Passenger response type PRT system scheduling method considering electric quantity
By taking into account the battery level of the passenger-responsive PRT system, the system optimizes empty vehicle scheduling, solves the problem of underutilization of vehicle battery power, and improves the system's operational efficiency and service quality.
Patent Information
- Application Number
- CN202510960277.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-11
- Publication Date
- 2025-10-21
AI Technical Summary
Existing PRT system scheduling methods do not fully consider vehicle battery power, resulting in wasted transport capacity and idle vehicles, which affects system operating efficiency.
By acquiring passenger demand and vehicle status, the system calculates the availability of empty vehicles, formulates empty vehicle scheduling plans, filters vehicles using preset battery thresholds, and optimizes vehicle scheduling using different empty vehicle scheduling models to ensure that tasks are executed when the battery is sufficient and that vehicles are charged or wait when the battery is insufficient.
It has improved the operational efficiency and passenger capacity of the PRT system, avoided the waste of transport capacity and the idleness of empty vehicles, and enhanced the service effectiveness of the rapid transit system.
Smart Images
Figure CN120822764A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of unmanned driving scheduling, and in particular to a passenger-responsive PRT system scheduling method taking power consumption into consideration. Background Art
[0002] As a low- to medium-capacity rapid transit system, Personal Rapid Transit (PRT) uses autonomous driving technology to autonomously track vehicles within independent road rights. A dispatching system guides vehicles between stations on these independent road rights. It can be used in scenarios such as airports, large complexes, scenic spots, and industrial parks. Vehicles provide transportation from the starting station to the final station based on the passengers' individual needs. The PRT network is equipped with multiple stations and a garage. After daily operations or in the event of emergencies, vehicles return to the garage for repairs, cleaning, and routine maintenance. Vehicles can be charged at both stations and garages, and stations have ample parking for vehicles.
[0003] Unlike general public transportation, the rapid transit system has two major advantages based on the empty vehicle dispatching function. First, it reduces system energy consumption by reducing vehicle idle running trips; second, it responds to passengers' taxi requests in a timely manner, shortens the time passengers wait for vehicles, and improves service effectiveness.
[0004] However, the current PRT system scheduling does not fully consider the battery level of vehicles, which easily leads to waste of transport capacity and idle vehicles.
[0005] In order to avoid the above scenarios that seriously affect system operations, a passenger-responsive PRT system scheduling method that takes power consumption into consideration is urgently needed. Summary of the Invention
[0006] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide a passenger-responsive PRT system scheduling method that takes power consumption into consideration.
[0007] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions: A passenger-responsive PRT system scheduling method considering power consumption includes the following steps: S1: Obtain passenger vehicle demand and vehicle status for the time period [tT, t]; where t is the current time and T is the preset time period length; S2: According to the vehicle status in the period [tT, t], obtain the empty vehicles that have no passenger pick-up and drop-off tasks and are not charging in the period [t, t+T] and store them in the collection middle; S3: According to the passenger car demand in the period [tT, t], Get the empty cars that can meet the passenger car needs at the station and store them in the collection and calculate the surplus and shortage status of empty vehicles at each station; S4: Based on the empty car surplus and shortage status, the stations with empty car shortages are recorded as empty car demand stations and included in the set In the process, the stations with surplus empty vehicles are recorded as empty vehicle supply stations and included in the set Output set ={ , } is the set of stations participating in the empty vehicle scheduling at time t; S5: Pair collection All empty vehicles in the empty vehicle demand station, the remaining empty vehicles in the empty vehicle demand station, and the empty vehicle with the lowest preset power value in the empty vehicle supply station send occupancy information; S6: Gather Empty vehicles that have not received occupancy information and whose battery power is greater than the preset battery power threshold are included in the collection In the example, the output is the set of empty cars for empty car scheduling at time t; S7: Calculation Set The number of empty cars supplied and the number of empty cars demanded at each station, and the total empty car supply is calculated and total empty car demand ; S8: When the total supply of empty cars ≥Total empty car demand When the total empty car supply is Total empty car demand When , the preset second empty car scheduling model is used for calculation; According to the calculation results, pick-up and drop-off tasks are issued to each empty vehicle. After receiving the pick-up and drop-off tasks, the empty vehicle sets out to pick up passengers. S9: After the vehicle completes its current mission, it stops at the passenger's destination and checks the remaining battery power. When the battery level is lower than the preset charging threshold β, the vehicle charges at the passenger's destination station and sends a vehicle offline message, and comes back online after being fully charged; when the battery level is greater than or equal to the charging threshold β, the vehicle waits on the spot to perform the pick-up task.
