CN105810001A - Real-time dynamic path planning method based on vehicle-mounted ad hoc network - Google Patents
Real-time dynamic path planning method based on vehicle-mounted ad hoc network Download PDFInfo
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- CN105810001A CN105810001A CN201610334074.8A CN201610334074A CN105810001A CN 105810001 A CN105810001 A CN 105810001A CN 201610334074 A CN201610334074 A CN 201610334074A CN 105810001 A CN105810001 A CN 105810001A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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Abstract
The invention relates to a real-time dynamic path planning method based on a vehicle-mounted ad hoc network.The method comprises the following steps that road condition information is obtained through the vehicle-mounted ad hoc network between vehicle nodes and updated in real time; when a jam occurs on a road ahead, vehicles automatically achieve real-time subpath planning to bypass the jaw road segment, and the vehicles predict jam lasting time according to the jam road segment condition; estimated passing time of the planned subpath and the predicted jam time are compared, and a driver determines to bypass the jam road segment or wait the original path to recover clearness.The traveling path of the vehicles can be adjusted in real time, and the vehicles arrive at the destination with shortest time.
Description
Technical field
The present invention relates to vehicular ad hoc network technical field, particularly relate to a kind of Real-time and Dynamic paths planning method based on vehicular ad hoc network.
Background technology
Path planning is one of important content of research of intelligent transportation, its core missions are how to find out one to consider traveler optimizing paths " optimal path ", in order to traveler utilizes this system successfully to arrive at from origin in traffic network easily.Problem crucial in path planning system is shortest route problem, is also the core of path planning problem.Classical routing algorithm includes dijkstra's algorithm, Floyd algorithm, A* algorithm and based on modified hydrothermal process on these algorithms etc., the shortest path being calculated with aggregate distance, road quality for weights and static path, these are all belonging to nature static optimal path, calculated result is a fixing unique road, is usually the shortest using operating range or running time is the shortest in purpose.
The accuracy of real-time road condition information and real-time are always up affecting the principal element of traffic information application, and traditional traffic information collection mode includes the method such as traffic radio and fixation means collection.Roadside fixation means data capture method is also once one of widely used method, it is specifically included on the major trunk roads in city and has buried underground induction coil to record vehicle flowrate, also have other ways as arranged photographic head at crossing place, detect road conditions by live-pictures and picture.The methods such as the radar velocity measurement photograph that also crossroad goes out, these methods can obtain car speed, traffic flow and roadway occupancy etc. and can be used to carry out the traffic parameter of road conditions judgement.
The basic thought of vehicular ad hoc network is the data that the vehicle in certain communication range can intercourse the information such as respective speed, position and onboard sensor perception, and the network of one movement of connection establishment automatically, emphasize multi-hop, self-organizing, acentric concept.What vehicular ad hoc network system external applied at present adopted physical-layer techniques is mainly based upon IEEE802.11 and UTRA-TDD technology, and domestic the most universal be GSM mobile communication technology, but these broadly fall into the center type network architecture, if being applied to distributed helpless network, it is necessary to carry out many-sided improvement.It addition, current widely used MANET MAC protocol is IEEE802.11DCFt2s agreement, Routing Protocol is GPSR (GreedyPerimeterStatelessRouting), utilizes geographical position to optimize Routing Protocol.
Summary of the invention
The technical problem to be solved is to provide a kind of Real-time and Dynamic paths planning method based on vehicular ad hoc network, it is possible to realizes vehicle and adjusts course in the process of moving in real time, spends the shortest time to arrive at.
The technical solution adopted for the present invention to solve the technical problems is: provides a kind of Real-time and Dynamic paths planning method based on vehicular ad hoc network, comprises the following steps:
(1) traffic information real-time update are obtained by vehicular ad hoc network between vehicle node；
(2) when blocking up occurs in road ahead, vehicle independently realizes real-time subpath and plans to walk around congested link, and vehicle is according to the congested link situation predicted congestion time simultaneously；
(3) the expectation transit time of alternative plans subpath and the predicted congestion time, determine to walk around and block up or wait that original route recovers unimpeded.
In described step (1) in vehicular ad hoc network, single unit vehicle node needs and other vehicle pass-throughs in communication range, then regularly transmit mutually information by a jumping hello message；Single unit vehicle node needs and the not vehicle communication of other in communication range, then by multi-hop mode, hello message mailing to the vehicle node at most edge in communication range, the vehicle node at this most edge is further along the nearest next-hop node of the direction finding of destination node vehicle；Wherein, described hello message includes the speed of vehicle node self, direction, the ID being currently located section and length.
In described step (2), road ahead occurs that the judgment mode blocked up is: vehicle first calculates an initial path according to static path method at first, the traffic information in each section in this initial path constantly collected by vehicle in the process travelled along this initial path, when the density of a certain section or several sections of roads continuously increases above threshold value, illustrate that blocking up occurs in this section.
