Demand response type pedestrian crossing carrying control method and system and medium

Abstract

The invention discloses a demand response type pedestrian crossing carrying control method and system and a medium, and the method comprises the steps: setting a vehicle regulation and control region and crossing parking points at a road intersection, and arranging bidirectional rail pedal operation rails between the crossing parking points; when the intelligent network connection vehicle enters the vehicle regulation and control area, the running state information of the intelligent network connection vehicle is uploaded to the cloud control center in real time, and the safety speed and the control instruction are calculated to adjust the running speed of the intelligent network connection vehicle; when the pedestrian arrives at a street-crossing stagnation point, inputting a street-crossing demand to the cloud control center through a street-crossing request button, and establishing a rail pedal dispatching model based on a dispatching program of the rail pedal by taking the shortest time for the pedestrian to wait for the rail pedal as a target; and based on the rail pedal dispatching model, the cloud control center dispatches rail pedals to carry pedestrians to cross the street. The problems that in the prior art, pedestrian crossing response is delayed, carrying dispatching efficiency is low, and vehicle passing is blocked are solved.

Description

Technical Field

[0001] This invention relates to the field of pedestrian crossing control technology at road intersections, specifically to a demand-responsive pedestrian crossing transport control method, system, and medium. Background Technology

[0002] With the rapid development of intelligent transportation systems and vehicle-road cooperative technologies, the control methods of urban intersections are gradually evolving from traditional signal control to intelligent and adaptive approaches. As a key node in the urban road traffic network, intersections bear the function of converging and converting vehicle and pedestrian flows, and their traffic efficiency and safety level directly affect the operational quality of the entire road system.

[0003] Currently, research on intersection control in intelligent transportation environments mainly focuses on non-stop vehicle passage and conflict resolution, improving vehicle efficiency through methods such as path optimization, speed coordination, and dynamic priority control. However, the issue of pedestrian crossing, a crucial component of traffic flow, is often overlooked in this process, which is clearly inconsistent with actual traffic operation environments. In the context of autonomous driving and vehicle-road cooperation, the goal of intelligent intersection control should not only be to improve vehicle operating efficiency but also, while ensuring traffic safety, to consider the needs of pedestrians crossing the street. In recent years, although scholars have conducted research on pedestrian intent recognition, trajectory prediction, and protection measures, the highly random nature of pedestrian behavior, including uncertainties in crossing speed, direction, and dwell time, makes it difficult for autonomous vehicles to accurately judge pedestrian intent in a very short time. This prediction bias not only increases the probability of emergency braking or stopping to avoid pedestrians but also weakens the overall efficiency advantage of non-stop vehicle passage strategies.

[0004] Therefore, with the popularization of autonomous vehicles and the increasing demand for pedestrian safety, how to efficiently and safely meet the pedestrian crossing needs while achieving unimpeded vehicle passage has become an urgent technical challenge in the field of intelligent transportation.

[0005] In view of the above, this application is hereby submitted. Summary of the Invention

[0006] The technical problem this invention aims to solve is the issues of delayed pedestrian crossing response, low transportation scheduling efficiency, and obstructed vehicle traffic in existing technologies. The purpose of this invention is to provide a demand-responsive pedestrian crossing transportation control method, system, and medium. By introducing a track-mounted treadle system with dynamic scheduling capabilities, it achieves real-time response and efficient dispatch of pedestrian crossing requests. This invention can effectively meet the pedestrian crossing needs in a vehicle-road cooperative traffic environment under scenarios where vehicles can pass through intersections without stopping, achieving coordinated management of vehicles and pedestrians, improving the operational efficiency and safety of intersections, and solving the problems of delayed pedestrian crossing response, low transportation scheduling efficiency, and obstructed vehicle traffic in existing technologies.

[0007] This invention is achieved through the following technical solution:

[0008] In a first aspect, the present invention provides a demand-responsive pedestrian crossing transport control method, the method comprising:

[0009] Vehicle control zones and pedestrian crossing points are set up at road intersections, and bidirectional rail-guided running tracks are laid between each pedestrian crossing point.

[0010] When an intelligent connected vehicle enters the vehicle control area, its own operating status information is uploaded to the cloud control center in real time. The cloud control center adjusts the driving speed of the intelligent connected vehicle based on the safe speed calculated by the operating status information and the control commands.

[0011] When pedestrians arrive at the crossing point, they input their crossing request to the cloud control center through the crossing request button. The cloud control center, based on the real-time collected information on the number of pedestrians crossing, the direction of crossing, and the number of rail treads at each crossing point, establishes a rail tread dispatch model with the goal of minimizing the waiting time for pedestrians to use rail treads, according to the rail tread dispatch program.

