date
- 2025-09-26
AI Technical Summary
When passing through an intersection, the vehicle formation is affected by the intersection traffic lights, and the integrity of the vehicle formation cannot be guaranteed, resulting in unsmooth entry control.
By obtaining the movement information and signal timing information of the upstream buses at the target intersection, the vehicle passing time window is predicted, and the vehicles are sorted and grouped to ensure that the service time overlap of the vehicle group at the target station meets the preset requirements, and guidance control is carried out to maintain the integrity of the vehicle group.
It effectively avoids vehicle formation deviation, ensures the integrity of vehicle formation and orderly entry control, and improves the utilization efficiency of the station.
Smart Images
Figure CN120708392A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of public transportation technology, and in particular to a method, device and equipment for guiding vehicle groups passing through an intersection. Background Art
[0002] With increasing urban traffic pressure and growing environmental awareness, public transportation has garnered increasing attention. Buses, among other things, are playing an increasingly important role in urban transportation. Improving the efficiency of public transportation systems has also become a key concern in the transportation sector.
[0003] Many methods for improving the efficiency of public transportation systems require bus marshaling and dispatching and guiding buses according to the vehicle marshaling. However, the vehicle marshaling may be affected by actual traffic conditions. Summary of the Invention
[0004] In view of this, embodiments of the present application provide a method, device, and apparatus for guiding a vehicle formation passing through an intersection to ensure the integrity of the vehicle formation.
[0005] To solve the above problems, the technical solutions provided in the embodiments of the present application are as follows:
[0006] In a first aspect, an embodiment of the present application provides a method for guiding a vehicle group passing through an intersection, the method comprising:
[0007] Obtaining movement information of multiple buses upstream of a target intersection, and traffic light timing information of the multiple buses in corresponding directions when passing through the target intersection;
[0008] Determining a passing time window for the plurality of buses to pass through the target intersection based on the movement information and the signal light timing information;
[0009] Sorting the buses according to the passing time windows to obtain a sorting result;
[0010] Determining the degree of overlap of service times of different buses entering a target station adjacent to each other based on the sorting result and the passing time window, wherein the target station is located downstream of the target intersection;
[0011] Grouping the buses whose service time overlaps meet preset requirements to obtain at least one target bus grouping;
[0012] At least one of the plurality of public buses is guided and controlled so that the public buses in the target bus formation provide boarding and alighting services at the target station in units of the bus formation.
[0013] In a possible implementation, determining the passing time windows of the plurality of public buses through the target intersection based on the movement information and the signal light timing information includes:
[0014] Determining, based on the movement information, arrival time windows of the plurality of public buses at the target intersection;
[0015] According to the arrival time window of the target bus and the signal light timing information corresponding to the target bus, a passing time window of the target bus through the target intersection is determined, and the target bus is any of the buses.
[0016] In a possible implementation, determining the passing time window of the target bus through the target intersection based on the arrival time window of the target bus and the signal light timing information corresponding to the target bus includes:
[0017] If the arrival time window of the target bus is within the corresponding green light time window, the minimum time and maximum time of the arrival time window of the target bus are added to the time it takes the target bus to pass through the target intersection to obtain the passing time window of the target bus through the target intersection;
[0018] If the arrival time window of the target bus overlaps with the front end of the corresponding green light time window, the minimum time of the corresponding green light time window and the maximum time of the arrival time window of the target bus are added to the time it takes the target bus to pass through the target intersection to obtain the passing time window of the target bus through the target intersection;
[0019] If the arrival time window of the target bus overlaps with the rear end of the corresponding green light time window, the overlapping time is calculated; if the overlapping time is greater than or equal to a first threshold, the minimum time of the arrival time window of the target bus and the maximum time of the corresponding green light time window are added to the duration of the target bus passing through the target intersection to obtain the passing time window of the target bus passing through the target intersection; if the overlapping time is less than the first threshold, the minimum time of the corresponding next green light time window is added to the duration of the target bus passing through the target intersection, the minimum time of the corresponding next green light time window is added to the duration of the target bus passing through the target intersection, and the disturbance value are added to obtain the passing time window of the target bus passing through the target intersection;
[0020] If the arrival time window of the target bus overlaps with the corresponding red light time window, the passing time window of the target bus through the target intersection is obtained by adding the minimum time of the corresponding next green light time window and the maximum time of the arrival time window of the target bus to the duration of the target bus passing through the target intersection.
[0021] In a possible implementation, determining the degree of overlap of service times of different buses entering the target station adjacent to each other based on the sorting result and the passing time window includes:
[0022] Determining an arrival time window for the bus to arrive at a target station based on the passing time window;
[0023] Determining a service end time window of the public transport vehicle according to the arrival time window;
[0024] According to the ranking result, the service time overlap degree of different buses entering the target station adjacent to each other is determined based on the arrival time windows and service end time windows of different buses entering the target station adjacent to each other.
[0025] In a possible implementation, determining the degree of overlap of service times of different buses that enter the target station adjacent to each other based on the arrival time windows and service end time windows of different buses that enter the target station adjacent to each other according to the sorting result includes:
[0026] Determine the first overlapping time at the station by the minimum value of the arrival time window of the preceding bus and the minimum value of the service end time window, and the minimum value of the arrival time window of the following bus and the minimum value of the service end time window;
[0027] The second overlapping time at the station is determined by the maximum value of the arrival time window of the preceding bus and the maximum value of the service end time window, and the minimum value of the arrival time window of the succeeding bus and the minimum value of the service end time window;
[0028] The third overlapping time at the station is determined by the minimum value of the arrival time window of the preceding bus and the minimum value of the service end time window, and the maximum value of the arrival time window of the succeeding bus and the maximum value of the service end time window;
[0029] Determine the fourth at-station overlapping time based on the maximum value of the arrival time window of the preceding bus and the maximum value of the service end time window, and the maximum value of the arrival time window of the following bus and the maximum value of the service end time window;
[0030] The service time overlap degree of different buses that enter the target station adjacently at the target station is obtained by taking a weighted sum of the first, second, third and fourth overlapping times at the station and dividing the sum by the minimum value of the service time at the station of the previous bus and the service time at the station of the next bus.
