CN1804932A - Real-time dynamic onboard traffic guided path optimization method - Google Patents
Real-time dynamic onboard traffic guided path optimization method Download PDFInfo
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Abstract
The invention relates to a vehicle-carrying real-time dynamic traffic evoked routine optimum method in the field of the vehicle-carrying evoked technology of the city intelligent traffic evoked system. It uses the computer microprocessor and the storage as carrier to design the vehicle-carrying evoked special used electric map and vehicle-carrying evoked software program and displays the best path on the display.
Description
Technical field:
The present invention relates to the vehicle-mounted abductive approach technical field in the municipal intelligent traffic inducible system.
Technical background
At present, external experts and scholars and manufacturer all are devoted to research, exploitation and produce on-vehicle navigation apparatus and similar products thereof.And formed the U.S., Japan, Europe and be the production base of representative several external on-vehicle navigation apparatuses.But the in-vehicle navigation apparatus that can buy can not satisfy urban transportation and induces requirement to equipment real-time and practicality in the market.
The patent No. is that 01274261.9 " the multifunctional vehicle mounted device of global system for mobile communications location tracking " is made up of global mobile communication control system, keyboard and LCD, only provide global mobile communication tracing and positioning, global conversation, burglar alarm, cut-out point ignition circuit, stagnation of movement automobile, in/multiple functions such as translator of English, and can obtain various characteristics informations and multi-function service function, but do not provide real-time route planning and guiding function from GSM is online; The patent No. is that 99117543.3 " car-mounted device " is that a kind of E of making T C vehicle carried device and navigational system are integral and work, share data separately, realized the car-mounted device of variation and the high precision int and the reliability raising of function, but monitoring and scheduling, geographical information query function can not be provided; The patent No. is that 00263679.4 " onboard navigation system " comprises a display; A main frame is connected with display, and it comprises a CPU (central processing unit) that is used for Navigation Control again; A GPS module can receive the car orientation data that the gps satellite positioning system provides, and output is connected to CPU (central processing unit) through interface circuit; An electronic gyroscope can provide angular velocity data and GPS module to carry out fusion treatment; The memory device of a store map data, output is connected to CPU (central processing unit), has only provided to show the position at driving place and the function of other geography information when driving.
In sum, existing in-vehicle navigation apparatus can not satisfy the needs of inducing in real time, therefore, exploitation is fit to the urban transportation inducible system vehicle-mounted induce the special electronic map and fast path optimization's software be focus and the difficult point researched and developed of this field at present.
Present vehicle-mounted apparatus for deivation is not all considered the reality of traffic problems in the process of inducing the design of special electronic map; do not consider that promptly traffic system is a big system that the complexity of people, car, road and environment structure is arranged; the purpose of traffic guidance is to make the vehicle in the road network reach rational distribution; and then the utilization factor of raising city road network; reduce the generation of vehicle delay, traffic congestion and traffic hazard, improve drive safety and environmental protection.And the path optimization's algorithm that adopts in the present vehicle-mounted apparatus for deivation all adopts classical shortest path first, such as: Dijistra algorithm and A* algorithm, though these algorithms can calculate the path is arranged most, but under the large-scale road network condition, there is most the speed of finding the solution in path slow, and do not consider traffic restricted problem in the algorithm design process, traffic reality is not promptly satisfied in the path of finding the solution can not satisfy the requirement of inducing real-time again.
Technology contents
The vehicle electronics map that the invention provides meeting traffic guidance reality has carried out design and development, has set up the vehicle-mounted special electronic map of inducing, and develops optimal path solution technique fast based on the traveler characteristic.
The scheme of technical solution problem of the present invention is:
1, vehicle-mountedly induces special electronic map design
The special electronic map of inducing of the present invention has taken into full account the convenience that driver characteristics, road traffic characteristic and software are realized in design process, designed and be suitable for the vehicle-mounted special electronic map that urban transportation is induced requirement, its characteristics comprise: characteristics such as high precision, high information quantity, high algorithm applicability and high traffic rules applicability.
2, in the traveler characteristic road technology as calculated arranged most
The present invention is actual from the reality of urban transportation and traveler characteristic, the foot of having developed based on the traveler characteristic has routing algorithm, this algorithm not only can satisfy the requirement of optimal path rapid solving, and can guarantee that optimal path meets traffic control, effectively avoid the generation of driver's violation phenomenon.
