CN104966405B - Bus signal priority control system and method based on real-time information interaction - Google Patents

Abstract

The invention provides a bus signal priority control system capable of ensuring precise positioning of vehicles and ensuring the execution effect of bus signal priority control. The bus signal priority control unit of its central signal control subsystem includes a GIS information storage module, a positioning information calibration module, and a priority control processing module. The GIS map stores the latitude and longitude information of the intersection detection points where bus priority control is implemented. The positioning information calibration module compares the received latitude and longitude coordinate information of the bus with the GIS map data of the urban road network to form the calibrated latitude and longitude coordinate information of the bus. The control processing module judges whether the intersection or entrance implements bus signal priority control according to the calibrated latitude and longitude coordinate information of the bus vehicle, and generates signal timing information for implementing bus signal priority control in real time.

Description

A bus signal priority control system and method based on real-time information interaction

technical field

The invention relates to the field of intelligent traffic control, in particular to a bus signal priority control system and method based on real-time information interaction.

Background technique

With the economic and social development and the acceleration of urbanization, problems such as traffic congestion and inconvenient travel for the masses have become increasingly prominent in some cities in our country, which have seriously affected urban development and the improvement of people's livelihood. Prioritizing the development of urban public transport is considered to be an important means and an effective way to improve the utilization efficiency of transport resources and alleviate traffic congestion. The priority control of bus signals at intersections improves the efficiency of bus traffic by giving priority signals to bus vehicles, and has been widely recognized and used by traffic practitioners at home and abroad.

The existing Chinese patent document CN 102622902A discloses a bus signal priority control system and method, through the on-board device installed on the bus, which includes a vehicle position detection unit and a display unit, the driver of the bus is provided with the information of the intersection that the vehicle is about to arrive at. The signal light color information and remaining time information, and the longitude and latitude coordinate information of the location of the bus vehicle are automatically sent to the data processing unit of the command and control center. After receiving the latitude and longitude coordinate information of the bus, the data processing unit judges whether the vehicle has passed the intersection by comparing the latitude and longitude coordinate information of the vehicle with the latitude and longitude coordinate information of each intersection center stored in the data processing unit, and sends a signal light control command to the signal light control unit , to give way to BRT vehicles first, so as to ensure the priority and rapid passage of BRT vehicles. Adopt above-mentioned technology, there is following problem:

1) It uses vehicle-mounted GPS to obtain vehicle latitude and longitude coordinate information, and compares it with the pre-stored intersection center latitude and longitude coordinate information to obtain the distance between the bus vehicle and the intersection. This positioning method is affected by external influences such as propagation delay, channel delay, and internal noise. Larger, it will lead to the increase of positioning error, and it cannot guarantee better positioning accuracy in the building complex, which greatly reduces the execution effect of the bus signal priority control;

2) Using the bus signal priority control method for the first bus priority request, when other bus priority requests are ignored during the priority control implementation process, or when encountering a bus fleet composed of continuous bus vehicles, there will be only the first bus. Signal priority, and the phenomenon of subsequent bus vehicles stopping and waiting, weakens the control effect of bus priority.

Contents of the invention

The technical problem to be solved by the present invention is to provide a bus signal priority control system that can ensure the precise positioning of the vehicle and ensure the execution effect of the bus signal priority control. Priority control requirements for bus fleets composed of vehicle groups.

A bus signal priority control system based on real-time information interaction, which includes a vehicle-mounted terminal installed on the bus, a central signal control subsystem installed in the traffic control command center, and an intersection signal control subsystem installed at the intersection signal ,in,

The vehicle-mounted terminal determines the latitude and longitude coordinate information of the bus through GPS real-time positioning, and sends the latitude and longitude coordinate information of the bus to the central signal control subsystem, and the vehicle-mounted terminal can receive the information sent by the central signal control subsystem. Execute the signal timing information of bus signal priority control and process the signal timing information into video and audio signals for display and playback;

The central signal control subsystem judges in real time according to the latitude and longitude coordinate information of the vehicle whether the intersection or entrance implements bus signal priority control, and generates the signal timing information for executing bus signal priority control in real time;

The intersection signal machine control subsystem receives the signal timing information for executing the bus signal priority control from the central signal control subsystem and controls the bus dedicated signal light to turn on/off according to the signal timing information for executing the bus signal priority control Turn off, light color change;

