CN104599488B - Can precisely complete the command scheduling method and system of many fleets guard duty - Google Patents
Can precisely complete the command scheduling method and system of many fleets guard duty Download PDFInfo
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- CN104599488B CN104599488B CN201410409116.0A CN201410409116A CN104599488B CN 104599488 B CN104599488 B CN 104599488B CN 201410409116 A CN201410409116 A CN 201410409116A CN 104599488 B CN104599488 B CN 104599488B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
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Abstract
The present invention provides a kind of command scheduling method and system precisely completing many fleets guard duty, perform many guards fleet arrive simultaneously the guard duty of same destination whole during, it it is all the chronomere's foundation as command scheduling to be accurate to the second, realize to be accurate to arriving at of second according to the due in of regulation, the interval of regulation in advance by the guard fleet of command scheduling.After multiple guard fleets set out according to the time interval that the moment of setting out specified, requirement arrive at, can be misaligned with the reference position performed in timetable corresponding to current time in front guide-car current location, before i.e. during guide-car's lag or lead, it is possible to prompting driver with which kind of speed travels could be ensured to keep consistent with execution timetable within the predetermined time.And after currently the position of guide-car overlaps with the reference position performing to specify in timetable, it is also possible to prompting driver to continue to keep coincidence status, needs travel future with which kind of speed.
Description
Technical field
The present invention relates to public safety traffic management technical field, a kind of finger that can precisely complete many fleets guard duty
Wave dispatching method and system.
Background technology
Along with the fast development of society, each big city, when undertaking large-scale international conference, large-scale activity, is frequently encountered by multiple
Guard fleet never sets out with guard station, arrives the situation in same meeting-place simultaneously.How to ensure that each guard fleet can be according to regulation
Time, it is stipulated that time interval, arrive at being accurate to the second, reduce the impact on normal traffic to greatest extent, be public
The target that peace point duty personnel pursue.
In order to solve this problem, first inventor of the application has applied for a series of patent, existing patent document CN
103186981 A disclose a kind of accurate command dispatching system of large-scale guard duty and method, according to prediction scheme information and
In the moment that fleet arrives at, the execution timetable obtained, the moment value that fleet arrives each reference position is accurate to
Second show, and perform task whole during, using the time as the foundation of command scheduling, once fleet is advanced
Or the delayed time exceedes alarm threshold value, system will send command scheduling instruction, it is ensured that fleet can be accurate to arriving of second
Reach destination.But, technique scheme there is also following technical problem:
1, current guide-car position is different from performing timetable reference position, i.e. during front guide-car's lag or lead, can only point out
Driver's acceleration or deceleration, it is impossible to the value of prompting driver's acceleration or deceleration is how many.
2, after the position of current guide-car overlaps with the reference position performing to specify in timetable, it is impossible to point out driver future
Coincidence status to be kept, is to maintain present speed constant, is also intended to acceleration or deceleration, and the value of its acceleration-deceleration is how many.
In above-mentioned two situations, driver can only drive according to the experience of oneself, before still can not accurately ensureing
Guide-car is accurate to each reference position of arrival of second.
Summary of the invention
The technical problem to be solved is to provide a kind of command scheduling that can precisely complete many fleets guard duty
Method and system.