[0031] In a possible implementation, guiding and controlling at least one of the plurality of public buses so that the public buses in the target bus formation provide boarding and alighting services at the target station as a unit of the bus formation includes:
[0032] If the buses in the target vehicle group come from the same direction, the first recommended speed of the target vehicle group is calculated with the control target that the target vehicle group passes within the same green light phase;
[0033] At least one bus in the target vehicle formation is guided and controlled according to the first recommended speed, so that the bus in the target vehicle formation provides boarding and alighting services at the target station in units of vehicle formations.
[0034] In a possible implementation, guiding and controlling at least one of the plurality of public buses so that the public buses in the target bus formation provide boarding and alighting services at the target station as a unit of the bus formation includes:
[0035] If the buses in the vehicle group come from different directions, dividing the buses in the target vehicle group into multiple sub-vehicle groups according to their directions;
[0036] Calculating a second recommended speed for the sub-vehicle formation with the control objective that the sub-vehicle formation passes within the same green light phase and the order between the sub-vehicle formations remains unchanged;
[0037] At least one bus in the corresponding sub-vehicle formation is guided and controlled according to the second recommended speed of each sub-vehicle formation, so that the bus in the target vehicle formation provides boarding and alighting services at the target station in units of vehicle formations.
[0038] In a second aspect, an embodiment of the present application provides a device for guiding a vehicle group passing through an intersection, the device comprising:
[0039] an acquisition unit, configured to acquire movement information of a plurality of buses upstream of a target intersection, and traffic light timing information of the plurality of buses in corresponding directions when passing through the target intersection;
[0040] A first determining unit is configured to determine a passing time window for the plurality of buses to pass through the target intersection based on the movement information and the signal light timing information;
[0041] A sorting unit, configured to sort the buses according to the passing time windows to obtain a sorting result;
[0042] a second determining unit, configured to determine, based on the sorting result and the passing time window, a degree of overlap in service time of different buses entering a target station adjacent to each other, the target station being located downstream of the target intersection;
[0043] a grouping unit, configured to group the buses whose service time overlaps meet preset requirements to obtain at least one target bus group;
[0044] The control unit is used to guide and control at least one of the multiple public buses so that the public buses in the target vehicle formation provide boarding and alighting services at the target station in units of vehicle formations.
[0045] In a third aspect, an embodiment of the present application provides a device for guiding vehicle formations passing through an intersection, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements a method for guiding vehicle formations passing through an intersection as described in any one of the above items.
[0046] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes a method for guiding a vehicle formation passing through an intersection as described in any one of the above items.
[0047] It can be seen that the embodiments of the present application have the following beneficial effects:
[0048] In an embodiment of the present application, the movement information of multiple buses upstream of the target intersection and the signal timing information of the corresponding directions of the buses when passing the target intersection are obtained. The movement information and signal timing information can be used to determine the passing time windows of the multiple buses through the target intersection. The buses are sorted according to the passing time windows to obtain a sorting result. The sorting result and the passing time windows are used to determine the degree of overlap in the service times of different buses entering the target station adjacent to each other. The buses whose service time overlap meets the preset requirements are grouped to obtain at least one target vehicle group. At least one of the multiple buses is guided and controlled so that the buses in the target vehicle group provide boarding and alighting services at the target station as a unit of vehicle group. This maintains the integrity of the vehicle group, avoids deviations in the vehicle group, and ensures the orderly execution of subsequent station entry control. BRIEF DESCRIPTION OF THE DRAWINGS
[0049] Figure 1 A schematic diagram of an exemplary application scenario provided in an embodiment of the present application;
[0050] Figure 2 A flowchart of a method for guiding a vehicle group passing through an intersection provided in an embodiment of the present application;
[0051] Figure 3 A schematic diagram of different scenarios for determining a time window in an embodiment of the present application;
[0052] Figure 4 A schematic diagram of a device for guiding a vehicle group passing through an intersection provided in an embodiment of the present application. DETAILED DESCRIPTION
[0053] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the embodiments of the present application are further described in detail below with reference to the accompanying drawings and specific implementation methods.
[0054] In order to facilitate understanding and explanation of the technical solutions provided by the embodiments of the present application, the background technology of the embodiments of the present application will be described below.
[0055] Many methods for improving the efficiency of public transportation systems require bus marshaling, controlling bus entry and exit in groups to improve station efficiency. However, if a group of buses needs to pass through an intersection, it may be affected by traffic lights at that intersection, making it impossible to maintain the integrity of the group.
[0056] Based on this, the embodiments of the present application provide a method, device, and equipment for guiding vehicle formations passing through intersections. Based on the movement information of buses entering from different directions upstream of the target intersection and the signal timing information of the corresponding directions, the transit time window of the buses passing through the target intersection is predicted. Buses are sorted according to their transit time windows through the target intersection, and the degree of overlap in the service times of different buses entering the target station adjacent to each other is determined. Buses whose service time overlap meets preset requirements are grouped to obtain at least one target vehicle formation. At least one of the multiple buses is guided and controlled so that the buses in the target vehicle formation provide boarding and alighting services at the target station as a vehicle formation, thereby ensuring the integrity of the vehicle formation.