It is characterized in that: the central signal control subsystem includes a network coordination control unit and a bus signal priority control unit, and the network coordination control unit is used to receive the longitude and latitude coordinate information of the bus vehicle in real time, and send the signal timing information to the The vehicle-mounted terminal and intersection signal control subsystem, the bus signal priority control unit includes a GIS information storage module, a positioning information calibration module and a priority control processing module, and the GIS information storage module is used to store GIS maps and preset Establish bus traffic lines, and store the longitude and latitude information of the crossing detection point that implements public transportation priority control based on the GIS map, and the positioning information calibration module performs a comparison between the received bus vehicle latitude and longitude coordinate information and the GIS map data of the urban road network Compared, the latitude and longitude coordinate information of the bus is calibrated to the latitude and longitude coordinates of the point closest to the latitude and longitude coordinates of the bus on the preset bus route in the GIS map, forming the calibration latitude and longitude coordinate information of the bus, the priority control processing module According to the calibrated latitude and longitude coordinate information of the public transport vehicle, it is judged whether the intersection or entrance implements the priority control of public transport signals, and the signal timing information for performing the priority control of public transport signals is generated in real time.

Further, there are three intersection detection points for the implementation of bus priority control, which are located on the bus lane at the entrance of the intersection, and the three intersection detection points are respectively 0 meters, 200 meters, and 500 meters away from the stop line;

Furthermore, the bus signal priority control unit also includes a bus fleet driving information tracking module, which tracks and updates the bus vehicles in the entrance road in real time according to the calibrated latitude and longitude coordinate information of the bus vehicles or by the bus fleet driving information tracking module. The driving information of the bus fleet composed of a plurality of continuous buses, the priority control processing module judges in real time whether the intersection entrance carries out the bus signal priority according to the driving information of the bus vehicle in the entrance road or the bus fleet composed of a plurality of buses. Controlling, and generating in real time the signal timing information for executing the bus signal priority control;

The vehicle-mounted terminal includes a vehicle position detection unit, a wireless communication unit, an information processing unit and a timing information display unit, and the wireless communication unit communicates with the network coordination control unit of the central signal control subsystem, and the vehicle position detection The unit locates and determines the latitude and longitude coordinate information of the vehicle in real time, and the wireless communication unit sends the latitude and longitude coordinate information of the vehicle to the network coordination control unit of the central signal control subsystem and receives the transmission from the network coordination control unit of the central signal control subsystem The signal timing information that the vehicle is about to arrive at the intersection, the information processing unit is used to process the bus signal control scheme in the received signal timing information into video and audio signals that can be played by the timing information display unit, The timing information display unit is used for displaying and voice prompting the color information and remaining time information of the dedicated signal lights for buses that the vehicle is about to arrive at the intersection;

The intersection signal control subsystem includes a data receiving unit and a bus signal light control unit, the data receiving unit is electronically connected with the networked coordination control unit of the central signal control subsystem, and is used to receive the priority of the execution bus signal. The control signal timing information, the bus dedicated signal light control unit is electronically connected to the bus dedicated signal light, and it controls the bus dedicated signal light on/off and light color conversion according to the signal timing information that implements the bus signal priority control.

A bus signal priority control method based on real-time information interaction, characterized in that: it comprises the following steps in sequence:

S10, storing the GIS electronic map of the urban road network in the GIS information storage module of the bus signal priority control unit, marking the bus traffic lines on the GIS electronic map, and marking the crossings implementing the bus priority control in the GIS map The latitude and longitude coordinates of the detection point;

S20, according to the traffic characteristics and layout forms of intersections where bus priority control is implemented, determine the characteristic parameters of the bus priority control strategy at each intersection, and pre-store the characteristic parameters in the priority control processing module;

S30, the bus obtains the longitude and latitude coordinate information of the bus vehicle in real time through the GPS through the vehicle position detection unit during operation, and transmits the longitude and latitude coordinate information of the bus vehicle to the central signal control subsystem through the wireless communication unit;

S40. After the central signal control subsystem receives the longitude and latitude coordinate information of the bus, it compares it with the bus traffic route in the pre-stored GIS electronic map, and calibrates the longitude and latitude coordinate information of the bus to the nearest to the coordinates. Get the calibrated latitude and longitude coordinate information of the bus on the road of the city where the bus line is located;

