CN103337162A - Real-time planning and dynamic scheduling system for urban emergency rescue channel - Google Patents
Real-time planning and dynamic scheduling system for urban emergency rescue channel Download PDFInfo
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Abstract
The invention discloses a real-time planning and dynamic scheduling system for an urban emergency rescue channel, which is designed based on real-time traffic road condition information. The system can accurately and reasonably plan a rescue path according to initial spot and real-time road condition information. The system which is different from a common GPS (global position system) navigation not only finds out a channel, but also plans a path consuming shortest passing time according to real-time road condition information, and further, limits such as single line, left turn restriction and the like are not required to be considered, so that the planning technology is a brand new multi-objective path planning algorithm which integrates conventional path planning algorithms. Besides, the emergency channel is established dynamically and removed after used, so that daily traffic is prevented from being influenced excessively. After an emergency occurs, the system can dynamically schedule an emergency rescue unit according to an event type and grade, simultaneously, a dynamic emergency channel planning module of the system timely schedules one emergency channel based on the real-time road condition information, and guarantees that the emergency rescue unit arrives at the event scene in shortest time; an upper computer of a monitoring room performs data communication with a caution light board in a short message manner, and a purpose of dynamically establishing the special emergency channel is achieved; and the system adopts single serial port SMSMODEM to perform communication.
Description
Technical field
The present invention relates to a kind of roading system, be specifically related to a kind of real-time planning and dynamic scheduling system of setting up city accident emergency management and rescue passage.
Background technology
Along with social economy constantly develops, the urbanization tempo is accelerated, urban road density also continues to increase, and fast-developing economy has brought very big facility for people's life, and the continuous expansion of urban road makes that feasible route space index increases exponentially in the traffic.Meanwhile, various uncertain dangerous matter sources also significantly increase with the factor that causes disaster in the city, thereby have caused all kinds of accidents in city to happen occasionally, and have caused great casualties and economic loss.After accident took place, for alleviating the adverse effect that accident is brought to greatest extent, the vehicle that necessarily requires rescue center to send was rushed towards the spot with the shortest time and is rescued.Urban highway traffic emergency management and rescue work involves a wide range of knowledge, strongly professional, depending merely on a certain department is difficult to finish, organize the strength of each side, form unified Police Command Center, under unified commander, realize interdepartmental resource and information sharing, departments such as traffic at different levels, medical aid, public security, fire-fighting, road administration respond fast, and close fit is fought jointly each other, organize and implement rescue work efficiently, could farthest reduce the loss.
At present China how the research of solution of emergent event this respect is also fewer to the urban transportation system, relevant theoretical basis research is also relatively weaker, whether relevant government department can in time tackle when accident took place, and was a major issue that relates to social stability, harmonious development.Therefore, carry out the research of urban transportation contingency management under the accident, to improving the emergency response capabilities of urban transportation system under the accident, reduce the loss that disaster is brought, and assure the safety for life and property of the people great scientific meaning and actual application value.
Summary of the invention
The present invention is based on the city emergency rescue road of real-time traffic information design and plans in real time and dynamic scheduling system that this system can accurately reasonably cook up the rescue route.The remarkable difference of this escape truck planning and general GPS navigation system is that the former finds a path, and to cook up the shortest path of transit time according to real-time traffic information, and need not to consider restrictions such as " single file ", " prohibiting a left side ", so this planning technology is a kind of brand-new multiobject path planning algorithm of comprehensive existing route planning algorithm.In addition, the foundation of escape truck is dynamic, and instant removing avoids influencing too much daily traffic.Simultaneously, this system synthesis city emergency program management module, each emergent unit information that can upgrade in time, can rational management emergent unit go to the spot in the shortest time in the very first time that accident occurs, in time handles accident.The development of this system has realized information digitalization, traffic intelligentization, the unitized function of control, and is significant to the application of intelligent transport technology in accident is handled.
The present invention has built integrated information processing platform for the city emergency rescue system, organically that each emergency management and rescue unit of city and urban transportation is information integrated to together, when accident takes place after, system can be according to event type and grade, dynamic dispatching emergency management and rescue unit, cook up the escape truck based on real-time road condition information when the escape truck dynamic programming module of simultaneity factor can be anxious, guaranteed that emergency management and rescue unit can arrive the incident point and rescue in the shortest time, minimized in the hope of the harm with accident.By integrated thinking system is developed, improved the comprehensive treatment capability of emergency rescue system, lay a good foundation for city emergency rescue intellectuality further develops.
