CN104376729B - A kind of highway based on truck traffic is to reminding method congested to track - Google Patents

Abstract

The present invention relates to a kind of highway based on truck traffic to reminding method congested to track, particularly as follows: the car-mounted terminal of each vehicle node obtains movement state information and the positional information of self, composition beacon information is also broadcasted；To forwards vehicle real-time reception beacon information, it may be judged whether be in congestion state, the most then in communication coverage broadcast congestion messages, if it is not, then the unimpeded information of broadcast traffic and continue monitor；After this car receives the congestion information of broadcast, it is judged that this car whether away from the distance in congested source and Ben Che and congested source less than forwarding threshold value, the most then in communication coverage, forward congestion information；If judging rearward vehicle receive the congestion information of forwarding for the first time or currently whether the distance of rearward vehicle Yu congested source decreased more than setpoint distance, then send congestion condition information, if it is not, enter holding state.Compared with prior art, the present invention has real-time, high reliability.

Description

A kind of highway based on truck traffic is to reminding method congested to track

Technical field

The present invention relates to vehicle, areas of information technology, especially relate to a kind of highway based on truck traffic To reminding method congested to track.

Background technology

Car networking refers to by various wireless communication technology, it is achieved the status information of all vehicles (includes attribute information With quiet, multidate information etc.) (include road infrastructure information, traffic, clothes with road traffic environment information Business information etc.) information sharing, and according to different functional requirements, the kinestate of all vehicles is carried out effectively Supervision and integrated service.The information that car networking can realize between car and car, Che Yulu, car and people is mutual.Just as The Internet couples together the computer of each separate unit, and car networking can link together independent automobile.

The intelligent transport technology of car networking is the basic technology that field of traffic is important, has the actual application valency of height Value, thus paid close attention to by a lot of automobile vendors.Abroad, European car company is already by car networking technology It is applied to the intelligent management of fleet.Meanwhile, the passenger company in Europe is also at positive popularization and application car networking technology. The IVHS of the U.S., the system such as VICS of Japan also through setting up effective information communication between vehicle and road, Thus realize management and the information service of intelligent transportation.The most outstanding car networked system has Sweden SCANIA's Black box subsystem etc..At present, the main application of car networking is Telematics (vehicle-mounted information service).The U.S., The Telematics application in Japan and Europe is more ripe.The Telematics of whole world application success has the VICS of Japan Center, the G-Book of Toyota and general On-Star.

On Expressway Road, often occur road ahead congested, front vehicle continue in the case of the unknown to Congested sections of road, thus cause traffic congestion largely, serious in the case of possibly even cause a few hours to number The traffic congestion of ten hours.This patent is driven by truck traffic auxiliary, and the Facing Movement vehicle receiver in congested section arrives Road congestion information, carries and road congestion information is sent to the vehicle of farther place, in order to block the follow-up of section Vehicle can change its course as early as possible, thus reduces traffic congestion, promotes driving efficiency.

In terms of truck traffic, traditional method be use Telematics to carry out the communication between car car, tradition Telematics mainly use the networks such as 2G, 3G to carry out truck traffic, this traditional communication means time delay is relatively Greatly, increasingly can not meet that automobile in reality faced in safety and in the requirement of intelligent transportation aspect of performance, Compared with traditional method based on Telematics, highway based on truck traffic is to prompting congested to track Method has clear superiority at aspects such as real-time, reliability, costs.It addition, the elaboration of sensor is wanted by it Ask the highest, significantly reduce cost, there is the highest actual promotional value.

Summary of the invention

Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and provide a kind of based on Che Chetong The highway of letter, to reminding method congested to track, is driven by truck traffic auxiliary, and this car receives forward The road congestion message of side's vehicle broadcast, carries and is sent to rearward vehicle by road congestion message, in order to gathering around The subsequent vehicle in plug section can change its course as early as possible, thus reduces traffic congestion, promotes driving efficiency.

In view of prior art is at the accuracy of intelligent traffic flow identification, the aspect such as the real-time of Information Communication exists Defect, it is an object of the invention to provide a kind of highway based on truck traffic being applicable to two-way lane scene To reminding method congested to track, share movement state information and positional information based on car and car, work as car networking Middle auxiliary driver, increases the real time communication scope of congestion messages, points out to road congestion situation, Promote traffic efficiency, alleviate traffic congestion.It is characterized in that reliability is high, real-time, advantage of lower cost, Practicality is high.