For solving above-mentioned technical problem, the present invention is achieved by the following technical solutions:
The present invention provides a kind of command scheduling method that can precisely complete many fleets guard duty, it is characterised in that include
Following steps:
S1: the whole routes for guard duty are numbered, the guard duty route for each numbering all generates a pair
The schedule plan answered, specifically includes following steps:
S11: the speed that before utilizing in advance, guide-car performs during task along each guard duty route with reality travels,
In driving process, all record following running data each second: front guide-car latitude and longitude information (Xi,Yi), running time Ti, in traveling
Journey Li, travel speed Vi；
S12: generate schedule plan, number for each schedule plan, each schedule plan numbering the most corresponding is alert
Defend the numbering of task route；Each schedule plan records the departure place of guard duty route, destination, junction of two streams, and
The described running data that in described step S11, each second obtains, wherein said front guide-car latitude and longitude information (Xi,Yi) as benchmark
Position, described running time TiAs fiducial time, described distance travelled LiAs benchmark mileage, described travel speed ViAs
Reference speed, the fiducial time corresponding to departure place be " 0s ", the reference speed corresponding to departure place is speed of setting out；
S2: for performing the front guide-car numbering of the fleet of guard duty, the numbering of each front guide-car an all corresponding guard appoint
The numbering of business route；The front guide-car numbered for each, generates the execution timetable of its correspondence, specifically includes following steps:
S21: determine guard duty route number according to front guide-car numbering, transfer corresponding with guard duty route number
Schedule plan；
S22: the moment requirement arrived at according to each guard fleet, by each guard fleet schedule plan
It is sequentially adjusted in fiducial time, for obtaining after corresponding reference instant performing timetable, determining the front guide-car of each guard fleet successively
Departure place set out the moment and arrive at, junction of two streams and the moment of other each reference positions, wherein departure place institute
The corresponding moment is the moment of setting out；
S3: current time equal to arbitrary guard fleet perform in timetable set out the moment time, lead this guard fleet
Front guide-car should set out and according in this execution timetable record set out speed travel；
S4: for the front guide-car of each numbering, perform the running data recorded in timetable all in accordance with corresponding
Guide-car's process before real-time judge, specifically includes following steps:
S41: read the front guide-car latitude and longitude information (X of current time T in real timeD, YD)；
S42: by the front guide-car latitude and longitude information (X under current timeD, YD) with the reference position information performed in timetable
(Xi, Yi) carry out comparison one by one, determine and the front guide-car latitude and longitude information (X under current timeD, YDCorresponding to) benchmark time
Carve TD；
S43: compare current time T and the front guide-car latitude and longitude information (X under current timeD, YDCorresponding to) benchmark time
Carve TD:
Work as T=TDTime, enter step S44；
As T ≠ TDTime, enter step S45；
S44: before prompting, guide-car is according to performing T in timetableDThe reference speed corresponding to next reference instant travel,
Enter step S5 afterwards；
S45: before prompting, guide-car travels according to following speed:
VT=(SH-SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THMake front guide-car's latitude and longitude information afterwards
(XD, YDReference instant T corresponding to)DAnd the error between current time T is zero；Wherein SHIt is plus the time with current time T
Adjust threshold value THBenchmark mileage corresponding in table is carved upon execution as fiducial time；SDGuide-car's latitude and longitude information before being
(XD, YD) carve benchmark mileage corresponding in table upon execution as reference position, enter step S5 afterwards；
S5: for the front guide-car of each numbering, perform the running data recorded in timetable all in accordance with corresponding
Before judging, guide-car's latitude and longitude information is the most identical with the latitude and longitude information of destination, if differing, returning step S41, otherwise tying
Bundle.
In described step S1, S4, the longitude and latitude letter of guide-car before using the GPS locating module being arranged on front guide-car to obtain
Breath, running time；The OBD module being arranged on front guide-car is used to obtain the real-time distance travelled of front guide-car and travel speed.
In described step S44, S45, use the mode of the LCDs being arranged on front guide-car display word to leading
Car driver point out.
In described step S44, S45, the Audio Players being arranged on front guide-car is used to play the mode of voice to leading
Car driver point out.