[0008] As a preferred solution of the present invention, the vehicle status includes passenger status, position status and battery status.
[0009] As a preferred embodiment of the present invention, the calculation formula for the empty vehicle surplus / shortage state in S3 is: = - , in, It is an empty car surplus and shortage state. For the period [t, t+T], site i is in the set The number of empty cars in is the passenger demand at station i during the period [tT, t], and n is the number of passengers carried by each vehicle.
[0010] As a preferred solution of the present invention, the preset value in S5 is .
[0011] As a preferred solution of the present invention, the preset power threshold in S6 = max( )+MAXC+α, Among them, max( ) is an empty car from the collection Drive to any station to meet , MAXC is the maximum power consumption of any station, α is the minimum power that must be maintained to cope with vehicle emergencies, and the power consumption matrix C is the matrix of power consumed by the vehicle when traveling between different stations.
[0012] As a preferred embodiment of the present invention, S7 comprises the following steps: S71: Calculation Set The supply quantity and demand quantity of empty vehicles at each station are expressed as follows: = , = , in, is the number of empty car supplies that can be used to supply central dispatch at the i-th empty car supply station in the period [t, t+T]; is the number of empty cars that the j-th empty car demand station needs to transfer from other stations during the period [t, t+T]; is the number of empty vehicles parked at station i during the period [t, t+T]; S72: Calculate the total supply of empty vehicles and total empty car demand ; Its expression is: = = , = = , Among them, m is the number of empty vehicle supply stations, and k is the number of empty vehicle demand stations.
[0013] As a preferred embodiment of the present invention, the expression of the first empty vehicle scheduling model is: Objective function: minZ= , Constraints:
[0014] Among them, minZ is the minimum power consumption target, is the amount of electricity consumed by an empty vehicle traveling from the empty vehicle supply station i to the empty vehicle demand station j, The number of empty cars dispatched from empty car supply station i to empty car demand station j.
[0015] As a preferred embodiment of the present invention, the expression of the second empty vehicle scheduling model is: Objective function: minZ=
[0016] Constraints:
[0018] As a preferred solution of the present invention, when the empty vehicle surplus / shortage state = 0, the corresponding site is marked as a self-sufficient site.
[0019] A passenger-responsive PRT system dispatching device that takes power into consideration includes at least one processor and a memory that is communicatively connected to the at least one processor; the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute any of the methods described above.
[0020] Compared with the prior art, the present invention has the following beneficial effects: The present invention formulates an empty vehicle dispatching plan based on passenger vehicle demand and vehicle status in each time period, with the goal of avoiding waste of transport capacity and idle empty vehicles, and implements a dispatching plan with the highest utilization rate between stations in the system, thereby improving the operating efficiency and passenger carrying capacity of the rapid transit system. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 This is a flow chart of a passenger-responsive PRT system scheduling method considering power consumption according to Example 1 of the present invention; Figure 2 This is a logic flow chart of the operation of a single vehicle in a passenger-responsive PRT system scheduling method considering power consumption as described in Example 1 of the present invention; Figure 3 This is a flow chart of a passenger-responsive PRT system scheduling method considering power consumption according to Embodiment 2 of the present invention; Figure 4This is a structural diagram of a passenger-responsive PRT system scheduling device taking power into consideration, as described in Example 4 of the present invention, which utilizes a passenger-responsive PRT system scheduling method taking power into consideration as described in the previous embodiment. DETAILED DESCRIPTION
[0022] The present invention will be further described in detail below in conjunction with test examples and specific embodiments. However, this should not be understood as limiting the scope of the present invention to the following embodiments, and all technologies implemented based on the present invention fall within the scope of the present invention.