The purpose of the present invention can be achieved through the following technical solutions:

A kind of highway based on truck traffic, to reminding method congested to track, comprises the following steps:

1) car-mounted terminal of each vehicle node obtains movement state information and the positional information of self, forms beacon Information is also broadcasted；

2) to the beacon information of vehicle node broadcast in forwards vehicle real-time reception communication coverage, according to The beacon information received, it may be judged whether be in congestion state, the most then to forwards vehicle as congested Source, in communication coverage broadcast congestion messages, if it is not, then the unimpeded information of broadcast traffic and continue monitor；

3) after this car receives the congestion messages of broadcast, it is judged that whether this car is away from congested source and Ben Che and congested source Distance less than forward threshold value, the most then in communication coverage, forward described congestion messages, if it is not, then this Car task terminates, and enters holding state；

4) rearward vehicle is judged whether the congestion messages being to receive forwarding for the first time, the most then sends and gather around Plug-like condition information, if it is not, then perform step 5)；

5) judge currently whether the distance of rearward vehicle Yu congested source is decreased more than setpoint distance, if so, The congestion messages once received before then updating, and send congestion condition information.

Described step 2) in, forwards vehicle is judged whether to be in congestion state particularly as follows:

201) according to the beacon information calculating localized road traffic density received:

$p=\frac{m}{s}$

In formula, p is localized road traffic density value, and unit is/sq-km, and m is to forwards vehicle week Limit vehicle node quantity, unit is, and s is the path area in vehicle node communication coverage, and unit is flat Side's km；

202) average speed of vehicle node in acquisition communication coverage；

203) according to localized road traffic density and average speed, membership function side based on fuzzy logic is used Method calculates current traffic condition and is under the jurisdiction of congested stream and the degree of membership of the stream that has a good transport and communication network；

204) if the degree of membership of congested stream is more than the degree of membership of the stream that has a good transport and communication network, then congestion state it is judged to, if gathering around The degree of membership of plug flow less than the degree of membership of the stream that has a good transport and communication network, is then judged to free-flow traffic state.

Described step 202) in, when calculating average speed, reject the abnormal data of vehicle node.

Described step 3) in, forwarding threshold value is 5000m.

Described step 5) in, setpoint distance is 500 meters.

Described congestion messages includes the latitude and longitude information in congested source.

Described car-mounted terminal includes:

GPS module, for obtaining self movement state information and positional information；

DSRC wireless communication module, for communicating with other vehicle node in communication coverage；

Whether congestion detection module, be in congestion state for detection to forwards vehicle.

Compared with prior art, the invention have the advantages that

1, there is stronger real-time, it is possible to front congestion messages is passed to front vehicle in time, it is to avoid congested, Promote traffic efficiency；

2, having higher reliability, jamming judgment is by the cleaning of membership function with abnormal data, it is ensured that The reliability of jamming judgment, the accuracy of transmission message；

3, in this method vehicle to share quantity of information the highest, take wireless signal-path band width little, practical.

Accompanying drawing explanation

Fig. 1 is the vehicle node relation schematic diagram of the present invention；

Fig. 2 is the schematic flow sheet of the present invention.

Detailed description of the invention

The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.Below by particular specific embodiment Embodiments of the present invention are described, those skilled in the art can be understood easily by the content disclosed by this specification Other advantages of the present invention and effect.Should be understood that these embodiments are for illustrating that the present invention is not limited to limit this The scope of invention.Implementation condition employed in example can do tune further according to the actual conditions of different manufacturers Whole, not marked implementation condition is usually the condition in normal experiment.

The embodiment of the present invention a kind of highway based on truck traffic of offer is to reminding method congested to track, for side Just describe, represent this car (Current vehicle) with SV, neighbouring vehicle represent around this car in subrange other Vehicle, represents forwards vehicle OV1, represents rearward vehicle OV2, this scene relative Position relationship can be as shown in Figure 1.Should be understood that any vehicle being equipped with the congested reminding method that the present invention provides Being construed as this car, Ben Che is a relative concept with neighbouring vehicle.The car-mounted terminal of vehicle is with fixing Frequency (such as 1Hz, relevant with GPS type number) updates gps data, and by wireless communication technology (such as DSRC Technology) and neighbouring vehicle exchange position and movement state information.