[0012] Based on the track-guided platform dispatch model, the cloud control center dispatches track-guided platforms to carry pedestrians across the street.

[0013] After pedestrians board the tram, the cloud control center determines the safe time for the tram to enter the intersection based on the operating conditions within the intersection. The tram carries pedestrians across the intersection at a constant speed within the safe time and does not interfere with vehicles operating inside the intersection.

[0014] Furthermore, vehicle control zones and pedestrian crossing points are set up at road intersections, and bidirectional rail-guided running tracks are laid between each pedestrian crossing point, including:

[0015] The areas of each motor vehicle entrance lane at the intersection are designated as vehicle control zones; the vehicle control zones are used to guide intelligent connected vehicles to adjust their speed and driving status according to instructions from the cloud control center.

[0016] Pedestrian crossing points are set up at each corner of the intersection; these crossing points serve as gathering and dispersal areas for pedestrians to wait for and board the tram.

[0017] Two rail-guided running tracks are installed between any two pedestrian crossing points; the rail-guided running tracks run bidirectionally between each pedestrian crossing point to realize the transportation and track-changing operations between different pedestrian crossing points.

[0018] Furthermore, the formula for the shortest distance of the vehicle control zone is:

[0019] ;

[0020] In the formula, d min v represents the shortest length of the vehicle control zone. max v0 represents the maximum speed limit for intelligent connected vehicles passing through the intersection, v0 represents the initial speed of the intelligent connected vehicle when entering the vehicle control zone, and a represents the acceleration of the intelligent connected vehicle when adjusting its speed within the vehicle control zone.

[0021] Furthermore, the operational status information includes the vehicle's direction of travel, speed, acceleration, position, and travel time.

[0022] Furthermore, the safe speed is determined by the cloud control center based on the operating status of all intelligent connected vehicles and rail treads within the intersection, which determines the safe speed for intelligent connected vehicles to pass through the intersection.

[0023] The control command is for the intelligent connected vehicle to adjust its speed by accelerating or decelerating uniformly within the adjustment area. When the intelligent connected vehicle adjusts to a safe speed, it continues to maintain a constant speed and drive without stopping until it leaves the intersection.

[0024] Furthermore, the execution logic of the track treadmill dispatch procedure is as follows:

[0025] When pedestrian h triggers the crosswalk button at the crosswalk stop i at the road intersection, it is determined whether there is an idle tracked tread at the crosswalk stop i.

[0026] If there are unused tram tracks at crossing point i, pedestrian h can immediately board the tram tracks to prepare to cross the street.

[0027] If there are no available tram steps at crossing point i, the system checks if there are any tram steps traveling from other crossing points to crossing point i. If so, pedestrian h waits for the tram step to arrive at crossing point i before boarding it to cross the street. If not, the system checks if there are any available tram steps at other crossing points. If so, pedestrian h waits for the tram step to arrive at crossing point i before boarding it to cross the street. If not, pedestrian h continues to wait until a tram step is traveling from another crossing point to crossing point i or until there are available tram steps at another crossing point.

[0028] Furthermore, to improve the utilization rate of the tram tracks and minimize their idle operation, this invention sets the running route and stopping point of each tram track to be non-fixed, allowing for route changes at stopping points. Considering the common phenomenon of pedestrians crossing the street in a dispersed manner, each tram track is designed to carry one pedestrian, and the cloud control center assigns tram tracks to pedestrians based on the order in which they trigger the crossing button. Before entering the intersection, vehicles need to adjust their speed within the control zone using uniform acceleration and deceleration, maintaining a constant speed after reaching the target speed for safe passage. The running speed of the tram tracks within the intersection is constant and uniform, and the cloud control center determines the safe departure time of the tram tracks based on the traffic conditions at the intersection.

[0029] Therefore, the objective function of the rail treadmill dispatch model is:

[0030] ;

[0031] In the formula, r h,k,i The variable r represents whether pedestrian h uses the tram platform k to cross the street at crossing point i. When pedestrian h uses the tram platform k to cross the street at crossing point i, r represents the variable r. h,k,i =1, otherwise r h,k,i =0; r k,i,j Indicate whether there exists a binary variable r representing the departure of tram stepper k from pedestrian crossing point i to pedestrian crossing point j. When tram stepper k departs from pedestrian crossing point i to pedestrian crossing point j, r k,i,j =1, otherwise r k,i,j =0; t h,k,i This indicates the duration for pedestrian h to wait at crosswalk i for the tram step k. , where t h,i t represents the time when pedestrian h triggers the crosswalk button at crosswalk point i. k,i Indicates the time it takes for the tracked treadle k to reach the pedestrian crossing point i; P represents the gathering of pedestrians waiting to cross the street at the intersection; B F A represents the set of all tracked treads within the intersection control area; A represents the set of pedestrian crossing points at the intersection.

