基于GPS的BRT公交优先控制系统研究与设计
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摘要
发展BRT公共交通系统是在短时期内解决城市交通问题的有效途径和提高城市公共交通服务水平和运行效率的最佳选择之一。本文以重庆市首条BRT线路的BRT公交优先控制系统为主要研究目标,对公共交通线网和BRT线网模型进行了深入地分析和研究,设计出系统定位模型和算法,制定了BRT公交信号优先控制策略,完成了基于GPS的BRT公交优先控制系统的设计。
本文的主要研究内容:
(1)在了解GPS定位原理的基础上,针对BRT线路和公共交叉口平面控制策略进行优化分析,设计出系统两点定位模型和算法;
(2)根据对道路、路线、路口各方向交通流量、信号控制的能力和特性等情况进行调研的基础上,制定了BRT车辆最大限度优先控制策略;
(3)通过对实际问题的调查和分析,针对当BRT与常规公共车辆在公共交叉口区间时,如何保证其在不影响正常交通的情况下,具有比其它公交车辆优先权进行研究;
(4)设计了BRT公交优先控制的软硬件系统。在对硬件模块功能分析的基础上,设计了一种基于GPS、近距无线通信技术、自动控制技术、数据通信技术及计算机处理技术于一体的BRT公交优先控制装置,有效地保证BRT车辆的准时性,大大提高了BRT公交的服务水平,促进BRT的发展。
此系统已经成功地应用在重庆市首条BRT线路,取得了良好的实用效果。
The development of BRT system is an effective way to solve city public transport traffic problems and improve city public transport service levels and operational efficiency in a short period of time. In this paper, we make the BRT bus priority control system of the first BRT line of Chongqing city as the main research objective, design the module of system positing and algorithms, make the BRT bus signal priority control strategies, and complete the BRT Bus Priority Control System based on GPS under the public transit network of Chongqing and the analysis of BRT module arithmetic.
The main contents of this paper:
(1) We will design the module of system positing and algorithms in the understanding of the principle of GPS positioning and the public transit network of Chongqing and the analysis of BRT module arithmetic.
(2) We should make priority strategy based on the road of the junction of the direction of traffic flow, signal controll, the ability and characteristics of the situation.
(3) It is proposed to how to make the BRT take precedence of other buses and quickly pass when the BRT have the share of the common zone and have conflicts with other buses. The system efficaciously solute the problems of how to make the BRT take precedence of other buses and quickly pass in the share of the common zone.
(4) we have completed the hardware and software design of the BRT bus priority control system and the device based on GPS, RF wireless communications technology, advanced automatic control technology, data communication technology and computer processing technology under the public transit network of Chongqing and the analysis of BRT module arithmetic.
The system has been successfully applied in the first BRT line of Chongqing City, achieved good practical results.
本文的主要研究内容:
(1)在了解GPS定位原理的基础上,针对BRT线路和公共交叉口平面控制策略进行优化分析,设计出系统两点定位模型和算法;
(2)根据对道路、路线、路口各方向交通流量、信号控制的能力和特性等情况进行调研的基础上,制定了BRT车辆最大限度优先控制策略;
(3)通过对实际问题的调查和分析,针对当BRT与常规公共车辆在公共交叉口区间时,如何保证其在不影响正常交通的情况下,具有比其它公交车辆优先权进行研究;
(4)设计了BRT公交优先控制的软硬件系统。在对硬件模块功能分析的基础上,设计了一种基于GPS、近距无线通信技术、自动控制技术、数据通信技术及计算机处理技术于一体的BRT公交优先控制装置,有效地保证BRT车辆的准时性,大大提高了BRT公交的服务水平,促进BRT的发展。
此系统已经成功地应用在重庆市首条BRT线路,取得了良好的实用效果。
The development of BRT system is an effective way to solve city public transport traffic problems and improve city public transport service levels and operational efficiency in a short period of time. In this paper, we make the BRT bus priority control system of the first BRT line of Chongqing city as the main research objective, design the module of system positing and algorithms, make the BRT bus signal priority control strategies, and complete the BRT Bus Priority Control System based on GPS under the public transit network of Chongqing and the analysis of BRT module arithmetic.
The main contents of this paper:
(1) We will design the module of system positing and algorithms in the understanding of the principle of GPS positioning and the public transit network of Chongqing and the analysis of BRT module arithmetic.