[0057] In order to facilitate understanding of the method for guiding vehicle groups passing through an intersection provided in the embodiment of the present application, the following is combined with Figure 1 See the example scenario shown. Figure 1 As shown in the figure, this figure is a schematic diagram of an exemplary application scenario provided by an embodiment of the present application.
[0058] There may be buses entering the target intersection in all directions upstream of the target intersection, for example, buses 1-5 driving straight into the target intersection from east to west, buses 6-7 turning right into the target intersection from north to south, and buses 8-9 turning left into the target intersection from south to north. Simultaneously, there may be a target station downstream of the target intersection, and the bus platform of the target station may include at least one berth, for example, berth 1, berth 2, and berth 3. In practical applications, the buses may be divided into groups so that the buses enter the target station as a unit of vehicle group, thereby improving the utilization efficiency of the target station. In an embodiment of the present application, it is possible to ensure that the vehicle group is not affected by the traffic lights of the target intersection during travel, and the vehicle group passes through the target intersection together, and the vehicle group provides boarding and alighting services at the target station, thereby ensuring the integrity of the vehicle group.
[0059] Those skilled in the art will understand that Figure 1 The framework diagram shown is only an example in which the embodiments of the present application can be implemented. The scope of application of the embodiments of the present application is not limited by any aspect of the framework.
[0060] To facilitate understanding of the embodiments of the present application, a method for guiding a vehicle formation passing through an intersection provided in an embodiment of the present application is described below with reference to the accompanying drawings.
[0061] See also Figure 2 As shown in FIG. 1 , this figure is a flow chart of a method for guiding a vehicle group passing through an intersection provided by an embodiment of the present application, as shown in FIG. Figure 2 As shown, the method may include S201-S206:
[0062] S201: Obtain movement information of multiple buses upstream of a target intersection and traffic light timing information of multiple buses in corresponding directions when passing through the target intersection.
[0063] A detection area can be set up within an appropriate range upstream of the target intersection to monitor multiple buses entering the detection area from various directions and collect motion information such as the bus's position, speed, and acceleration. The present embodiment of the application does not limit the location of the detection area and can be selected based on actual circumstances, for example, within 100 meters upstream of the target intersection. The means for obtaining motion information can be through communication transmission between the Internet of Vehicles and buses, etc. The present embodiment of the application does not limit the means for obtaining motion information and can be selected based on actual circumstances.
[0064] There is a target station downstream of the target intersection. The bus can proceed straight through the target intersection to reach the target station, or it can turn left or right through the target intersection to reach the target station. The timing information of each phase of the traffic light in the corresponding direction when the bus passes through the target intersection can be obtained. The timing information of each phase of the traffic light can include, for example, the green light time window in that direction, the red light time window in that direction, etc.
[0065] S202: Determine the passing time windows of multiple buses passing through the target intersection based on the movement information and the signal light timing information.
[0066] In scenarios with a target intersection, by comprehensively considering various factors, such as motion information (e.g., position, speed, acceleration), and road segment length, we can predict the time window within which buses from each direction will arrive at the stop line of the target intersection. Combined with the corresponding traffic light timing information for each direction, we can further predict the time window within which buses will reach the downstream entrance of the target intersection, thereby deriving the transit time window for buses to pass through the target intersection.
[0067] Regarding the specific implementation of S202 of determining the passing time windows of multiple buses passing through the target intersection based on the movement information and the signal light timing information, reference can be made to subsequent embodiments and will not be repeated here.
[0068] S203: Sort the buses according to their passing time windows to obtain a sorting result.
[0069] The predicted passing time windows of the buses passing the target intersection are sorted from small to large according to a fixed relative time within the passing time window, such as the minimum time within the passing time window, to obtain a sorting result.
[0070] S204: Determine the service time overlap of different buses entering the target station adjacent to each other based on the sorting result and the passing time window, where the target station is located downstream of the target intersection.
[0071] Based on the obtained sorting results and the passing time windows of each bus, the service time overlap of different buses entering the target station adjacent to each other can be determined. The service time overlap refers to the degree of overlap in the service time of different buses entering the target station adjacent to each other at the target station downstream of the target intersection.
[0072] Regarding the specific implementation of S204 of determining the service time overlap of different buses entering the target station adjacent to each other based on the sorting results and the time window, please refer to the subsequent embodiments and will not be described in detail here.
[0073] S205: Grouping the buses whose service time overlaps meet the preset requirements to obtain at least one target bus grouping.
[0074] A large degree of service time overlap means that different buses entering the target station adjacent to each other have a large degree of overlapping service time at the target station, and are more likely to be divided into the same vehicle group. In this case, the buses whose service time overlap meets the preset requirements will be grouped to realize the grouping of each bus.
[0075] S206: Guiding and controlling at least one of the plurality of public buses so that the public buses in the target bus formation provide boarding and alighting services at the target station in units of the bus formation.
[0076] When the target vehicle formation does not need to pass the target intersection, the control boundary of the distance between buses in the formation is determined, and the following distance of the buses is monitored. If the following distance between buses exceeds the control boundary, an early warning is issued to the buses, prompting them to adjust their operating speed appropriately to prevent them from falling out of the formation.
[0077] When a target vehicle group needs to pass through a target intersection, the system monitors buses in all directions of the target intersection in real time. The system calculates and observes the arrival time of the target vehicle group and the headway between the target vehicle group and the preceding bus within the group. Combined with the signal phase at the target intersection, the system ensures that the target vehicle group can pass through the target intersection smoothly and in a pre-set order, maintaining a relatively stable headway within a certain threshold. If the threshold is exceeded, the bus will be warned, prompting the bus to adjust its speed appropriately to prevent it from falling out of the group.