[0032] Furthermore, the constraints of the track-guided treadmill dispatch model include:

[0033] First constraint: Each pedestrian has one and only one need to cross the street;

[0034] Second constraint: Each pedestrian may only use one tram step to cross the street;

[0035] The third constraint is that the total number of tracked treads at each pedestrian crossing point at the intersection is conserved.

[0036] Fourth constraint: The tram will only operate when pedestrians need to cross the street;

[0037] Fifth constraint: A bus can only depart when there is a tracked step at each pedestrian crossing point;

[0038] Sixth constraint: The time it takes for the track treadle k to reach the pedestrian crossing point j is equal to the sum of the departure time from the pedestrian crossing point i and the travel time between the pedestrian crossing point i and the pedestrian crossing point j;

[0039] Seventh constraint: The time when the track treadle k arrives at the pedestrian crossing station j must be later than the time when the bus departs from the pedestrian crossing station i.

[0040] Eighth constraint: The time when the track treadle k arrives at the pedestrian crossing point i must be earlier than the time when the bus departs from the pedestrian crossing point i.

[0041] Secondly, the present invention provides a demand-responsive pedestrian crossing transport control system, the system comprising:

[0042] The deployment unit is used to set up vehicle control zones and pedestrian crossing points at road intersections, and bidirectional rail-guided running tracks are set up between each pedestrian crossing point.

[0043] The vehicle control unit is used to upload the intelligent connected vehicle's own operating status information to the cloud control center in real time when the intelligent connected vehicle enters the vehicle control area; the cloud control center adjusts the driving speed of the intelligent connected vehicle based on the safe speed calculated by the operating status information and the control commands.

[0044] The track treads dispatch model establishment unit is used to input the pedestrian crossing request to the cloud control center when a pedestrian arrives at the crossing point through the crossing request button. The cloud control center establishes a track treads dispatch model based on the real-time collected information on the number of pedestrians crossing, the direction of crossing, and the number of track treads at each crossing point, with the goal of minimizing the pedestrian waiting time for track treads.

[0045] The track treads dispatch unit is used to dispatch track treads to carry pedestrians across the street based on the track treads dispatch model, and the cloud control center dispatches track treads.

[0046] The pedestrian control unit is used so that after a pedestrian rides on the rail platform, the cloud control center determines the safe time for the rail platform to enter the intersection based on the operating conditions within the intersection. The rail platform carries the pedestrian across the intersection at a constant speed within the safe time and does not interfere with the vehicles operating inside the intersection.

[0047] Thirdly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned demand-responsive pedestrian crossing transport control method.

[0048] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0049] 1. This invention discloses a demand-responsive pedestrian crossing transportation control method, system, and medium. By introducing a track-mounted treadle system with dynamic scheduling capabilities, it achieves real-time response and efficient dispatch of pedestrian crossing requests. In a vehicle-road cooperative traffic environment, this invention effectively meets the pedestrian crossing needs of intersections in scenarios where vehicles can pass without stopping, realizing coordinated management of vehicles and pedestrians, improving intersection operational efficiency and safety, and solving problems such as delayed pedestrian crossing response, low transportation scheduling efficiency, and obstructed vehicle passage in existing technologies.

[0050] 2. The present invention provides a demand-responsive pedestrian crossing transportation control method, system and medium to realize demand-responsive pedestrian crossing: by responding to pedestrian crossing requests in real time through a tracked pedal scheduling mechanism, avoiding long waiting times for pedestrians and improving the travel experience.

[0051] 3. The present invention provides a demand-responsive pedestrian crossing transport control method, system and medium to improve the utilization rate and scheduling flexibility of rail treads: by dynamically switching routes and dispatching empty vehicles between stations, the empty running of rail treads is reduced and the system resource utilization rate is improved.