(2) We should make priority strategy based on the road of the junction of the direction of traffic flow, signal controll, the ability and characteristics of the situation.
(3) It is proposed to how to make the BRT take precedence of other buses and quickly pass when the BRT have the share of the common zone and have conflicts with other buses. The system efficaciously solute the problems of how to make the BRT take precedence of other buses and quickly pass in the share of the common zone.
(4) we have completed the hardware and software design of the BRT bus priority control system and the device based on GPS, RF wireless communications technology, advanced automatic control technology, data communication technology and computer processing technology under the public transit network of Chongqing and the analysis of BRT module arithmetic.
The system has been successfully applied in the first BRT line of Chongqing City, achieved good practical results.
引文
[1]刘大杰,施一民.全球定位系统(GPS)的原理与数据处理[M].同济大学出版社, 2002.
[2]中国人民解放军总装备部军事训练教材编辑工业委员会. GPS技术与应用[M].国防工业出版社, 2004.
[3]余学祥,徐绍铨,吕伟才. GPS变形监测数据处理自动化[M].中国矿业大学出版社, 2003.
[4]王广运,郭秉义,李洪涛.差分GPS定位技术与应用[M].电子工业出版社, 1996.
[5]金国雄,刘大杰,施一民. GPS卫星定位的应用与数据处理[M].同济大学出版社, 1994.
[6]石剑民,崔建国.手持式GPS接收机的设计.沈阳航空工业学院学报[J]. 2005, 4, 22(2).
[7]毕军,关伟,申金升.车辆GPS/DR定位硬件系统的设计.交通运输系统工程与信息[J].2005,6, 5 (3).
[8]赵东明. GPS卫星定位技术浅析.城市公共交通[J]. 2005,6.
[9]张俐君. GPS全球卫星定位技术的应用与推广.太原科技[J]. 2005, 1.
[10]刘基余等.全球定位系统原理及其应用[M].测绘出版社, 1993.
[11] Elliott D.Kaplan.邱致和,王万义. GPS原理与应用[M].电子工业出版社, 2002.
[12]汤吉群,张德民,李玲.数据通信技术[M].北京人民邮电出版社, 1999.
[13]刘基余等.全球定位系统原理及其应用[M].测绘出版社, 1993.
[14] Sally.L.Frodge and Stephen R.beloacl.real-Time On-The-Fly Kinematic GPS systerm results, Navigation, summer, 1998.7.
[15]赖贻翔. GPS应用中的坐标转换技术[J].《情报指挥控制系统与仿真技术》2001, 22(12).
[16]张守信. GPS卫星测量定位理论与应用[M].国防科技大学出版社, 1996.
[17]言中,丁子明.卫星无线电导航[M].国防工业出版社, 1989.
[18] Transportation cooperation research program90. Bus Rapid Transit Volume1: Case Studies in Bus Rapid Transit.Transit Research Board of The National Academy,2003.
[19] Shireen Chada, Robert Nweland.Eeffetiveness of Bus Signal Priority[M]. Final Report, Jan2002.
[20]陈阳.公交优先的内涵与措施[J].城市问题, 2001.(5), 103: 64-67.
[21] The Federal Transit Administration of USA (FTA). Issues in Bus Rapid Transit. Washington, D.C. 2003.
[22]张卫华,黄艳君,胡刚.城市公共交通专用道设置标准的探讨[J].交通标准化, 2003(7): 33-36
[23]王浩,彭国雄,杨晓光.相位相序安排与交叉口设计之间的关系[J].公路交通科技, 2004,21(2): 92-94.
[24] ITS AMERICA.Transit Signal Priority(TSP):A Planning and Implementation Handbook[M]. United States Department of Transportation:May 2005.
[25]张明哲,姚冬苹,翟志强.公交优先中的车辆选择检测系统研究[J].城市公共交通, 2004(1): 11-13.
[26]马小毅,王炜.模拟方法在主路优先交叉口通行能力中的应用[J].东南大学学报,1997, 27(5): 71-75
[27]柳祖鹏,丁卫东,朱晓宏.交叉口公交优先信号控制系统研究[J].武汉科技大学学报(自然科学版), 2005, 28(1): 65-68.
[28] James Chang. Evaluation of Service Reliability Impacts of Traffic Signal Priority for Bus Transit[D]. Virginia Polytechnic Institute and State University, June 2002.
[29] Chang, J. AnOverview of Transit Signal Priority[M]. preparedbytheATMS, ApTS of ITSA; DRAFT, APril15, 2002.
