Love is parallel to the world 2021-08-08 15:26:15 阅读数:67
Research on Key Technologies of vehicle road coordination for public transport operation
Country “ The fourteenth five year plan ” and 2035 The outline of the long-term goals for the year 2000 , Clearly put forward “ Develop automatic driving and coordinated travel services , Promote intelligent highway management 、 Traffic signal linkage 、 Bus priority control ”. In the Ministry of industry and information technology 、 With the strong support of the national development and Reform Commission , Beijing 、 Shanghai 、 tianjin 、 wuxi 、 Changsha and other places have carried out... In combination with local conditions C-V2X Test validation and demonstration application work . Vehicle road cooperation technology is the core development direction of the next generation intelligent transportation system , It has become a general consensus in China from the government to the industry . The public transportation has the operation characteristics of fixed lines , Vehicle road coordination technology can take the lead in the field of public transport , Effectively improve the safety and reliability of bus operation , Improve passenger travel experience .
This paper will be combined with Shenzhen Urban Traffic Planning and Design Research Center （ hereinafter referred to as “ Shenzhen transportation center ”） Shenzhen Science and technology innovation Commission 2017 Key technology projects in “ heavy 20170229 Research and development of key technologies of vehicle road coordination for driverless bus ” R & D achievements , This paper discusses the pain points of bus operation and the key technologies to solve these pain points , At present, the project has successfully passed the acceptance , And a wide range of demonstration applications , It has been fully affirmed by leaders at all levels and praised by citizens .One 、 Bus operation pain points
chart 1 Bus operation pain points
There is a certain blind spot in the process of bus driving , Including the vehicle itself and the shelter , Pedestrians 、 The electric car suddenly burst out , Especially when the intersection turns from green to red , Have the ability to cause accidents 、 Poor ride experience 、 Hidden dangers such as passenger injury .
Due to some traffic accidents 、 Special weather 、 Traffic control and other unexpected reasons , The vehicle did not change lanes in time , Cause traffic disorder , Congestion is increasing , Even causing violations and secondary accidents , At the same time, the bus company failed to grasp the relevant information in time , Unable to adjust the departure frequency in time .
be based on RFID Bus priority , When there is no bus lane at the intersection, the congestion queue or the buses of multiple entrance lanes arrive at the intersection at the same time , Cause vehicles on the same line to enter the station at the same time , No vehicles are detected at the intersection , The overall intersection and road network efficiency are reduced .
Different time periods 、 In different areas, the waiting time at the bus stop and the travel time in the section are often unstable , Emergency braking and emergency stop in case of emergency , Citizens have a poor experience of taking public transportation .
In order to reduce the harm caused by bus visual blind area , Ensure the accuracy and completeness of roadside traffic information , Shenzhen traffic center relies on cameras 、 Laser radar 、 Microwave radar 、 Front end sensing equipment such as pedestrian infrared detector , Construct the deep reasoning environment of different edge computing nodes , With the powerful computing power of self-developed edge computing nodes and advanced lightweight standards AI Components , The spatio-temporal synchronization method is used to fuse video data and radar point cloud data , Extract the traffic flow of the surrounding environment （ Traffic 、 The length of the queue 、 Intersection arrival rate ）、 Pedestrian and vehicle trajectory information , Achieve millisecond multi-target recognition and tracking , Used for pedestrian and non motor vehicle safety warning 、 Target situation analysis and intersection blind spot push .
chart 2 Video and lidar fusion effect
In order to solve pavement cracks 、 Sunken 、 Collapse and other disease events occur occasionally , Road spills 、 accident 、 There are some problems such as delayed monitoring and response to emergencies such as ponding, which brings great hidden dangers to public transport vehicles , Shenzhen transportation center is based on deep learning detection model 、 Automatic calibration of sensing device parameters 、 Traffic scene panoramic segmentation and other algorithms , Build a traffic unit pool 、 Data feature pool 、AI Analysis pool 、 Online deduction decision pool, etc 4 Big tool pool , Break through the detection of pavement and marking diseases 、 Key technologies such as danger detection , And push the structured data of the detection event to the roadside unit in real time RSU, from RSU Broadcast to surrounding vehicles , Provide millisecond warning information for the driver . At present, this technology has no effect on pavement collapse 、 The detection accuracy of pavement damage and other disease events can reach 85% above , The detection accuracy of traffic spills can reach 87% above , The accuracy of traffic accident detection can reach 91% above .
