Route Planning Method For Autonomous And Customized Bus In CAV Environment

The continuous improvement of vehicle autonomous driving technology and network technology has given a new vision for the development of buses.By strengthening the level of information sharing and collaborative operation capabilities between buses,the public welfare attributes of buses can be further improved,and better services can be provided to the public.At the same time,the bus can cruise autonomously and operate on the route with the largest number of potential passengers to reduce the waiting time of potential passengers and improve efficiency.The main work of the article is as follows:(1)The cruise method of autonomous driving to customize the empty bus route.The number of ride demand at each station in the future is the basis of the vehicle’s cruise route planning.The article establishes a hybrid forecast model to improve the accuracy of the ride demand forecast,and uses this to plan the cruise route.At the same time,the optimal empty car cruise trajectory is selected by establishing the screening index of the route.The feasibility of the forecasting model and route planning method is verified through a calculation example.(2)The cruising route planning method for autonomous customized loaded-bus.When the vehicle starts to serve passengers,the vehicle is planned for the passenger cruise route.Route planning aims at maximizing the potential number of passengers on the route,taking the time window of passengers and the maximum acceptable route length as constraints,and generating the driving route of the starting and ending points of the passenger demand.The elliptical area between the demand stations is constructed by the maximum transportation line length allowed by the passengers,and the bus that meet the transportation conditions are screened through the area,so as to allocate the ride demand.The scope of activities of the bus is within the field,and the route of the load-bus is screened according to various constraints.The feasibility of the passenger allocation and route planning method is verified through calculation examples,and the sensitivity analysis is carried out to explore the performance of the model and method under different demand numbers and bus numbers.(3)Research on area mobilization method of autonomous driving customized bus.The article establishes the calculation method of the starting threshold of bus maneuvering,and proposes three methods of nearest neighbor scheduling,direct scheduling and mixed ladder scheduling based on the sub-domain division of the overall service area.Through bus scheduling,balance the number of ride demands and the level of service supply between each sub-domain and verifies the feasibility of various scheduling models through calculation examples.