[0023] Example 1 like Figure 1 As shown, a passenger-responsive PRT system scheduling method considering power consumption includes the following steps: S1: Obtain passenger vehicle demand and vehicle status for the time period [tT, t]; where t is the current time and T is the preset time period length.
[0024] The vehicle status includes passenger status, location status and battery status.
[0025] S2: According to the vehicle status in the period [tT, t], obtain the empty vehicles that have no passenger pick-up and drop-off tasks and are not charging in the period [t, t+T] and store them in the collection middle.
[0026] S3: According to the passenger car demand in the period [tT, t], Get the empty cars that can meet the passenger car needs at the station and store them in the collection and calculate the surplus and shortage status of empty vehicles at each station.
[0027] Furthermore, the calculation formula for the empty vehicle surplus or shortage state in this embodiment is: = - , in, It is an empty car surplus and shortage state. For the period [t, t+T], station i is in the set The number of empty cars in is the passenger demand at station i during the period [tT, t], and n is the number of passengers carried by each vehicle.
[0028] S4: Based on the empty car surplus and shortage status, the stations with empty car shortages are recorded as empty car demand stations and included in the set In the process, the stations with surplus empty vehicles are recorded as empty vehicle supply stations and included in the set Output set ={ ,} is the set of stations participating in the empty vehicle scheduling at time t.
[0029] S5: Pair collection The occupancy information is sent to all empty vehicles in the empty vehicle demand station, the remaining empty vehicles in the empty vehicle demand station, and the empty vehicle with the lowest preset power value in the empty vehicle supply station.
[0030] Furthermore, the preset value in this embodiment is .
[0031] S6: Gather Empty vehicles that have not received occupancy information and whose battery power is greater than the preset battery power threshold are included in the collection In the example, the output is the set of empty cars for empty car scheduling at time t.
[0032] Furthermore, the preset power threshold in this embodiment = max( )+MAXC+α, Among them, max( ) is an empty car from the collection Drive to any station to meet , MAXC is the maximum power consumption of any station, α is the minimum power that must be maintained to cope with vehicle emergencies, and the power consumption matrix C is the matrix of power consumed by the vehicle when traveling between different stations.
[0033] S7: Calculation Set The number of empty cars supplied and the number of empty cars demanded at each station, and the total empty car supply is calculated and total empty car demand .
[0034] S71: Calculation Set The supply quantity and demand quantity of empty vehicles at each station are expressed as follows: = , = , in, is the number of empty car supplies that can be used to supply central dispatch at the i-th empty car supply station in the period [t, t+T]; is the number of empty cars that the j-th empty car demand station needs to transfer from other stations during the period [t, t+T]; is the number of empty vehicles parked at station i during the period [t, t+T]; S72: Calculate the total supply of empty vehicles and total empty car demand ; Its expression is: = = , = = , Among them, m is the number of empty vehicle supply stations, and k is the number of empty vehicle demand stations.
[0035] S8: When the total supply of empty cars ≥Total empty car demand When the total empty car supply is Total empty car demand When , the preset second empty car scheduling model is used for calculation.
[0036] According to the calculation results, pick-up and drop-off tasks are issued to each empty vehicle, and the empty vehicle sets out to pick up and drop off passengers after receiving the pick-up and drop-off tasks.
[0037] The expression of the first empty vehicle scheduling model is: Objective function: minZ= , Constraints:
[0038] Among them, minZ is the minimum power consumption target, is the amount of electricity consumed by an empty vehicle traveling from the empty vehicle supply station i to the empty vehicle demand station j, The number of empty cars dispatched from empty car supply station i to empty car demand station j.
[0039] The expression of the second empty car scheduling model is: Objective function: minZ=
[0040] Constraints:
[0042] S9: After the vehicle completes its current mission, it stops at the passenger's destination and checks the remaining battery power. When the battery level is lower than the preset charging threshold β, the vehicle charges at the passenger's destination station and sends a vehicle offline message, and comes back online after being fully charged; when the battery level is greater than or equal to the charging threshold β, the vehicle waits on the spot to perform the pick-up task.