The present invention also provides for a kind of command dispatching system that can precisely complete many fleets guard duty, including:
The vehicle positioning module being arranged on front guide-car: determine front guide-car latitude and longitude information (X in real timei,Yi), travel
Time Ti, distance travelled Li, travel speed Vi, described vehicle positioning module can carry out real-time Communication for Power with command scheduling processor；
Described command scheduling processor, is arranged at inside command and control center, performs guard for each of command scheduling
The front guide-car of the fleet of task；It farther includes the schedule plan generation module of each bar guard duty, each guard fleet
Perform timetable generation module, command output module of setting out, front guide-car's process judge module and judge module；Wherein:
Described schedule plan generation module, is numbered, for each numbering for the whole routes for guard duty
Guard duty route all generate the schedule plan of a correspondence, specifically include:
Running data acquiring unit, before utilizing in advance guide-car along each guard duty route perform task with reality time
Speed travel, in the process of moving, obtain the running data that described vehicle positioning module all records each second: front guide-car's longitude and latitude
Degree information (Xi,Yi), running time Ti, distance travelled Li, travel speed Vi；
Schedule plan signal generating unit, numbers for each schedule plan, and each schedule plan numbering the most corresponding is alert
Defend the numbering of task route；Each schedule plan records the departure place of guard duty route, destination, junction of two streams, and
The described running data that in described step S11, each second obtains, wherein said front guide-car latitude and longitude information (Xi,Yi) as benchmark
Position, described running time TiAs fiducial time, described distance travelled LiAs benchmark mileage, described travel speed ViAs
Reference speed, the fiducial time corresponding to departure place be " 0s ", the reference speed corresponding to departure place is speed of setting out；
Described execution timetable generation module, for performing the front guide-car numbering of the fleet of guard duty, each front guide-car's
The numbering of the most corresponding guard duty route of numbering；The front guide-car numbered for each, generates the execution moment of its correspondence
Table, specifically includes:
Data extracting unit, determines guard duty route number according to front guide-car numbering, transfers and compiles with guard duty route
Number corresponding schedule plan；
Performing timetable signal generating unit, the moment requirement arrived at according to each guard fleet, by each guard vehicle
It is sequentially adjusted in the fiducial time in team's schedule plan, for obtaining after corresponding reference instant performing timetable, determining each successively
The front guide-car of guard fleet departure place set out the moment and arrive at, junction of two streams and other each reference positions time
Carving, wherein the moment corresponding to departure place is the moment of setting out；
Described command output module of setting out, current time is equal to setting out the moment in the execution timetable of arbitrary guard fleet
Time, lead the front guide-car of this guard fleet to set out and travel according to the speed of setting out of record in this execution timetable；
Described front guide-car's process judge module, for the front guide-car of each numbering, all in accordance with the corresponding execution moment
Guide-car's process before running data real-time judge recorded in table, specifically includes:
Data capture unit, obtains front guide-car's latitude and longitude information of current time T from described vehicle positioning module in real time
(XD, YD)；
First comparing unit, by the front guide-car latitude and longitude information (X under current timeD, YD) with the benchmark performed in timetable
Positional information (Xi, Yi) carry out comparison one by one, determine and the front guide-car latitude and longitude information (X under current timeD, YDCorresponding to)
Reference instant TD；
Second comparing unit, compares current time T and the front guide-car latitude and longitude information (X under current timeD, YD) corresponding
Reference instant TD:
Information alert unit, at T=TDTime prompting before guide-car according to performing T in timetableDNext reference instant
Corresponding reference speed travels；At T ≠ TDTime prompting before guide-car travel according to following speed:
VT=(SH-SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THMake front guide-car's latitude and longitude information afterwards
(XD, YDReference instant T corresponding to)DAnd the error between current time T is zero；Wherein SHIt is plus the time with current time T
Adjust threshold value THBenchmark mileage corresponding in table is carved upon execution as fiducial time；SDGuide-car's latitude and longitude information before being
(XD, YD) benchmark mileage corresponding in table is carved upon execution as reference position；
Described judge module: for the front guide-car of each numbering, recorded in corresponding execution timetable
Running data judge before guide-car's latitude and longitude information the most identical with the latitude and longitude information of destination, when all front guide-car's longitudes and latitudes
Information terminates scheduling time all identical with the latitude and longitude information of destination.
Described vehicle positioning module includes the GPS locating module for obtaining the latitude and longitude information of front guide-car, running time；
With for obtaining the real-time distance travelled of front guide-car and the OBD module of travel speed.
Described information alert unit, including the LCDs being arranged on front guide-car, to front in the way of showing word
Guide-car driver points out.
Described information alert unit, including the Audio Players being arranged on front guide-car, to front in the way of playing voice
Guide-car driver points out.