In described step (2), the method for predicted congestion time is: the traffic information that vehicle is collected includes the quantity of vehicle node on congested link, the speed of each vehicle node and road section length, calculate the space mean speed learning congested link vehicle according to traffic flow theory, the length computation further according to congested link is blocked up the persistent period.
Described step (2) neutron path planning is particularly as follows: work as the starting point that the starting point of congested link is planned by vehicle node as subpath, the terminal that the terminal of congested link is planned as subpath, then uses static path planning method to plan.
If the calculated subpath of vehicle yet suffers from congested link, from this subpath, mark off molecular path so again continue planning, after finally giving a unimpeded subpath, vehicle node regathers the road status information of unimpeded subpath, estimates the vehicle time by this unimpeded subpath according to self speed.
Described step (3) if particularly as follows: the subpath transit time ratio estimated blocks up the persistent period long, then wait in line at the place of blocking up to road recover unimpeded；If the subpath transit time ratio estimated blocks up, the persistent period is short, then vehicle selects on subpath current in walk around congested link.
Beneficial effect
Owing to have employed above-mentioned technical scheme, the present invention is compared with prior art, have the following advantages that and good effect: the serviceable wagon of the present invention information exchange being downloaded from group network between vehicle realizes the monitor in real time to overall traffic information, by predicting and comparing the time of blocking up and determine that vehicle is the need of detouring to pass through congested link with the time of detouring, thus realizing vehicle to adjust course in the process of moving in real time, to spend the shortest time to arrive at.
Accompanying drawing explanation
Fig. 1 is the flow chart of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is expanded on further.Should be understood that these embodiments are merely to illustrate the present invention rather than restriction the scope of the present invention.In addition, it is to be understood that after having read the content that the present invention lectures, the present invention can be made various changes or modifications by those skilled in the art, and these equivalent form of values fall within the application appended claims limited range equally.
Embodiments of the present invention relate to a kind of Real-time and Dynamic paths planning method based on vehicular ad hoc network, as it is shown in figure 1, comprise the following steps:
The first step: vehicle first passes through static path planning method and obtains an initial path.
The fix informations such as described static path planning method, is namely left out the change that traffic is real-time, only passes through road section length, passage rate carry out path planning, and static path planning method can select dijkstra's algorithm etc..
Second step: obtained the real-time road condition information of this initial path between vehicle node by vehicular ad hoc network.In communication range, vehicle regularly transmits mutually information by a jumping hello message, includes the speed of vehicle node self, direction, the ID being currently located section and length thereof etc. in hello message.Outside communication range, vehicle node passes through multi-hop mode, and hello more new information mails in communication range the vehicle node at most edge, and this node is further along the nearest next-hop node of the direction finding of destination node vehicle, going down in this way.
Described real-time road condition information refers to, the quantity of vehicle node on congested link, the speed of each vehicle node, road section length etc., and then estimate the density of wagon flow on each section, vehicle node judges current traffic information by monitoring the change of each section car metric density, when density increases above threshold value, then judges that this section becomes congestion status.
3rd step: when blocking up occurs in road ahead, vehicle independently realizes subpath planning algorithm to walk around congested link, and vehicle is according to the congested link situation predicted congestion time simultaneously.
Described subpath planning algorithm refers to, using the starting point of the congested link starting point as active path planning, the terminal of congested link is as the terminal of active path planning, then uses static path planning algorithm to calculate, and can significantly reduce the cost of path planning with this.If the calculated sub-initial path of vehicle yet suffers from congested link, then mark off subpath again from this subpath and continue planning.After finally giving the subpath of a P Passable, vehicle node regathers the road status information of sub-initial path, just can estimate vehicle according to self speed by this paths to walk around the time blocked up.
The described predicted congestion time refers to, can calculate the space mean speed learning congested link vehicle according to traffic flow theory, can the predicted congestion persistent period when known congested link length.
4th step: compare the scheduled time in new planning path and the time of blocking up, determines to walk around and blocks up or wait that original route recovers unimpeded.If the subpath transit time ratio estimated blocks up, the persistent period is long, then illustrate to detour to need to spend the more time, and in this case, namely vehicle is waited in line at the place of blocking up to road to recover unimpeded, then proceedes to advance；If the subpath transit time ratio estimated blocks up, the persistent period is short, then vehicle selects on subpath current in walk around congested link.
It is seen that, the serviceable wagon of the present invention information exchange being downloaded from group network between vehicle realizes the monitor in real time to overall traffic information, by predicting and comparing the time of blocking up and determine that vehicle is the need of detouring to pass through congested link with the time of detouring, thus realizing vehicle to adjust course in the process of moving in real time, to spend the shortest time to arrive at.