[0043] Furthermore, the operation logic flow of each vehicle, such as Figure 2As shown, whether to participate in the execution of passenger pick-up and drop-off instructions is determined based on the power status. When the power is greater than the preset power threshold, the vehicle participates in the pick-up and drop-off task. When the power is less than the preset charging threshold, the vehicle performs the charging operation.
[0044] Example 2 This embodiment is a specific implementation of the passenger-responsive PRT system scheduling method considering power consumption described in Example 1. Figure 3 As shown, the following steps are included: Step 1: Assume the passenger demand in the period [tT, t] to time t, and obtain the passenger vehicle demand, vehicle passenger status, location status, and battery status at time t.
[0045] This embodiment treats time as a discrete variable and makes an idle vehicle dispatch decision every T time period. T is the idle vehicle resource allocation period, a constant value empirically determined based on the PRT network's operational status. New vehicle dispatch instructions do not affect or alter previously issued instructions.
[0046] Step 2: Assume the vehicle status in the period [t, t+T] to the time t+T, calculate the vehicle passenger status, location status and battery status at the time t+T based on the vehicle status at the time t, and filter out the empty vehicles that have no passenger pick-up tasks and are not charging at the time t+T, and set them as the set .
[0047] Step 3: Match the passenger's car demand at time t to the passenger's starting station and determine the set Whether the power of the empty vehicles used to meet the passenger demand of this station is sufficient to complete the passenger delivery task, and select the empty vehicle composition set that can complete the passenger delivery task .
[0048] Step 4: Calculate the passenger demand satisfaction of each station. The method for calculating the passenger demand satisfaction of station i as of time t+T is as follows: As of time t+T, station i is in the set The number of empty cars in , the passenger demand at station i as of time t is , each empty car can take 4 passengers, so after meeting the passenger demand of this station, the surplus or gap of empty cars at the station is = - .
[0049] Step 5: Classify the stations according to the status of empty car surplus or shortage. =0, it means that the empty cars at this station can meet the passenger demand of this station, and the station does not need to be included in this round of scheduling and can be self-sufficient; when When <0, it means that the empty trains at this station cannot meet the passenger demand at this station and trains need to be dispatched from other stations. The stations with a value < 0 are called empty vehicle demand stations and are included in the set ;when When >0, it means that the empty cars at this station can not only meet the passenger demand of this station, but also have surplus empty cars to provide to other stations. Stations with a value greater than 0 are called empty vehicle supply stations and are included in the set. .
[0050] Step 6: The central dispatch system sends occupancy information to the vehicles that respond to the passenger demand at this station. As of time t+T, for any empty vehicle demand station, all vehicles parked at the station are occupied; for any empty vehicle supply station, all empty vehicles parked at the station are allocated in descending order of power, to the vehicle with the lowest power. An empty vehicle sends an occupancy message.
[0051] Step 7: Calculate the number of empty cars from the set Drive to any station to meet The power consumption of any site in the network is the maximum value max( ), filter out the ones that have not received the occupancy information in step 6 and whose power is greater than max( )+MAXC+α empty car composition set .gather ={ , } is the set of stations participating in the empty car scheduling at time t, and the set is the set of empty cars participating in the empty car scheduling at time t.
[0052] Furthermore, the vehicle's remaining power is greater than max( )+MAXC+α can respond to passenger needs, among which, is the amount of electricity consumed by an empty vehicle traveling from station i to station j, MAXC is the maximum value in the energy consumption matrix C, and α is the minimum amount of electricity that must be maintained to cope with vehicle emergencies.
[0053] Vehicles can travel between any pair of stations without any route restrictions, and they always take the shortest path between each pair of stations. The shortest path between each pair of stations can be calculated using the Floyd-Warshall algorithm, which also calculates the shortest distance between each pair of stations. Based on the shortest distance between each pair of stations, a power consumption matrix C can be constructed, representing the power consumed by the vehicle traveling between each pair of stations. The power consumption of different vehicles traveling the same route is consistent.
