CN103278168B - A kind of paths planning method evaded towards traffic hot spot - Google Patents
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Abstract
Towards the paths planning method that traffic hot spot is evaded, carry out dynamically according to the destination that the user that drives will go to and with the path planning evading character, realize a kind of intelligent paths planning method for the purpose of the shortest time of driving a vehicle.This method constantly excavates traffic hot spot information from multiple data sources such as the transport information of webpage, microblogging, real-time report and historical law information, as the large units such as large-scale activity, traffic hazard, blocking section, peak, school are gone to school and left school (class) time and Weather information etc.This method is by Real-time Collection traffic hot spot information, limit in conjunction with road F-Zero, have a lot of social connections, the time delay of intersection traffic lamp on the impact of driving and arterial highway whether containing bicycle car band, cook up one and can have the rapid navigation circuit evading function, and dynamic path planning can be carried out in real time according to current location.This method can provide the fastest path, arrival destination for driver, also alleviation Urban Traffic Jam Based to a certain extent.
Description
Technical field
The present invention, about a kind of paths planning method evaded towards traffic hot spot, belongs to navigation path planning technical field of research.
Background technology
Today of increase is had in motor vehicle total amount, congestion in road situation is more serious, big city particularly as Beijing, Shanghai, in the morning and evening, peak period trip has become the thing that is led people's headache very much, if travelled in way at vehicle, the section that running into has major traffic accidents or crowd to assemble allows drivers suffer untold misery especially.Along with the reach of science, to go on a journey difficult problem in the face of solving people, this method is by gathering the traffic hot spot information causing traffic congestion that may run in driving, regular historical information in database and the transport information of real-time report, real-time dynamic programming traffic route, by expend time in the shortest for the purpose of, be supplied to user and there is the intelligent paths planning method evading traffic hot spot function, under this application, be not only user's trip to bring convenience, also serve the object alleviating urban traffic road pressure simultaneously, utilize " not busy section " to alleviate the wagon flow pressure in " busy section ".
Current paths planning method can be avoided with the specific road section such as charge station or expressway, and its using value is limited.Along with the development of science and technology, intelligent navigation has also been done a large amount of work by a lot of scholar's research, but also there are some drawbacks, such as: programme path is single, cannot be little etc. according to current traffic condition real-time path planning, region applicatory.Cause the reason of the problems referred to above be mainly geodata not comprehensively, without can not be mutual with network in the support of back-end data database data, path planning process, traffic hot spot information can not be obtained, without traffic route anticipation dynamic programming travel route etc., have a strong impact on trip.For some of at present a lot of experts and scholars' research with the air navigation aid of evading function, it is also mainly for certain specific region, obtain road condition data by investigating to this region and utilize comparatively single Data Source, carry out road conditions anticipation, its practical range-restricted height, data are comprehensive not, cannot catch traffic information current to customer responsiveness timely, to such an extent as to guidance path can not be evaded in real time to accident for multivariate data.
Summary of the invention
Technical matters of the present invention: overcome the deficiencies in the prior art, a kind of paths planning method evaded towards traffic hot spot is provided, evades according to polynary traffic hot spot, realize dynamic paths planning method, by driving the shortest consuming time for the purpose of, the navigation circuit under time optimal algorithm is provided.
The technology of the present invention solution: a kind of paths planning method evaded towards traffic hot spot, its step is as follows:
Step one: determine departure place, destination and transit point information;
Step 2: according to the driving destination information obtained, the multiple data source such as the historical law information stored from the transport information and database of ticketing website, microblogging, traffic site, real-time report obtains traffic hot spot information and the transport information of traffic congestion both may have been caused for gathering, and is plotted on map vector according to the coverage of traffic hot spot information and degree by different size and color;
Step 3: the traffic hot spot information arrived by Real-time Collection in step 2, limit in conjunction with road F-Zero, have a lot of social connections, whether crossing time delay and arterial highway containing bicycle car band, according to Department of Communications of U.S. Impedance Function and the relation function between link travel time and road section traffic volume load, for in this driving conditions, three conventional running time minimal paths compose weights, and add in adjacency list storage organization as initial traffic network;
Step 4: the dynamic approximation formula shortest path priority algorithm of road network enforcement based on SPFA obtained for step 3, algorithm travels through every bar section, until perform to the section by traffic hot spot informational influence;
Step 5: to be subject to the entrance in the last section in the section of traffic hot spot informational influence for starting point, destination is add in adjacency list storage organization after terminal obtains three new conventional traveling minimal paths tax weights, and continues to perform shortest path priority algorithm;
Step 6: repeat above-mentioned steps (3) to (5) until algorithm performs terminal, traffic route is plotted on map vector;
Step 7: judge whether to be open to traffic according to present speed, after being open to traffic, report current location information, current vehicle speed and steering angle, when driving, as 5 minutes gather a hot information, just carry out real-time route planning dynamically and evade according to current real-time traffic hot information repetition step (2) to (6) collected if depart from route;
In the described first step: in the described first step: determine departure place information (being defaulted as current user position) and destination information, also can select to add transit point, in path planning process, from starting point first through transit point, finally arrive destination.