Owing to the present invention needs to obtain data by GPS Yu the DSRC communication module of real vehicle, for explanation embodiment party Formula, (these numerical value all can be obtained by car-mounted terminal in real vehicle, preset group first to preset some scene numerical value It is only used as illustrating that embodiment uses), if the communication coverage of vehicle is 0.3 km, to forwards vehicle-surroundings Nodes be 60, removed after abnormal data by data cleansing, the vehicle Mean Speed obtained be 16 kms/ Hour, this car is sailed away from congested source row, and source congested to rearward vehicle distances is 3 kms.

As in figure 2 it is shown, the concretely comprising the following steps of this method:

In step s1, opening vehicle mounted terminal, car-mounted terminal include for obtain self movement state information and The GPS module of positional information, for the DSRC communicated with other vehicle node in communication coverage Wireless communication module, for detecting whether vehicle is in the congestion detection module of congestion state.Movement state information and Positional information refers to speed and the longitude and latitude of vehicle respectively.The kinestate letter that the car-mounted terminal of each vehicle node will obtain Breath and positional information, composition beacon information is broadcasted.

In step s2, to the beacon of vehicle node broadcast in forwards vehicle real-time reception communication coverage Information.

In step s3, the beacon information according to receiving judges whether to be in congestion state, the most then hold Row step s4, if it is not, the then unimpeded information of broadcast traffic, returns step s2 and continues to monitor.

Forwards vehicle is judged whether to be in congestion state particularly as follows:

1) according to the beacon information calculating localized road traffic density received:

$p=\frac{m}{s}$

In formula, p is localized road traffic density value, and m is to forwards vehicle-surroundings vehicle node quantity, and s is Path area in vehicle node communication coverage, according to pre-conditioned, if the communication range of vehicle is 0.3 flat Side's km, the nodes of vehicle-surroundings is 60, then by calculating p=60/0.3=200 (/ sq-km).

2) average speed of vehicle node in acquisition communication coverage.Collect by vehicle is to comprise from interior All velocity informations of neighbor node, it is thus possible to there will be the speed of indivedual neighbor node apparently higher than or be less than The average speed of current wagon flow, therefore judges that moment that traffic flow is the most congested representing vehicle, it should Reject the abnormal data of neighbor node.The present embodiment uses Pauta criterion to realize this process.Carry out in this criterion It is also contemplated that confidence probability during judgement.Confidence probability refers to that stochastic variable falls within the probability of confidence interval.Confidence interval refers to The span of measurement data X.The expression formula of Pauta criterion is: | x_d-x | ＞ 3 σ, when certain suspicious data accords with During formula of closing, then it is assumed that these data are exceptional values, should reject.I other words when the calculation of suspicious data with measurement data This dubious value should be cast out by the absolute value of the deviation of the art meansigma methods standard deviation interval more than 3 times.Eliminating exception After data, remaining data are considered as effective data, the most just can process effective data, and Make decisions traffic flow is the most congested.According to pre-conditioned, vehicle Mean Speed is 16,000 ms/h.

3) according to localized road traffic density and average speed, membership function method based on fuzzy logic is used Calculate current traffic condition and be under the jurisdiction of congested stream and the degree of membership of the stream that has a good transport and communication network.

The principle of membership function method based on fuzzy logic is: when considering that m factor carries out traffic behavior judgement Time, for i-th kind of state, this m factor one data set of composition:

$\{{\mathrm{\μ}}_{A_{i,1}}\left(x\right),{\mathrm{\μ}}_{A_{i,2}}\left(x\right),\mathrm{...},{\mathrm{\μ}}_{A_{i,m-1}}\left(x\right),{\mathrm{\μ}}_{A_{i,m}}\left(x\right)\}$

Carry out needing during state recognition to consider these factors.

In view of during identifying, some factor is more important than other, introduces standardized weighter factor w_j, and w_jMeet relation:

$\underset{j=1}{\overset{m}{\Σ}}{w}_j=1$

So, the computing formula for i-th kind of state recognition value is:

${\mathrm{\μ}}_{A_i}\left(x\right)=\underset{j=1}{\overset{m}{\Σ}}{w}_j\·{\mathrm{\μ}}_{A_{i,j}}\left(x\right)$

The correspondence of the inventive method two kinds identifies state, it may be assumed that congested stream and the stream that has a good transport and communication network, finally at two states The state corresponding to degree of membership greatest measure that takes in value is final identification state, i.e.