[0054] Furthermore, after completing a passenger pick-up task, if the remaining power of the vehicle is greater than β, it does not need to be charged and waits for the next task on the spot, while feeding back the information that it can participate in scheduling to the central dispatch system; otherwise, the vehicle is temporarily offline and continues to wait for the next task at the current station after being fully charged at the current station.
[0055] Step 8: Calculate the set The supply and demand quantity of empty vehicles at each station. is the number of empty cars parked at station i by time t+T, then the number of empty cars that can be used to supply central dispatch at any supply station i by time t+T is = , the number of vehicles that any demand station j needs to transfer from other stations by time t+T = .
[0056] Step 9: Calculate the total supply of empty cars and the total demand for empty cars. = = , the total empty car demand is = = .
[0057] Step 10: Judgment and The relationship between , and then the empty car scheduling model proposed in this embodiment is used for scheduling. ≥ When , the first empty car scheduling model is used for calculation; when When the second empty vehicle dispatch model is used, the vehicle dispatch strategy between supply and demand stations with the lowest power consumption is calculated. The central dispatch system issues tasks to the vehicles, and the vehicles set out to pick up passengers after receiving the tasks.
[0058] In a given PRT network, define a bipartite graph G = { , }, represents the set of all sites in the road network, Represents the set of shortest paths between all sites.
[0059] At time t, the central dispatching system can dispatch vehicles that have no tasks or have completed their last tasks and have sufficient power in the period [t, t+T] in order to respond to the vehicle demand raised by passengers in the period [tT, t]. If there is still a surplus of empty vehicles at this station after responding to the passenger demand at this station, then this station is called an empty vehicle supply station; if the empty vehicles at this station cannot meet the passenger demand at this station and need to be dispatched from other stations to respond to the passenger demand at this station, then this station is called an empty vehicle demand station. Let the set of empty vehicle supply stations be ={ , … }; The set of empty vehicle demand sites is ={ , … The number of empty vehicles supplied at each supply station is P = { 1,2,…m}, the empty vehicle demand quantity set Q of each demand station is { 1,2,…k}, then the total supply of empty cars in the system = , the total empty car demand of the system = The amount of electricity consumed by an empty car traveling from the empty car supply station i to the empty car demand station j is , the number of empty cars dispatched from the empty car supply station i to the empty car demand station j is .
[0060] When making empty car dispatching decisions, the system supply and demand relationship has two states: the total empty car supply quantity of the empty car supply station Greater than or equal to the total empty vehicle demand of the empty vehicle demand station Or the total empty car supply at the empty car supply station Less than the total empty vehicle demand at the empty vehicle demand station .
[0061] The first empty car scheduling model: when ≥ When making the empty car dispatch decision at time t+T, the objective function and constraints are as follows: minZ=
[0062]
[0063] The second empty car scheduling model: when When the empty car scheduling decision is made at time t+T, the objective function and constraints are as follows: minZ=
[0064]
[0065] Step 11: After completing the current task, the vehicle stops at the passenger's destination station. At this time, the vehicle control system automatically detects the remaining power. When the power is lower than β, the vehicle charges at the passenger's destination station and sends a vehicle offline information to the central dispatch system. It will go back online after being fully charged; when the power is greater than or equal to β, the vehicle waits at the location for the next task from the central dispatch system.
[0066] Furthermore, a first-come, first-served principle is adopted, and passenger demands that are not responded to in the current round of empty vehicle scheduling strategy will wait for the next round of scheduling. Empty vehicles parked at this station are used first to respond to passenger demands at this station.
[0067] Example 3 This embodiment is a specific experimental example of a passenger-responsive PRT system scheduling method considering power consumption as described in the above embodiment. Specifically, this embodiment is described in conjunction with a specific PRT system.
[0068] The PRT system of this embodiment has 6 stations and 18 PRT vehicles, which defines a bipartite graph G={ , }, ={ , } represents the set of 6 stations in the road network, represents the set of shortest paths between the six stations, L represents the shortest path distance matrix, and the elements in the matrix are in km. The power consumption of PRT vehicles is 0.16 kWh / km, so the power consumption matrix C can be established. The distance matrix L and the power consumption matrix C are as follows: L=
[0069] C=
[0070] Then MAXC=1.17, and α takes the empirical value of 0.2.