3, the design of Navigator and realization
Software development of the present invention and design have certain specific aim, just be based on above-mentioned two technology contents, under the prerequisite that guarantees software systems real-time, stability, convenience and drive safety, the vehicle-mounted process of inducing system and detail analysis have been carried out, extract bigger all multifactor of vehicle guidance process influence, and considered driver's traffic trip psychology, and then functional analysis, Module Division, system flow, data dictionary of vehicle-mounted apparatus for deivation software etc. have been obtained.
The present invention induces the special electronic map and vehicle-mountedly induces software program design vehicle-mounted as carrier by computer microprocessor and storer, shows by the optimization path of display to trip.
Vehicle-mountedly induce the design of special electronic map to comprise:
The vehicle-mounted figure layer of special electronic map of inducing is divided into three basic notion layer types, be respectively: subfoundation, intermediate queries layer and the figure of senior path optimization layer, these three concept map layers are the principle according to from top to bottom on the figure layer tissue, be that subfoundation is placed on the bottom and is used to shine upon block, city and road road network, intermediate queries figure layer has the multilayer attribute, it is a dynamic figure layer, the senior figure of path optimization layer during the superiors, the figure layer that comprises three reality, be respectively: intersection node figure layer, road section figure layer and view of cells figure layer, two the responsible optimal path computation of figure layer in front, the view of cells layer is responsible for the matrix assignment work before the optimal path computation; Adopt and to mate the mode that calibration process technology and manual calibration combine efficiently and induce the calibration of special electronic map longitude and latitude; Expression and storage to control traffic message;
Vehicle-mountedly induce the design of program to comprise:
City road network is divided into two ranks, the vehicle-mounted turnpike road of special electronic map of inducing is as main roads, form strategic road network, by strategic road network city road network is divided into Pork-pieces zonule, a series of secondary road net of the route combination in each zone; Path optimization based on the traveler characteristic, implementation procedure comprises: the setting of start, end, sub-district, place, start, end is judged, the optimal path computation road network generates, road network weight matrix assignment, conversion array assignment, traffic restriction matrix assignment, intersection delay matrix assignment, shortest path as calculated, optimal path turning situation is judged and several sections such as the demonstration composition of optimal path.
The present invention has characteristics such as high precision, high information quantity, high algorithm applicability and high traffic rules applicability, is suitable for urban transportation to induce requirement, for the city trip of driving provides and optimizes the path effectively and induce.
Description of drawings:
Fig. 1 is the vehicle-mounted special electronic map layer division figure that induces;
Fig. 2 is the topological sum encoding relation figure of road section figure layer and intersection node figure layer;
Fig. 3 is the expression and the storage map of rotary island place one-way road information;
Fig. 4 expresses and storage map for restriction turning crossing;
Fig. 5 is the expression and the storage map of intersection delay information;
Fig. 6 is a Link Travel Time dynamic information storage map;
Fig. 7 is the control traffic message format chart;
Fig. 8 is the path optimization's synoptic diagram based on the traveler characteristic;
Fig. 9 is vehicle-mounted overall modular design of software and the overview flow chart of inducing;
Figure 10 is the path optimization's algorithm flow chart based on the traveler characteristic.
Embodiment:
With reference to the accompanying drawings embodiments of the present invention are elaborated
The present invention vehicle-mountedly induces the special electronic map and induces software two parts to form from comprising in logic.
1. vehicle-mounted design of inducing the special electronic map
The vehicle-mounted special electronic map of inducing is in design process, taken into full account all multifactor of all multifactor and urban geographic information system that urban transportation induces, the vehicle-mounted special electronic map of inducing has been carried out design and development at map layer design, the calibration of map longitude and latitude, the storage of control traffic message, the storage of Link Travel Time and the aspects such as storage of intersection delay information.
