旧金山智能公交试点:连接与可持续交通的里程碑

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《连接公交试点:创新与可持续交通的合作》 在《The Connected Bus Pilot.pdf》这份文档中,主要讨论了由旧金山市和县以及思科公司联合发起的一项名为“连接公交”(The Connected Bus)的创新项目。该项目是思科®智能城市开发(Connected Urban Development, CUD)计划的核心组成部分,旨在通过信息技术(ICT)的应用,提升知识、人员、交通和能源流动的效率,从而改善城市的运营和环境可持续性。 该试点的目标是解决随着城市化进程加剧,交通拥堵带来的经济负担和环境问题。传统的减排策略,如限制温室气体排放,虽然有助于降低碳排放,但实施起来往往困难重重,难以在不影响经济发展的情况下得到有效执行。因此,该项目寻求通过创新科技手段,例如智能交通系统,来寻找更有效的解决方案。 “连接公交”利用先进的V2X(Vehicle-to-Everything)技术,包括车辆与基础设施、其他车辆之间的通信,以实时优化路线规划,减少交通瓶颈,提高公共交通系统的效率。这不仅可以减少碳排放,还能改善市民的生活质量,因为高效的公共交通服务可以减少私家车的使用,进而减轻空气污染和缓解道路拥挤。 在文档的部分内容中,作者 Shane Mitchell 和 Wolfgang Wagener 代表 Cisco 的互联网业务解决方案集团详细介绍了试点项目的成果。他们强调了这个项目的创新性,并探讨了它如何通过提升城市运营效率,实现经济、环境和社会效益的多赢局面。通过实施智能公交系统,项目展示了科技在推动城市可持续发展方面的巨大潜力。 《The Connected Bus Pilot.pdf》提供了关于如何利用现代信息技术改进城市交通系统的深入洞察,以及在这个过程中所取得的具体成果和未来可能的发展方向。这对于理解智慧城市概念及其在解决现代城市挑战中的作用具有重要意义。

def connect(self): s = self.get_slice() if self.connected: return # increment connect attempt self.stat_collector.incr_connect_attempt(self) if s.is_avaliable(): s.connected_users += 1 self.connected = True print(f'[{int(self.env.now)}] Client_{self.pk} [{self.x}, {self.y}] connected to slice={self.get_slice()} @ {self.base_station}') return True else: self.assign_closest_base_station(exclude=[self.base_station.pk]) if self.base_station is not None and self.get_slice().is_avaliable(): # handover self.stat_collector.incr_handover_count(self) elif self.base_station is not None: # block self.stat_collector.incr_block_count(self) else: pass # uncovered print(f'[{int(self.env.now)}] Client_{self.pk} [{self.x}, {self.y}] connection refused to slice={self.get_slice()} @ {self.base_station}') return False def disconnect(self): if self.connected == False: print(f'[{int(self.env.now)}] Client_{self.pk} [{self.x}, {self.y}] is already disconnected from slice={self.get_slice()} @ {self.base_station}') else: slice = self.get_slice() slice.connected_users -= 1 self.connected = False print(f'[{int(self.env.now)}] Client_{self.pk} [{self.x}, {self.y}] disconnected from slice={self.get_slice()} @ {self.base_station}') return not self.connected def start_consume(self): s = self.get_slice() amount = min(s.get_consumable_share(), self.usage_remaining) # Allocate resource and consume ongoing usage with given bandwidth s.capacity.get(amount) print(f'[{int(self.env.now)}] Client_{self.pk} [{self.x}, {self.y}] gets {amount} usage.') self.last_usage = amount def release_consume(self): s = self.get_slice() # Put the resource back if self.last_usage > 0: # note: s.capacity.put cannot take 0 s.capacity.put(self.last_usage) print(f'[{int(self.env.now)}] Client_{self.pk} [{self.x}, {self.y}] puts back {self.last_usage} usage.') self.total_consume_time += 1 self.total_usage += self.last_usage self.usage_remaining -= self.last_usage self.last_usage = 0中的资源分配