[0052] 4. The present invention provides a demand-responsive pedestrian crossing transport control method, system and medium to enable vehicles to pass through without stopping: In a vehicle-road cooperative environment, vehicles can pass through intersections without stopping to yield to pedestrians, thereby improving the overall traffic efficiency of intersections. Attached Figure Description

[0053] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0054] Figure 1 This is a flowchart of a demand-responsive pedestrian crossing transport control method according to the present invention;

[0055] Figure 2 This is a schematic diagram of pedestrian crossing transportation based on rail-guided treads in a vehicle-road cooperative environment provided in Embodiment 1 of the present invention;

[0056] Figure 3 This is a flowchart of pedestrian crossing control under non-stop vehicle conditions provided in Embodiment 1 of the present invention.

[0057] Figure 4 This is a flowchart of the process for dispatching a tracked treadmill to carry pedestrians across the street, provided in Embodiment 1 of the present invention.

[0058] Figure 5 This is a block diagram of a demand-responsive pedestrian crossing transport control system according to the present invention. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0060] This invention proposes a demand-responsive pedestrian crossing transport control method and system based on rail-guided treads. By setting up a schedulable and coordinated rail-guided tread system at intersections, combined with real-time sensing and dynamic scheduling mechanisms, it can achieve rapid response and safe transport of pedestrian crossing needs, thereby effectively ensuring pedestrian safety and traffic fairness under the condition that vehicles can pass without stopping.

[0061] The technical concept of this invention is as follows: In a vehicle-road cooperative traffic scenario, the vehicle entrance lanes at intersections are designated as vehicle control zones, guiding intelligent connected vehicles to adjust their speed and driving status according to instructions from the cloud control center. Simultaneously, pedestrian crossing points are set up at intersection corners as gathering and dispersal areas for pedestrians waiting for and boarding rail-mounted platforms. Bidirectional rail-mounted platform tracks are laid between these points to facilitate pedestrian transport and cross-point scheduling. When a vehicle enters the vehicle control zone, it uploads its driving status information in real time, and the cloud control center uses this information to make unified decisions on vehicle speed and rail-mounted platform departure times. After arriving at a crossing point, pedestrians submit their crossing requests via a crossing request button. The cloud control center dynamically dispatches rail-mounted platforms to perform transport tasks, aiming to minimize pedestrian waiting time. This method establishes a rail-mounted platform dispatch model with the goal of minimizing pedestrian waiting time, achieving efficient utilization of rail-mounted platforms and immediate response to pedestrian needs. Through the above design, the present invention can enable safe pedestrian crossing under non-stop conditions in an intelligent connected environment, effectively improving the operational efficiency and traffic fairness of intersections, and has significant advantages in safety, coordination and scalability.

[0062] Example 1

[0063] like Figure 1 As shown, the present invention provides a demand-responsive pedestrian crossing transport control method, the method comprising:

[0064] Step 1: Set up vehicle control zones and pedestrian crossing points at road intersections, and set up bidirectional rail-guided running tracks between each pedestrian crossing point.

[0065] In this embodiment, step 1 specifically includes:

[0066] Step 11: In the vehicle-road cooperative traffic scenario, set the areas of each motor vehicle entrance lane at the intersection as vehicle control zones; the vehicle control zones are used to guide intelligent connected vehicles to adjust their speed and driving status according to the instructions of the cloud control center.

[0067] Step 12: Set up pedestrian crossing points at each corner of the intersection; the pedestrian crossing points serve as gathering and dispersal areas for pedestrians to wait and ride the rail tram.

[0068] Step 13: Two rail-guided running tracks are laid between any two pedestrian crossing points; the rail-guided running tracks run bidirectionally between each pedestrian crossing point to realize the transport and track-changing operations between different pedestrian crossing points.

[0069] To ensure that all intelligent connected vehicles can complete speed adjustments before entering the intersection, the formula for the shortest distance in the vehicle control zone is:

[0070] ;

[0071] In the formula, d min v represents the shortest length of the vehicle control zone. max v0 represents the maximum speed limit for intelligent connected vehicles passing through the intersection, v0 represents the initial speed of the intelligent connected vehicle when entering the vehicle control zone, and a represents the acceleration of the intelligent connected vehicle when adjusting its speed within the vehicle control zone.

[0072] All pedestrians who need to cross the street wait for the tracked steps at the designated crossing point. If the pedestrian flow is too large and the crossing point reaches saturation, the overflowing pedestrians wait on the sidewalk near the crossing point.

[0073] The running track of the tram is similar to that of a tram, and the running track of the tram will not affect the normal passage of the vehicle; each tram is an independent unit. When there are pedestrians who need to cross the street, the tram runs on the embedded track in the intersection; when there are no pedestrians, the tram stops in the parking point.