[0071] Step 1: Obtain the passenger demand for each station during the period [tT, t] and the passenger status, location status, and battery status of the 18 PRT vehicles at time t. The number of passengers who request a vehicle at stations 1 to 6 is R = { , , , , , At time t, there are 8 vehicles on the road network, performing passenger pick-up and drop-off tasks. Among the remaining 10 empty vehicles parked at the station, 1 is charging and 9 are waiting for passengers.
[0072] Step 2: Based on the vehicle passenger load, location, and battery information at time t, calculate the vehicle passenger load, location, and battery information at time t+T. Calculation shows that 2 of the 8 vehicles traveling on the road network at time t have completed their mission and stopped at the previous passenger's destination station to wait for passengers at time t+T. The vehicle that stopped at the station for charging at time t is fully charged at time t+T. The 12 empty vehicles that have no passenger pick-up mission and are not charging at time t+T constitute the set. ,use Represents an empty vehicle. Number the vehicles parked at the station. The vehicles at stations 1 to 6 each form a subset. It can be expressed as ={{ , , },{ , },{ , , },{ , },{ },{ }}.
[0073] Step 3: Gather The number of empty cars distributed at stations 1 to 6 ={3, 2, 3, 2, 1, 1}, for any station, if the power of an empty car cannot complete the task of sending passengers, then the car will be excluded from this scheduling decision. After comparison, it is found that there is an empty car at station 4 and an empty car at station 6 with a power less than max( )+MAXC+α, exclude these two cars and get the set ={{ , , },{ , },{ , , },{ },{ },{}}.
[0074] Step 4: Gather The number of empty cars distributed at stations 1 to 6 ={3, 2, 3, 1, 1, 0}. After meeting the passenger demand of this station, the surplus or gap of empty cars at station 1 is = - =3- = , the empty car surplus or gap of stations 1 to 6 is calculated in sequence as A={ ,0, ,1,- ,- }.
[0075] Step 5: Classify the stations according to the status of empty car surplus or shortage. Station 2 is a self-sufficient station and is not included in this round of scheduling; stations 1, 3, and 4 are empty car supply stations, and stations 5 and 6 are empty car demand stations. Renumber the empty car supply stations and demand stations to obtain the set ={ , } and collections ={ }.
[0076] Step 6: The central dispatch system sends occupancy information to the vehicles that meet the passenger demand of this station. The empty vehicles in the set S supply the station The number of vehicles receiving occupancy information is = =1, all vehicles at the empty demand station receive occupancy information, then the number of vehicles at each station in the set S that receive occupancy information is {1, 2, 2, 0, 2, 1}.
[0077] Step 7: Calculate max( )= =1.17, the power of all vehicles in the set S that have not received occupancy information is greater than +MAXC+α=1.17+1.17+0.2=2.54, then the set All empty vehicles of the empty vehicle supply stations have reached the power conditions for participating in this round of scheduling, and the empty vehicle set of the empty vehicle supply stations participating in the empty vehicle scheduling at time t is ={{ , }, { }, { }},gather The number of empty cars distributed at empty car supply stations 1 to 3 ={2, 1, 1}.
[0078] Step 8: Calculation The number of empty cars supplied and demanded at each station. The number of empty cars that can be used to supply central dispatch at the empty car supply station 1 at time t+T is = =3- =2, and the number of vehicles that can be supplied to the central dispatch at the empty car supply stations 1 to 3 is calculated as 2, 1, and 1 respectively. The number of vehicles that the empty car demand station 1 needs to dispatch from other stations by time t+T is = = =1, and the number of vehicles required for empty vehicle demand stations 1 to 2 is calculated to be 1 and 1 respectively.
[0079] Step 9: Calculate the total supply of empty cars and the total demand for empty cars. = = =4, the total empty car demand is = = =2.