In described second step: the paths planning method evaded towards traffic hot spot according to claim 1, it is characterized in that: in described second step, the traffic hot spot information of traffic congestion may be caused in current and following one hour by excavating internet, source comprises ticketing website, Department of Communications website, weather site, microblog data and the transport information dynamically reported, the traffic hot spot information attribute wherein got comprises: the geographic position of event: place name and longitude and latitude, influence time: event starts and the expected concluding time; Traffic hot spot informational influence content (event) comprises congestion in road, traffic hazard, competitive sports, large-scale concert, road surface subside; Traffic hot spot informational influence degree comprise impassable, block up, walk or drive slowly.According to it, this traffic hot spot is marked on map vector to the influence degree that road causes after getting traffic hot spot information, wherein marking color is be divided into green, orange, red three kinds from small to large according to affecting the order of severity, the size of mark marks according to traffic hot spot informational influence range size, mark can show the address of this traffic hot spot, event and influence time.
In described 3rd step: the information in the traffic hot spot information of integrating step two and database, these information comprise the large units such as each school and to go to school and leave school or commuter time, each section F-Zero limit, have a lot of social connections, regular historical data whether containing bicycle band, intersection traffic lamp delayed data, by again customize Bureau of Public Road's Impedance Function and calculate every bar section current may running time (unit: second), three roads the shortest for conventional running time compose weights, and wherein Impedance Function customization step is as follows:
(1) factor of influence determine the undetermined parameter of Impedance Function of blocking up meeting the method is simulated according to a large amount of road traffic flow data test of State Statistics Bureau;
(2) after obtaining the undetermined parameter of Impedance Function, according to traffic hot spot information attribute, affect content and influence degree, modeling is carried out in the route impact the shortest on three conventional running times, wherein traffic hot spot information judges it is that (traffic hot spot refers to the event geographic position of in traffic hot spot information, traffic being brought to impact from traffic hot spot according on this road to the impact of road, may be certain building or certain locale) nearest point is to the operating range of traffic hot spot, but not point-to-point transmission air line distance, traffic hot spot is lower from the larger influence degree to road of operating range of road,
(3) according to the traffic hot spot obtained in step (2), section is affected, again according to Bureau of Public Road's Impedance Function, namely the relation function determination focus between link travel time and road section traffic volume load, to the factor of influence of road, simulates the Time Dependent function meeting the method;
(4) be that in the shortest route of three conventional running times, weights are composed in every bar section by this Time Dependent function.
In described fourth, fifth, six steps: approximant shortest path planning process is as follows:
(1) travel through by shortest-path first algorithm (SPFA) section stored in current neighbor table, wherein in adjacency list, summit is crossing corner position longitude and latitude, the crossing flex point longitude and latitude be directly connected with this summit is preserved in the node of limit, also storing the weights in section between current adjacent two road conditions in addition in the node of limit, whether affecting part point position longitude and latitude (for drawing navigation circuit) in mark (Boolean variable represents: influenced is true, and unaffected is false), this section distance and this section by traffic hot spot;
(2) when traversing the section affected by traffic hot spot, the entrance of current road segment is added the tail of the queue of the queue of SPFA algorithm, preserve the node inside queue in current SPFA algorithm implementation, the last section entrance in this section is set to starting point, destination is that terminal regains new travel route, three at the most, have in the adjacency list structure of initial road network before adding, continue to perform SPFA algorithm;
(3) above step (1) is repeated and (2) pass through successive ignition, iterations is run into affected section number of times in SPFA algorithm implementation, all sections traversal in adjacency list structure to be finished bundle until cannot obtain the section of renewal or SPFA algorithm after running into traffic hot spot;
Record minimal path in SPFA algorithm implementation, namely finally obtain best travel route, and optimum line is presented on map vector.