Primary demand according to emergency management and rescue, system has realized burst emergency classification, the dynamic dispatching of emergency management and rescue unit, the emergency management and rescue passage dynamic programming based on real-time road condition information, the transmission of scheduling planning information, escape truck caution, and the function of the aspects such as management of each information database.Each functional module is integrated in the emergency rescue system, can carries out the optimal programming of information sharing, emergency management and rescue unit's rational management and escape truck efficiently.
Native system is mainly realized building of emergency rescue system comprehensive platform.In order to integrate every resource in city, carry out reception and the transmission of emergency management and rescue information, Traffic Information in time, quick and precisely differentiate for the burst emergency, real-time optimal programming escape truck, the function of dynamic dispatching emergency management and rescue unit, native system has utilized ArcGIS Engine assembly to carry out embedded secondary development in OO Visual Studio 2005 environment, and main contents comprise realization, its database design, the design of system path planning platform, the design of escape truck indication mechanism demonstrating model of map digitizing.
Description of drawings
Fig. 1 is the system architecture synoptic diagram;
Fig. 2 is the figure of city accident emergency management and rescue passage dynamic programming data base organization;
Fig. 3 is the system login interface;
Fig. 4 is system master interface;
Fig. 5 is emergent unit dynamic dispatching demonstration result schematic diagram;
Fig. 6 is emergency management and rescue passage dynamic programming result schematic diagram;
Fig. 7 is Real-time Traffic Information, development platform and planning platform communication synoptic diagram.
Embodiment
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the native system structural representation, mainly comprises road information, geographic information management system, contingency management infosystem, road information database, emergent unit dynamic scheduling system, emergent roading platform and parts such as emergent Indicating lamp board and emergency management and rescue unit.Native system can be according to the classification of emergency event, grade, in time, the emergent unit of scheduling pointedly, and realization is based on the emergent road path planning of real-time road condition information, for the road that makes planning can be the emergency management and rescue vehicle service conscientiously, after cooking up emergent road, can light emergent pilot lamp on the way, make the online vehicle in other transportation networks in time to dodge, guarantee that the breakdown lorry shortest time arrives the spot, close the breakdown lorry emergent road pilot lamp on the way of process simultaneously, not only realized making rational planning for fast of city emergency road thus, also farthest utilize social public transport road, avoided the wasting of resources.
Design for system database as Fig. 2, utilize map after the ArcMap digitizing of ESRI with the abstract combination for the aspect that interconnects different characteristic of real world, the concept of layering provides the shortcut that solves various complicated difficult problems.The urban transportation geography information is carried out carrying out organization and administration according to layer mode, according to function identical entity information is placed in the same layer.Utilize demixing technology that map is managed and the map of complexity can be oversimplified, thereby simplify system model and processing procedure greatly; On the other hand, single figure layer is handled to be made that system has greater flexibility.The data of city emergency rescue system are divided into spatial data and attribute data, spatial data has reflected the positional information of entity, attribute data has reflected the concrete feature (as classification, the grade of emergency management and rescue unit, information such as the real-time percent of pass in urban traffic road) of each entity.Foundation based on the accident emergency rescue system of GIS is data, and it is the cores of carrying out the path dynamic programming that appropriate design is organized data.Therefore, this paper has adopted the database that designs and set up the emergency traffic rescue system based on the Shapefile data model after the demand of system is analyzed, for path planning provides support.
Emergent roading platform is divided into login interface (as Fig. 3) and main interface (as Fig. 4), namely controls the interface.When system moves, be automatically brought to login interface, when input right user name and password, and after clicking login button, jump to the control interface, can operate control.System master interface mainly comprises emergent unit scheduler module, scheduling demonstration object module and path planning visualization model.
When malpractice takes place in the somewhere, need be according to the geographic position of medical grade and emergent unit, make rational planning for, for the grade discrimination of emergent unit with select and when inquiry, to depend on emergent unit information data base management system (DBMS) based on a large amount of historical datas and real time data.For example malpractice has appearred in position, Chengdu red card building, and after judging incident classification, the unit of just can dynamic dispatching meeting an urgent need accordingly rescues, and its scheduling result as shown in Figure 5.
