CN104134344A - Road traffic network emergency evacuation route generation method based on Internet of vehicles - Google Patents

Abstract

The invention discloses a road traffic network emergency evacuation route generation method based on the Internet of vehicles. The method involves a vehicle-mounted device, a roadside device, a network background server device and a vehicle emergency evacuation route decision making model. A wireless data communication module of the vehicle-mounted device broadcasts vehicle information to the roadside device through a wireless network, the roadside device performs statistics on the vehicle information of the road section and the local road network region, and the vehicle information is transmitted to the network background server in a wired data communication mode; a multi-target vehicle emergency evacuation route optimal decision making model is established and resolved by a vehicle emergency evacuation route planning module of the network background server with the minimum evacuation total travel distance, the minimum evacuation travel time and the minimum road section congestion probability as the targets, and an optimal route is obtained to guide vehicles in a dangerous region to be evacuated to a safe region. The road traffic network emergency evacuation route generation method based on the Internet of vehicles has the advantage that a real-time, safe, reliable and efficient emergency evacuation route can be provided for vehicles in the road traffic network.

Description

A kind of Traffic Net emergency evacuation path generating method based on car networking

Technical field

The present invention relates to intelligent transportation system, mobile radio telecommunications technology and traffic organization and administrative skill field, specifically, is a kind of Traffic Net emergency evacuation path generating method based on car networking.

Background technology

In recent years, the paces of China's big and medium-sized cities modernization construction were constantly accelerated, and the city dweller's density of population increasing is gradually brought very big burden to urban highway traffic road network.City dweller's the line efficiency that goes out depends on Traffic Net, and when unconventional event burst, the path that emergency traffic is evacuated has determined the emergency evacuation induction in city, the effect of emergency guarantee responsive operation to a great extent.In the emergency evacuation strategy of traffic flow, the generation of evacuating path is to carry out the prerequisite of a series of responsive measures such as emergency evacuation and key.Because, there is very important effect in the Traffic Net emergency evacuation path that possesses science, reliability and real-time to improving safety and efficiency, the minimizing emergency management and rescue time of traffic flow in emergency evacuation process and reducing the life and property loss that disaster causes, so how scientifically planning, generate Traffic Net emergency evacuation path becomes one of key problem of the contingency management of modern city public contingent even, traffic safety induction.

Because the road traffic flow measurer on city road has time variation, the road section traffic volume flow dynamic change of different time sections, this also can change along with the variation of time the transport need amount of Evacuation area.These dynamic traffic stream characteristics bring larger difficulty to the planning in the emergency evacuation path of Traffic Net, emergency evacuation path generation strategy traditional, based on static path planning method is owing to can not processing dynamic traffic properties of flow, thereby cannot meet the requirement of real-time that in urban road network, emergency traffic is evacuated.Current, it is many from minimizing traffic flow hourage, minimizing to evacuate to empty the time or minimize the single decision objectives such as traffic flow travel routes and set up mathematical optimization model that existing emergency traffic is evacuated path generation strategy.In fact, owing to evacuating in alert response at emergency traffic, both the hourage of evacuation and the travelling distance that reduction is evacuated had been needed to reduce as much as possible, ensure that again the traffic flow on each evacuation path does not get congestion the smoothness that ensures that traffic flow is evacuated in evacuation process, so emergency traffic traditional, based on single optimization aim is evacuated path generation strategy and is unfavorable for ensureing security, high efficiency and the reliability of traffic flow in emergency evacuation process.In addition, the emergency traffic evacuation model that most emergency traffics evacuations path generation strategy relies on need to be obeyed certain known probability distribution with the input rate of hypothesis road grid traffic flow, as Poisson distribution, the distribution of love erlang etc., as the basic premise condition of model running, this hypothetical basic premise condition can not match with actual traffic flow field scape preferably, so the emergency traffic of this class mathematical model and generation thereof is evacuated the potential application Problem of Failure in path.

Along with the fast development of mobile radio telecommunications technology, network hardware facility, between vehicle and vehicle, can carry out information transmission, data sharing etc. by the wireless network of extensive covering between vehicle and trackside.Car-mounted terminal has been regarded as a kind of important mobile communication terminal, the communication facilities that is deployed in car-mounted terminal is progressively used widely in daily life, makes that vehicle possesses that network insertion, the network information are obtained, on-vehicle information and vehicle environment information acquisition thereof and shared ability.Therefore, to possess car-mounted terminal, trackside communications facility and the communication network background service facility of mobile communication ability as the car networking of core, become the important component part of intelligent transportation system, it can be emergency traffic and evacuates the formulation of responsive measures, a series of activities such as carries out, especially the generation in emergency traffic evacuation path provides reliable, real-time transport information, ensures the real-time that emergency evacuation path generates.

Summary of the invention

For the problems referred to above, the security response decision-making after the present invention occurs towards emergency traffic event, in order to support the emergency evacuation of vehicle in Traffic Net, proposes a kind of Traffic Net emergency evacuation path generating method based on car networking.

A kind of Traffic Net emergency evacuation path generating method based on car networking of the present invention, comprises the following steps:

Step 1: using vehicle license plate number, vehicle geographical location information, vehicle automobile's instant velocity and airtime as car-mounted terminal packet, be broadcast to the roadside device in section, Real-Time Monitoring vehicle place at interval of time T 1; The roadside data bag of meanwhile, broadcasting by the roadside device in section, real-time listening vehicle place; If vehicle receives the roadside data bag coming from the roadside device broadcast in section, vehicle place, enter step 2; Otherwise enter step 3.

Step 2: the roadside data bag that vehicle is received is transmitted to electronic map of automobile navigation display module; Electronic map of automobile navigation display module, according to the emergency evacuation path data in roadside data bag, is presented at this evacuation path on electronic map of automobile navigation, or upgrades this vehicle dispersal path having shown on electronic chart, then, returns to step 1 and continues to carry out.

Step 3: roadside device real-time listening roadside device is monitored the car-mounted terminal packet of rolling stock broadcast on section; If receive car-mounted terminal packet, enter step 4; Otherwise continue to monitor.

Step 4: according to vehicle geographical location information in the car-mounted terminal packet receiving, check whether vehicle is positioned at the road section scope of roadside device monitoring; If the road section scope of vehicles failed in roadside device monitoring, does not process the car-mounted terminal packet of vehicle; If the road section scope of vehicle in roadside device monitoring checked and whether had this vehicle license plate number corresponding record in vehicle registration table corresponding to section, vehicle place; If do not exist, the automobile's instant velocity of the geographical location information of the license plate number of vehicle, airtime, vehicle (comprising longitude and the latitude of vehicle), vehicle is added in vehicle registration table as a new record; If exist, upgrade by the geographical location information of airtime, vehicle in the car-mounted terminal packet of vehicle, the automobile's instant velocity of vehicle the content that in vehicle record sheet, corresponding " airtime ", " vehicle longitude ", " vehicle latitude " and " speed of a motor vehicle " field record.