$index=indexof\left(max\right({\mathrm{\μ}}_{A_i}\left(x\right)\left)\right)$

Here formula (different regions and the country variant pair of the speed of a reference and the membership function of density are given The delimitation of traffic behavior is different, but method is similar to, and can formulate different being subordinate to according to the various criterion of country variant Degree function, the most only provides the membership function of a reference):

Owing to speed and density are to determine the most congested current most important two factors, therefore access speed and density Determining whether congested as 2 most important influence factors, thus, the final formula of the present invention is:

μ_Ax=a μ_A,v+(1-a)·μ_A,ρ

Wherein μ_A,v(x)、μ_A,vX () is respectively after recording the measured data of speed and density, the difference obtained is corresponding In the degree of membership of i-th kind of state, a is weighter factor.According to the specific traffic of China, a value is 0.68.

4) if the degree of membership of congested stream is more than the degree of membership of the stream that has a good transport and communication network, then congestion state it is judged to, if congested The degree of membership of stream less than the degree of membership of the stream that has a good transport and communication network, is then judged to free-flow traffic state.Pre-according to the present embodiment If condition, substituting into congested Flow Velocity membership function, the degree of membership belonging to congested stream is y=-16/10+2=0.4； P=200, substitutes into congested current density membership function x > 110, y=1, to sum up, in conjunction with speed and density, substitutes into Formula μ_Ax=a μ_A,v+(1-a)·μ_A,ρ, then the membership function belonging to congested stream is Y=0.68*0.4+0.32*1=0.592, the most finally must belong to the degree of membership of the stream that has a good transport and communication network, substitute into the stream that has a good transport and communication network Speed membership function, the degree of membership belonging to the stream that has a good transport and communication network is y=16/10-1=0.6；P=200, substitutes into traffic Unimpeded current density membership function x > 110, y=0, in conjunction with speed and density, substitutes into formula μ_Ax=a μ_A,v+(1-a)·μ_A,ρ, then the membership function belonging to the stream that has a good transport and communication network is Y=0.68*0.6+0.32*0=0.408, congested stream degree of membership > have a good transport and communication network stream degree of membership, then be judged to traffic congestion.

In step s4, to forwards vehicle as congested source, in communication coverage, broadcast congestion messages, Congestion messages includes the latitude and longitude information in congested source.

In step s5, after this car receives the congestion messages of broadcast, it is judged that whether this car, away from congested source, is sentenced Disconnected method is: compare this car current time and previous moment GPS historical trajectory data (preserve current time it Front multiple positional informationes), by calculating current time and the previous moment size from distance S in congested source, i.e. Can determine whether out that whether this car is away from congested source.If S increases, i.e. away from congested source, then perform step s6, if it is not, Then this car task terminates, and enters holding state.

In step s6, it is judged that Ben Che is less than forwarding threshold value, the most then at communication overlay with the distance in congested source In the range of forward described congestion messages, if it is not, then this car task terminates, enter holding state.In highway field Under scape, for ensureing that automobile has enough distance exit ramps to avoid congested, threshold value is forwarded to be set to 5000m.

In step s7, rearward vehicle is judged whether the congestion messages being to receive forwarding for the first time, if so, Then send congestion condition information, if it is not, judge compared with the congestion messages that the last time receives, currently to backward Whether side's vehicle is more than or equal to setpoint distance with the decreasing value of the distance of congestion point, the most then once receive before updating The congestion messages arrived, and send congestion condition information, if it is not, then enter holding state.Wherein, set away from From for 500 meters.Concrete information is: when receiving congestion messages, then by rearward vehicle and congested source Latitude and longitude information, calculate the distance in source congested to rearward vehicle distances, and point out from front congested source away from From, remind driver to change its course traveling；When receive have a good transport and communication network message time, then prompting upcoming traffic normal.According in advance If condition, congestion detection module is judged to congested, by the latitude and longitude information to rearward vehicle Yu congested source, meter The distance calculating source congested to rearward vehicle distances is 3 kms, therefore prompting is to rearward vehicle driver, front Congested, it is 3 kms apart from congested source.