In described 7th step: obtain current user position information by GPS after being open to traffic, active user's speed is obtained by alternate position spike and mistiming, judge whether user is open to traffic according to present speed, if started, trigger reported event, at set intervals, as 1 minute report of user positional information, velocity information and deflection, traffic hot spot information will be organized into according to the partial information in speed and these information of present position.The current location dynamically reported is used for inspection whether in the middle of default traffic route, if depart from navigation way, then makes prompting, and with user's current location starting point, is terminal, again plans navigation circuit with destination.And every a period of time, as 5 minutes gather a real-time traffic hot information, for planning travelling line.
The present invention is beneficial effect and advantage compared with prior art:
(1) of the present inventionly evade traffic hot spot method, employing be polynary traffic hot spot information, be that the information affecting traffic to relating in internet captures and in real time in conjunction with the regular historical data in the transport information of real-time report and database.Its Data Source is wide, and with a high credibility, updating decision, for bypassing method provides reliably Data support.
(2) the whole sections initially obtained from starting point to destination are not needed in path planning process of the present invention, but preliminary routing is carried out on the basis first obtaining three conventional running time minimal paths, judge whether that needs obtain more Multiple Sections information according to road conditions, new route node is added on the basis that algorithm performs again and carries out routing, like this can when current all feasible sections need not be known once, carry out the route selecting method of dynamic approximation formula, improve path planning efficiency.
(3) it is based on Bureau of Public Road's Impedance Function (relation function between link travel time and road section traffic volume load) that weights method is composed in the section that the present invention adopts, carry out a large amount of data tests and simulate the factor of influence determine Impedance Function of blocking up meeting the method, for the section being subject to traffic hot spot impact utilizes Impedance Function to compose high weight, form the route selecting method of science.
Accompanying drawing explanation
Fig. 1 is method flow diagram
Fig. 2 is traffic hot spot information excavating schematic diagram;
Fig. 3 is paths planning method process flow diagram;
Fig. 4 is focus mark figure;
Fig. 5 is common navigation suggestion route map;
Fig. 6 is for evading hotspot path figure;
Fig. 7 is the navigation circuit figure with transit point.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:
As shown in Figure 1, the inventive method mainly comprises traffic hot spot information acquisition, active path planning, running time anticipation and Evaluating traffic impact area and defines four core technologies, and specific embodiments is as follows:
1, departure place, destination and transit point address information is set:
Before carrying out path planning, the first step needs to determine starting point and destination information, and address of setting out is defaulted as current location, also can change as required, after having set, transit point address can be set, in path planning process according to needs, first by starting point through transit point, finally arrive destination.
2, traffic hot spot information is gathered:
First gather traffic hot spot information according to current setting departure place, destination and transit point, its source is as follows:
In the schematic diagram of Fig. 2 this method, acquisition and the database information in network information source are as follows:
(1). info web captures: by resolving the particular webpage based on JSOUP, comprises ticketing website, Ministry of Communications issues traffic information website etc.;
(2). database: the large units such as school are gone to school and left school (class) time, each section F-Zero limits, have a lot of social connections, whether contain the regular historical information such as bicycle band and crossing delay time;
(3). micro-blog information: based on microblogging API on microblogging about the information scratching of traffic and artificial screening;
Wherein database information uses when composing weights for road.
Need to carry out classification to the information content after acquisition information to extract and study, its application technology mainly contains 3 points: 1. the traffic hot spot based on pattern-recognition finds; 2. the traffic hot spot prediction of Corpus--based Method model; 3. based on traffic hot spot data correlation and the Accuracy Verification of domain semantics.After excavating, useful transport information is formed to the form of traffic hot spot information, information comprises influence time, the order of severity, the coverage of this focus, and classify according to event type, be labeled on map vector by these traffic hot spot information according to the order of severity, the most serious is red, is secondly orange, what relative effect was lower is green, and wherein event type can be divided into: congestion in road, traffic hazard, competitive sports, large-scale concert, road surface subside; Influence degree comprise impassable, block up, walk or drive slowly; These information can embody in the callout.