Meanwhile, the also optimum evacuation path data bag of real-time listening net background server of roadside device; If receive the optimum path data bag of evacuating, optimum is evacuated to path data packet broadcast to the vehicle on section of monitoring, continue afterwards to monitor the optimum path data bag of evacuating; If do not receive the optimum path data bag of evacuating, continue to monitor.

Step 5: roadside device according to section vehicle registration table data, is added up the vehicle fleet in section at interval of time T 2, and in the statistical unit time, flow into the vehicle number in this section; Then,, using the vehicle fleet in section, the vehicle number that flows into section in the unit interval, roadside device ID, road section ID, timing statistics A as section packet, be transferred to net background server in wired data communication mode.

Step 6: roadside device is monitored the vehicle registration table data in section according to roadside device at interval of time T 3, whole sections that roadside device is monitored form a local traffic network area, vehicle fleet in statistics current time local traffic network area, and vehicle fleet, roadside device ID, region ID, timing statistics B, as area data bag, are transferred to net background server in region.

Step 7: net background server receives section packet and the area data bag of each roadside device transmission, according to the road section ID recording in the packet of section, in the vehicle rate of inflow record sheet of the section of net background server, " the section vehicle fleet " of correspondence, " section rate of inflow " and " timing statistics A " field recorded data are upgraded by the data that record in the packet of section; In the car statistics record sheet of the region of net background server, according to the data that record in area data bag, " the region vehicle fleet " of correspondence and " timing statistics B " field recorded data are upgraded.

Step 8: if there is not safe emergency event in monitored transportation network, return to step 7 and continue to carry out; If some or several local traffic, in network area, safe emergency event occur, carry out following steps:

(1) the local traffic network area of the safe emergency event of definition generation is: hazardous location; The regional area that safe emergency event does not occur is: safety zone; Make hazardous location add up to N, represent i hazardous location with i, the set of all values of i is designated as to I; Make safety zone add up to M, represent j safety zone with j, the set of all values of j is designated as to J; Meanwhile, represent l article of section with l, the set of all values of l is designated as A.

(2) according to the data in the vehicle rate of inflow record sheet of section, obtain the vehicle fleet on l article of section, be designated as n _l, l ∈ A; According to the data in the car statistics record sheet of region, obtain the vehicle fleet of i hazardous location, be designated as S _i, i ∈ I, and obtain open ended maximum vehicle number in j safety zone, be designated as C _j, j ∈ J; According to the data in the vehicle rate of inflow record sheet of all sections, the acquisition unit interval is rolled the vehicle number of i hazardous location away from, is designated as ρ _i, i ∈ I.

(3), according to the data of region car statistics record sheet, judge whether the vehicle fleet in each hazardous location is greater than S ^*; If so, continue execution step (4); If not, finish.

(4), according to electronic communication map data base, inquiry obtains the geological information in each section, comprising: the road section length L in l article of section _l, the number of track-lines W in l article of section _l, l ∈ A; Net background server is according to Road Traffic Design standard, and inquiry obtains the design free flow speed in l article of section with design traffic flow density and l ∈ A.

(5) according to the length L in all sections _l, utilize dijkstra's algorithm search from each hazardous location arrive each safety zone the shortest path of K bar stroke distances, in the shortest path of K bar stroke distances, every paths represents with k, k gets 1 to K.

(6) the k article of shortest path total kilometres that definition arrives j safety zone from i hazardous location are apart from being definition decision variable is if by k article of shortest path by the vehicle dispersal in i hazardous location to j safety zone, otherwise, and i ∈ I, j ∈ J, k ∈ 1,2 ..., K}; Thus, further set up emergency vehicle and evacuate path decision model:

min:(O ₁) ^α×(O ₂) ^β×(O ₃) ^γ

$s.t.\left\{\begin{array}{c}\underset{j\∈J}{\mathrm{\Σ}}\underset{k=1}{\overset{K}{\mathrm{\Σ}}}{s}_i^j\left(k\right)=1;\∀i\∈I\\ \underset{i\∈I}{\mathrm{\Σ}}\underset{k=1}{\overset{K}{\mathrm{\Σ}}}{P}_i{s}_i^j\left(k\right)\≤C_j;\∀j\∈J\end{array}\right.---\left(1\right)$

In formula (1), O ₁for evacuating the objective function of gross vehicle stroke distances as target to minimize, α represents objective function O ₁non-negative weighted value, it is set according to concrete applicable cases, its span can be positive integer arbitrarily, as gets α=1; O ₂represent to evacuate the objective function of gross vehicle journey time as target to minimize, β represents objective function O ₂non-negative weighted value, it is set according to concrete applicable cases, its span can be any positive integer, as gets β=2; O ₃represent to evacuate path and block up probability as the objective function of target to minimize, γ represents objective function O ₃non-negative weighted value, it is set according to concrete applicable cases, its span can be positive integer arbitrarily, as gets γ=1; the equality constraint equation of the decision variable relevant to i hazardous location, wherein i ∈ I; the inequality constrain equation of the decision variable relevant to j safety zone, wherein j ∈ J.

Above-mentioned O ₁, O ₂, O ₃expression formula be:

$O_1=\left(\frac{\underset{i\∈I}{\mathrm{\Σ}}{S}_i\×(\underset{j\∈J}{\mathrm{\Σ}}\underset{k=1}{\overset{K}{\mathrm{\Σ}}}{s}_i^j\left(k\right)\×d_i^j\left(k\right))}{\underset{i\∈I}{\mathrm{\Σ}}{S}_i\×(\underset{j\∈J}{\mathrm{\Σ}}{s}_i^j\left(k\right)\×d_i^j\left(1\right))}\right)---\left(2\right)$

$O_2=\left(\frac{\underset{l\∈A}{\mathrm{\Σ}}{t}_l\×(\underset{i\∈I}{\mathrm{\Σ}}{P}_i\×\underset{j\∈J}{\mathrm{\Σ}}\underset{k=1}{\overset{K}{\mathrm{\Σ}}}{\mathrm{\π}}_i^j(k,l)s_i^j\left(k\right))}{\underset{l\∈A}{\mathrm{\Σ}}{t}_l^{\min }\×(\underset{i\∈I}{\mathrm{\Σ}}{P}_i\×\underset{j\∈J}{\mathrm{\Σ}}\underset{k=1}{\overset{K}{\mathrm{\Σ}}}{\mathrm{\π}}_i^j(k,l)s_i^j\left(k\right))}\right)---\left(3\right)$