S50, the bus fleet driving information tracking module tracks and updates the driving information of the bus vehicles in the entrance road or the bus fleet composed of multiple buses in real time according to the bus driving information calibrated by the positioning information calibration module;

S60, the priority control processing module of the bus signal priority control unit judges whether the traffic signal priority control is implemented at the intersection or entrance according to the driving information of the bus vehicle or the driving information of the bus fleet composed of a plurality of continuous buses, and Generating the signal timing information for executing the bus signal priority control in real time;

S70, the bus information priority control module sends the signal timing information for executing the bus signal priority control to the intersection signal control subsystem, and the intersection signal control subsystem controls the signal lights of bus lanes according to the signal timing Information on/off, and light color conversion, while the bus information priority control module sends the signal timing information to the vehicle-mounted terminal on the bus, and the vehicle terminal informs the bus driver of the signal timing information ;

S80, after the signal timing information is executed, the intersection signal control subsystem executes the preset conventional background signal timing information, initializes the priority control processing module, and returns to step S50.

It is further characterized by:

There are three intersection detection points for the implementation of bus priority control, and they are located on the bus-only lane at the entrance of the intersection. The three intersection detection points are respectively 0 meters, 200 meters, and 500 meters away from the stop line;

In step S20, the characteristic parameters include the limit extension time of the green light, the maximum duration of the insertion phase, and the limit shortening time of the red light,

The specific steps of the step S50 are: comparing and detecting the latitude and longitude coordinate information of the bus vehicle with the latitude and longitude seat post at the detection point at 500 meters from the entrance road, when the bus vehicle is detected at the detection point at 500 meters from the entrance road , calculate the cumulative 500-meter bus priority request number N, and generate a bus priority signal timing information after each accumulated 500-meter bus priority request number N, where N=n+1, n is the bus priority signal timing information formed last time The number of bus priority requests in response; if N=1, then the bus vehicle is the lead vehicle of the bus fleet or the bus vehicle is only traveling alone, calculate the time t when the bus vehicle arrives at the stop line, and then perform step S60 to generate the initial bus Priority signal timing information; if N>1, then the bus vehicle is in the bus fleet, continue to judge the number of bus priority request states at the 200-meter detection point of the entrance road, when the entrance road at the intersection where the bus signal priority is implemented When the 200-meter detection point detects a bus vehicle, the number of 200-meter bus requests m=1, if it is judged that m=0, then reset the length T of the bus fleet, T is the 500-meter detection between the head vehicle of the team and the bus vehicle passing through the entrance road Point time difference, and then execute step S60, if it is judged that m=1, then the bus signal priority control unit sends the bus priority signal timing information formed last time to the network coordination control unit, and then step S70 is executed.

The specific steps of the step S60 are: the priority control processing module of the bus signal priority control unit calculates the phase where the head bus of the bus fleet arrives at the stop line time t according to the calibration latitude and longitude coordinate information of the bus vehicle,

If the phase at which the head vehicle of the bus fleet arrives at the stop line at time t is the bus phase (i.e., the bus dedicated signal light is green), and the remaining time _G1 of the phase can satisfy the need for all the bus fleet to pass the stop line, then the bus priority control will not be executed ;

If the phase at which the head vehicle of the bus fleet arrives at the stop line at time t is the bus phase (that is, the bus dedicated signal light is green), but the remaining time G _l of the phase cannot satisfy all the bus fleet passing the stop line (that is, the remaining time G _l of the phase is less than the length of the bus fleet T), then the green light extension control of the bus phase is executed, and the green light phase extension time is the ratio between the extension time (TG _l ) and the green light limit extension time required to satisfy all the bus fleets passing the stop line. small value;

If the phase at which the head vehicle of the bus fleet arrives at the stop line at time t is a non-transit phase (i.e., the dedicated signal light for public transport is a red light), and the next execution phase is a public transport phase, then the red light shortening control of the non-transit phase is executed, so The shortened time of the red light is the smaller value between the shortened time required to meet the lead vehicle of the bus team passing the stop line without stopping and the shortened time of the red light limit;

If the phase at which the leading vehicle of the bus fleet arrives at the stop line at time t is a non-transit phase (that is, the dedicated bus signal light is red), and the next execution phase is a non-transit phase, then the phase at which the lead vehicle arrives at the stop line ends Then execute the strategy of inserting the bus phase, and the duration of the insertion phase is the smaller value of the time required for the bus fleet to pass the stop line (that is, the length of the bus fleet T) and the maximum duration of the insertion phase.

