基于自动寻迹的港湾式公交站台停靠路径研究

由于现有的公交车多采用自由停靠方式,导致车辆出站延误,泊位利用率低及乘客安全等问题.本文依据现有的公交车到站“一键式”自动停靠系统,以优化自动停靠公交车的运行轨迹为目标,分别利用三次样条插值、Atan和 Sigmoid函数对港湾式站台公交车停靠轨迹进行仿真分析.非线性约束优化结果显示,利用这 3种方法生成的停靠轨迹,可以得到连续的曲率,满足公交车靠站碰撞约束及港湾式站台停靠要求,均可以实时生成公交车进站运行轨迹. 与港湾式站台泊位曲线相比,Atan 曲线的平均位差 1.01 远小于三次样条插值的平均位差 10.21和 Sigmoid曲线平均位差 5.96.因此,轨迹结果分析显示,公交车基于 Atan轨迹曲线的停靠更便于乘客乘车、具有实时性强、可靠性高的特点,减少了进出站延误.

Parking Path of Harbour Bus Platform Based on Automatic Tracking

Because most of the existing buses use free parking mode, resulting in delays in vehicle departure, low utilization of parking space and passenger safety problems. In this paper, based on the existing "one- button" automatic bus stopping system, aiming at optimizing the running trajectory of the automatic bus stopping, threespline interpolation, Atan and Sigmoid functions are used to simulate and analyze the stopping trajectory of the harbor-type platform bus. The results of nonlinear constrained optimization show that the continuous curvature can be obtained by using the three methods, which can satisfy the bus stop collision constraints and the harbor-type platform parking requirements, and the bus approach trajectory can be generated in real time. Compared with the harbor- type platform parking curve, The average potential difference of the Atan curve is 1.01, which is much smaller than the average potential difference of cubic spline interpolation and Sigmoid curve, which are 10.21 and 5.96 respectively. Therefore, the analysis of the trajectory results shows that the bus stopping based on the Tan trajectory curve is more convenient for passengers to ride, has the characteristics of real-time, high reliability, and reduces the inbound outbound delay.