异构线路下考虑组合策略的智能网联公交运行控制方法  

Connected and Autonomous Bus Operation Control Method Considering Combination Strategies under Heterogeneous Routes

作　　者：何林林 胡宝雨 HE Linin;HU Baoyu(School of Civil Engineering and Transportation,Northeast Forestry University,Harbin 150040,China)

机构地区：[1]东北林业大学土木与交通学院,黑龙江哈尔滨150040

出　　处：《交通运输研究》2025年第1期39-47,78,共10页Transport Research

基　　金：黑龙江省自然科学基金项目(YQ2022E003);中国博士后科学基金项目(2023M740558);黑龙江省博士后基金项目(LBH-Z23045)。

摘　　要：为应对智能网联公交线路与传统人工驾驶公交线路并存场景下,智能网联公交车头时距不均匀以及站点、交叉口排队等问题引起的运行延误,提出了采用车速控制和信号优先两种策略组合的优化控制方法,以调整智能网联公交运行状态。首先,考虑节能驾驶和信号控制等约束条件,以最小化车头时距偏差和智能网联公交进入节点排队队列的次数为目标,建立双目标混合整数优化控制模型。然后,基于滚动优化的触发时刻,采用NSGA-Ⅱ算法求解优化模型,通过多次迭代更新最优解,输出速度控制和信号优先方案。最后,基于北京市41路公交数据建立仿真案例进行验证和对比分析。仿真结果表明,与无控制情形相比,仅速度优化控制方法使车头时距偏差降低了45%,站点和交叉口排队次数分别降低了25%和25%;而本文提出的优化控制方法使车头时距偏差降低了66%,站点和交叉口排队次数分别降低了50%和75%,表明该方法能显著提高智能网联公交运行稳定性,有效降低节点拥堵,提升智能网联公交运营效率和服务水平。To address the running delay caused by the instability of headway and queuing at stops and intersections for connected and autonomous bus(CAB),in scenarios where CAB routes coexistes with traditional manually-driven bus routes,an operation optimization control method based on the combination control strategy of speed control and signal priority was proposed to adjust CABs′operating state.Firstly,a dual-objective mixed-integer optimal control model was developed,considering constraints such as economy of CAB during operation and signal control.Its aim was to minimize both headway deviation and the number of times that CABs enter the node queuing sequences.Then,based on the trigger time of rolling optimization,the NSGA-Ⅱ algorithm was used to solve the model,the optimal solution was updated several times iteratively,and the speed control and signal priority schemes were output.Finally,a simulation case was established based on the data of the 41 bus route in Beijing City for verification and comparative analysis.The simulation results showed that compared to the no-control scenario,the speed-only control method reduced the headway deviation by 45%,and the number of queues for CABs at stops and intersections by 25% and 25%,respectively;the method presented in this paper reduced the headway deviation by 66%,and the number of queues for CABs at stops and intersections by 50% and 75%,respectively.It indicates that the method can effectively improve CAB operation stability,effectively reduce nodes congestion and enhance the operational efficiency and service level of CAB.

关 键 词：智能网联公交 车速控制 信号优先 滚动优化 NSGA-Ⅱ 

分 类 号：U491.1[交通运输工程—交通运输规划与管理]