In step S80, the priority control processing module is initialized, and the number of priority requests for 500-meter buses is N=0, and the number of priority requests for 200-meter buses is m=0.

The bus signal priority control system based on real-time information interaction of the present invention adopts the precise positioning method based on GIS/GPS, and it uses the positioning information calibration module to calibrate the GPS positioning information of the bus to the GIS electronic map stored in the GIS information storage module Compared with the traditional positioning method of comparing the longitude and latitude coordinate information of the vehicle with the pre-stored intersection center longitude and latitude coordinate information, it has the advantages of small error, high positioning accuracy, and accurate vehicle speed calculation, so as to ensure the priority control of bus signals. In addition, the system of the present invention also tracks and updates the driving information of the bus vehicles in the entrance road or the bus fleet formed by continuous multiple buses in real time through the bus fleet driving information tracking module of the bus signal priority control unit, which can effectively Carry out signal priority control for the bus fleet composed of multiple consecutive bus vehicles to ensure the maximum efficiency of bus operation. Compared with the traditional signal priority control method that only targets the first bus priority request, it can realize more traffic The response to bus priority requests further improves the traffic efficiency of bus vehicles.

Description of drawings

Fig. 1 is a topological structure diagram of a bus signal priority control system based on real-time information interaction of the present invention;

Fig. 2 is a topological structure diagram of the central signal control subsystem of a bus signal priority control system based on real-time information interaction in the present invention;

Fig. 3 is a control flow chart of a bus signal priority control method based on real-time information interaction in the present invention.

detailed description

A bus signal priority control system based on real-time information interaction, see Figure 1, which includes a vehicle-mounted terminal 100 set on the bus, a central signal control subsystem 200 set in the traffic control command center, and a signal control system set in the intersection signal machine intersection signal control subsystem 300, wherein,

The vehicle-mounted terminal 100 includes a vehicle position detection unit 101, a wireless communication unit 102, an information processing unit 103, and a timing information display unit 104. The wireless communication unit 102 communicates with the networking coordination control unit 201 of the central signal control subsystem 200, and the vehicle position detection The unit 101 locates and determines the longitude and latitude coordinate information of the bus vehicle in real time, and the wireless communication unit 102 sends the bus vehicle longitude and latitude coordinate information to the networked coordination control unit 201 of the central signal control subsystem 200, and receives the networked coordination control unit 201 of the central signal control subsystem 200 The signal timing information that the vehicle is about to arrive at the intersection is sent, and the information processing unit 103 is used to process the bus signal control scheme in the received signal timing information into video and audio signals that can be played by the timing information display unit 104. The time information display unit 104 is used for displaying and voice prompting the color information and the remaining time information of the bus special signal lights that the vehicle is about to arrive at the intersection;

See Figure 2, the central signal control subsystem 200 includes a networked coordination control unit 201 and a bus signal priority control unit 202, the networked coordination control unit 201 is used to receive the longitude and latitude coordinate information of the bus vehicle in real time, and send the signal timing information to the vehicle terminal 100 and Intersection signal control subsystem 300, bus signal priority control unit 202 includes GIS information storage module 2021, positioning information calibration module 2022, bus fleet driving information tracking module 2023 and priority control processing module 2024, GIS information storage module 2021 stores urban roads The GIS map of the network and the preset bus traffic line data, and based on the GIS map, store the latitude and longitude information of the detection points of the intersections that implement bus priority control. There are three intersection detection points that implement bus priority control, and they are located at intersections. On the road, the three intersection detection points are 0 meters, 200 meters, and 500 meters away from the parking line; the positioning information calibration module 2022 compares the received bus vehicle latitude and longitude coordinate information with the GIS map data of the urban road network, and The latitude and longitude coordinate information of the vehicle is calibrated to the latitude and longitude coordinates of the point closest to the latitude and longitude coordinates of the vehicle on the preset bus route in the GIS map, and the bus fleet driving information tracking module 2023 tracks in real time according to the bus driving information calibrated by the positioning information calibration module 2022 And update the driving information of the bus vehicles in the entrance road or the bus fleet formed by continuous multiple buses, the priority control processing module 2024 judges the intersection in real time according to the driving information of the bus vehicles in the entrance road or the bus fleet formed by multiple buses Whether to implement the bus signal priority control at the entrance, and generate the signal timing information for the implementation of the bus signal priority control in real time;

The intersection signal control subsystem 300 includes a data receiving unit 301 and a bus dedicated signal light control unit 302, the data receiving unit 301 is electronically connected with the networked coordination control unit 201 of the central signal control subsystem, and is used to receive signals for performing priority control of bus signals For timing information, the bus dedicated signal lamp control unit 302 controls the bus dedicated signal lamp 400 to turn on/off and light color conversion according to the signal timing information for performing bus signal priority control.