$O_3=\left(\frac{\underset{i\∈I}{\mathrm{\Σ}}\underset{j\∈J}{\mathrm{\Σ}}\underset{k=1}{\overset{K}{\mathrm{\Σ}}}\underset{l\∈A}{\mathrm{\Σ}}{p}_i^j(k,l){\mathrm{\π}}_i^j(k,l)s_i^j\left(k\right)}{\underset{i\∈I}{\mathrm{\Σ}}\underset{j\∈J}{\mathrm{\Σ}}\underset{k=1}{\overset{K}{\mathrm{\Σ}}}\underset{l\∈A}{\mathrm{\Σ}}{\mathrm{\π}}_i^j(k,l)s_i^j\left(k\right)}\right)---\left(4\right)$

In formula (3) and formula (4), represent section decision variable, if by k article of shortest path by the vehicle dispersal in i hazardous location to j safety zone and this shortest path through l article of section, if by k article of shortest path by the vehicle dispersal in i hazardous location to j safety zone and this shortest path without l article of section, represent the minimum hourage of vehicle on l article of section, its value is tl is the expectation hourage of vehicle on l article of section; represent utilize k article of shortest path by the vehicle dispersal in i hazardous location to j the probable value that safety zone causes l article of section to get congestion.

(7) evacuate path decision model by emergency vehicle genetic algorithm for solving formula (1) described, obtain and make objective function value minimize the optimizing decision variable in situation with value, i ∈ I, j ∈ J, l ∈ A, k ∈ 1,2 ..., K}; Then the optimizing decision variable that is, 1 according to value with obtain vehicle is dispersed into safety zone j optimal path from hazardous location i

(8) optimum is evacuated to path the time that generates this suboptimum evacuation path is packaged into the optimum path data bag of evacuating, and is transferred to all roadside devices in i hazardous location, and i ∈ I.

(9) judge whether to go off the air that this solves the optimum obtaining and evacuates path data bag according to optimum T closing time that evacuates path data bag of broadcast, if, this suboptimum of going off the air is evacuated path data bag, then returning to step 6 continues to carry out, otherwise, continue this suboptimum of broadcast and evacuate path data bag.

(10) roadside device in each hazardous location receives the optimum being come by the transmission of net background server and evacuates path data bag, this optimum is evacuated to path data bag and turn as roadside data bag the mobile unit being broadcast in hazardous location.

(11) in hazardous location, vehicle receives the roadside data bag of being broadcasted by roadside device, and by this data packet transmission, to electronic map of automobile navigation display module, electronic map of automobile navigation display module is evacuated path by optimum and is presented on electronic map of automobile navigation.

The invention has the advantages that:

1, the present invention is based on the Traffic Net emergency evacuation path generating method of car networking, different from traditional emergency evacuation path generating method, main vehicle in road network is as evacuating object, by the information acquisition of car networking, shared and distribution technology is incorporated in the method for emergency evacuation path generation, network the Real-time Traffic Information in Traffic Net (is comprised to the real-time position information of evacuating vehicle by car, evacuate the real-time information of the Vehicle Driving Cycle speed of a motor vehicle, the real-time vehicle rate of outflow of hazardous location, the real-time traffic stream information in section etc.), (comprise the length in section with the static road section information of road network, number of lanes, free flow speed, the maximum traffic capacity etc.) combine, evacuate path to generate emergency traffic, ensure the real-time in the safe emergency evacuation path generating.

2, the Traffic Net emergency evacuation path generating method that the present invention is based on car networking provide one novel, the emergency traffic of multiple-objection optimization is evacuated path decision model, to minimize the overall travel time of evacuating vehicle, minimize and evacuate total travelling distance of vehicle and minimize probability that in emergency evacuation process, section gets congestion as optimization aim, the optimum of this model generation is evacuated path and has been weighed public safety emergency to evacuating the requirement of timeliness and evacuation stroke two aspects, and avoid, in evacuation process, traffic congestion occurs, thereby can be vehicle in Traffic Net provides and has security, reliability, the evacuation path of high efficiency,

3, the emergency traffic that the present invention is based on the Traffic Net emergency evacuation path generating method of car networking and provide is evacuated path decision model does not need the statistical property of traffic flow in Traffic Net to do theory hypothesis, it is applicable to different kinds of roads transportation network and various traffic flow situation, therefore, the inventive method has universality.

Brief description of the drawings

Fig. 1 is the architecture sketch of the Traffic Net emergency evacuation path generating method based on car networking of the present invention;

Fig. 2 is the Traffic Net emergency evacuation path generating method EM equipment module structural representation that the present invention is based on car networking;

Fig. 3 is the Traffic Net emergency evacuation path generating method entirety flow chart of steps based on car networking of the present invention.

In figure:

1-mobile unit 1 2-roadside device 2 3-net background server apparatus

101-vehicle positioning module 102-vehicle speed sensor module 103-electronic map of automobile navigation display module

The logical 202-trackside wireless data communication module of 104-onboard wireless data communication 201-trackside cable data

Module letter module

203-section flows into car statistics 204-Regional Road Network and evacuates car 301-wired data communication module

A module statistical module

302-emergency vehicle is evacuated path 303-electronic communication map number

Planning module is according to storehouse

Embodiment

A kind of Traffic Net emergency evacuation path generating method based on car networking of the present invention, realizes based on following equipment: comprise mobile unit 1, roadside device 2 and net background server apparatus 3, as shown in Figure 1.Wherein, described mobile unit 1 comprises vehicle positioning module 101, vehicle speed sensor module 102, electronic map of automobile navigation display module 103 and onboard wireless data communication module 104.Described roadside device 2 comprises that trackside wired data communication module 201, trackside wireless data communication module 202, section flow into car statistics module 203 and Regional Road Network is evacuated car statistics module 204; Described net background server apparatus 3 comprises wired data communication module 301, emergency vehicle evacuation path planning module 302 and electronic communication map data base 303.As shown in Figure 2, between described mobile unit 1 and roadside device 2, carry out data transmission by radio data communication mode, between each roadside device 2 and between roadside device 2 and net background server apparatus 3, carry out data transmission by wired data communication mode.