[0078] Thus, by guiding and controlling at least one of the plurality of public buses, the public buses in the target bus formation can provide boarding and alighting services at the target station in units of the bus formation.
[0079] By matching the remaining berths at the station with the order of the vehicles in the formation, the berth to be parked for each vehicle can be determined, and the parking berths can be predicted to guide the vehicles to park accurately.
[0080] In an embodiment of the present application, the movement information of multiple buses upstream of the target intersection and the signal timing information of the corresponding directions of the buses when passing the target intersection are obtained. The movement information and signal timing information can be used to determine the passing time windows of the multiple buses through the target intersection. The buses are sorted according to the passing time windows to obtain a sorting result. The sorting result and the passing time windows are used to determine the degree of overlap in the service times of different buses entering the target station adjacent to each other. The buses whose service time overlap meets the preset requirements are grouped to obtain at least one target vehicle group. At least one of the multiple buses is guided and controlled so that the buses in the target vehicle group provide boarding and alighting services at the target station as a unit of vehicle group. This maintains the integrity of the vehicle group, avoids deviations in the vehicle group, and ensures the orderly execution of subsequent station entry control.
[0081] The following further describes the specific implementation process of the above steps.
[0082] In one possible implementation, S202 may include determining the time windows for multiple buses to pass through the target intersection based on the movement information and the signal light timing information.
[0083] A1: Based on the movement information, determine the arrival time windows of multiple buses at the target intersection.
[0084] Combined with the speed adjustment interval of the bus on the driving section, the earliest arrival time and the latest arrival time of the vehicle at the stop line of the target intersection can be predicted, forming the arrival time window of the bus at the target intersection. .
[0085] A2: Determine the passing time window of the target bus through the target intersection based on the arrival time window of the target bus and the signal light timing information corresponding to the target bus. The target bus can be any bus.
[0086] Calculate the time it takes for a vehicle to travel from the stop line of the target intersection to pass the target intersection: , and obtain the remaining time window of the green light when the vehicle is expected to reach the stop line of the target intersection or remaining time window for red light The passing time window of each bus through the target intersection can be further determined.
[0087] In one possible implementation, A2 may determine the passing time window of the target bus through the target intersection based on the arrival time window of the target bus and the signal light timing information corresponding to the target bus. Specifically, the implementation may include:
[0088] A21: If the arrival time window of the target bus is within the corresponding green light time window, the minimum time and maximum time of the arrival time window of the target bus are added to the time it takes the target bus to pass through the target intersection to obtain the passing time window of the target bus through the target intersection.
[0089] See also Figure 3 , which shows a schematic diagram of different scenarios for determining a passing time window.
[0090] In the first scenario, if Figure 3 As shown in the first row, if the arrival time window of the target bus at the target intersection is completely included in the green light time window, that is, Included in , then the passing time window of the target bus through the target intersection is , that is, the minimum time of arrival time window With maximum time Add the time it takes for the target bus to pass through the target intersection .
[0091] A22: If the arrival time window of the target bus overlaps with the front end of the corresponding green light time window, the passing time window of the target bus through the target intersection is obtained by adding the minimum time of the corresponding green light time window and the maximum time of the arrival time window of the target bus to the duration of the target bus passing through the target intersection.
[0092] In the second scenario, if Figure 3 As shown in the second row, if the arrival time window of the target bus at the target intersection overlaps with the front part of the green light time window, that is, and There is some overlap, and < , < , then the passing time window of the target bus through the target intersection is , the minimum time of the corresponding green light time window The maximum time of the arrival time window with the target bus Add the time it takes for the target bus to pass through the target intersection .
[0093] A23: If the arrival time window of the target bus overlaps with the rear end of the corresponding green light time window, calculate the overlapping time; if the overlapping time is greater than or equal to a first threshold, add the minimum time of the arrival time window of the target bus and the maximum time of the corresponding green light time window to the duration of the target bus passing through the target intersection to obtain the passing time window of the target bus passing through the target intersection; if the overlapping time is less than the first threshold, add the minimum time of the corresponding next green light time window to the duration of the target bus passing through the target intersection, the minimum time of the corresponding next green light time window to the duration of the target bus passing through the target intersection, and the disturbance value to obtain the passing time window of the target bus passing through the target intersection.
[0094] In the third scenario, if Figure 3 As shown in the third row, if the arrival time window of the target bus overlaps with the rear end of the green light time window, that is, and There is some overlap, and > , > , then the overlap time is calculated as If the overlapping time Greater than or equal to the first threshold , then the passing time window of the target bus through the target intersection is , that is, the minimum time of the target bus's arrival time window The maximum time of the corresponding green light time window Add the time it takes for the target bus to pass through the target intersection If the overlapping time Less than the first threshold , then the passing time window of the target bus through the target intersection is , that is, the minimum time of the next green light time window Plus the time it takes for the target bus to pass through the target intersection , the minimum time of the corresponding next green light time window Plus the time it takes for the target bus to pass through the target intersection and the disturbance value Among them, the disturbance value is the random disturbance that the bus receives when passing through the target intersection, and the first threshold It can be set based on historical data and combined with simulation scenarios.
[0095] A24: If the arrival time window of the target bus overlaps with the corresponding red light time window, the passing time window of the target bus through the target intersection is obtained by adding the minimum time of the corresponding next green light time window and the maximum time of the target bus's arrival time window to the duration of the target bus's passing through the target intersection.
[0096] In the fourth scenario, if Figure 3 As shown in the fourth row, if the arrival time window of the target bus does not overlap with the green light time window at all, but overlaps with the red light time window, that is, and There is some overlap, and > , > , then the time window for the target bus to pass through the target intersection is calculated as , that is, the minimum time of the next green light time window The maximum time of the arrival time window with the target bus Add the time it takes for the target bus to pass through the target intersection .