Embodiments provide a kind of highway based on truck traffic to reminding method congested to track, should Method, based on sharing exchange movement state information and positional information between the vehicle in the range of the geography of local, passes through algorithm Analyzing and processing, it is determined that road is the most congested, thus driver is made corresponding prompting.This method propose one Brand-new is based on car car, in real time, dynamically predicted link situation the method that carries out pointing out.The method can be real Shi Di, reliably driver is provided information, and the accuracy that road conditions judge can be greatly promoted, for driving Member provides reliable information, thus reduces traffic congestion, improves driving efficiency, for the intelligent transportation of car networking Application provides a practicability and effectiveness ground method.Instant invention overcomes the various shortcoming of prior art, there is height Industrialization value.

Above-described embodiment is merely to illustrate principle and effect thereof of the present invention, not for limiting the present invention.Any ripe Above-described embodiment all can be modified under the spirit and the scope of the present invention or adjust by the personage knowing this technology Whole.Therefore, art has usually intellectual such as without departing from disclosed spirit and skill All equivalences completed under conditions of art thought are modified or change, and must be contained by the claim of the present invention.

Claims (7)

1. a highway based on truck traffic is to reminding method congested to track, it is characterised in that include Following steps:

1) car-mounted terminal of each vehicle node obtains movement state information and the positional information of self, forms beacon Information is also broadcasted；

2) to the beacon information of vehicle node broadcast in forwards vehicle real-time reception communication coverage, according to The beacon information received, it may be judged whether be in congestion state, the most then to forwards vehicle as congested Source, in communication coverage broadcast congestion messages, if it is not, then the unimpeded information of broadcast traffic and continue monitor；

3) after this car receives the congestion messages of broadcast, it is judged that whether this car is away from congested source and Ben Che and congested source Distance less than forward threshold value, the most then in communication coverage, forward described congestion messages, if it is not, then this Car task terminates, and enters holding state；

4) rearward vehicle is judged whether the congestion messages being to receive forwarding for the first time, the most then sends and gather around Plug-like condition information, if it is not, then perform step 5)；

5) judge currently whether the distance of rearward vehicle Yu congested source is decreased more than setpoint distance, if so, The congestion messages once received before then updating, and send congestion condition information, if it is not, enter holding state.

A kind of highway based on truck traffic the most according to claim 1 is to prompting side congested to track Method, it is characterised in that described step 2) in, forwards vehicle is judged whether to be in congestion state particularly as follows:

201) according to the beacon information calculating localized road traffic density received:

$p=\frac{m}{s}$

In formula, p is localized road traffic density value, and unit is/sq-km, and m is to forwards vehicle week Limit vehicle node quantity, unit is, and s is the path area in vehicle node communication coverage, and unit is flat Side's km；

202) average speed of vehicle node in acquisition communication coverage；

203) according to localized road traffic density and average speed, membership function side based on fuzzy logic is used Method calculates current traffic condition and is under the jurisdiction of congested stream and the degree of membership of the stream that has a good transport and communication network；

204) if the degree of membership of congested stream is more than the degree of membership of the stream that has a good transport and communication network, then congestion state it is judged to, if gathering around The degree of membership of plug flow less than the degree of membership of the stream that has a good transport and communication network, is then judged to free-flow traffic state.

A kind of highway based on truck traffic the most according to claim 2 is to prompting side congested to track Method, it is characterised in that described step 202) in, when calculating average speed, reject the abnormal number of vehicle node According to.

A kind of highway based on truck traffic the most according to claim 1 is to prompting side congested to track Method, it is characterised in that described step 3) in, forwarding threshold value is 5000m.

A kind of highway based on truck traffic the most according to claim 1 is to prompting side congested to track Method, it is characterised in that described step 5) in, setpoint distance is 500 meters.

6. according to arbitrary described a kind of based on truck traffic the highway of claim 1-5 to congested to track Reminding method, it is characterised in that described congestion messages includes the latitude and longitude information in congested source.

7. according to arbitrary described a kind of based on truck traffic the highway of claim 1-5 to congested to track Reminding method, it is characterised in that described car-mounted terminal includes:

GPS module, for obtaining self movement state information and positional information；

DSRC wireless communication module, for communicating with other vehicle node in communication coverage；

Whether congestion detection module, be in congestion state for detection to forwards vehicle.