Described vehicle positioning module 101 is main by GPS positioning system or Big Dipper positioning system Real-time Collection vehicle geographical location information, comprises longitude and the latitude information of vehicle.The emergency vehicle that described emergency vehicle evacuation path decision mold portion is deployed in net background server apparatus 3 is evacuated in path planning module 302.Described vehicle positioning module 101, by longitude and the latitude information of this vehicle gathering, sends to the wireless data communication module of mobile unit 1; Meanwhile, described vehicle speed sensor module 102 sends to this vehicle automobile's instant velocity gathering the wireless data communication module of mobile unit 1; The onboard wireless data communication module 104 of mobile unit 1 (comprises vehicle license plate number, airtime, the longitude and latitude of vehicle, the automobile's instant velocity of vehicle) at interval of time T 1 using this information of vehicles as car-mounted terminal packet and goes out by wireless network broadcast.Described onboard wireless data communication module 104 receives by wireless network the roadside data bag that the trackside wireless data communication module 202 of roadside device 2 is broadcasted, and the roadside data bag receiving is sent to electronic map of automobile navigation display module 103; Electronic map of automobile navigation display module 103, according to the evacuation path data in this roadside data bag, is presented at this evacuation path on electronic chart.

Described trackside wireless data communication module 202 receives car-mounted terminal packet by wireless network, identify the section at the corresponding vehicle of this license plate number place according to the vehicle longitude in car-mounted terminal packet and latitude information, if this vehicle is not monitored road section scope in this roadside device 2, abandon this car-mounted terminal packet, otherwise, monitor in vehicle registration table corresponding to section at this roadside device 2, whether inquiry there is vehicle license plate number corresponding record in this car-mounted terminal packet, if exist, utilize the airtime in this car-mounted terminal packet, vehicle longitude and latitude, vehicle automobile's instant velocity upgrades this vehicle license plate number corresponding record in vehicle record sheet, if not yet exist, by this vehicle license plate number, airtime, the longitude of vehicle and latitude, the automobile's instant velocity of vehicle adds in vehicle registration table as a new record.

Described section flows into vehicle registration table data corresponding to all sections that car statistics module 203 is monitored according to this roadside device 2 at interval of time T 2, add up the interior vehicle number that flows into section of vehicle fleet, unit interval in monitored section, and using the vehicle fleet in section, the vehicle number that flows into section in the unit interval, this roadside device 2ID, road section ID, timing statistics as section packet, by the trackside wired data communication module 201 of this roadside device 2, with cable data transmission mode by this section data packet transmission to net background server apparatus 3.

Described Regional Road Network is evacuated vehicle registration table data corresponding to all sections that car statistics module 204 is monitored according to this roadside device 2 at interval of time T 3, form a local traffic network area with all sections of being monitored by this roadside device 2, add up the vehicle fleet travelling on all sections in this region, and using vehicle fleet, this roadside device 2ID, region ID, timing statistics as area data bag, by the trackside wired data communication module 201 of this roadside device 2, with cable data transmission mode, this area data bag is transferred to net background server apparatus 3.

The wired data communication module 301 of described net background server apparatus 3 receives section packet and the area data bag that in each roadside device 2, trackside wire transmission module 201 is transmitted, according to the road section ID recording in the packet of section, in the vehicle rate of inflow record sheet of the section of net background server apparatus 3, inflow vehicle number, timing statistics in corresponding this road section ID section vehicle fleet, unit interval are updated to latest data; According to the region ID recording in area data bag, in the car statistics record sheet of region, corresponding this region ID region vehicle fleet, timing statistics are updated to latest data.

When in some in Traffic Net or certain several region, emergency event occurring, net background server apparatus 3 triggers emergency vehicle and evacuates path planning module 302, emergency vehicle is evacuated path planning module 302 and is set up and solve emergency vehicle evacuation path decision model according to the data that record in section vehicle rate of inflow record sheet and region car statistics record sheet, generate the routing information that emergency vehicle is evacuated, and by the information in the vehicle dispersal path generating, the time that generates evacuation path is packaged into the optimum path data bag of evacuating, by wired data communication module 301, in wired data communication mode, optimum is evacuated to path data bag and be transferred to roadside device 2 corresponding to region that safe emergency event has occurred, these roadside devices 2 optimum is evacuated to path data bag as roadside data bag, be transferred to trackside wireless data communication module 202 in roadside device 2, by wireless data communication module by roadside data packet broadcast to the vehicle on section.

As shown in Figure 3, concrete grammar is realized by following steps:

Step 1: on vehicle, (time interval parameter T1 sets according to concrete application scenarios mobile unit 1 at interval of time T 1, and be positive integer, as to get T1 be 8 seconds) using vehicle license plate number, vehicle geographical location information, vehicle automobile's instant velocity and airtime as car-mounted terminal packet, be broadcast to the roadside device 2 in section, Real-Time Monitoring vehicle place by onboard wireless data communication module 104.The roadside data bag of meanwhile, broadcasting by the roadside device 2 in onboard wireless data communication module 104 sections, real-time listening vehicle place; If onboard wireless data communication module 104 receives the roadside data bag coming from roadside device 2 broadcast in section, vehicle place, enter step 2: otherwise enter step 3.

Above-mentioned vehicle geographical location information, by vehicle positioning module 101 (GPS positioning system or Big Dipper positioning system) Real-time Collection, comprises longitude and the latitude information of vehicle; Vehicle automobile's instant velocity gathers by vehicle speed sensor module 102; Airtime represents the moment of vehicle-mounted wireless data according to communication module 104 these vehicle car-mounted terminal packets of broadcast.

Step 2: the roadside data bag receiving is transmitted to electronic map of automobile navigation display module 103 by onboard wireless data communication module 104; Electronic map of automobile navigation display module 103 is according to the emergency evacuation path data in roadside data bag, this evacuation path is presented on electronic map of automobile navigation display module 103, or this vehicle dispersal path having shown on renewal electronic chart, then, return to step 1 and continue to carry out the roadside data bag that onboard wireless data communication module 104 real-time listening roadside devices 2 are broadcasted.

Step 3: roadside device 2 is monitored the car-mounted terminal packet of rolling stock broadcast on section by trackside wireless data communication module 202 real-time listening roadside devices 2; If receive car-mounted terminal packet, car-mounted terminal data packet transmission is flowed into car statistics module 203 to section, enter step 4; Otherwise continue to monitor.

Step 4: section flows into car statistics module 203 according to vehicle geographical location information in the car-mounted terminal packet receiving, and checks whether vehicle is positioned at the road section scope that roadside device 2 is monitored; If the road section scope that vehicles failed is monitored in roadside device 2, does not process the car-mounted terminal packet of vehicle; If the road section scope that vehicle is monitored in roadside device 2 is checked and whether is had this vehicle license plate number corresponding record in vehicle registration table corresponding to section, vehicle place; If do not exist, the automobile's instant velocity of the geographical location information of the license plate number of vehicle, airtime, vehicle, vehicle is added in vehicle registration table as a new record; If exist, upgrade " airtime ", " vehicle longitude ", " vehicle latitude " and " speed of a motor vehicle " field contents of " vehicle license plate number " field corresponding record in vehicle record sheet by the geographical location information of airtime, vehicle in the car-mounted terminal packet of vehicle, the automobile's instant velocity of vehicle.