[0097] In the embodiment of the present application, the time windows for multiple buses to pass through the target intersection can be accurately predicted using movement information and traffic light timing information.
[0098] In a possible implementation, S204 may include determining the degree of overlap in service time of different buses entering the target station adjacent to each other based on the sorting results and the time window:
[0099] B1: Determine the arrival time window of the bus at the target station based on the passing time window.
[0100] B2: Determine the bus service end time window based on the arrival time window.
[0101] Based on historical data or real-time traffic conditions, the travel time of a bus from the target intersection to the downstream target station can be estimated , combined with the pre-set service time for buses at the station , we can get the service time window of the bus at the target station Among them, the arrival time window of the bus at the target station is , that is, the minimum value of the time window With the maximum value Add driving time The service end time window of the bus is , which is the minimum value of the arrival time window With the maximum value Add the service time at the station .
[0102] B3: According to the sorting results, the service time overlap of different buses that enter the target station adjacently is determined based on the arrival time windows and service end time windows of different buses that enter the target station adjacently.
[0103] For the previous bus i and the next bus i+1 that enter the target station adjacently, their overlapping time at the target station is Can be calculated as , we can further obtain the service time overlap of different buses entering the target station adjacently at the target station.
[0104] In one possible implementation, B3 determines the degree of overlap in the service times of different buses that enter the target station adjacent to each other based on the arrival time windows and service end time windows of the buses that enter the target station adjacent to each other according to the sorting result. Specific implementations may include:
[0105] B31: Determine the first overlapping time at the station based on the minimum value of the arrival time window of the previous bus and the minimum value of the service end time window, and the minimum value of the arrival time window of the next bus and the minimum value of the service end time window.
[0106] According to the constraints of each time window, the calculation of overlapping time at the station can be divided into four cases according to the different arrival and departure patterns of buses.
[0107] In the first case, when both the previous bus and the next bus arrive at the earliest passing time, , that is, the minimum value of the arrival time window of the previous bus Minimum of the service end time window , the minimum time window of the next bus arrival Minimum of the service end time window , determine the first on-site overlap time .
[0108] B32: Determine the second overlapping time at the station based on the maximum value of the arrival time window of the previous bus and the maximum value of the service end time window, and the minimum value of the arrival time window of the next bus and the minimum value of the service end time window.
[0109] In the second case, the first bus arrives at the latest passing time and the second bus arrives at the earliest passing time, then , that is, the maximum value of the arrival time window of the previous bus Maximum value of the service end time window , the minimum time window of the next bus arrival Minimum of the service end time window , determine the second on-site overlap time .
[0110] B33: The third overlapping time at the station is determined by the minimum value of the arrival time window of the previous bus and the minimum value of the service end time window, and the maximum value of the arrival time window of the next bus and the maximum value of the service end time window.
[0111] In the third case, the first bus arrives at the earliest passing time and the second bus arrives at the latest passing time. , that is, the minimum value of the arrival time window of the previous bus Minimum of the service end time window , the maximum value of the arrival time window of the next bus Maximum value of the service end time window , determine the third station overlap time .
[0112] B34: Determine the fourth at-station overlapping time based on the maximum value of the arrival time window and the maximum value of the service end time window of the preceding bus and the maximum value of the arrival time window and the maximum value of the service end time window of the following bus.
[0113] In the fourth case, if both the first bus and the second bus arrive at the latest time, then , that is, the maximum value of the arrival time window of the previous bus Maximum value of the service end time window , the maximum value of the arrival time window of the next bus Maximum value of the service end time window , determine the fourth station overlap time .
[0114] B35: After taking the weighted sum of the first, second, third and fourth overlapping time at the station, the service time overlap at the station is divided by the minimum value of the service time of the previous bus and the service time of the next bus to obtain the service time overlap degree of different buses entering the target station adjacent to each other.
[0115] The overlapping degree of service time of different buses entering the target station adjacently at the target station , are the first on-site overlap time, the second on-site overlap time, the third on-site overlap time, and the fourth on-site overlap time, are the weights corresponding to the first on-site overlapping time, the second on-site overlapping time, the third on-site overlapping time, and the fourth on-site overlapping time.
[0116] if , and when the number of vehicles in the current group is less than the number of berths at the target platform, the next bus i+1 can be incorporated into the current group, and the sorted bus sequence is traversed, and buses that meet the conditions are successively included in the same group until the conditions cannot be met or the capacity limit is reached. The overlap threshold can be set based on historical data and simulation scenarios. A lower threshold can be used for vehicle groups in the same direction, and a higher threshold can be used for vehicle groups in different directions to ensure the stability of the group.
[0117] In an embodiment of the present application, the service time overlap of different buses entering the target station adjacent to each other can be accurately predicted at the target station, so that the vehicle formation determined according to the service time overlap can better maintain the integrity of the vehicle formation.
[0118] In a possible implementation, S206 guides and controls at least one of the multiple public buses so that the public buses in the target bus formation provide boarding and alighting services at the target station in units of vehicle formations, and the specific implementation may include:
[0119] C1: If the buses in the target vehicle formation come from the same direction, the first recommended speed of the target vehicle formation is calculated with the control goal of passing the target vehicle formation within the same green light phase.
[0120] C2: guiding and controlling at least one bus in the target vehicle formation according to the first recommended speed, so that the bus in the target vehicle formation provides boarding and alighting services at the target station in units of vehicle formations.