2023-06-01 上传

def draw_stats(self, vals, vals1, vals2, vals3, vals4, vals5, vals6): self.ax1 = plt.subplot(self.gs[0, 0]) self.ax1.plot(vals) self.ax1.set_xlim(self.xlim) locs = self.ax1.get_xticks() locs[0] = self.xlim[0] locs[-1] = self.xlim[1] self.ax1.set_xticks(locs) self.ax1.use_sticky_edges = False self.ax1.set_title(f'Connected Clients Ratio') self.ax2 = plt.subplot(self.gs[1, 0]) self.ax2.plot(vals1) self.ax2.set_xlim(self.xlim) self.ax2.set_xticks(locs) self.ax2.yaxis.set_major_formatter(FuncFormatter(format_bps)) self.ax2.use_sticky_edges = False self.ax2.set_title('Total Bandwidth Usage') self.ax3 = plt.subplot(self.gs[2, 0]) self.ax3.plot(vals2) self.ax3.set_xlim(self.xlim) self.ax3.set_xticks(locs) self.ax3.use_sticky_edges = False self.ax3.set_title('Bandwidth Usage Ratio in Slices (Averaged)') self.ax4 = plt.subplot(self.gs[3, 0]) self.ax4.plot(vals3) self.ax4.set_xlim(self.xlim) self.ax4.set_xticks(locs) self.ax4.use_sticky_edges = False self.ax4.set_title('Client Count Ratio per Slice') self.ax5 = plt.subplot(self.gs[0, 1]) self.ax5.plot(vals4) self.ax5.set_xlim(self.xlim) self.ax5.set_xticks(locs) self.ax5.use_sticky_edges = False self.ax5.set_title('Coverage Ratio') self.ax6 = plt.subplot(self.gs[1, 1]) self.ax6.plot(vals5) self.ax6.set_xlim(self.xlim) self.ax6.set_xticks(locs) self.ax6.yaxis.set_major_formatter(FormatStrFormatter('%.3f')) self.ax6.use_sticky_edges = False self.ax6.set_title('Block ratio') self.ax7 = plt.subplot(self.gs[2, 1]) self.ax7.plot(vals6) self.ax7.set_xlim(self.xlim) self.ax7.set_xticks(locs) self.ax7.yaxis.set_major_formatter(FormatStrFormatter('%.3f')) self.ax7.use_sticky_edges = False self.ax7.set_title('Handover ratio')修改为一张张输出图片

2023-06-02 上传

bool MoveObject::goObject() { //connet to the Server, 5s limit while (!move_base.waitForServer(ros::Duration(5.0))) { ROS_INFO("Waiting for move_base action server..."); } ROS_INFO("Connected to move base server"); /t the targetpose move_base_msgs::MoveBaseGoal goal; goal.target_pose.header.frame_id = "map"; goal.target_pose.header.stamp = ros::Time::now(); // goal.target_pose.pose.position.x = Obj_pose.pose.position.x; // goal.target_pose.pose.position.y = Obj_pose.pose.position.y; // target_odom_point.pose.pose.position.x=goal.target_pose.pose.position.x // target_odom_point.pose.pose.position.y=goal.target_pose.pose.position.y target_odom_point.pose.pose.position.x=Obj_pose.pose.position.x; target_odom_point.pose.pose.position.y=Obj_pose.pose.position.y; cout << goal.target_pose.pose.position.x << endl; cout << goal.target_pose.pose.position.y << endl; //goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(g.response.yaw); goal.target_pose.pose.orientation.z = 0.0; goal.target_pose.pose.orientation.w = 1.0; tf::quaternionMsgToTF(target_odom_point.pose.orientation, quat); tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);//进行转换 yaw +=1.5708;//旋转90 target_odom_point.pose.position.x -=keep_distance*cos(yaw); target_odom_point.pose.position.y -=keep_distance*sin(yaw); goal.target_pose.pose.position.x=target_odom_point.pose.pose.position.x goal.target_pose.pose.position.y=target_odom_point.pose.pose.position.y target_odom_point.pose.orientation = tf::createQuaternionMsgFromYaw(yaw); ROS_INFO("Sending goal"); move_base.sendGoal(goal); move_base.waitForResult(); if (move_base.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) { ROS_INFO("Goal succeeded!"); return true; } else { ROS_INFO("Goal failed"); return false; } }

2023-05-25 上传