Meanwhile, roadside device 2 is also evacuated path data bag by the optimum of wired data communication module 301 real-time listening net background server apparatus 3.If receive the optimum path data bag of evacuating, optimum is evacuated to path data bag and broadcasted by wireless data communication module, continue afterwards to monitor the optimum path data bag of evacuating; If do not receive the optimum path data bag of evacuating, continue to monitor.

Step 5: roadside device 2 flows into car statistics module 203 by section, at interval of time T 2, (time interval parameter T2 sets according to concrete application scenarios, for positive integer, and ensure T1<T2, as to get T2 be 16 seconds) according to the section vehicle registration table data of trackside, the vehicle fleet in statistics section, and the interior vehicle number that flows into this section of statistical unit time; Then, using the vehicle fleet in section, the vehicle number that flows into section in the unit interval, roadside device 2ID, road section ID, timing statistics A as section packet, by trackside wired data communication module 201, be transferred to net background server apparatus 3 with cable data transmission mode.Above-mentioned timing statistics A refers to that section flows into car statistics module 203 and adds up the moment that flows into section vehicle number in section vehicle fleet and unit interval.

Step 6: the Regional Road Network of roadside device 2 is evacuated car statistics module 204, and (time interval parameter T3 sets according to concrete application scenarios at interval of time T 3, for positive integer, and ensure T2<T3, as to get T3 be 32 seconds) monitor the vehicle registration table data in section according to roadside device 2, whole sections that roadside device 2 is monitored form a local traffic network area, vehicle fleet in statistics current time local traffic network area, and by vehicle fleet in region, roadside device 2ID, region ID, timing statistics B is as area data bag, by trackside wired data communication module 201, be transferred to net background server apparatus 3 with cable data transmission mode.Above-mentioned timing statistics B is the moment that Regional Road Network evacuates car statistics module 204 and add up vehicle fleet in local transportation network region that shows the way.

Step 7: net background server apparatus 3 receives section packet and the area data bag that each roadside device 2 transmits, according to the road section ID recording in the packet of section, in the vehicle rate of inflow record sheet of the section of net background server apparatus 3, respectively " the section vehicle fleet " of correspondence, " section rate of inflow " and " timing statistics A " field data are updated to last look with the vehicle number, the timing statistics A that flow into section in the vehicle fleet in the section in the packet of section, unit interval; In the car statistics record sheet of the region of net background server apparatus 3, according to the region ID recording in area data bag, respectively " the region vehicle fleet " of correspondence and " timing statistics B " field data are updated to last look with vehicle fleet, timing statistics B in the region in the car statistics record sheet of region.

Step 8: (comprise disaster, particularly serious accident, environmental hazard and artificial destruction event etc. if there is not safe emergency event in monitored transportation network, for example, the attack of terrorism, great especially or major traffic accidents, great especially or great harmful chemical substance leak, great especially or fire disaster etc.), returning to step 7 continues to carry out; If some or several local traffic, in network area, safe emergency event occur, carry out following steps:

(1) evacuating path planning module 302 by emergency vehicle defines and the local traffic network area of safe emergency event occurs is: hazardous location; The regional area that safe emergency event does not occur is: safety zone.Make hazardous location add up to N, represent i hazardous location with i, the set of all values of i is designated as to I; Make safety zone add up to M, represent j safety zone with j, the set of all values of j is designated as to J; Meanwhile, represent l article of section with l, the set of all values of l is designated as A.

(2) emergency vehicle is evacuated path planning module 302 according to the data in the vehicle rate of inflow record sheet of section, obtains the vehicle fleet on l article of section, is designated as n _l, l ∈ A; Emergency vehicle is evacuated path planning module 302 according to the data in the car statistics record sheet of region, obtains the vehicle fleet of i hazardous location, is designated as S _i, i ∈ I, and obtain open ended maximum vehicle number in j safety zone (the design traffic capacity sums in all sections that j safety zone comprises) according to Road Traffic Design standard, be designated as C _j, j ∈ J; Emergency vehicle is evacuated path planning module 302 according to the data in the vehicle rate of inflow record sheet of all sections, and the acquisition unit interval is rolled the vehicle number of i hazardous location away from, is designated as ρ _i, i ∈ I.

Above-mentioned ρ _iobtaining value method for: obtain all sections that comprise with i hazardous location section record that be connected and that do not belong to i hazardous location according to all sections of net background server vehicle rate of inflow record sheet inquiry, the vehicle number sum of sailing section into from i hazardous location within the unit interval on all these sections is as ρ _ivalue.

(3) emergency vehicle is evacuated path planning module 302 according to the data of region car statistics record sheet, judges whether the vehicle fleet in each hazardous location is greater than S ^*; If so, continue execution step (4); If not, illustrate that the vehicle in hazardous location is evacuated out hazardous location substantially, stop carrying out the inventive method.Above-mentioned parameter S ^*numerical value preset according to concrete application scenarios, and be nonnegative integer, as get S ^*=2.

(4) emergency vehicle is evacuated path planning module 302 according to electronic communication map data base 303, and inquiry obtains the geological information in each section, comprising: the road section length L in l article of section _l, the number of track-lines W in l article of section _l, l ∈ A; Net background server apparatus 3 is according to Road Traffic Design standard, and inquiry obtains the design free flow speed in l article of section with design traffic flow density and l ∈ A.

(5) emergency vehicle is evacuated path planning module 302 according to the length L in all sections _l, utilize dijkstra's algorithm search from each hazardous location arrive each safety zone the shortest path of K bar stroke distances, in the shortest path of K bar stroke distances, every paths represents with k, k gets 1 to K;

(6) emergency vehicle is evacuated path planning module 302 and is defined k article of shortest path total kilometres that arrive j safety zone from i hazardous location apart from being definition decision variable is if by k article of shortest path by the vehicle dispersal in i hazardous location to j safety zone, otherwise, and i ∈ I, j ∈ J, k ∈ 1,2 ..., K}; Thus, the emergency vehicle of further setting up the inventive method is evacuated path decision model:

min:(O ₁) ^α×(O ₂) ^β×(O ₃) ^γ

$s.t.\left\{\begin{array}{c}\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{s}_i^j\left(k\right)=1;\&ForAll;i\&Element;I\\ \underset{i\&Element;I}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{P}_i{s}_i^j\left(k\right)\&le;C_j;\&ForAll;j\&Element;J\end{array}\right.---\left(1\right)$

In formula (1), O ₁for evacuating the objective function of gross vehicle stroke distances as target to minimize, α represents objective function O ₁non-negative weighted value, it is set according to concrete applicable cases, its span can be positive integer arbitrarily, as gets α=1.O ₂represent to evacuate the objective function of gross vehicle journey time as target to minimize, β represents objective function O ₂non-negative weighted value, it is set according to concrete applicable cases, its span can be any positive integer, as gets β=2.O ₃represent to evacuate path and block up probability as the objective function of target to minimize, γ represents objective function O ₃non-negative weighted value, it is set according to concrete applicable cases, its span can be positive integer arbitrarily, as gets γ=1. the equality constraint equation of the decision variable relevant to i hazardous location, wherein i ∈ I; the inequality constrain equation of the decision variable relevant to j safety zone, wherein j ∈ J.

