干线信号协调背景下的网联公交实时优先控制方法

Connected Bus Real-Time Priority Control Considering Arterial Signal Coordination

为解决公交优先可能破坏干线协调并影响社会车辆行驶效益问题,建立了网联环境下配合干线信号协调的实时公交优先控制方法。该方法包括三个步骤,提出了路段速度引导算法服务于还未到达交叉口范围的网联公交,使其尽量在绿灯期间到达停车线;进一步在其到达交叉口范围时进行公交优先申请的生成,同时计算出协同的速度引导和驻站控制策略;最后在满足公交优先申请的前提下以社会车辆延误最小为目标优化信号配时方案,实现速度引导‒驻站控制‒信号优先一体化控制。实验表明本方法能有效配合已有信号协调,同时满足公交优先需求和保障社会车辆行驶效益;案例分析表明采用路段速度引导算法和公交优先生成算法能明显提升公交不停车率;而敏感性分析表明更长交叉口控制距离有利于降低公交延误。

To deal with problems of destroying the existing arterial signal coordination and travel efficiency reduction of private vehicles due to bus priority control,a real-time bus priority control method with arterial signal coordination is established under connected vehicle environment.The method includes three steps.A speed advisory algorithm is proposed for the connected buses that are out of the intersection control area in order to guide the buses to arrive when the traffic light is green.Further,the bus signal priority requests together with the collaborative speed advisory and bus holding time is calculated when the bus reaches the intersection control area.Finally,satisfying the bus signal priority requests,the signal timing scheme is optimized to minimize private vehicle delay.Therefore,a speed advisory,bus holding time,and signal priority control method is constructed.The experimental results demonstrate the proposed method can cooperate with existing signal coordination,cater to bus priority demands,and ensure the benefits of private vehicles at the same time.Further numerical studies on the speed advisory algorithm and the bus signal request generation algorithm indicate a significant enhancement on preventing buses from stopping for red lights.Sensitivity analysis shows that a longer control distance of the intersection is more beneficial to reduce bus delay.