[30] Jian-ping WU, Nick HOUNSELL. Analysis of Traffic at Pre-Signalised intersections(part 1)[J]. Journal of Transportation Engineering and informration, 2003, 1(1): 37-40
[31] Peek Traffic Ltd. Bus Priority in SCOOT[R]. www.scoot-utc.com.
[32] ITS AMERICA. An Overview of Transit Signal Priority[M]. United States Department of Transportation: 2004.
[33] TCRP(1998). Improved Traffic Signal Priority for Transit. TCRP ProjeetA-16 Interim Report[M].1998, 12:65-67.
[34] Dailey, ete. AV-Lequipped VehielesasTraffic Probe Sensors[M]. Final Researeh Report. Mar2002.
[35]杨晓光,庄斌,李克平.信号交叉口车道宽度对饱和流率和启动延误的影响分析[A].中国科技论文在线http://www.pape.redu.cn2005-03-05.
[36]关伟,申金升,葛芳.公交优先的信号控制策略研究[J].系统工程学报, 2001, 16(3): 176-180.
[37]李长林. AVR单片机应用设计[M].电子工业出版社, 2005.
[38]耿德根,宋建国,马潮等. AVR高速嵌入式单片机原理与应用[M].北京航空航天大学出版社, 2001.
[39]陈冬云,杜敬仓,任柯燕等编著. ATmega128单片机原理与开发指导[M].机械工业出版社, 2006.
[40]陈步月.基于单片机的测试技术原理与应用[M].机械工业出版社, 2007.
[41]张嵛编著.嵌入式系统硬件设计与调试[M].机械工业出版, 2007.
[42] Richard Barnett,Larry O’Cull,Sarah Cox.嵌入C编程与Atmel AVR[M].清华大学出版社,2003.
[43] RFWaves. RFW102 ISM Transceiver Chipset’s Datasheet. Rev1.02. RFWaves LTD, 2002.
[44] RFWaves. RFW-D100’s Datasheet. Rev1.21. RFWaves LTD, 2002.
[45]廖传书.汽车电子产品的电磁环境.汽车电器, 1995, 3.
[46] Corbett.M.and McCambridge, P.Transient Suppression in the Automotive Environment. Automotive Electronic Design, 1991, 10:2-4.
[47] SAE. Electromagnetic Susceptibility Measurement Procedures for Vehicle Components-SAE j1113. 1987, 8:10-12.
[48]刘光斌,刘东,姚志成.单片机系统实用抗干扰技术[M].北京:人民邮电出版社, 2004.
[2]中国人民解放军总装备部军事训练教材编辑工业委员会. GPS技术与应用[M].国防工业出版社, 2004.
[3]余学祥,徐绍铨,吕伟才. GPS变形监测数据处理自动化[M].中国矿业大学出版社, 2003.
[4]王广运,郭秉义,李洪涛.差分GPS定位技术与应用[M].电子工业出版社, 1996.
[5]金国雄,刘大杰,施一民. GPS卫星定位的应用与数据处理[M].同济大学出版社, 1994.
[6]石剑民,崔建国.手持式GPS接收机的设计.沈阳航空工业学院学报[J]. 2005, 4, 22(2).
[7]毕军,关伟,申金升.车辆GPS/DR定位硬件系统的设计.交通运输系统工程与信息[J].2005,6, 5 (3).
[8]赵东明. GPS卫星定位技术浅析.城市公共交通[J]. 2005,6.
[9]张俐君. GPS全球卫星定位技术的应用与推广.太原科技[J]. 2005, 1.
[10]刘基余等.全球定位系统原理及其应用[M].测绘出版社, 1993.
[11] Elliott D.Kaplan.邱致和,王万义. GPS原理与应用[M].电子工业出版社, 2002.
[12]汤吉群,张德民,李玲.数据通信技术[M].北京人民邮电出版社, 1999.
[13]刘基余等.全球定位系统原理及其应用[M].测绘出版社, 1993.
[14] Sally.L.Frodge and Stephen R.beloacl.real-Time On-The-Fly Kinematic GPS systerm results, Navigation, summer, 1998.7.
[15]赖贻翔. GPS应用中的坐标转换技术[J].《情报指挥控制系统与仿真技术》2001, 22(12).
[16]张守信. GPS卫星测量定位理论与应用[M].国防科技大学出版社, 1996.