[0080] Step 10: , and then the empty car scheduling model 1 proposed in this patent is used for scheduling, and the objective function and constraints are as follows: minZ=
[0081]
[0082] After substituting the power consumption values and the empty vehicle supply and demand values at each station, the objective function and constraints are as follows: minZ=
[0083] =1.17 +0.67 +0.95 +0.17 +0.85 +0.21
[0084]
[0085] Solving the above problem, we get: .
[0086] When solving the model, the renumbered empty car supply stations 1, 2, and 3 correspond to the initial station numbers 1, 3, and 4 respectively, and the renumbered empty car demand stations 1 and 2 correspond to the initial station numbers 5 and 6 respectively. Therefore, the empty car scheduling strategy is: dispatch an empty car from station 3 to station 6; dispatch an empty car from station 4 to station 5. The power consumption of this round of empty car scheduling is + =0.17+0.85=1.02 kWh. The central dispatch system sends the strategy to the corresponding empty vehicle, and the empty vehicle begins to perform the task.
[0087] Step 11: After completing this round of tasks, all vehicles automatically check the remaining power. If the power is lower than β, the vehicle will charge at the passenger's destination station and send an offline message to the central dispatch system. It will come back online after being fully charged. Otherwise, it will wait for the next task from the central dispatch system.
[0088] Example 4 like Figure 4As shown, a passenger-responsive PRT system scheduling device that considers power consumption includes at least one processor, a memory communicatively connected to the at least one processor, and at least one input / output interface communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the passenger-responsive PRT system scheduling method that considers power consumption as described in the aforementioned embodiment. The input / output interface may include a display, a keyboard, a mouse, and a USB interface for inputting and outputting data.
[0089] Furthermore, the passenger-responsive PRT system dispatching device that takes battery power into consideration may be a desktop computer, a mobile phone, a tablet computer, a wearable passenger-responsive PRT system dispatching device that takes battery power into consideration, or the like that is capable of performing deep information recognition.
[0090] Furthermore, the processor may include one or more processing cores. The processor utilizes various interfaces and circuits to connect various components within the entire power-considered passenger-responsive PRT system dispatching device. By running or executing instructions, programs, code sets, or instruction sets stored in memory, and accessing data stored in memory, the processor performs various functions and processes data within the power-considered passenger-responsive PRT system dispatching device. Optionally, the processor may be implemented in the form of at least one of a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may also be implemented independently of the processor via a separate communications chip.
[0091] The memory may include random access memory (RAM) or read-only memory (ROM). The memory may be used to store instructions, programs, codes, code sets, or instruction sets, such as instructions or code sets for implementing a method for dispatching a passenger-responsive PRT system that considers power consumption, as provided in an embodiment of the present application. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing each of the above-mentioned method embodiments, and the like. The data storage area may also store data created during use by the passenger-responsive PRT system dispatching device that considers power consumption (e.g., a mapping table of modulation sequence and depth, image data, and spectrum graph data).
[0092] Those skilled in the art will understand that all or part of the steps of the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.
[0093] When the integrated unit described above is implemented as a software functional unit and sold or used as a standalone product, it can also be stored in a computer-readable storage medium containing program code that can be invoked by a processor to execute the methods described in the above-mentioned method embodiments. Based on this understanding, the technical solutions of the embodiments of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (such as a personal computer, server, or network device) to execute all or part of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium includes non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program code for executing any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code can be compressed, for example, in a suitable form.