[0074] like Figure 2 As shown, four pedestrian crossing points are set up at the four corners of the intersection. Two opposing pedestrian crossing tracks are set between each crossing point, resulting in a total of 12 pedestrian crossing paths at the intersection, numbered N1-N2. 12 Of these, 8 routes are straight-ahead crossings (N1-N8), and 4 routes are diagonal crossings (N9-N...). 12 The intersection control area includes the control zone, pedestrian crossing points, and the interior of the intersection.

[0075] Step 2: When the intelligent connected vehicle enters the vehicle control area, the vehicle's own operating status information is uploaded to the cloud control center in real time; the cloud control center adjusts the vehicle's speed based on the safe speed calculated from the operating status information and the control commands.

[0076] In this embodiment, step 2 specifically includes:

[0077] When intelligent connected vehicles enter the control area, they upload their driving direction, speed, acceleration, position and time to the intersection cloud control center in real time.

[0078] The cloud-based control center calculates safe speeds and control commands based on operational status information, and adjusts the driving speed of intelligent connected vehicles accordingly. Intelligent connected vehicles are prohibited from changing lanes or overtaking within the vehicle control zone to ensure orderly traffic flow.

[0079] Among them, the safe speed is determined by the cloud control center based on the operating status of all intelligent connected vehicles and rail treads within the intersection, which determines the safe speed for intelligent connected vehicles to pass through the intersection.

[0080] The control command is for the intelligent connected vehicle to adjust its speed by accelerating or decelerating uniformly within the adjustment area. When the intelligent connected vehicle adjusts to a safe speed, it continues to maintain a constant speed and drive without stopping until it leaves the intersection.

[0081] like Figure 3 As shown, the operation process of intelligent connected vehicles passing through intersections without stopping is as follows: Before entering the vehicle control area, the intelligent connected vehicle must change to the guide lane M. 1- M 12 Within the vehicle control zone, vehicles transmit their driving status information, including direction, position, time, and speed, to the cloud control center in real time. The cloud control center, combining the operational status of all vehicles and the tracked platform within the intersection, determines the safe speed for vehicles to pass through the intersection. Based on control commands from the cloud control center, vehicles adjust their speed within the control zone using uniform acceleration / deceleration. Once the vehicle reaches the target speed (i.e., the safe speed), it maintains a constant speed until leaving the intersection. Changing lanes and overtaking are prohibited within the vehicle control zone.

[0082] Step 3: When a pedestrian arrives at the crossing point, the pedestrian inputs the crossing request to the cloud control center through the crossing request button; The cloud control center, based on the real-time collected information on the number of pedestrians crossing, the direction of crossing, and the number of rail treads at each crossing point, establishes a rail tread dispatch model with the goal of minimizing the time pedestrians wait for rail treads, based on the rail tread dispatch program.

[0083] like Figure 3As shown, the operation of the tracked treadmill for pedestrian crossing is as follows: When a pedestrian arrives at the intersection crossing point, they trigger the crossing button and input the number of pedestrians and the direction of crossing. The cloud control center then arranges for the tracked treadmills to carry the pedestrians according to their needs. Each tracked treadmill operates as an independent unit. When pedestrians need to cross the street, the treadmill runs on the embedded track within the intersection; when there are no pedestrians, the treadmill stops at the crossing point. The track of the tracked treadmill is similar to that of a tram, and the track does not affect the normal passage of vehicles.

[0084] In this embodiment, based on the rail treads dispatch procedure, a rail treads dispatch model is established with the goal of minimizing pedestrian waiting time for rail treads, as follows:

[0085] like Figure 1 As shown, in order to improve the utilization rate of the tram tracks and minimize their idle operation, the running route and stopping points of each tram track are not fixed. The tram tracks can change routes at the stopping points, meaning each tram track can travel between N1 and N... 12 It can run on any track and stop at any pedestrian crossing. In addition, considering that pedestrians often cross the street separately, each track step is designed to carry one pedestrian, and the control system assigns track steps to pedestrians according to the order in which they press the pedestrian crossing button.

[0086] At intersections, each pedestrian crossing point initially deploys a certain number of tracked treads. However, due to varying pedestrian crossing needs at different crossing points, the number of tracked treads at some points may not be sufficient to meet the demand of waiting pedestrians. To address this issue, a tracked tread deployment procedure is designed as follows: Figure 4 As shown, the specific process is as follows:

[0087] When pedestrian h triggers the crosswalk button at the crosswalk stop i at the road intersection, it is determined whether there is an idle tracked tread at the crosswalk stop i.