1) induces the design of special electronic map layer
The vehicle-mounted electronic chart of special use of inducing is different from common electronic chart, has the characteristics of lower system resource occupancy, will take into full account traffic guidance characteristic and the navigation software convenience in use figure layer information in electronic chart figure layer design process.Based on above-mentioned principle of design, the vehicle-mounted figure layer of special electronic map of inducing is divided into three basic notion layer types, be respectively: subfoundation, intermediate queries layer and the figure of senior path optimization layer.These three concept map layers are the principle according to from top to bottom on the figure layer tissue, and promptly subfoundation is placed on the bottom and is used to shine upon block, city and road road network; Intermediate queries figure layer has the multilayer attribute, is a dynamic figure layer, and concrete dynamically interpolation of Automatic Program and deletion are arranged when wherein the quantity of figure layer is according to user inquiring; The senior figure of path optimization layer during the superiors, the figure layer that comprises three reality, be respectively: intersection node figure layer, road section figure layer and view of cells figure layer, it is invisible that the characteristic attribute of these three figure layers is provided with the position, two the responsible optimal path computation of figure layer in front, the view of cells layer is responsible for the matrix assignment work before the optimal path computation.The relation of these figure layers as shown in Figure 1.Has certain spatial topotaxy between intersection node figure layer and the road section figure layer, in the process that these two figure layers are drawn, require the starting point in each highway section in the figure layer of highway section and terminal point to be consistent with the longitude and latitude of the intersection node at two ends, highway section, adopt the intersection node numbering to express at highway section numbering attribute, embody mode as shown in Figure 2.
2) induce the calibration of special electronic map longitude and latitude
Vehicle-mountedly induce the requirement of special electronic map to have quite high precision, high precision is the precondition that guarantees vehicle location, map match and high-level efficiency path optimization.Yet general electronic chart adopts the mode of scanning back vector quantization to make, map error does not wait at 70 meters to more than 100 meters, if add 10 meters to 20 meters of the positioning errors of positioning equipments such as GPS, realize that accurate vehicle location is impossible in showing basically.The present invention adopts mates the mode that calibration process technology and manual calibration combine efficiently, has improved the work efficiency of the precision calibration of inducing the special electronic map greatly.
3) expression of control traffic message and storage
Control traffic message is the imbody of human factor in the comprehensive traffic environment, and control traffic message also is the imbody of traffic rules, wherein to comprising that vehicle guidance has the greatest impact: restriction turning information, one-way road information and No entry information.Induce expression successful in the special electronic map and store the key that these information are the vehicle-mounted apparatus for deivation optimal path computation practicality of realization vehicle-mounted.
The expression of one-way road information and storage
One-way road information shows as road or the highway section that only allows a direction current in traffic rules.Induce in the special electronic map vehicle-mounted, the one-way road information stores can adopt the mode of 0,1 coding to represent whether a highway section is the one-way road in the figure layer of highway section.Illustrate, such as the highway section that is numbered " 102-203 ", if be " 0 ", represent that then " 102 " to " 203 " direction is not the one-way road from the crossing, and " 203 " direction of " 102 " is the one-way road direction to the crossing from the crossing in the information attribute of one-way road.Promptly " 0 " expression is the one-way road with numbering side, highway section in the opposite direction, and " 1 " expression direction identical with highway section numbering direction is the one-way road direction.Fig. 3 is the expression and the storage of rotary island traffic place one-way road information.
The expression and the storage of restriction turning information
Information such as certain the crossing restriction now of the restriction turning information table of control traffic message is turned left and no U turn.These transport information belong to static relatively transport information, and still along with the construction of road and means of transportation, these restriction signs also have corresponding change.The present invention is directed to this specific character of urban transportation, designed and be suitable for restriction that vehicle mounted traffic induces and turn and express and storage mode, and these information are kept in the electronic chart, the renewal of these information is upgraded together in company with electronic chart.
The information spinner of traffic restriction turning and tune will show a kind of corresponding relation between the intersection node, therefore these informational needs are stored in the intersection node figure layer, concrete expression way be choose current crossing numbering with and the method represented of upstream and the numbering combination of following crossing.Be illustrated in figure 4 as the Map Expression and the storage of restriction left-hand bend information.Wherein node " 12 " locates to have two restriction turnings, is respectively from node " 11 " and all breaks rules and regulations through node " 12 " arrival node " 13 " and node " 16 ", use between these two information "; " separate.
4) storage of dynamic information such as Link Travel Time
Link Travel Time is an important parameter of reflection urban traffic conditions, also is an important indicator of optimal path computing time simultaneously.For vehicle-mounted apparatus for deivation, itself can not collect the Link Travel Time data, and the Link Travel Time data are provided by Wireless transmission mode by the traffic-information service center.Therefore, the Link Travel Time data can not leave in the electronic chart, otherwise will carry out a large amount of operations that reads and writes data to electronic chart, cause system performance to descend.