[0094] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. A passenger-responsive PRT system scheduling method considering power consumption, characterized in that: The following steps are involved: S1: Obtain passenger vehicle demand and vehicle status for the time period [tT, t]; where t is the current time and T is the preset time period length; S2: According to the vehicle status in the period [tT, t], obtain the empty vehicles that have no passenger pick-up and drop-off tasks and are not charging in the period [t, t+T] and store them in the collection middle; S3: According to the passenger car demand in the period [tT, t], Get the empty cars that can meet the passenger car needs at the station and store them in the collection and calculate the surplus and shortage status of empty vehicles at each station; S4: Based on the empty car surplus and shortage status, the stations with empty car shortages are recorded as empty car demand stations and included in the set In the process, the stations with surplus empty vehicles are recorded as empty vehicle supply stations and included in the set Output set ={ , } is the set of stations participating in the empty vehicle scheduling at time t; S5: Pair collection All empty vehicles in the empty vehicle demand station, the remaining empty vehicles in the empty vehicle demand station, and the empty vehicle with the lowest preset power value in the empty vehicle supply station send occupancy information; S6: Gather Empty vehicles that have not received occupancy information and whose battery power is greater than the preset battery power threshold are included in the collection In the example, the output is the set of empty cars for empty car scheduling at time t; S7: Calculation Set The number of empty cars supplied and the number of empty cars demanded at each station, and the total empty car supply is calculated and total empty car demand ; S8: When the total supply of empty cars ≥Total empty car demand When the total empty car supply is Total empty car demand When , the preset second empty car scheduling model is used for calculation; According to the calculation results, pick-up and drop-off tasks are issued to each empty vehicle. After receiving the pick-up and drop-off tasks, the empty vehicle sets out to pick up passengers. S9: After the vehicle completes its current mission, it stops at the passenger's destination and checks the remaining battery power. When the battery level is lower than the preset charging threshold β, the vehicle charges at the passenger's destination station and sends a vehicle offline message, and comes back online after being fully charged; when the battery level is greater than or equal to the charging threshold β, the vehicle waits on the spot to perform the pick-up task.
2. A passenger-responsive PRT system scheduling method considering power consumption according to claim 1, characterized in that: The vehicle status includes passenger status, location status and battery status.
3. A passenger-responsive PRT system scheduling method considering power consumption according to claim 2, characterized in that: The calculation formula for the empty vehicle surplus / shortage state in S3 is: = - ， in, It is an empty car surplus and shortage state. For the period [t, t+T], station i is in the set The number of empty cars in is the passenger demand at station i during the period [tT, t], and n is the number of passengers carried by each vehicle.
4. A passenger-responsive PRT system scheduling method considering power consumption according to claim 3, characterized in that: The preset value in S5 is .
5. The passenger-responsive PRT system scheduling method considering power consumption according to claim 3, characterized in that: The preset power threshold in S6 = max( )+MAXC+α, Among them, max( ) is an empty car from the collection Drive to any station to meet , MAXC is the maximum power consumption of any station, α is the minimum power that must be maintained to cope with vehicle emergencies, and the power consumption matrix C is the matrix of power consumed by the vehicle when traveling between different stations.
6. A passenger-responsive PRT system scheduling method considering power consumption according to claim 3, characterized in that: The S7 comprises the following steps: S71: Calculation Set The supply quantity and demand quantity of empty vehicles at each station are expressed as follows: = ， = ， in, is the number of empty car supplies that can be used to supply central dispatch at the i-th empty car supply station in the period [t, t+T]; is the number of empty cars that the j-th empty car demand station needs to transfer from other stations during the period [t, t+T]; is the number of empty vehicles parked at station i during the period [t, t+T]; S72: Calculate the total supply of empty vehicles and total empty car demand ; Its expression is: = = ， = = ， Among them, m is the number of empty vehicle supply stations, and k is the number of empty vehicle demand stations.
7. A passenger-responsive PRT system scheduling method considering power consumption according to claim 6, characterized in that: The expression of the first empty vehicle scheduling model is: Objective function: minZ= , Constraints: Among them, minZ is the minimum power consumption target, is the amount of electricity consumed by an empty vehicle traveling from the empty vehicle supply station i to the empty vehicle demand station j, The number of empty cars dispatched from empty car supply station i to empty car demand station j.
8. A passenger-responsive PRT system scheduling method considering power consumption according to claim 7, characterized in that: The expression of the second empty car scheduling model is: Objective function: minZ= Constraints:
9. The passenger-responsive PRT system scheduling method considering power consumption according to claim 3, characterized in that: When the empty vehicle surplus / shortage state = 0, the corresponding site is marked as a self-sufficient site.
10. A passenger-responsive PRT system dispatching device that takes power consumption into consideration, characterized in that: The invention comprises at least one processor and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method according to any one of claims 1 to 9.