chart 3 Real time detection effect of road events
In order to solve the problem of low road network operation efficiency caused by false bus priority , Based on the real-time arrival rate of vehicles at the entrance 、 Carrying capacity 、 Bus punctuality rate and other information , The self-developed relative priority control algorithm is used to dynamically reallocate the green light time , Realize the multi bus priority request competition and the optimal per capita benefit of the overall traffic flow under different traffic volume levels . Take the bus line in Futian District, Shenzhen M390 For example , This method can reduce the average delay of buses 27%-35%, Per capita delay is reduced under high traffic 15%.
surface 1 Signal priority effect of bus arrival in multiple directions
surface 2 Signal priority effect of different traffic volume
In order to improve the punctuality rate of public transportation , Reduce the number of stops for vehicles passing through signalized intersections , Shenzhen traffic center obtains the real-time timing scheme through the self-developed vehicle road cooperation annunciator 、 Countdown information 、 The queue length of the vehicle entrance lane at the intersection 、 Saturation flow rate and other information , Integrate the vehicle dynamics model , On board unit OBU The end constructs the vehicle adaptive speed guidance strategy under different light color countdown and different vehicle positions , Make the vehicle pass through the signalized intersection at the optimal speed range , For bus assisted driving . Through the empirical analysis of the intersection of Xinzhou road and Hongli Road in Futian District, Shenzhen , Penetration rate of vehicles connected by different networks 、 Under the influence of different traffic flow saturation , The optimization success rate of average vehicle parking times is 72% above , The reduction rate of average vehicle delay time is 84% above .
chart 4 Average number of stops under different permeability
chart 5 Average delay time of vehicles under different permeability
In order to speed up the implementation of vehicle road coordination technology in the field of public transport , Break through the existing road measurement mileage 、 Insufficient test scenarios 、 Test conditions, hazards, etc , Simulation technology is an important means to deal with . Shenzhen transportation center independently developed an all factor integrated intelligent network environment simulation platform , Combined with 3D reconstruction technology , Use roadside and vehicle end sensors to build a real scene , Fusion vehicle simulation 、 Traffic flow simulation 、V2X Simulation 、 Roadside Facilities simulation , Build from “ Algorithm development - Scenario test - functional verification - performance evaluation - Traffic assessment ” Our whole chain service , Support intelligent network connection test and certification 、 Coordinated control of vehicle and road 、 New infrastructure assessment 、 Intelligent travel scheduling .
Two 、 Application scenarios
chart 6 Intelligent networking simulation architecture
Multi scene real-time detection based on edge sensing fusion , Gather the early warning information to the roadside unit , adopt LTE-V/5G Release to surrounding vehicles , The vehicle is located according to the high-precision position 、 Speed and other state information for decision-making and control , So as to enjoy priority traffic 、 Signal countdown 、 Speed guidance 、 Pedestrian safety warning 、 Road incident warning and other services .
Combined with the national development strategy in the direction of vehicle networking , Shenzhen transportation center breaks through the integration of perception 、 Complex scene security warning 、 Active signal optimization 、 Speed guidance 、 Intelligent network simulation and other key technologies , And complete system integration and testing , The purpose is to establish the core technology system of vehicle road coordination system , Ensure the safety of bus operation 、 reliability , Accelerate the industrial landing of smart bus in the city , Promote the rapid development of related upstream and downstream enterprises , Promote urban integration 、 wisdom 、 green 、 Safe “ Transit city ” Building .
In the future, Shenzhen transportation center will take the vehicle road coordination technology as the development opportunity , Continue to promote the city level intelligent network connected cloud control platform 、 Research and development of integrated network service node and other related products , Better provide technical support for scientific decision-making of the government and relevant departments , Serve the masses to the greatest extent .
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