The present invention is actual from traffic guidance, and Link Travel Time and the foundation of mileage chart layer are got in touch accordingly, numbers unique corresponding Link Travel Time data by the highway section in the mileage chart layer.Concrete storage format as shown in Figure 6.
Can adopt above-mentioned control traffic message form for dynamic control traffic message, dynamically send by traffic information center.Concrete form as shown in Figure 7.
Wherein go up the duration of " 16:00-17:00 " expression one-way road traffic in the table restricted information.
5) expression of intersection delay information and storage
In the process of optimal path computing time, not only need to consider Link Travel Time information, and need to consider the delay information of vehicle in the crossing.Therefore vehicle is relevant with concrete direction of traffic in the delay of crossing, needs to judge earlier the trajectory direction of optimal path in computing time during optimal path, and then adds the intersection delay information that the counterparty makes progress.
The expression of the delay information of crossing can be used for reference the expression way that above-mentioned restriction is turned, and adopts the mode of upstream and downstream crossing assembly coding to represent the turning situation, with the corresponding intersection delay information stores of this direction on this position.The delay information of crossing is the same with Link Travel Time information, is all provided by traffic information center, therefore can not directly be stored in the electronic chart.Intersection node figure layer and intersection delay data file are set up unique corresponding relation.Concrete data file is individual to be failed as shown in Figure 5.Wherein in intersection delay one row, part before first branch is the intersection delay situation shown in the last figure, the concrete meaning be by crossing " 2 " delay time at stop that " 1 " arrives crossing " 3 " through the crossing be 10 minutes, the delay time at stop of " 4 " is 8 minutes to the crossing, and the delay time at stop that arrives crossing " 5 " is 2 minutes.
2. the vehicle-mounted software design of inducing
1) introduces based on path optimization's thought of traveler characteristic
Based on path optimization's thought of traveler characteristic, be exactly in simple terms to go out to send to consider the optimal path optimization problem from driver's angle.Present existing shortest path first is found the solution speed under the large-scale road network condition slow, can not satisfy the requirement of traffic guidance to vehicle-mounted apparatus for deivation real-time.The purpose of traffic guidance is to make the magnitude of traffic flow in the city road network reach rational distribution, reduces traffic congestion, improves the road traffic utilization factor.Yet, than the time of solving the shortest path, the real-time that assurance is induced is more meaningful, therefore, in considering the optimal path solution procedure, the road that some drivers can not select in can the place to go road network reduces participating in the road quantity of road network as calculated, and then significantly improves the speed of path optimization.Based on excellent to one's profit the optimal path of finding the solution in the path of traveler characteristic is not proper system optimal path, is suboptimum or inferior suboptimum path.Be based on mutatis mutandis family optimum Used in Dynamic Traffic Assignment theory based on path optimization's thought of traveler characteristic.
Based on path optimization's technology of traveler characteristic, select the characteristics of travel by inquiry with the analysis driver, city road network is divided into two ranks (if the survey region traffic can increase road grade).The road that the driver is used to walk forms strategic road network as main roads, by strategic road network city road network is divided into Pork-pieces zonule, a series of secondary road net of the route combination in each zone.When carrying out route optimization, by the driver go on a journey, two the secondary road nets and the strategic road network at settled some place form real route optimization network.Simplify the search road network thereby reach, and finally improve the purpose of search speed.As shown in Figure 8, starting point place sub-district K has been passed through on optimum road process as calculated earlier, the main roads at the edge of sub-district M in the middle of passing through then, the terminal point in sub-district, the place L that reaches home at last.
2) software system module is divided and the overall procedure design
Based on above-mentioned optimal path optimisation technique with induce special electronic ground diagram technology, the present invention has carried out function design and Module Division to vehicle-mounted apparatus for deivation software, specifically comprises: Vector Electronic Map, vehicle location module, map-matching module, path planning module, route guidance module, geographical information query module, wireless communication module, track record module.Concern flow process as shown in Figure 9 between these modules, wherein, electric map module is shown the core in the overall module flow process, is being responsible for the reality of data and mutual.Path optimization's module is the important part in the overall procedure, but it can not break away from other modules and work alone, and reason is that needed data need other modules in path optimization's module to be provided.