Robbing calamity recovers most important in the process to be exactly the time, only can not to have satisfied the demand of modern intelligent transportation system from the shortest optimum escape truck of angle planning of distance fully.Except the emergent unit of rational management rescued, how going to the spot to rescue in the shortest time was key problem, also is the guarantee of the perfect foundation of emergency management and rescue management system.For example after fire failure has taken place in self-sufficient and strategically located region railway new station, send fire-fighting two units to rescue through the differentiation of accident pattern, carried out escape truck planning according to real-time road information, as shown in Figure 6.As can be seen from the figure, according to the selected routing algorithm of system, the road of planning not is the road of shortest path, but the planning in this path is reasonably to carry out with reference to road conditions congestion information and link length, after having guaranteed that escape truck is chosen out, public vehicles can have more space to carry out the path timely to dodge, and finally can guarantee the current and in time arrive accident spot smoothly of emergency management and rescue unit.From visual interface, can clearly determine, what the middle highway section in city showed is red traffic conditions, the highway section blocks up very much, though link length is the shortest, but select this highway section, if public vehicles can not in time be dodged, can not guarantee that still rescue unit arrives the spot in the shortest time, can't realize the target of efficient rescue in time.This system has not only shown the result of planning at digitized map, also provided concrete routing information simultaneously.The platform that this system builds can be implement resource integration well, gives full play to the emergency processing ability of each emergency management and rescue department, can realize the quick response for urgent accident.Design by the prediction scheme database, can differentiate type and the grade of event in the very first time that emergency takes place, more reasonably dispatch emergency management and rescue unit, simultaneously, combine emergency management and rescue passage that the algorithm that is applicable to emergency access planning of Real-time Traffic Information plans and can realize the rapidity of emergency management and rescue, conscientiously reduce the disaster event and give harm human and that society brings, by this system is carried out Interface design, build in conjunction with urban road emergency rescuing system hardware, can realize the high-speed traffic of information, by planning information being sent to Indicating lamp board on the way, can make public vehicles in time dodge out the emergency management and rescue passage, but guaranteed the practicality of planning road, path planning information and disaster information will be sent to the emergency management and rescue vehicle simultaneously, realize path planning, the unitarity of emergent unit dynamic dispatching.
System adopts the Floyd algorithm after optimizing, and utilizes the path specification method of the two constraints of time path and time priority.
Native system when the devise optimum path planning algorithm, the Iterative Matrix D of structure
(k)=(d
Ij (k)) calculating 2 V
iAnd V
jBetween shortest path the time, to being inserted into node V
rAdvanced trade right of way anharmonic ratio, if d
Ir (k-1)〉=d
Ij (k-1)Or d
Rj (k-1)〉=d
Ij (k-1), V then is described
iThrough illustration node V
rTo V
jThe road weight can be not littler than originally, so need not to calculate again d
Ir (k-1)+ d
Rj (k-1), directly enter the next node search.
For fast query going out optimal path, when optimizing algorithm, constructed a sequence number matrix A
(K)=(a
Ij (k)), (k=0,1 ...), what this matrix recorded is the situation of illustration node after this iteration of k, this matrix algorithms is as follows:
Step 1: make the initial weight matrix D
(0)=(d
Ij (0)) and the sequence number matrix A
(0)=(a
Ij (0)), wherein: work as i, when j is adjacent, d
Ij (0)=
W
Ij, a
Ij (0)=0; Work as i, j is non-conterminous or when not having path, d
Ij (0)=∞, a
Ij (0)=∮, distance matrix D at this moment
(0)In any 2 V of element representation
i, V
jRoad weight without other node.
Step 2: structure Iterative Matrix D
(k)=(d
Ij (k)) and the sequence number matrix A
(k)=(a
Ij (k)).
For Iterative Matrix D
(k)Element d
Ij (k), if d
Ir (k-1)〉=d
Ij (k-1)Or d
Rj (k-1)〉=d
Ij (k-1), V then is described
iThrough illustration node V
rTo V
jThe road weight can be not littler than originally, so need not to calculate again d
Ir (k-1)+ d
Rj (k-1), otherwise d
Ij (k)=min{d
Ij (k-1), d
Ir (k-1)+ d
Rj (k-1).
