公交车生态车速引导与信号优先协同优化模型

Collaborative Optimization Model for Bus Eco-speed Guidance and Transit Signal Priority Strategy

由于公交信号优先与节能驾驶的控制目标不一致,导致2种策略难以有效融合以提升公交优先效率和环境效益。针对此问题,提出一种公交车生态车速引导与信号优先协同优化模型,以廊道控制区域内公交车乘客、社会车辆乘客的交叉口延误最小化、公交车燃料消耗最小化以及公交车实际到站时间与时刻表偏差最小化为目标,考虑车辆运动状态约束、公交站点运营约束以及信号灯约束,基于滚动优化框架对公交车生态车速和信号配时方案进行协同优化。通过基于仿真数据、真实场景的数值试验对所提出模型的有效性进行验证,并针对公交车流量和社会车流量进行了敏感性分析。结果表明,所提模型在不同公交车流量、社会车流量水平下均具有明显优势,与信号优化模型相比,公交车平均交叉口延误在不同公交车流量水平下最大下降幅度达到31.99%,在不同社会车流量水平下最大降幅达到23.13%,燃料消耗在不同公交车流量水平下最大下降幅度达到12.66%,在不同社会车流量水平下最大降幅达到9.61%,社会车辆平均交叉口延误最大降幅均为8.23%;重庆市一条公交廊道的真实场景测试结果表明,所提模型相较于信号优化模型能够保障公交准点率并明显减少公交车速波动,燃料消耗、公交车车均交叉口延误、社会车辆延误降幅分别为7.04%、32.61%、4.37%;所提模型能够在保证公交运营稳定性的同时,获得显著的公交优先和低碳效益,并在一定程度上降低公交优先对社会车辆的影响。

Due to the difference of optimization objectives between transit signal priority and eco-driving,the research gap of effectively integrating the two strategies for improving both operational the efficiency and environmental benefits exists.To address such issue,a joint model for simultaneously optimizing bus eco-speed guidance and timing plan of transit signal priority is proposed.To this end,the objective is to minimize the intersection delay for both buses and general traffic,bus fuel consumption,and deviation between the actual bus arrival time and timetable.Then,a rolling horizon-based approach is employed to solve the proposed model by including the constraints of the vehicle motion state,bus stop operation,and traffic signal.Simulations and real-world tests are both conducted to verify the effectiveness of the proposed model,while the sensitivity analysis is performed on transit flow and general traffic flow where the results reveals the merits of proposed models in general.Specifically,varying from bus flow and general traffic flow,the reduction of intersection delay per bus can be up to 31.99%and 23.13%respective,while the decrease of fuel consumption per bus can reach to 12.66%and 9.61%respectively,meanwhile,the averaged intersection delay for general traffic can also reduce by 8.23%.The results of a real-world test in Chongqing city suggest that the proposed model ensures bus punctuality and significantly reduces the fluctuation of bus speed,while the fuel consumption,bus delay,and general traffic delay are improved by 7.04%,32.61%,and 4.37%,respectively.Consequently,the proposed model can maximize the integrated benefits of transit priority and low-carbon transit system while ensuring stability of bus operation,as well as to mitigate the side effects of transit priority on general traffic to some extent.