3, the traffic hot spot information that collects is combined and the regular historical data of database carries out path planning: the 3rd step of the corresponding description of path planning process is as follows to the concrete implementation of the 6th step shown in the schematic diagram of Fig. 3 this method:
S1: start;
S2: obtain with the shortest three traffic routes be as the criterion of conventional running time from starting point to destination, and be that weights are composed in every bar section, add in adjacency list and store;
S3: SPFA(shortest-path first algorithm is performed to the data stored in current neighbor table);
S4: whether run into the section affected by Current traffic hot information in evaluation algorithm implementation;
YES: perform S5;
NO: jump to S7;
S5: storing current traversing result was both: the tail of the queue entry position in influenced section being added the queue of SPFA algorithm, and preserved current queue;
S6: starting point is set to the current last section entrance being subject to the section of focus impact, destination is constant, jumps to S2;
S7: draw navigation circuit;
S8: terminate.
In the present invention, in S2, section weights obtain by calculating link travel time based on Department of Communications of the United States Federal Impedance Function, and wherein weight calculation method is as follows:
(1) between from starting point to destination, running time formula is altogether:
Parameter: T is two places time gap (unit: second), t
ifor the running time (unit: second) of every bar section (arterial highway), d
jfor crossing delay time (unit: second);
(2) formula (1) t
iarterial highway running time, computing formula is:
In formula: (2) formula is Department of Communications of U.S. Impedance Function (relation function between link travel time and road section traffic volume load), wherein t
0for the conventional running time (unit: second) in arterial highway, Q is current amount of traffic (unit: pcu/h), and C is section actual capacity (unit: pcu/h), and α, β are the undetermined coefficient of this function, and suggestion value is respectively 0.15,4.But consider the different of China's road traffic condition and the U.S., draw so a large amount of statisticss provided according to State Statistics Bureau are carried out matching by this value.
(3) formula is that wherein L is road section length (unit: rice) according to (2) formula; The speed of a motor vehicle (this section F-Zero) (unit: meter per second) when U is section zero flow; Q is current amount of traffic (unit: pcu/h), reports traffic data amount to obtain by gathering this section; C is current vehicle flow (usually getting 2000/h); Whether γ has bicycle band according to section and determines (have dividing strip to get 1, do not have dividing strip to get 0.8); W is have a lot of social connections (unit: rice); S is intersection delay coefficient;
for traffic hot spot all on current road segment affect impedance factor, wherein h
kfor the impedance factor of each traffic hot spot, drawn by modeling matching according to the influence degree of traffic hot spot, scope and influence time.
D
jfor signalized intersections delay time at stop (unit: second), provide according to classical intersection delay computing formula Webster, the signal lamp delay time at stop be mainly concerned with in formula can obtain in a database.
In this process, road network based on obtain first three conventional running time minimal paths is added in adjacency list after composing weights for road and store, wherein in adjacency list, summit is crossing corner position longitude and latitude, the crossing flex point longitude and latitude be directly connected with this summit is preserved in the node of limit, the weights between current adjacent two sections are also stored in addition in the node of limit, (Boolean variable represents: influenced is true whether to affect mark by traffic hot spot, unaffected is false), this road section length, and part point position longitude and latitude (for drawing navigation circuit) in this section, this road network figure have feature be one-way and openness, one-way refers in figure without loop, this characteristic can add new node and section in the implementation of SPFA algorithm in adjacency list, because approaching of SPFA algorithm solves feature, this is made to add execution result before operation does not affect algorithm, the operation that adds of such algorithm and adjacency list alternately performs, ensure that to obtain optimum routing policy by retrieving minimum section data, due to the sparse features of road network figure, this path planning algorithm selects the SPFA algorithm for sparse graph execution efficiency optimum, this Algorithms T-cbmplexity is only the time every bar limit being traveled through to one time, and in searching shortest path algorithm, this Algorithms T-cbmplexity is minimum and the highest for sparse graph execution efficiency.