[0088] If there are unused tram tracks at crossing point i, pedestrian h can immediately board the tram tracks to prepare to cross the street.

[0089] If there are no available tram steps at crossing point i, the system checks if there are any tram steps traveling from other crossing points to crossing point i. If so, pedestrian h waits for the tram step to arrive at crossing point i before boarding it to cross the street. If not, the system checks if there are any available tram steps at other crossing points. If so, pedestrian h waits for the tram step to arrive at crossing point i before boarding it to cross the street. If not, pedestrian h continues to wait until a tram step is traveling from another crossing point to crossing point i or until there are available tram steps at another crossing point.

[0090] The objective function of the rail treadmill dispatch model is:

[0091] ;

[0092] In the formula, r h,k,i The variable r represents whether pedestrian h uses the tram platform k to cross the street at crossing point i. When pedestrian h uses the tram platform k to cross the street at crossing point i, r represents the variable r. h,k,i =1, otherwise r h,k,i =0; r k,i,j Indicate whether there exists a binary variable r representing the departure of tram stepper k from pedestrian crossing point i to pedestrian crossing point j. When tram stepper k departs from pedestrian crossing point i to pedestrian crossing point j, r k,i,j =1, otherwise r k,i,j =0; t h,k,i This indicates the duration for pedestrian h to wait at crosswalk i for the tram step k. , where t h,i t represents the time when pedestrian h triggers the crosswalk button at crosswalk point i. k,i Indicates the time it takes for the tracked treadle k to reach the pedestrian crossing point i; P represents the gathering of pedestrians waiting to cross the street at the intersection; B F A represents the set of all tracked treads within the intersection control area; A represents the set of pedestrian crossing points at the intersection.

[0093] The constraints on the above objective function include:

[0094] First constraint: Each pedestrian's need to cross the street occurs exactly once, that is:

[0095] ;

[0096] The second constraint is that each pedestrian can only use one tram step to cross the street, that is:

[0097] ;

[0098] The third constraint is that the total number of tracked treads at each pedestrian crossing point at the intersection is conserved, that is:

[0099] ;

[0100] Where, n i n represents the number of available track treads at station i. i0 This indicates the initial number of rail treads at station i;

[0101] Fourth constraint: The tram will only operate when pedestrians need to cross the street, that is:

[0102] ;

[0103] Where M represents an infinitely large positive number;

[0104] Fifth constraint: A shift can only depart when there is a tracked step at each pedestrian crossing point, that is:

[0105] ;

[0106] Sixth constraint: The time it takes for the track treadle k to reach the pedestrian crossing stop j is equal to the sum of the departure time from pedestrian crossing stop i and the travel time between pedestrian crossing stop i and pedestrian crossing stop j, that is:

[0107] ;

[0108] Where t k,i,j L represents the time it takes for the tracked treadle k to travel from stationary point i to stationary point j. i,j d represents the distance between stationary point i and stationary point j. k V represents the geometric length of the track treadle k. k This indicates the running speed of the tracked pedal k;

[0109] Seventh constraint: The time when the track treadle k arrives at the pedestrian crossing station j must be later than the time when it departs from the pedestrian crossing station i, that is:

[0110] ;

[0111] Eighth constraint: The time when the track treadle k arrives at the pedestrian crossing point i must be earlier than the time when it departs from the pedestrian crossing point i, that is:

[0112] ;

[0113] Step 4: Based on the track-guided platform dispatch model, the cloud control center dispatches track-guided platforms to carry pedestrians across the street.

[0114] Step 5: After the pedestrian rides on the rail platform, the cloud control center determines the safe time for the rail platform to enter the intersection based on the operating conditions within the intersection. The rail platform carries the pedestrian across the intersection at a constant speed within the safe time and does not interfere with the vehicles operating inside the intersection.

[0115] Example 2

[0116] like Figure 5 As shown, the difference between this embodiment and Embodiment 1 is that this embodiment provides a demand-responsive pedestrian crossing transportation control system, which corresponds one-to-one with the demand-responsive pedestrian crossing transportation control method in Embodiment 1; the system includes:

[0117] The deployment unit is used to set up vehicle control zones and pedestrian crossing points at road intersections, and bidirectional rail-guided running tracks are set up between each pedestrian crossing point.