A bus signal priority control method based on real-time information interaction, as shown in Figure 3, which includes the following steps in turn:

S10, storing the GIS electronic map of the urban road network in the GIS information storage module 2021 of the bus signal priority control unit 202, marking the bus traffic lines on the GIS electronic map, and marking the detection point of the crossing where the bus priority control is implemented in the GIS map The longitude and latitude coordinates of the intersection are three inspection points for bus priority control, and they are located on the bus lane at the entrance of the intersection. The three intersection inspection points are 0 meters, 200 meters, and 500 meters away from the stop line;

S20. Determine the characteristic parameters of the bus priority control strategy at each intersection according to the traffic characteristics and layout forms of the intersection where bus priority control is implemented. The characteristic parameters include the limit extension time of green light, the maximum duration of insertion phase, and the limit shortening time of red light. Parameters are pre-stored in the priority control processing module;

S30, during the operation of the bus, the on-board device 100 installed on the bus obtains the longitude and latitude coordinate information of the bus vehicle in real time through the vehicle position detection unit 101, and transmits the longitude and latitude coordinate information of the bus vehicle to the central signal control unit through the wireless communication unit 102 The network coordination control unit 201 of the system 200;

S40, after the networked coordination control unit 201 of the central signal control subsystem 200 receives the latitude and longitude coordinate information of the bus, the positioning information calibration module 2022 compares it with the bus route in the GIS electronic map stored in the GIS information storage module 2021 , and calibrate the latitude and longitude coordinate information of the bus to the city road where the bus route closest to the coordinate is located, and obtain the latitude and longitude coordinate information of the bus calibration;

S50, the bus fleet driving information tracking module 2023 tracks and updates the driving information of the bus vehicles in the entrance road or the driving information of the bus fleet composed of multiple continuous buses in real time according to the calibrated latitude and longitude coordinate information of the bus vehicles, and the specific steps are: The calibration latitude and longitude coordinate information of the bus vehicle is compared with the longitude and latitude seat pole of the detection point at 500 meters of the entrance road, and when a bus vehicle is detected at the detection point at 500 meters of the entrance road, the cumulative 500-meter bus priority request number N is calculated. , after accumulating the number N of bus priority requests for 500 meters each time, generate a bus priority signal timing information, where N=n+1, n is the number of bus priority requests responded to the last bus priority signal timing information; if N= 1, then the bus vehicle is the lead vehicle of the bus fleet or the bus vehicle is only traveling alone, calculate the time t when the bus vehicle arrives at the stop line, and then perform step S60 to generate the initial bus priority signal timing information; if N>1 , then the bus vehicle is in the bus fleet, continue to judge the bus priority request state number of the 200-meter detection point of the entrance road, when the 200-meter detection point of the entrance road at the intersection that implements the priority of the bus signal detects a bus vehicle time order of 200 M bus request number m=1, if it is judged that m=0, then reset the bus fleet length T, T is the time difference between the head car of the team and the bus vehicle passing through the 500-meter detection point of the entrance road, and then step S60 is executed; If it is judged that m=1, the bus signal priority control unit sends the bus priority signal timing information formed last time to the network coordination control unit, and step S70 is executed. ;

S60, the priority control processing module 2024 of the bus signal priority control unit 202 judges whether the traffic signal priority control is carried out at the intersection entrance according to the driving information of the bus vehicle or the driving information of the bus fleet formed by a plurality of continuous buses, and generates a real-time Execute the signal timing information of the bus signal priority control, and its specific steps are: the priority control processing module 2024 of the bus signal priority control unit 202 calculates the phase where the head bus of the bus fleet arrives at the stop line time t according to the calibration latitude and longitude coordinate information of the bus vehicle,

If the phase of the leading vehicle of the bus fleet arrives at the stop line at time t is the bus phase (that is, the dedicated bus signal light is green), and the remaining time G _l of the phase can satisfy the need for all the bus fleet to pass the stop line, then the bus priority control will not be implemented;