Claims (7)
1. the Real-time and Dynamic paths planning method based on vehicular ad hoc network, it is characterised in that comprise the following steps:
(1) traffic information real-time update are obtained by vehicular ad hoc network between vehicle node；
(2) when blocking up occurs in road ahead, vehicle independently realizes real-time subpath and plans to walk around congested link, and vehicle is according to the congested link situation predicted congestion time simultaneously；
(3) the expectation transit time of alternative plans subpath and the predicted congestion time, determine to walk around and block up or wait that original route recovers unimpeded.
2. the Real-time and Dynamic paths planning method based on vehicular ad hoc network according to claim 1, it is characterized in that, in described step (1) in vehicular ad hoc network, single unit vehicle node needs and other vehicle pass-throughs in communication range, then regularly transmit mutually information by a jumping hello message；Single unit vehicle node needs and the not vehicle communication of other in communication range, then by multi-hop mode, hello message mailing to the vehicle node at most edge in communication range, the vehicle node at this most edge is further along the nearest next-hop node of the direction finding of destination node vehicle；Wherein, described hello message includes the speed of vehicle node self, direction, the ID being currently located section and length.
3. the Real-time and Dynamic paths planning method based on vehicular ad hoc network according to claim 1, it is characterized in that, in described step (2), road ahead occurs that the judgment mode blocked up is: vehicle first calculates an initial path according to static path method at first, the traffic information in each section in this initial path constantly collected by vehicle in the process travelled along this initial path, when the density of a certain section or several sections of roads continuously increases above threshold value, illustrate that blocking up occurs in this section.
4. the Real-time and Dynamic paths planning method based on vehicular ad hoc network according to claim 1, it is characterized in that, in described step (2), the method for predicted congestion time is: the traffic information that vehicle is collected includes the quantity of vehicle node on congested link, the speed of each vehicle node and road section length, calculate the space mean speed learning congested link vehicle according to traffic flow theory, the length computation further according to congested link is blocked up the persistent period.
5. the Real-time and Dynamic paths planning method based on vehicular ad hoc network according to claim 1, it is characterized in that, described step (2) neutron path planning is particularly as follows: work as the starting point that the starting point of congested link is planned by vehicle node as subpath, the terminal that the terminal of congested link is planned as subpath, then use static path planning method to plan.
6. the Real-time and Dynamic paths planning method based on vehicular ad hoc network according to claim 5, it is characterized in that, if the calculated subpath of vehicle yet suffers from congested link, from this subpath, mark off molecular path so again continue planning, after finally giving a unimpeded subpath, vehicle node regathers the road status information of unimpeded subpath, estimates the vehicle time by this unimpeded subpath according to self speed.
7. the Real-time and Dynamic paths planning method based on vehicular ad hoc network according to claim 1, it is characterized in that, described step (3) if particularly as follows: the subpath transit time ratio estimated blocks up the persistent period long, then wait in line at the place of blocking up to road recover unimpeded；If the subpath transit time ratio estimated blocks up, the persistent period is short, then vehicle selects on subpath current in walk around congested link.
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| CN106327896A (en) * | 2016-09-06 | 2017-01-11 | 中国第汽车股份有限公司 | Lane selection system and method for autonomous vehicle |
| CN106373392A (en) * | 2016-08-31 | 2017-02-01 | 东华大学 | Fire-fighting vehicle emergency let-by system based on vehicle self-organizing network |
| CN106530781A (en) * | 2016-09-29 | 2017-03-22 | 奇瑞汽车股份有限公司 | Method and system for sharing road condition information based on Internet-of-vehicles |
| CN108053673A (en) * | 2017-12-08 | 2018-05-18 | 上海壹账通金融科技有限公司 | A kind of road conditions forecasting procedure, storage medium and server |
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| CN115451985A (en) * | 2022-08-29 | 2022-12-09 | 武汉大学 | Traffic event-driven lane-level navigation decision method and equipment for automatic driving |
| CN115451985B (en) * | 2022-08-29 | 2024-04-05 | 武汉大学 | Traffic event driven lane-level navigation decision-making method and equipment for automatic driving |
| CN115240432A (en) * | 2022-09-21 | 2022-10-25 | 智道网联科技(北京)有限公司 | Traffic jam detection method and device, electronic equipment and storage medium |
| CN115240432B (en) * | 2022-09-21 | 2023-02-28 | 智道网联科技(北京)有限公司 | Traffic jam detection method and device, electronic equipment and storage medium |
| CN116363891A (en) * | 2023-05-31 | 2023-06-30 | 江西科技学院 | Smart city off-network operation method and system based on Internet of vehicles |
| CN116363891B (en) * | 2023-05-31 | 2023-08-04 | 江西科技学院 | Smart city off-network operation method and system based on Internet of vehicles |
| CN116844362B (en) * | 2023-08-31 | 2023-11-10 | 北京利斯达新技术有限公司 | Traffic flow data processing method |
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