[0121] If all buses in the target vehicle group are coming from the same direction, the first recommended speed of the lead vehicle in the target vehicle group can be calculated by combining vehicle dynamics constraints with signal timing information, so that the target vehicle group passes at the same green light phase. Vehicle-to-vehicle communication technology can be used to share the lead vehicle's speed and position information in real time, monitor the distance between other buses in the target vehicle group and the preceding vehicle, and fine-tune speed to prevent separation while maintaining a safe distance between buses. If speed guidance cannot ensure that the target vehicle group passes at the same green light phase, signal timing adjustments (extending the green light or turning off the red light early) can be used to ensure that the target vehicle group passes the target intersection as a group.
[0122] In a possible implementation, S206 guides and controls at least one of the multiple public buses so that the public buses in the target bus formation provide boarding and alighting services at the target station in units of vehicle formations, and the specific implementation may include:
[0123] D1: If the buses in the target vehicle group come from different directions, the buses in the target vehicle group are divided into multiple sub-vehicle groups according to their directions.
[0124] D2: The second recommended speed of the sub-vehicle formation is calculated with the control target that the same sub-vehicle formation passes within the same green light phase and the order between the sub-vehicle formations remains unchanged.
[0125] D3: guiding and controlling at least one bus within the corresponding sub-vehicle formation according to the second recommended speed of each sub-vehicle formation, so that the bus within the target vehicle formation provides boarding and alighting services at the target station in units of vehicle formations.
[0126] In the case where the buses in the target vehicle group come from different directions, the bus groups in different directions are divided into multiple sub-vehicle groups according to the order of the buses in the target vehicle group. The second recommended speed is calculated for the head vehicle of each sub-vehicle group in combination with the vehicle dynamics constraint conditions and the signal light timing information, so that the buses in the sub-vehicle group can pass through at the same phase. In other words, the buses in the sub-vehicle group will not be cut off by the signal light, and the group vehicles are guaranteed to pass through the target intersection in the established order, and the rear sub-vehicle group can pass after the front sub-vehicle group passes through the intersection. Time period ( The target intersection is passed within 10 minutes (maximum service end time of the vehicle in the front group). Sub-groups all adopt the same-direction grouping following control strategy to maintain vehicle compactness and ensure that the different sub-groups pass through the target intersection in the pre-set order. If speed guidance cannot achieve the predetermined grouping sequence, signal timing adjustments (extending green lights or turning off red lights early) are implemented to ensure that the target group passes the target intersection as a group.
[0127] In an embodiment of the present application, by adjusting the driving speed of the vehicle formation, or further adjusting the phase of the signal light, the vehicle formation can smoothly pass through the target intersection, so that the buses in the target vehicle formation can provide boarding and alighting services at the target station as a unit of vehicle formation, thereby ensuring the integrity of the vehicle formation.
[0128] Based on the method for guiding vehicle groups passing through an intersection provided in the above-mentioned method embodiment, the embodiment of the present application also provides a device for guiding vehicle groups passing through an intersection, and the device will be described below with reference to the accompanying drawings.
[0129] See also Figure 4 As shown in FIG, this figure is a schematic diagram of the structure of a guiding device for a vehicle group passing through an intersection provided by an embodiment of the present application. Figure 4 As shown, the guiding device for the vehicle group passing through the intersection includes:
[0130] An acquisition unit 401 is configured to acquire movement information of a plurality of buses upstream of a target intersection, and traffic light timing information of the plurality of buses in corresponding directions when passing through the target intersection;
[0131] A first determining unit 402 is configured to determine a passing time window for the plurality of buses to pass through the target intersection based on the movement information and the signal light timing information;
[0132] A sorting unit 403 is configured to sort the buses according to the passing time windows to obtain a sorting result;
[0133] A second determining unit 404 is configured to determine, based on the sorting result and the passing time window, a degree of overlap in service time of different buses that enter a target station adjacent to each other, the target station being located downstream of the target intersection;
[0134] A grouping unit 405 is configured to group the buses whose service time overlaps meet preset requirements to obtain at least one target bus grouping;
[0135] The control unit 406 is configured to guide and control at least one of the plurality of public buses so that the public buses in the target bus formation provide boarding and alighting services at the target station in units of bus formations.
[0136] In a possible implementation, the first determining unit includes:
[0137] A first determining subunit is configured to determine, based on the movement information, an arrival time window for the plurality of public buses to arrive at the target intersection;
[0138] The second determining subunit is configured to determine a passing time window for the target bus to pass through the target intersection according to the arrival time window of the target bus and the signal light timing information corresponding to the target bus, wherein the target bus is any of the buses.
[0139] In a possible implementation manner, the second determining subunit is specifically configured to:
[0140] If the arrival time window of the target bus is within the corresponding green light time window, the minimum time and maximum time of the arrival time window of the target bus are added to the time it takes the target bus to pass through the target intersection to obtain the passing time window of the target bus through the target intersection;
[0141] If the arrival time window of the target bus overlaps with the front end of the corresponding green light time window, the minimum time of the corresponding green light time window and the maximum time of the arrival time window of the target bus are added to the time it takes the target bus to pass through the target intersection to obtain the passing time window of the target bus through the target intersection;
[0142] If the arrival time window of the target bus overlaps with the rear end of the corresponding green light time window, the overlapping time is calculated; if the overlapping time is greater than or equal to a first threshold, the minimum time of the arrival time window of the target bus and the maximum time of the corresponding green light time window are added to the duration of the target bus passing through the target intersection to obtain the passing time window of the target bus passing through the target intersection; if the overlapping time is less than the first threshold, the minimum time of the corresponding next green light time window is added to the duration of the target bus passing through the target intersection, the minimum time of the corresponding next green light time window is added to the duration of the target bus passing through the target intersection, and the disturbance value are added to obtain the passing time window of the target bus passing through the target intersection;
[0143] If the arrival time window of the target bus overlaps with the corresponding red light time window, the passing time window of the target bus through the target intersection is obtained by adding the minimum time of the corresponding next green light time window and the maximum time of the arrival time window of the target bus to the duration of the target bus passing through the target intersection.