If the leading vehicle of the bus fleet arrives at the stop line at time t, the phase is the bus phase (that is, the dedicated bus signal light is green), but the remaining time G _l of the phase cannot satisfy all the bus fleet passing the stop line (that is, the remaining time G _l of the phase is less than the bus phase). fleet length T), the green light extension control of the bus phase is implemented, and the green light phase extension time is the smaller value between the extension time (TG _l ) and the green light limit extension time required to satisfy all the bus fleets passing the stop line;

If the phase at which the head vehicle of the bus fleet arrives at the stop line at time t is a non-transit phase (that is, the bus signal light is red), and the next execution phase is a public transport phase, then the red light shortening control of the non-transit phase is executed, and the red light shortens The time is the smaller value between the shortened time required to meet the lead vehicle of the bus team passing the stop line without stopping and the shortened time limit of the red light;

If the phase at which the leading vehicle of the bus fleet arrives at the stop line at time t is a non-transit phase (that is, the dedicated bus signal light is red), and the next execution phase is a non-transit phase, then it will be executed after the phase at which the lead vehicle arrives at the stop line ends Insert the bus phase strategy, the insertion phase duration is the smaller value in the time required for the bus fleet to pass the stop line (i.e. the length T of the bus fleet) and the maximum duration of the insertion phase;

S70, the bus signal priority control unit 202 sends the signal timing information for implementing the bus signal priority control to the data receiving unit 301 of the intersection signal control subsystem 300 through the network coordination control unit 201, and the bus dedicated signal lights of the intersection signal control subsystem The control unit 302 controls the on/off of the bus lane signal lamp 400 and the light color conversion according to the signal timing information of the bus signal priority control received by the receiving unit 301. At the same time, the bus signal priority control unit 202 will execute the signal of the bus signal priority control The timing information is sent to the wireless communication unit 102 of the vehicle-mounted terminal 100 on the bus through the network coordination control unit 201, and the information processing unit 103 processes the received signal timing information into a bus that can be played by the timing information display unit 104 and is about to arrive. The color information of the bus signal lights at the crossing and the video and audio information of the remaining time, and the timing information display unit 104 informs the bus driver of the above video and audio information;

S80, after the signal timing information is executed, the intersection signal control subsystem executes the preset conventional background signal timing information, initializes the priority control processing module, and makes the number of priority requests for 500-meter buses N=0, 200 meters The number of bus priority requests m=0, and then return to step S50.

Claims (10)