3) based on the realization of path optimization's module of traveler characteristic
Implementation procedure based on path optimization's module of traveler characteristic mainly comprises: the setting of start, end, sub-district, place, start, end is judged, the optimal path computation road network generates, road network weight matrix assignment, the conversion array assignment, traffic restriction matrix assignment, intersection delay matrix assignment, shortest path as calculated, optimal path turning situation is judged and several sections such as the demonstration composition of optimal path.Idiographic flow is referring to Figure 10.
Claims (4)
1, a kind of real-time dynamic onboard traffic guided path optimization method is characterized in that: comprise vehicle-mounted induce special electronic map and vehicle-mounted design of inducing software program, wherein
Vehicle-mountedly induce the design of special electronic map to comprise:
The vehicle-mounted figure layer of special electronic map of inducing is divided into three basic notion layer types, be respectively: subfoundation, intermediate queries layer and the figure of senior path optimization layer, these three concept map layers are the principle according to from top to bottom on the figure layer tissue, be that subfoundation is placed on the bottom and is used to shine upon block, city and road road network, intermediate queries figure layer has the multilayer attribute, it is a dynamic figure layer, the senior figure of path optimization layer during the superiors, the figure layer that comprises three reality, be respectively: intersection node figure layer, road section figure layer and view of cells figure layer, two the responsible optimal path computation of figure layer in front, the view of cells layer is responsible for the matrix assignment work before the optimal path computation; Adopt and to mate the mode that calibration process technology and manual calibration combine efficiently and induce the calibration of special electronic map longitude and latitude; Expression and storage to control traffic message;
Vehicle-mountedly induce the design of program to comprise:
City road network is divided into two ranks, the vehicle-mounted turnpike road of special electronic map of inducing is as main roads, form strategic road network, by strategic road network city road network is divided into Pork-pieces zonule, a series of secondary road net of the route combination in each zone; Path optimization based on the traveler characteristic, implementation procedure comprises: the setting of start, end, sub-district, place, start, end is judged, the optimal path computation road network generates, road network weight matrix assignment, conversion array assignment, traffic restriction matrix assignment, intersection delay matrix assignment, shortest path as calculated, optimal path turning situation is judged and the display part composition of optimal path.
2, real-time dynamic onboard traffic guided path optimization method according to claim 1 is characterized in that: the expression of control traffic message and storage comprise restriction turning information, one-way road information and No entry information in the described vehicle-mounted design of inducing the special electronic map.
3, according to claim 1,2 described real-time dynamic onboard traffic guided path optimization methods, it is characterized in that: described restriction turning information be choose current crossing numbering with and the method represented of upstream and the numbering combination of following crossing.
4, according to claim 1,2 described real-time dynamic onboard traffic guided path optimization methods, it is characterized in that: described one-way road information adopts the mode of 0,1 coding to represent whether a highway section is the one-way road.
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| CN102147261A (en) * | 2010-12-22 | 2011-08-10 | 南昌睿行科技有限公司 | Method and system for map matching of transportation vehicle GPS (Global Position System) data |
| CN101751777B (en) * | 2008-12-02 | 2011-11-16 | 同济大学 | Dynamic urban road network traffic zone partitioning method based on space cluster analysis |
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| CN101739836B (en) * | 2009-12-18 | 2012-05-23 | 吉林大学 | Optimizing method of central real-time dynamic traffic guidance path under large-scale road network |
| CN101964941A (en) * | 2010-08-25 | 2011-02-02 | 吉林大学 | Intelligent navigation and position service system and method based on dynamic information |
| CN101996488A (en) * | 2010-11-04 | 2011-03-30 | 上海美慧软件有限公司 | Schematic diagram drawing method suitable for traffic information expression |
| CN101996488B (en) * | 2010-11-04 | 2013-05-22 | 上海美慧软件有限公司 | Schematic diagram drawing method suitable for traffic information expression |
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| CN110992813A (en) * | 2019-12-25 | 2020-04-10 | 江苏徐工工程机械研究院有限公司 | Map creation method and system for unmanned surface mine system |
| CN113963538A (en) * | 2021-10-19 | 2022-01-21 | 交通运输部公路科学研究所 | Intelligent highway information physical system based on data self-flowing |
| CN113963538B (en) * | 2021-10-19 | 2022-06-10 | 交通运输部公路科学研究所 | Intelligent highway information physical system based on data self-flowing |
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