[0118] The vehicle control unit is used to upload the intelligent connected vehicle's own operating status information to the cloud control center in real time when the intelligent connected vehicle enters the vehicle control area; the cloud control center adjusts the driving speed of the intelligent connected vehicle based on the safe speed calculated by the operating status information and the control commands.

[0119] The track treads dispatch model establishment unit is used to input the pedestrian crossing request to the cloud control center when a pedestrian arrives at the crossing point through the crossing request button. The cloud control center establishes a track treads dispatch model based on the real-time collected information on the number of pedestrians crossing, the direction of crossing, and the number of track treads at each crossing point, with the goal of minimizing the pedestrian waiting time for track treads.

[0120] The track treads dispatch unit is used to dispatch track treads to carry pedestrians across the street based on the track treads dispatch model, and the cloud control center dispatches track treads.

[0121] The pedestrian control unit is used so that after a pedestrian rides on the rail platform, the cloud control center determines the safe time for the rail platform to enter the intersection based on the operating conditions within the intersection. The rail platform carries the pedestrian across the intersection at a constant speed within the safe time and does not interfere with the vehicles operating inside the intersection.

[0122] The execution process of each unit can be carried out according to the flow steps of a demand-responsive pedestrian crossing transportation control method in Embodiment 1, and will not be described in detail in this embodiment.

[0123] Meanwhile, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned demand-responsive pedestrian crossing transport control method.

[0124] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0125] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0126] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0127] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0128] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A demand-responsive pedestrian crossing transport control method, characterized in that, The method includes: Vehicle control zones and pedestrian crossing points are set up at road intersections, and bidirectional rail-guided running tracks are laid between each of the pedestrian crossing points. When an intelligent connected vehicle enters the vehicle control area, its own operating status information is uploaded to the cloud control center in real time; the cloud control center adjusts the driving speed of the intelligent connected vehicle based on the safe speed and control commands calculated from the operating status information. When a pedestrian arrives at the designated crossing point, they input their crossing request to the cloud control center via the crossing request button. The cloud control center, based on the real-time collected information on the number of pedestrians crossing, the direction of crossing, and the number of rail-mounted treads at each crossing point, establishes a rail-mounted tread dispatch model with the goal of minimizing the time pedestrians wait for rail-mounted treads, according to the rail-mounted tread dispatch program. Based on the track-guided platform dispatch model, the cloud control center dispatches track-guided platforms to carry pedestrians across the street. After pedestrians board the tram, the cloud control center determines the safe time for the tram to enter the intersection based on the operating conditions within the intersection. The tram carries pedestrians across the intersection at a constant speed within the safe time and does not interfere with vehicles operating inside the intersection.

2. The demand-responsive pedestrian crossing transport control method according to claim 1, characterized in that, Vehicle control zones and pedestrian crossing points are set up at road intersections, and bidirectional rail-guided running tracks are laid between each of the aforementioned pedestrian crossing points, including: Each motor vehicle entrance lane area at the intersection is designated as a vehicle control zone; the vehicle control zone is used to guide intelligent connected vehicles to adjust their speed and driving status according to instructions from the cloud control center. Pedestrian crossing points are set up at each corner of the intersection; these crossing points serve as gathering and dispersal areas for pedestrians to wait for and board the tram. Two rail-guided running tracks are installed between any two pedestrian crossing points; the rail-guided running tracks run bidirectionally between each pedestrian crossing point to realize the transport and track-changing operations between different pedestrian crossing points.

3. The demand-responsive pedestrian crossing transport control method according to claim 2, characterized in that, The formula for the shortest distance of the vehicle control zone is: ； In the formula, d min v represents the shortest length of the vehicle control zone. max v0 represents the maximum speed limit for intelligent connected vehicles passing through the intersection, v0 represents the initial speed of the intelligent connected vehicle when entering the vehicle control zone, and a represents the acceleration of the intelligent connected vehicle when adjusting its speed within the vehicle control zone.

4. The demand-responsive pedestrian crossing transport control method according to claim 1, characterized in that, The operational status information includes the vehicle's driving direction, speed, acceleration, position, and time.

5. The demand-responsive pedestrian crossing transport control method according to claim 1, characterized in that, The safe speed is determined by the cloud control center based on the operating status of all intelligent connected vehicles and rail treads within the intersection, which determines the safe speed for intelligent connected vehicles to pass through the intersection. The control command is for the intelligent connected vehicle to adjust its speed by accelerating or decelerating uniformly within the adjustment area. When the intelligent connected vehicle adjusts to the safe speed, it continues to maintain a constant speed and drive without stopping until it leaves the intersection.