1. A bus signal priority control system based on real-time information interaction, which includes a vehicle-mounted terminal (100) set on the bus, a central signal control subsystem (200) set in the traffic control command center, and a signal control system set at the intersection. intersection signal control subsystem (300) and bus signal lights (400), among which, The vehicle-mounted terminal (100) locates and determines the latitude and longitude coordinate information of the bus in real time, and sends the latitude-longitude coordinate information of the bus to the central signal control subsystem (200), and the vehicle-mounted terminal (100) can receive the The central signal control subsystem (200) sends the signal timing information for bus signal priority control and processes the signal timing information into video and audio signals for display and playback; The central signal control subsystem (200) judges in real time, according to the longitude and latitude coordinate information of the bus vehicle, whether the intersection or entrance implements bus signal priority control, and generates the signal timing information for executing bus signal priority control in real time; The intersection signal control subsystem (300) receives the signal timing information for executing bus signal priority control from the central signal control subsystem (200), and according to the signal timing information for executing bus signal priority control Control the on/off of bus signal lights, and the light color conversion; It is characterized in that: the central signal control subsystem (200) includes a networked coordination control unit (201) and a bus signal priority control unit (202), and the networked coordination control unit (201) is used to receive the longitude and latitude coordinate information of the bus in real time , and send the signal timing information to the vehicle terminal (100) and intersection signal control subsystem (300), the bus signal priority control unit includes a GIS information storage module (2021), a positioning information calibration module (2022 ) and a priority control processing module (2024), the GIS information storage module (2021) is used to store the GIS map of the urban road network and the preset bus routes, and store the intersection detection points for implementing bus priority control based on the GIS map The longitude and latitude information of the public transport vehicle, the positioning information calibration module (2022) compares the received longitude and latitude coordinate information of the bus with the GIS map data of the urban road network, and calibrates the longitude and latitude coordinate information of the public transport vehicle to the GIS map. The latitude and longitude coordinates of the point closest to the latitude and longitude coordinates of the bus vehicle on the established bus route form the calibrated latitude and longitude coordinate information of the bus vehicle, and the priority control processing module (2024) judges that the intersection is in progress according to the calibrated latitude and longitude coordinate information of the bus vehicle. Whether the crossing implements the bus signal priority control, and generates the signal timing information for executing the bus signal priority control in real time. 2. A kind of bus signal priority control system based on real-time information interaction according to claim 1, characterized in that: said intersection detection points for implementing bus priority control are provided with three, and are located on the bus lane at the intersection entrance , the three intersection detection points are respectively 0 meters, 200 meters, and 500 meters away from the stop line. 3. A bus signal priority control system based on real-time information interaction according to claim 1, characterized in that: the bus signal priority control unit (202) also includes a bus fleet driving information tracking module (2023), the The driving information tracking module of the bus fleet (2023) tracks and updates the driving information of the bus vehicles in the entrance road or the bus fleet consisting of multiple consecutive buses in real time according to the calibrated latitude and longitude coordinate information of the buses, and the priority control process The module (2024) judges whether the intersection entrance implements the bus signal priority control according to the driving information of the bus vehicles in the entrance road or the bus fleet composed of multiple buses, and generates the signal configuration for executing the bus signal priority control in real time. time information. 4. A bus signal priority control system based on real-time information interaction according to claim 1, characterized in that: the vehicle terminal (100) includes a vehicle position detection unit (101), a wireless communication unit (102), an information a processing unit (103) and a timing information display unit (104), the wireless communication unit (102) is communicatively connected to the network coordination control unit (201) of the central signal control subsystem (200), and the vehicle position detection The unit (101) locates and determines the latitude and longitude coordinate information of the bus in real time, and the wireless communication unit (102) sends the latitude and longitude coordinate information of the bus to the network coordination control unit (201) of the central signal control subsystem (200) and receiving the signal timing information that the bus vehicle is about to arrive at the intersection sent by the network coordination control unit (201) of the central signal control subsystem (200), and the information processing unit (103) is used to match the received signal The bus signal control scheme in the timing information is processed into video and audio signals that can be played by the timing information display unit (104), and the timing information display unit (104) is used to display and voice prompt that the vehicle is about to arrive The color information of the bus signal lights at the intersection and the remaining time information. 5. A bus signal priority control system based on real-time information interaction according to claim 1, characterized in that: the intersection signal control subsystem (300) includes a data receiving unit (301) and a bus signal light control unit (302), the data receiving unit (301) is electronically connected to the network coordination control unit (201) of the central signal control subsystem (200), and is used to receive the signal timing information for performing the bus signal priority control , the bus dedicated signal light control unit (302) is electronically connected to the bus dedicated signal light (400), and controls the bus dedicated signal light on/off and light color conversion according to the signal timing information for performing priority control of the bus signal. 