[0144] In a possible implementation, the second determining unit includes:
[0145] a third determining subunit, configured to determine an arrival time window for the bus to arrive at a target station according to the passing time window;
[0146] A fourth determining subunit, configured to determine a service end time window of the public bus according to the arrival time window;
[0147] The fifth determining subunit is configured to determine the degree of overlap of service times of different buses that enter the target station adjacent to each other based on the arrival time windows and service end time windows of the buses that enter the target station adjacent to each other according to the sorting result.
[0148] In a possible implementation manner, the fifth determining subunit is specifically configured to:
[0149] Determine the first overlapping time at the station by the minimum value of the arrival time window of the preceding bus and the minimum value of the service end time window, and the minimum value of the arrival time window of the following bus and the minimum value of the service end time window;
[0150] The second overlapping time at the station is determined by the maximum value of the arrival time window of the preceding bus and the maximum value of the service end time window, and the minimum value of the arrival time window of the succeeding bus and the minimum value of the service end time window;
[0151] The third overlapping time at the station is determined by the minimum value of the arrival time window of the preceding bus and the minimum value of the service end time window, and the maximum value of the arrival time window of the succeeding bus and the maximum value of the service end time window;
[0152] Determine the fourth at-station overlapping time based on the maximum value of the arrival time window of the preceding bus and the maximum value of the service end time window, and the maximum value of the arrival time window of the following bus and the maximum value of the service end time window;
[0153] The service time overlap degree of different buses that enter the target station adjacently at the target station is obtained by taking a weighted sum of the first, second, third and fourth overlapping times at the station and dividing the sum by the minimum value of the service time at the station of the previous bus and the service time at the station of the next bus.
[0154] In a possible implementation, the control unit is specifically configured to:
[0155] If the buses in the target vehicle group come from the same direction, the first recommended speed of the target vehicle group is calculated with the control target that the target vehicle group passes within the same green light phase;
[0156] At least one bus in the target vehicle formation is guided and controlled according to the first recommended speed, so that the bus in the target vehicle formation provides boarding and alighting services at the target station in units of vehicle formations.
[0157] In a possible implementation, the control unit is specifically configured to:
[0158] If the buses in the vehicle group come from different directions, dividing the buses in the target vehicle group into multiple sub-vehicle groups according to their directions;
[0159] Calculating a second recommended speed for the sub-vehicle formation with the control objective that the sub-vehicle formation passes within the same green light phase and the order between the sub-vehicle formations remains unchanged;
[0160] At least one bus in the corresponding sub-vehicle formation is guided and controlled according to the second recommended speed of each sub-vehicle formation, so that the bus in the target vehicle formation provides boarding and alighting services at the target station in units of vehicle formations.
[0161] In addition, an embodiment of the present application also provides a guiding device for vehicle groups passing through an intersection, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements a method for guiding vehicle groups passing through an intersection as described in any one of the above items.
[0162] An embodiment of the present application also provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a terminal device, the terminal device executes any of the above-described methods for guiding vehicle formations passing through an intersection.
[0163] An embodiment of the present application further provides a computer program product, comprising computer program instructions. When the computer program instructions are executed on a computer, the computer is caused to execute any of the above-described methods for guiding a vehicle formation passing through an intersection.
[0164] In an embodiment of the present application, the movement information of multiple buses upstream of the target intersection and the signal timing information of the corresponding directions of the buses when passing the target intersection are obtained. The movement information and signal timing information can be used to determine the passing time windows of the multiple buses through the target intersection. The buses are sorted according to the passing time windows to obtain a sorting result. The sorting result and the passing time windows are used to determine the degree of overlap in the service times of different buses entering the target station adjacent to each other. The buses whose service time overlap meets the preset requirements are grouped to obtain at least one target vehicle group. At least one of the multiple buses is guided and controlled so that the buses in the target vehicle group provide boarding and alighting services at the target station as a unit of vehicle group. This maintains the integrity of the vehicle group, avoids deviations in the vehicle group, and ensures the orderly execution of subsequent station entry control.
[0165] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.
[0166] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or plural.
[0167] It should also be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.
[0168] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
[0169] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A method for guiding a vehicle group passing through an intersection, characterized in that: The method comprises: Obtaining movement information of multiple buses upstream of a target intersection, and traffic light timing information of the multiple buses in corresponding directions when passing through the target intersection; Determining a passing time window for the plurality of buses to pass through the target intersection based on the movement information and the signal light timing information; Sorting the buses according to the passing time windows to obtain a sorting result; Determining the degree of overlap of service times of different buses entering a target station adjacent to each other based on the sorting result and the passing time window, wherein the target station is located downstream of the target intersection; Grouping the buses whose service time overlaps meet preset requirements to obtain at least one target bus grouping; At least one of the plurality of public buses is guided and controlled so that the public buses in the target bus formation provide boarding and alighting services at the target station in units of the bus formation.
2. The method according to claim 1, characterized in that The determining, based on the movement information and the signal light timing information, the passing time windows of the plurality of public buses passing through the target intersection comprises: Determining, based on the movement information, arrival time windows of the plurality of public buses at the target intersection; According to the arrival time window of the target bus and the signal light timing information corresponding to the target bus, a passing time window of the target bus through the target intersection is determined, and the target bus is any of the buses.