Above-mentioned O ₁, O ₂, O ₃expression formula be:

$O_1=\left(\frac{\underset{i\&Element;I}{\mathrm{\&Sigma;}}{S}_i\&times;(\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{s}_i^j\left(k\right)\&times;d_i^j\left(k\right))}{\underset{i\&Element;I}{\mathrm{\&Sigma;}}{S}_i\&times;(\underset{j\&Element;J}{\mathrm{\&Sigma;}}{s}_i^j\left(k\right)\&times;d_i^j\left(1\right))}\right)---\left(2\right)$

$O_2=\left(\frac{\underset{l\&Element;A}{\mathrm{\&Sigma;}}{t}_l\&times;(\underset{i\&Element;I}{\mathrm{\&Sigma;}}{P}_i\&times;\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right))}{\underset{l\&Element;A}{\mathrm{\&Sigma;}}{t}_l^{\min }\&times;(\underset{i\&Element;I}{\mathrm{\&Sigma;}}{P}_i\&times;\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right))}\right)---\left(3\right)$

$O_3=\left(\frac{\underset{i\&Element;I}{\mathrm{\&Sigma;}}\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}\underset{l\&Element;A}{\mathrm{\&Sigma;}}{p}_i^j(k,l){\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right)}{\underset{i\&Element;I}{\mathrm{\&Sigma;}}\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}\underset{l\&Element;A}{\mathrm{\&Sigma;}}{\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right)}\right)---\left(4\right)$

In formula (3) and formula (4), represent section decision variable, if by k article of shortest path by the vehicle dispersal in i hazardous location to j safety zone and this shortest path through l article of section, if by k article of shortest path by the vehicle dispersal in i hazardous location to j safety zone and this shortest path without l article of section,

In formula (3), represent the minimum hourage of vehicle on l article of section, its value is t _lbe the expectation hourage of vehicle on l article of section, it calculates by following computation model:

$t_l=t_l^{\min }+(\frac{L_l{L}_l{K}_l^{\max }{W}_l}{V_l^{\max }}-t_l^{\max })\&times;\frac{\left(\underset{i\&Element;I}{\mathrm{\&Sigma;}}{\mathrm{\&rho;}}_i\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right)\right)\&times;\left(L_l{K}_l^{\max }{W}_l\right)}{L_l{K}_l^{\max }{W}_l+1-n_l}---\left(5\right)$

In formula (4), represent utilize k article of shortest path by the vehicle dispersal in i hazardous location to j the probable value that safety zone causes l article of section to get congestion, it calculates by following computation model:

$p_i^j(k,l)=\frac{{\left(\frac{{\mathrm{\&rho;}}_l{L}_l}{V_l^{\max }}\right)}^{L_l{W}_l{K}_l^{\max }}}{[\underset{u=1}{\overset{L_l{W}_l{K}_l^{\max }}{\mathrm{\&Pi;}}}u\&times;\exp \left(u\left(\frac{L_l{W}_l{K}_l^{\max }+1-u}{L_l{W}_l{K}_l^{\max }}\right)\right)]\&times;[1+\underset{v=1}{\overset{L_l{W}_l{K}_l^{\max }}{\mathrm{\&Sigma;}}}\left(\frac{{\left(\frac{{\mathrm{\&rho;}}_l{L}_l}{V_l^{\max }}\right)}^v}{\underset{x=1}{\overset{v}{\mathrm{\&Pi;}}}x\left(\frac{L_l{W}_l{K}_l^{\max }-x+1}{L_l{W}_l{K}_l^{\max }}\right)}\right)]}---\left(6\right)$

In formula (6), ρ _lvalue be: ${\mathrm{\&rho;}}_l=\underset{i\&Element;I}{\mathrm{\&Sigma;}}{P}_i\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right);$

(7) emergency vehicle is evacuated path planning module 302 and is utilized the emergency vehicle described in genetic algorithm for solving to evacuate path decision model (1), obtains and makes objective function value minimize the optimizing decision variable in situation with value, i ∈ I, j ∈ J, l ∈ A, k ∈ 1,2 ..., K}; Then the optimizing decision variable that is, 1 according to value with obtain vehicle is dispersed into safety zone j optimal path from hazardous location i, this path is 1 by value corresponding a series of section l forms, and is designated as:

${\mathrm{path}}_i^j=\left\{l^{*}\right|l^{*}=\underset{\&ForAll;l\&Element;A}{\arg }({\mathrm{\&pi;}}_i^j(k^{*},l)=1);k^{*}=\underset{k\&Element;\{\mathrm{1,2},...,K\}}{\arg }(s_i^j\left(k\right)=1)\},$ And i ∈ I, j ∈ J.

(8) emergency vehicle is evacuated path planning module 302 optimum is evacuated to path the time that generates this suboptimum evacuation path is packaged into the optimum path data bag of evacuating, and utilizes wired data communication module 301 to be transferred to all roadside devices 2 in i hazardous location, and i ∈ I.

(9) emergency vehicle evacuation path planning module 302 judges whether to go off the air according to optimum T closing time that evacuates path data bag of broadcast, and this solves the optimum evacuation path data bag obtaining, if, this suboptimum of going off the air is evacuated path data bag, then returning to step 6 continues to carry out, otherwise, continue this suboptimum of broadcast and evacuate path data bag.Described time parameter T sets in advance according to concrete application scenarios, and is positive integer, as gets T=600 second.

(10) the wired data communication module 301 of the roadside device 2 in each hazardous location receives by net background server apparatus 3 and transmits the optimum evacuation path data bag coming, this optimum is evacuated to path data bag and be transmitted to wireless data transfer module as roadside data bag, be broadcast to the mobile unit 1 in hazardous location by wireless data transfer module.

(11) in hazardous location, the onboard wireless data communication module 104 of vehicle receives the roadside data bag of being broadcasted by trackside wireless data communication module 202, by this data packet transmission to electronic map of automobile navigation display module 103, electronic map of automobile navigation display module 103 is evacuated path by optimum and is presented on electronic map of automobile navigation, realizes the evacuation to this vehicle.