After path planning completes, be plotted in by route on map vector, starting point, transit point and terminal mark respectively.
4, report speed, current longitude and latitude, deflection and real-time route planning process are as follows:
If present speed reaches road speed, just can report current latitude and longitude information every 10 seconds, velocity information and deflection, wherein current latitude and longitude information is obtained by GPS, and speed and deflection are by adjacent twice longitude and latitude reporting and try to achieve interval time.In the process of moving, every 5 minutes just to current real-time traffic hot spot information, again on map, traffic hot spot is marked, and according to the real-time planning navigation circuit of current up-to-date traffic hot spot information, in the process travelled, if current location is not on the travel route preset, can be starting point according to current location, destination is that terminal plans new navigation circuit again, is plotted on map vector.
In the schematic diagram of Fig. 4 this method: test environment is mobile terminal device, wherein redness is labeled as the traffic hot spot causing section around to block, and the order of severity is the highest; The orange traffic hot spot for causing section around to block up, menace level is medium; Green is labeled as the traffic hot spot causing section to walk or drive slowly, and the order of severity is minimum.
In Fig. 5 and Fig. 6 schematic diagram of the present invention: normal static air navigation aid that what Fig. 5 showed is provide three advise traffic route the soonest, these three routes can be considered optimum traffic route under road completely smoothly situation, but can find out that these three routes all have section within traffic hot spot coverage, traffic route shown in Fig. 6 is used the route of the paths planning method evaded towards traffic hot spot, can find out that this route has than common navigation route and more intelligent evade function, traffic hot spot is avoided in the driving conditions for the purpose of time optimal.Fig. 7 is the navigation circuit figure being provided with transit point, and starting point transit point and terminal mark respectively, and first route arrives transit point by starting point, then arrives destination from transit point.
Non-elaborated part of the present invention belongs to techniques well known.
The above; be only part embodiment of the present invention, but protection scope of the present invention is not limited thereto, any those skilled in the art are in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.
Claims (6)
1. the paths planning method evaded towards traffic hot spot, it is characterized in that: by gathering traffic hot spot information, utilize dynamic hedging algorithm, the traffic route required for user is shown by map, for user provides a navigation way of taking as the leading factor with time optimal, be implemented as follows:
Step one: determine departure place, destination and transit point information;
Step 2: according to the driving destination information obtained, the multiple data source of the historical law information stored from the transport information and database of ticketing website, microblogging, traffic site, real-time report obtains traffic hot spot information and the transport information of traffic congestion namely may be caused for gathering, and is plotted on map vector according to the coverage of traffic hot spot information and degree different size and color;
Step 3: the traffic hot spot information arrived by Real-time Collection in step 2, limit in conjunction with road F-Zero, have a lot of social connections, whether crossing time delay and arterial highway containing bicycle car band, according to Department of Communications of U.S. Impedance Function and the relation function between link travel time and road section traffic volume load, for in driving conditions, three conventional running time minimal paths compose weights, and add in adjacency list storage organization as initial traffic network;
Step 4: the initial dynamic approximation formula shortest path priority algorithm of road network enforcement based on SPFA obtained for step 3, travels through every bar section, until perform to the section by traffic hot spot informational influence;
Step 5: to be subject to the entrance in the last section in the section of traffic hot spot informational influence for starting point, destination is add in adjacency list storage organization after terminal obtains three new conventional running time minimal paths tax weights, and continues to perform dynamic approximation formula shortest path priority algorithm;
Step 6: repeat above-mentioned steps three to step 5, until dynamic approximation formula shortest path priority algorithm performs terminal, traffic route is plotted on map vector;
Step 7: judge whether to be open to traffic according to present speed, after being open to traffic, report current location information, current vehicle speed and steering angle, when driving, gather a traffic hot spot information at set intervals, and judge active user whether in the middle of the travel route of regulation, just repeat step (two) according to the current real-time traffic hot information collected and dynamically carry out real-time route planning to step (six) if depart from route and evade.
2. the paths planning method evaded towards traffic hot spot according to claim 1, is characterized in that: in the described first step, determines departure place information, be namely defaulted as current user position information; Also can select to add transit point, in path planning process, from starting point first through transit point, finally arrive destination.