[17]言中,丁子明.卫星无线电导航[M].国防工业出版社, 1989.
[18] Transportation cooperation research program90. Bus Rapid Transit Volume1: Case Studies in Bus Rapid Transit.Transit Research Board of The National Academy,2003.
[19] Shireen Chada, Robert Nweland.Eeffetiveness of Bus Signal Priority[M]. Final Report, Jan2002.
[20]陈阳.公交优先的内涵与措施[J].城市问题, 2001.(5), 103: 64-67.
[21] The Federal Transit Administration of USA (FTA). Issues in Bus Rapid Transit. Washington, D.C. 2003.
[22]张卫华,黄艳君,胡刚.城市公共交通专用道设置标准的探讨[J].交通标准化, 2003(7): 33-36
[23]王浩,彭国雄,杨晓光.相位相序安排与交叉口设计之间的关系[J].公路交通科技, 2004,21(2): 92-94.
[24] ITS AMERICA.Transit Signal Priority(TSP):A Planning and Implementation Handbook[M]. United States Department of Transportation:May 2005.
[25]张明哲,姚冬苹,翟志强.公交优先中的车辆选择检测系统研究[J].城市公共交通, 2004(1): 11-13.
[26]马小毅,王炜.模拟方法在主路优先交叉口通行能力中的应用[J].东南大学学报,1997, 27(5): 71-75
[27]柳祖鹏,丁卫东,朱晓宏.交叉口公交优先信号控制系统研究[J].武汉科技大学学报(自然科学版), 2005, 28(1): 65-68.
[28] James Chang. Evaluation of Service Reliability Impacts of Traffic Signal Priority for Bus Transit[D]. Virginia Polytechnic Institute and State University, June 2002.
[29] Chang, J. AnOverview of Transit Signal Priority[M]. preparedbytheATMS, ApTS of ITSA; DRAFT, APril15, 2002.
[30] Jian-ping WU, Nick HOUNSELL. Analysis of Traffic at Pre-Signalised intersections(part 1)[J]. Journal of Transportation Engineering and informration, 2003, 1(1): 37-40
[31] Peek Traffic Ltd. Bus Priority in SCOOT[R]. www.scoot-utc.com.
[32] ITS AMERICA. An Overview of Transit Signal Priority[M]. United States Department of Transportation: 2004.
[33] TCRP(1998). Improved Traffic Signal Priority for Transit. TCRP ProjeetA-16 Interim Report[M].1998, 12:65-67.
[34] Dailey, ete. AV-Lequipped VehielesasTraffic Probe Sensors[M]. Final Researeh Report. Mar2002.
[35]杨晓光,庄斌,李克平.信号交叉口车道宽度对饱和流率和启动延误的影响分析[A].中国科技论文在线http://www.pape.redu.cn2005-03-05.
[36]关伟,申金升,葛芳.公交优先的信号控制策略研究[J].系统工程学报, 2001, 16(3): 176-180.
[37]李长林. AVR单片机应用设计[M].电子工业出版社, 2005.
[38]耿德根,宋建国,马潮等. AVR高速嵌入式单片机原理与应用[M].北京航空航天大学出版社, 2001.
[39]陈冬云,杜敬仓,任柯燕等编著. ATmega128单片机原理与开发指导[M].机械工业出版社, 2006.
[40]陈步月.基于单片机的测试技术原理与应用[M].机械工业出版社, 2007.
[41]张嵛编著.嵌入式系统硬件设计与调试[M].机械工业出版, 2007.
[42] Richard Barnett,Larry O’Cull,Sarah Cox.嵌入C编程与Atmel AVR[M].清华大学出版社,2003.
[43] RFWaves. RFW102 ISM Transceiver Chipset’s Datasheet. Rev1.02. RFWaves LTD, 2002.
[44] RFWaves. RFW-D100’s Datasheet. Rev1.21. RFWaves LTD, 2002.
[45]廖传书.汽车电子产品的电磁环境.汽车电器, 1995, 3.
[46] Corbett.M.and McCambridge, P.Transient Suppression in the Automotive Environment. Automotive Electronic Design, 1991, 10:2-4.
[47] SAE. Electromagnetic Susceptibility Measurement Procedures for Vehicle Components-SAE j1113. 1987, 8:10-12.
[48]刘光斌,刘东,姚志成.单片机系统实用抗干扰技术[M].北京:人民邮电出版社, 2004.