3. The method according to claim 2, characterized in that The determining, based on the arrival time window of the target public bus and the signal light timing information corresponding to the target public bus, of a passing time window for the target public bus to pass through the target intersection includes: If the arrival time window of the target bus is within the corresponding green light time window, the minimum time and maximum time of the arrival time window of the target bus are added to the time it takes the target bus to pass through the target intersection to obtain the passing time window of the target bus through the target intersection; If the arrival time window of the target bus overlaps with the front end of the corresponding green light time window, the minimum time of the corresponding green light time window and the maximum time of the arrival time window of the target bus are added to the time it takes the target bus to pass through the target intersection to obtain the passing time window of the target bus through the target intersection; If the arrival time window of the target bus overlaps with the rear end of the corresponding green light time window, the overlapping time is calculated; if the overlapping time is greater than or equal to a first threshold, the minimum time of the arrival time window of the target bus and the maximum time of the corresponding green light time window are added to the duration of the target bus passing through the target intersection to obtain the passing time window of the target bus passing through the target intersection; if the overlapping time is less than the first threshold, the minimum time of the corresponding next green light time window is added to the duration of the target bus passing through the target intersection, the minimum time of the corresponding next green light time window is added to the duration of the target bus passing through the target intersection, and the disturbance value are added to obtain the passing time window of the target bus passing through the target intersection; If the arrival time window of the target bus overlaps with the corresponding red light time window, the passing time window of the target bus through the target intersection is obtained by adding the minimum time of the corresponding next green light time window and the maximum time of the arrival time window of the target bus to the duration of the target bus passing through the target intersection.
4. The method according to claim 1, wherein Determining the degree of overlap of service times of different buses entering the target station adjacent to each other based on the sorting results and the passing time window includes: Determining an arrival time window for the bus to arrive at a target station based on the passing time window; Determining a service end time window of the public transport vehicle according to the arrival time window; According to the ranking result, the service time overlap degree of different buses entering the target station adjacent to each other is determined based on the arrival time windows and service end time windows of different buses entering the target station adjacent to each other.
5. The method according to claim 4, characterized in that Determining the degree of overlap of service times of different buses that enter the target station adjacent to each other based on the arrival time windows and service end time windows of different buses that enter the target station adjacent to each other according to the sorting result includes: Determine the first overlapping time at the station by the minimum value of the arrival time window of the preceding bus and the minimum value of the service end time window, and the minimum value of the arrival time window of the following bus and the minimum value of the service end time window; The second overlapping time at the station is determined by the maximum value of the arrival time window of the preceding bus and the maximum value of the service end time window, and the minimum value of the arrival time window of the succeeding bus and the minimum value of the service end time window; The third overlapping time at the station is determined by the minimum value of the arrival time window of the preceding bus and the minimum value of the service end time window, and the maximum value of the arrival time window of the succeeding bus and the maximum value of the service end time window; Determine the fourth at-station overlapping time based on the maximum value of the arrival time window of the preceding bus and the maximum value of the service end time window, and the maximum value of the arrival time window of the following bus and the maximum value of the service end time window; The service time overlap degree of different buses that enter the target station adjacently at the target station is obtained by taking a weighted sum of the first, second, third and fourth overlapping times at the station and dividing the sum by the minimum value of the service time at the station of the previous bus and the service time at the station of the next bus.
6. The method according to claim 1, characterized in that The guiding and controlling of at least one of the plurality of public buses so that the public buses in the target bus formation provide boarding and alighting services at the target station in units of vehicle formations includes: If the buses in the target vehicle group come from the same direction, the first recommended speed of the target vehicle group is calculated with the control target that the target vehicle group passes within the same green light phase; At least one bus in the target vehicle formation is guided and controlled according to the first recommended speed, so that the bus in the target vehicle formation provides boarding and alighting services at the target station in units of vehicle formations.
7. The method according to claim 1, characterized in that The guiding and controlling of at least one of the plurality of public buses so that the public buses in the target bus formation provide boarding and alighting services at the target station in units of vehicle formations includes: If the buses in the vehicle group come from different directions, dividing the buses in the target vehicle group into multiple sub-vehicle groups according to their directions; Calculating a second recommended speed for the sub-vehicle formation with the control objective that the sub-vehicle formation passes within the same green light phase and the order between the sub-vehicle formations remains unchanged; At least one bus in the corresponding sub-vehicle formation is guided and controlled according to the second recommended speed of each sub-vehicle formation, so that the bus in the target vehicle formation provides boarding and alighting services at the target station in units of vehicle formations.
8. A device for guiding a vehicle group passing through an intersection, characterized in that: The device comprises: an acquisition unit, configured to acquire movement information of a plurality of buses upstream of a target intersection, and traffic light timing information of the plurality of buses in corresponding directions when passing through the target intersection; A first determining unit is configured to determine a passing time window for the plurality of buses to pass through the target intersection based on the movement information and the signal light timing information; A sorting unit, configured to sort the buses according to the passing time windows to obtain a sorting result; a second determining unit, configured to determine, based on the sorting result and the passing time window, a degree of overlap in service time of different buses entering a target station adjacent to each other, the target station being located downstream of the target intersection; a grouping unit, configured to group the buses whose service time overlaps meet preset requirements to obtain at least one target bus group; The control unit is used to guide and control at least one of the multiple public buses so that the public buses in the target vehicle formation provide boarding and alighting services at the target station in units of vehicle formations.
9. A device for guiding a vehicle group passing through an intersection, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for guiding a vehicle formation passing through an intersection as described in any one of claims 1 to 7 is implemented.
10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the method for guiding a vehicle formation passing through an intersection according to any one of claims 1 to 7.