3. the paths planning method evaded towards traffic hot spot according to claim 1, it is characterized in that: in described second step, the traffic hot spot information of traffic congestion may be caused in current and following one hour by excavating internet, source comprises ticketing website, Department of Communications website, weather site, microblog data and the transport information dynamically reported, the traffic hot spot information attribute wherein got comprises: the geographic position of event: place name and longitude and latitude, influence time: event starts and the expected concluding time; Traffic hot spot informational influence content and event comprise congestion in road, traffic hazard, competitive sports, large-scale concert, road surface subside; Traffic hot spot informational influence degree comprise impassable, block up, walk or drive slowly, according to it, this focus is marked on map vector to the influence degree that road causes after getting traffic hot spot information, wherein marking color is be divided into green, orange, red three kinds from small to large according to affecting the order of severity, the size of mark marks according to traffic hot spot informational influence range size, mark can show the address of this focus, event and influence time.
4. according to claim 1 towards the paths planning method that traffic hot spot is evaded, it is characterized in that: in described 3rd step, according to Department of Communications of U.S. Impedance Function and the relation function between link travel time and road section traffic volume load, in this driving conditions, the detailed process of three conventional running time minimal path tax weights is:
(1) factor of influence determine the undetermined parameter of Impedance Function of blocking up meeting the method is simulated according to a large amount of road traffic flow data test of State Statistics Bureau;
(2) after obtaining the undetermined parameter of Impedance Function, according to traffic hot spot information attribute, affect content and influence degree, modeling is carried out in the route impact the shortest on three conventional running times, wherein traffic hot spot information on the impact of road judge be according on this road from the nearest point of traffic hot spot to the operating range of traffic hot spot, but not point-to-point transmission air line distance, traffic hot spot is lower from the larger influence degree to road of operating range of road;
(3) according to the traffic hot spot obtained in step (2), section is affected, again according to Bureau of Public Road's Impedance Function, namely the relation function determination focus between link travel time and road section traffic volume load, to the factor of influence of road, simulates the Time Dependent function meeting the method;
(4) be that in the shortest route of three conventional running times, weights are composed in every bar section by this Time Dependent function.
5. according to claim 1 towards the paths planning method that traffic hot spot is evaded, it is characterized in that: in described fourth, fifth, six steps, dynamic approximation formula shortest path priority algorithm process is as follows:
(1) travel through by shortest-path first algorithm (SPFA) section stored in current neighbor table, wherein in adjacency list, summit is crossing corner position longitude and latitude, preserve the crossing flex point longitude and latitude be directly connected with this summit in the node of limit, also store the weights in section between current adjacent two road conditions in addition in the node of limit, whether affect the part point position longitude and latitude in mark, this section distance and this section by traffic hot spot;
(2) when traversing the section affected by traffic hot spot, the entrance of current road segment is added the tail of the queue of the queue of SPFA algorithm, preserve the node inside queue in current SPFA algorithm implementation, the last section entrance in this section is set to starting point, destination is that terminal regains new travel route, three at the most, have in the adjacency list structure of initial road network before adding, continue to perform SPFA algorithm;
(3) above step (1) is repeated and (2) pass through successive ignition, iterations is run into affected section number of times in SPFA algorithm implementation, all sections traversal in adjacency list structure to be finished bundle until cannot obtain the section of renewal or SPFA algorithm after running into traffic hot spot;
Record minimal path in SPFA algorithm implementation, namely finally obtain best travel route, and optimum line is presented on map vector.
6. according to claim 1 towards the paths planning method that traffic hot spot is evaded, it is characterized in that: in described 7th step: after being open to traffic, obtain current user position information by GPS, active user's speed is obtained by alternate position spike and mistiming, judge whether user is open to traffic according to present speed, if started, trigger reported event, every 1 minute report of user positional information, velocity information and deflection, traffic hot spot information will be organized into according to the partial information in speed and these information of present position; The current location dynamically reported is used for inspection whether in the middle of default traffic route, if depart from navigation way, then make prompting, and with user's current location starting point, take destination as terminal, again plan navigation circuit, and gather a real-time traffic hot information, for planning travelling line every a period of time.
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