6. The demand-responsive pedestrian crossing transport control method according to claim 1, characterized in that, The execution logic of the dispatching procedure for the rail-mounted treadmill is as follows: When pedestrian h triggers the crosswalk button at the crosswalk stop i at the road intersection, it is determined whether there is an idle tracked tread at the crosswalk stop i. If there are unused tram tracks at crossing point i, pedestrian h can immediately board the tram tracks to prepare to cross the street. If there are no available tram steps at crossing point i, the system checks if there are any tram steps traveling from other crossing points to crossing point i. If so, pedestrian h waits for the tram step to arrive at crossing point i before boarding it to cross the street. If not, the system checks if there are any available tram steps at other crossing points. If so, pedestrian h waits for the tram step to arrive at crossing point i before boarding it to cross the street. If not, pedestrian h continues to wait until a tram step is traveling from another crossing point to crossing point i or until there are available tram steps at another crossing point.

7. The demand-responsive pedestrian crossing transport control method according to claim 1, characterized in that, The objective function of the rail treadmill dispatch model is: ； In the formula, r h,k,i The variable r represents whether pedestrian h uses the tram platform k to cross the street at crossing point i. When pedestrian h uses the tram platform k to cross the street at crossing point i, r represents the variable r. h,k,i =1, otherwise r h,k,i =0; r k,i,j Indicate whether there exists a binary variable r representing the departure of tram stepper k from pedestrian crossing point i to pedestrian crossing point j. When tram stepper k departs from pedestrian crossing point i to pedestrian crossing point j, r k,i,j =1, otherwise r k,i,j =0; t h,k,i This indicates the duration for pedestrian h to wait at crosswalk i for the tram step k. , where t h,i t represents the time when pedestrian h triggers the crosswalk button at crosswalk point i. k,i Indicates the time it takes for the tracked treadle k to reach the pedestrian crossing point i; P represents the gathering of pedestrians waiting to cross the street at the intersection; B F A represents the set of all tracked treads within the intersection control area; A represents the set of pedestrian crossing points at the intersection.

8. The demand-responsive pedestrian crossing transport control method according to claim 7, characterized in that, The constraints on the objective function include: First constraint: Each pedestrian has one and only one need to cross the street; Second constraint: Each pedestrian may only use one tram step to cross the street; The third constraint is that the total number of tracked treads at each pedestrian crossing point at the intersection is conserved. Fourth constraint: The tram will only operate when pedestrians need to cross the street; Fifth constraint: A bus can only depart when there is a tracked step at each pedestrian crossing point; Sixth constraint: The time it takes for the track treadle k to reach the pedestrian crossing point j is equal to the sum of the departure time from the pedestrian crossing point i and the travel time between the pedestrian crossing point i and the pedestrian crossing point j; Seventh constraint: The time when the track treadle k arrives at the pedestrian crossing station j must be later than the time when the bus departs from the pedestrian crossing station i. Eighth constraint: The time when the track treadle k arrives at the pedestrian crossing point i must be earlier than the time when the bus departs from the pedestrian crossing point i.

9. A demand-responsive pedestrian crossing transport control system, characterized in that, The system includes: The deployment unit is used to set up vehicle control zones and pedestrian crossing points at road intersections, and bidirectional rail-guided running tracks are respectively deployed between each of the pedestrian crossing points. The vehicle control unit is used to upload the intelligent connected vehicle's own operating status information to the cloud control center in real time when the intelligent connected vehicle enters the vehicle control area; the cloud control center adjusts the driving speed of the intelligent connected vehicle based on the safe speed calculated by the operating status information and the control command. The track treads dispatch model establishment unit is used to input the pedestrian crossing request to the cloud control center through the pedestrian crossing request button when a pedestrian arrives at the pedestrian crossing station. The cloud control center establishes a track treads dispatch model based on the real-time collected information on the number of pedestrians crossing, the direction of crossing, and the number of track treads at each pedestrian crossing station, with the goal of minimizing the pedestrian waiting time for track treads. The track treads dispatch unit is used to dispatch track treads to carry pedestrians across the street based on the track treads dispatch model, and the cloud control center dispatches track treads. The pedestrian control unit is used so that after a pedestrian rides on the rail platform, the cloud control center determines the safe time for the rail platform to enter the intersection based on the operating conditions within the intersection. The rail platform carries the pedestrian across the intersection at a constant speed within the safe time and does not interfere with the vehicles operating inside the intersection.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements a demand-responsive pedestrian crossing transport control method as described in any one of claims 1 to 8.

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