For the sequence number matrix A
(k)Each element, if d
Ij (k)=d
Il (k-1)+ d
Lj (k-1), and d
Ij (k)＜d
Ij (k-1), measuring point V then
l, and in the sequence number matrix A
(k)Corresponding element a
Ij (k)Become a
Ij (k)={ a
Il (k-1), V
l, a
Lj (k-1), show after the iteration from node V
iNode V sets out
jOptimal path comprised node V
l, otherwise, a
Ij (k)=a
Ij (k-1)
Step 3: if D
(k+1)=D
(k), termination of iterations, otherwise returned for second step.
By above analysis as can be known, adopt original Floyd algorithm calculating V
iTo V
jOptimal path the time, all to calculate i row element and the addition of j column element at every turn, carry out the n sub-addition altogether, and distance matrix comprises n
2Individual element, so the computation complexity of primal algorithm is O (n
3), after algorithm improved, calculating V
iTo V
jOptimal path the time, initiate node r ≠ I, j, so only need carry out the n-2 sub-addition, in addition, if the algorithm after adopt improving is d
Ir (k-1)〉=d
Ij (k-1)Or d
Rj (k-1)〉=d
Ij (k-1), then need not to calculate again d
Ir (k-1)+ d
Rj (k-1), particularly when the capable or j column element of i all more than or equal to d
Il (k-1)The time, need not to carry out addition, thereby the required addition number of times that carries out of algorithm after improving being 0～n-2 time, this stochastic variable is designated as X, if hypothesis X is possible in 0～n-2 value etc., then the mathematical expectation of stochastic variable X is n-2/2, namely at calculation level V
iTo V
jOptimal path d
Ij (k)The time, the additional calculation amount is n-2/2, because of distance matrix D
(k)A Zhongyou n2 element, therefore improving later algorithm complex is about o (n
3/ 2).
As shown in Figure 7, the serial ports design of system can be sent to the host computer management system with detected Real-time Traffic Information, and system is with this information of periodic refreshing, after emergency takes place, traffic department can dynamic programming place escape truck, and emergency vehicles can go to fast implements rescue.To lighting of the emergency management and rescue passage cooked up pilot lamp on the way be by set up on the entity road on the way lamp board ID number with every road ID of urban geographic information database number corresponding relation, behind the escape truck planning module planning department optimal path in the system, road ID is sent to lamp board on the way by Wireless transmission mode, light the lamp board simultaneously, the prompting public vehicles are dodged, dynamic programming in real time goes out the emergency management and rescue passage, routing information with planning is sent to the emergency management and rescue vehicle simultaneously, makes emergent unit can in time go to rescue.The bottom hardware system carries out data communication with form and the Control Room host computer of note.For realizing this function, native system adopts single serial ports SMS MODEM to carry out communication.
Claims (6)
1. the present invention relates to a kind of roading system, be specifically related to a kind of real-time planning and dynamic scheduling system of setting up city accident emergency management and rescue passage.
2. be not only to find a path, and to cook up the shortest path of transit time according to real-time traffic information, and need not to consider restrictions such as " single file ", " prohibiting a left side ", so this planning technology is a kind of brand-new multiobject path planning algorithm of comprehensive existing route planning algorithm.
3. the foundation of escape truck is dynamic, instant removing, avoid influencing too much daily traffic, simultaneously, this system synthesis city emergency program management module, each emergent unit information that can upgrade in time can go to the spot in the shortest time by the emergent unit of rational management in the very first time that accident occurs, in time handles accident.
4. the present invention has built integrated information processing platform for the city emergency rescue system, organically that each emergency management and rescue unit of city and urban transportation is information integrated to together, when accident takes place after, system can be according to event type and grade, dynamic dispatching emergency management and rescue unit, the escape truck dynamic programming module of simultaneity factor can in time be cooked up the escape truck based on real-time road condition information, guaranteed that emergency management and rescue unit can arrive the incident point and rescue in the shortest time, minimized in the hope of the harm with accident.
5. according to the primary demand of emergency management and rescue, system has realized burst emergency classification, the dynamic dispatching of emergency management and rescue unit, the emergency management and rescue passage dynamic programming based on real-time road condition information, the transmission of scheduling planning information, escape truck caution, and the function of the aspects such as management of each information database, each functional module is integrated in the emergency rescue system, can carries out the optimal programming of information sharing, emergency management and rescue unit's rational management and escape truck efficiently.
6. system adopts and finishes transmission of Information based on the wireless communication technique of SMS platform, and is not limited thereto kind of a wireless transmission method.
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