Claims (9)

1. the Traffic Net emergency evacuation path generating method based on car networking, is characterized in that, comprises the following steps:

Step 1: using vehicle license plate number, vehicle geographical location information, vehicle automobile's instant velocity and airtime as car-mounted terminal packet, be broadcast to the roadside device in section, Real-Time Monitoring vehicle place at interval of time T 1; The roadside data bag of meanwhile, broadcasting by the roadside device in section, real-time listening vehicle place; If vehicle receives the roadside data bag coming from the roadside device broadcast in section, vehicle place, enter step 2; Otherwise enter step 3;

Step 2: the roadside data bag that vehicle is received is transmitted to electronic map of automobile navigation display module; Electronic map of automobile navigation display module, according to the emergency evacuation path data in roadside data bag, is presented at this evacuation path on electronic map of automobile navigation, or upgrades this vehicle dispersal path having shown on electronic chart, then, returns to step 1 and continues to carry out;

Step 3: roadside device real-time listening roadside device is monitored the car-mounted terminal packet of rolling stock broadcast on section; If receive car-mounted terminal packet, enter step 4; Otherwise continue to monitor;

Step 4: according to vehicle geographical location information in the car-mounted terminal packet receiving, check whether vehicle is positioned at the road section scope of roadside device monitoring; If the road section scope of vehicles failed in roadside device monitoring, does not process the car-mounted terminal packet of vehicle; If the road section scope of vehicle in roadside device monitoring checked and whether had this vehicle license plate number corresponding record in vehicle registration table corresponding to section, vehicle place; If do not exist, the automobile's instant velocity of the geographical location information of the license plate number of vehicle, airtime, vehicle, vehicle is added in vehicle registration table as a new record; If exist, upgrade respective field content in vehicle record sheet by the geographical location information of airtime, vehicle in the car-mounted terminal packet of vehicle, the automobile's instant velocity of vehicle;

Meanwhile, the also optimum evacuation path data bag of real-time listening net background server of roadside device; If receive the optimum path data bag of evacuating, optimum is evacuated to path data bag and broadcasted, continue afterwards to monitor the optimum path data bag of evacuating; If do not receive the optimum path data bag of evacuating, continue to monitor;

Step 5: roadside device according to the section vehicle registration table data of trackside, is added up the vehicle fleet in section at interval of time T 2, and in the statistical unit time, flow into the vehicle number in this section; Then,, using the vehicle fleet in section, the vehicle number that flows into section in the unit interval, roadside device ID, road section ID, timing statistics A as section packet, be transferred to net background server;

Step 6: roadside device is monitored the vehicle registration table data in section according to roadside device at interval of time T 3, whole sections that roadside device is monitored form a local traffic network area, vehicle fleet in statistics current time local traffic network area, and vehicle fleet, roadside device ID, region ID, timing statistics B, as area data bag, are transferred to net background server in region;

Step 7: net background server receives section packet and the area data bag of each roadside device transmission, according to the road section ID recording in the packet of section, in the vehicle rate of inflow record sheet of the section of net background server, by the data that record in the packet of section by corresponding field Data Update; In the car statistics record sheet of the region of net background server, according to the data that record in area data bag by corresponding field Data Update;

Step 8: if there is not safe emergency event in monitored transportation network, return to step 7 and continue to carry out; If some or several local traffic, in network area, safe emergency event occur, carry out following steps:

(1) the local traffic network area of the safe emergency event of definition generation is: hazardous location; The regional area that safe emergency event does not occur is: safety zone; Make hazardous location add up to N, represent i hazardous location with i, the set of all values of i is designated as to I; Make safety zone add up to M, represent j safety zone with j, the set of all values of j is designated as to J; Meanwhile, represent l article of section with l, the set of all values of l is designated as A;

(2) according to the data in the vehicle rate of inflow record sheet of section, obtain the vehicle fleet on l article of section, be designated as n _l, l ∈ A; According to the data in the car statistics record sheet of region, obtain the vehicle fleet of i hazardous location, be designated as S _i, i ∈ I, and obtain open ended maximum vehicle number in j safety zone, be designated as C _j, j ∈ J; According to the data in the vehicle rate of inflow record sheet of all sections, the acquisition unit interval is rolled the vehicle number of i hazardous location away from, is designated as ρ _i, i ∈ I;

(3), according to the data of region car statistics record sheet, judge whether the vehicle fleet in each hazardous location is greater than S ^*; If so, continue execution step (4); If not, finish;

(4), according to electronic communication map data base, inquiry obtains the geological information in each section, comprising: the road section length L in l article of section _l, the number of track-lines W in l article of section _l, l ∈ A; Net background server is according to Road Traffic Design standard, and inquiry obtains the design free flow speed in l article of section with design traffic flow density and l ∈ A;

(5) according to the length L in all sections _l, utilize dijkstra's algorithm search from each hazardous location arrive each safety zone the shortest path of K bar stroke distances, in the shortest path of K bar stroke distances, every paths represents with k, k gets 1 to K;

(6) the k article of shortest path total kilometres that definition arrives j safety zone from i hazardous location are apart from being definition decision variable is if by k article of shortest path by the vehicle dispersal in i hazardous location to j safety zone, otherwise, and i ∈ I, j ∈ J, k ∈ 1,2 ..., K}; Thus, further set up emergency vehicle and evacuate path decision model:

min:(O ₁) ^α×(O ₂) ^β×(O ₃) ^γ

$s.t.\left\{\begin{array}{c}\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{s}_i^j\left(k\right)=1;\&ForAll;i\&Element;I\\ \underset{i\&Element;I}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{P}_i{s}_i^j\left(k\right)\&le;C_j;\&ForAll;j\&Element;J\end{array}\right.---\left(1\right)$

In formula (1), O ₁for evacuating the objective function of gross vehicle stroke distances as target to minimize, α represents objective function O ₁non-negative weighted value, it is set according to concrete applicable cases, its span can be positive integer arbitrarily, as gets α=1; O ₂represent to evacuate the objective function of gross vehicle journey time as target to minimize, β represents objective function O ₂non-negative weighted value, it is set according to concrete applicable cases, its span can be any positive integer, as gets β=2; O ₃represent to evacuate path and block up probability as the objective function of target to minimize, γ represents objective function O ₃non-negative weighted value, it is set according to concrete applicable cases, its span can be positive integer arbitrarily, as gets γ=1; the equality constraint equation of the decision variable relevant to i hazardous location, wherein i ∈ I; the inequality constrain equation of the decision variable relevant to j safety zone, wherein j ∈ J;

Above-mentioned O ₁, O ₂, O ₃expression formula be:

$O_1=\left(\frac{\underset{i\&Element;I}{\mathrm{\&Sigma;}}{S}_i\&times;(\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{s}_i^j\left(k\right)\&times;d_i^j\left(k\right))}{\underset{i\&Element;I}{\mathrm{\&Sigma;}}{S}_i\&times;(\underset{j\&Element;J}{\mathrm{\&Sigma;}}{s}_i^j\left(k\right)\&times;d_i^j\left(1\right))}\right)---\left(2\right)$

$O_2=\left(\frac{\underset{l\&Element;A}{\mathrm{\&Sigma;}}{t}_l\&times;(\underset{i\&Element;I}{\mathrm{\&Sigma;}}{P}_i\&times;\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right))}{\underset{l\&Element;A}{\mathrm{\&Sigma;}}{t}_l^{\min }\&times;(\underset{i\&Element;I}{\mathrm{\&Sigma;}}{P}_i\&times;\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right))}\right)---\left(3\right)$

$O_3=\left(\frac{\underset{i\&Element;I}{\mathrm{\&Sigma;}}\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}\underset{l\&Element;A}{\mathrm{\&Sigma;}}{p}_i^j(k,l){\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right)}{\underset{i\&Element;I}{\mathrm{\&Sigma;}}\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}\underset{l\&Element;A}{\mathrm{\&Sigma;}}{\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right)}\right)---\left(4\right)$

In formula (3) and formula (4), represent section decision variable, if by k article of shortest path by the vehicle dispersal in i hazardous location to j safety zone and this shortest path through l article of section, if by k article of shortest path by the vehicle dispersal in i hazardous location to j safety zone and this shortest path without l article of section, represent the minimum hourage of vehicle on l article of section, its value is t _lit is the expectation hourage of vehicle on l article of section; represent utilize k article of shortest path by the vehicle dispersal in i hazardous location to j the probable value that safety zone causes l article of section to get congestion;

(7) evacuate path decision model by emergency vehicle genetic algorithm for solving formula (1) described, obtain and make objective function value minimize the optimizing decision variable in situation with value, i ∈ I, j ∈ J, l ∈ A, k ∈ 1,2 ..., K}; Then the optimizing decision variable that is, 1 according to value with obtain vehicle is dispersed into safety zone j optimal path from hazardous location i

(8) optimum is evacuated to path the time that generates this suboptimum evacuation path is packaged into the optimum path data bag of evacuating, and is transferred to all roadside devices in i hazardous location, and i ∈ I;

(9) judge whether to go off the air that this solves the optimum obtaining and evacuates path data bag according to optimum T closing time that evacuates path data bag of broadcast, if, this suboptimum of going off the air is evacuated path data bag, then returning to step 6 continues to carry out, otherwise, continue this suboptimum of broadcast and evacuate path data bag;

(10) roadside device in each hazardous location receives the optimum being come by the transmission of net background server and evacuates path data bag, this optimum is evacuated to path data bag and turn as roadside data bag the mobile unit being broadcast in hazardous location;

(11) in hazardous location, vehicle receives the roadside data bag of being broadcasted by roadside device, and by this data packet transmission, to electronic map of automobile navigation display module, electronic map of automobile navigation display module is evacuated path by optimum and is presented on electronic map of automobile navigation.

2. a kind of Traffic Net emergency evacuation path generating method based on car networking as claimed in claim 1, is characterized in that: in described step (6), and t _lcalculate by following computation model:

$t_l=t_l^{\min }+(\frac{L_l{L}_l{K}_l^{\max }{W}_l}{V_l^{\max }}-t_l^{\max })\&times;\frac{\left(\underset{i\&Element;I}{\mathrm{\&Sigma;}}{\mathrm{\&rho;}}_i\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right)\right)\&times;\left(L_l{K}_l^{\max }{W}_l\right)}{L_l{K}_l^{\max }{W}_l+1-n_l}.$

3. a kind of Traffic Net emergency evacuation path generating method based on car networking as claimed in claim 1, is characterized in that: in described step (6), calculate by following computation model:

$p_i^j(k,l)=\frac{{\left(\frac{{\mathrm{\&rho;}}_l{L}_l}{V_l^{\max }}\right)}^{L_l{W}_l{K}_l^{\max }}}{[\underset{u=1}{\overset{L_l{W}_l{K}_l^{\max }}{\mathrm{\&Pi;}}}u\&times;\exp \left(u\left(\frac{L_l{W}_l{K}_l^{\max }+1-u}{L_l{W}_l{K}_l^{\max }}\right)\right)]\&times;[1+\underset{v=1}{\overset{L_l{W}_l{K}_l^{\max }}{\mathrm{\&Sigma;}}}\left(\frac{{\left(\frac{{\mathrm{\&rho;}}_l{L}_l}{V_l^{\max }}\right)}^v}{\underset{x=1}{\overset{v}{\mathrm{\&Pi;}}}x\left(\frac{L_l{W}_l{K}_l^{\max }-x+1}{L_l{W}_l{K}_l^{\max }}\right)}\right)]};$

In formula, ρ _lvalue be: ${\mathrm{\&rho;}}_l=\underset{i\&Element;I}{\mathrm{\&Sigma;}}{P}_i\underset{j\&Element;J}{\mathrm{\&Sigma;}}\underset{k=1}{\overset{K}{\mathrm{\&Sigma;}}}{\mathrm{\&pi;}}_i^j(k,l)s_i^j\left(k\right).$

4. a kind of Traffic Net emergency evacuation path generating method based on car networking as claimed in claim 1, is characterized in that: in described step (7), for:

${\mathrm{path}}_i^j=\left\{l^{*}\right|l^{*}=\underset{\&ForAll;l\&Element;A}{\arg }({\mathrm{\&pi;}}_i^j(k^{*},l)=1);k^{*}=\underset{k\&Element;\{\mathrm{1,2},...,K\}}{\arg }(s_i^j\left(k\right)=1)\},$ And i ∈ I, j ∈ J.

5. a kind of Traffic Net emergency evacuation path generating method based on car networking as claimed in claim 1, it is characterized in that: described time interval parameter T1, T2 and T3 are positive integer, and T1<T2<T3 satisfies condition.

6. a kind of Traffic Net emergency evacuation path generating method based on car networking as claimed in claim 1, is characterized in that: described T1=8 second, T2=16 second, T3=32 second.

7. a kind of Traffic Net emergency evacuation path generating method based on car networking as claimed in claim 1, is characterized in that: described time parameter T=600 second.

8. a kind of Traffic Net emergency evacuation path generating method based on car networking as claimed in claim 1, is characterized in that: described S ^*for nonnegative integer.

9. a kind of Traffic Net emergency evacuation path generating method based on car networking as claimed in claim 1, is characterized in that: described S ^*=2.