6. A bus signal priority control method based on real-time information interaction, characterized in that: it comprises the following steps successively: S10, storing the GIS electronic map of the urban road network in the GIS information storage module of the bus signal priority control unit, marking the bus traffic lines on the GIS electronic map, and marking the crossings implementing the bus priority control in the GIS map The latitude and longitude coordinates of the detection point; S20. Determine the characteristic parameters of the bus priority control strategy at each intersection according to the traffic characteristics and layout forms of the intersections where the bus priority control is implemented, and pre-store the characteristic parameters in the priority control processing module. The characteristic parameters include green light limit extension time, the maximum duration of the insertion phase, and the shortening time of the red light limit; S30, the bus obtains the latitude and longitude coordinate information of the bus vehicle in real time through the vehicle position detection unit during operation, and transmits the latitude and longitude coordinate information of the bus vehicle to the central signal control subsystem through the wireless communication unit; S40. After the central signal control subsystem receives the longitude and latitude coordinate information of the bus, it compares it with the bus traffic route in the pre-stored GIS electronic map, and calibrates the longitude and latitude coordinate information of the bus to the nearest to the coordinates. Get the calibrated latitude and longitude coordinate information of the bus on the road of the city where the bus line is located; S50, the bus fleet driving information tracking module tracks and updates the driving information of the bus vehicles in the entrance road or the bus fleet composed of multiple buses in real time according to the bus driving information calibrated by the positioning information calibration module; S60, the priority control processing module of the bus signal priority control unit judges whether the traffic signal priority control is implemented at the intersection and the entrance according to the driving information of the bus vehicle or the driving information of the bus fleet composed of continuous buses, and generates a real-time Signal timing information for bus signal priority control; S70, the bus information priority control unit sends the signal timing information for executing the bus signal priority control to the intersection signal control subsystem, and the intersection signal control subsystem controls the signal lights of bus lanes according to the signal timing information on/off, and light color conversion, and at the same time, the bus information priority control unit sends the signal timing information to the vehicle-mounted terminal on the bus, and the vehicle terminal informs the bus driver of the signal timing information ; S80, after the signal timing information is executed, the intersection signal control subsystem executes the preset conventional background signal timing information, initializes the priority control processing module, and returns to step S50. 7. A kind of bus signal priority control method based on real-time information interaction according to claim 6, characterized in that: said intersection detection points for implementing bus priority control are provided with three, and are located on the bus lane at the intersection entrance , the three intersection detection points are respectively 0 meters, 200 meters, and 500 meters away from the stop line. 8. A method for priority control of bus signals based on real-time information interaction according to claim 7, characterized in that: the specific steps of said step S50 are: the calibration latitude and longitude coordinate information of the bus vehicle and the 500 meters of the entrance road The latitude and longitude coordinates of the detection point at the location are compared and detected. When the 500-meter detection point of the entrance road detects a bus vehicle, the cumulative 500-meter bus priority request number N is calculated, and a bus is generated after each accumulated 500-meter bus priority request number N. Priority signal timing information, where N=n+1, n is the number of bus priority requests responded to the last bus priority signal timing information; if N=1, the bus is the lead vehicle of the bus fleet or the bus The vehicle only travels alone, calculate the time t when the bus arrives at the stop line, and then perform step S60 to generate the initial bus priority signal timing information; if N>1, the bus is in the bus fleet, and continue to judge the 200-meter detection point of the entrance road is given priority request state number, when the 200-meter detection point of the entrance road at the crossing implementing the traffic signal priority detects a bus vehicle, the 200-meter bus request number m=1, if it is judged that m=0, then Reset the bus fleet length T, T is the time difference between the head car of the team and the 500-meter detection point of the bus vehicle passing through the entrance road, and then perform step S60, if it is judged that m=1, then the bus signal priority control unit will finally The bus priority signal timing information formed once is sent to the network coordination control unit, and step S70 is executed. 9. A kind of bus signal priority control method based on real-time information interaction according to claim 8, characterized in that: the specific steps of said step S60 are: the priority control processing module of said bus signal priority control unit according to said The calibrated latitude and longitude coordinate information of the bus vehicle calculates the phase at which the head vehicle of the bus fleet arrives at the stop line at time t, If the phase at which the head vehicle of the bus fleet arrives at the stop line moment t is the bus phase, and the phase remaining time _G1 can satisfy the bus fleet all passing the stop line, then the bus priority control is not executed; If the phase where the head vehicle of the bus fleet arrives at the stop line time t is the bus phase, but the remaining time _G1 of the phase cannot satisfy the need for the bus fleet to pass through the stop line, then the green light extension control of the bus phase is executed, and the green light phase is extended The time is the smaller value of the extension time required to meet the bus fleet passing the stop line and the green light limit extension time; If the phase at which the head vehicle of the bus fleet arrives at the stop line at time t is a non-public transportation phase, and the next execution phase is a public transportation phase, then execute the red light shortening control of the non-public transportation phase, and the red light shortening time is to meet the requirements of the bus. The smaller value of the shortened time required for the front car to pass the stop line without stopping and the shortened time limit of the red light; If the phase at which the leading vehicle of the bus fleet arrives at the stop line at time t is a non-transit phase, and the next execution phase is a non-transit phase, then after the end of the phase at which the lead vehicle arrives at the stop line, the strategy of inserting the public transport phase is executed, and the insertion phase The duration is the smaller value of the time required for the bus fleet to pass the stop line and the maximum duration of the insertion phase. 10. A method for priority control of bus signals based on real-time information interaction according to claim 9, characterized in that: in step S80, the priority control processing module is initialized so that the number of 500-meter bus priority requests N=0,200 m The number of bus priority requests m=0.