The technique scheme of the present invention has the advantage that compared to existing technology
The command scheduling method and system precisely completing many fleets guard duty of the present invention, according to schedule plan
And require each moment arrived at by the fleet of guard, obtain the execution timetable of each guard fleet, will lead
The moment and arrive the moment value of each reference position and be accurate to showing of second of setting out of the front guide-car of guard fleet, and
And perform task whole during, be all the foundation using the time as command scheduling.Current guide-car position and execution moment
In table, the reference position corresponding to current time is misaligned, i.e. during front guide-car's lag or lead, it is possible to driver is with which kind of in prompting
Speed travels the reference position coincidence that could realize and perform guide-car before in timetable within the predetermined time.And current guide-car
After position overlaps with the reference position performing to specify in timetable, it is also possible to prompting driver to continue to keep coincidence shape future
State, needs with which kind of speed to travel.The such scheme in the present invention is used to ensure that front guide-car really realizes being accurate to the second
Travel according to timetable set in advance, when requiring that the fleet of multiple execution guard duty, from different guard stations, arrives same
During meeting-place, use the scheme in the present invention can be achieved with each by the fleet of guard can according to the due in of regulation and
Predetermined time interval precisely arriving to the second.
Accompanying drawing explanation
In order to make present disclosure be more likely to be clearly understood, below according to the specific embodiment of the present invention and combine
Accompanying drawing, the present invention is further detailed explanation, wherein:
Fig. 1 is the command scheduling method flow that can precisely complete many fleets guard duty described in one embodiment of the invention
Figure；
Fig. 2 is the principle of the command dispatching system that can precisely complete many fleets guard duty described in one embodiment of the invention
Block diagram；
Fig. 3 is to travel schematic diagram data under the front advanced travel situations of guide-car described in one embodiment of the invention；
Fig. 4 is to travel schematic diagram data under the front delayed travel situations of guide-car described in one embodiment of the invention.
Detailed description of the invention
Embodiment 1
The present embodiment provides a kind of command scheduling method that can precisely complete many fleets guard duty, as it is shown in figure 1, include
Following steps:
S1: the whole routes for guard duty are numbered, the guard duty route for each numbering all generates a pair
The schedule plan answered, specifically includes following steps:
S11: the speed that before utilizing in advance, guide-car performs during task along each guard duty route with reality travels,
In driving process, all record following running data each second: front guide-car latitude and longitude information (Xi,Yi), running time Ti, in traveling
Journey Li, travel speed Vi；
S12: generate schedule plan, number for each schedule plan, each schedule plan numbering the most corresponding is alert
Defend the numbering of task route；Each schedule plan records the departure place of guard duty route, destination, junction of two streams, and
The described running data that in described step S11, each second obtains, wherein said front guide-car latitude and longitude information (Xi,Yi) as benchmark
Position, described running time TiAs fiducial time, described distance travelled LiAs benchmark mileage, described travel speed ViAs
Reference speed, the fiducial time corresponding to departure place be " 0s ", the reference speed corresponding to departure place is speed of setting out；
S2: for performing the front guide-car numbering of the fleet of guard duty, the numbering of each front guide-car an all corresponding guard appoint
The numbering of business route；The front guide-car numbered for each, generates the execution timetable of its correspondence, specifically includes following steps:
S21: determine guard duty route number according to front guide-car numbering, transfer corresponding with guard duty route number
Schedule plan.
S22: the moment requirement arrived at according to each guard fleet, by each guard fleet schedule plan
It is sequentially adjusted in fiducial time, for obtaining after corresponding reference instant performing timetable, determining the front guide-car of each guard fleet successively
Departure place set out the moment and arrive at, junction of two streams and the moment of other each reference positions, wherein departure place institute
The corresponding moment is the moment of setting out.
S3: current time equal to arbitrary guard fleet perform in timetable set out the moment time, lead this guard fleet
Front guide-car should set out and according in this execution timetable record set out speed travel.
S4: for the front guide-car of each numbering, perform the running data recorded in timetable all in accordance with corresponding
Guide-car's process before real-time judge, specifically includes following steps:
S41: read the front guide-car latitude and longitude information (X of current time T in real timeD, YD)。
S42: by the front guide-car latitude and longitude information (X under current timeD, YD) with the reference position information performed in timetable
(Xi, Yi) carry out comparison one by one, determine and the front guide-car latitude and longitude information (X under current timeD, YDCorresponding to) benchmark time
Carve TD。
S43: compare current time T and the front guide-car latitude and longitude information (X under current timeD, YDCorresponding to) benchmark time
Carve TD:
Work as T=TDTime, enter step S44.
As T ≠ TDTime, enter step S45.
S44: before prompting, guide-car is according to performing T in timetableDThe reference speed corresponding to next reference instant travel,
Enter step S5 afterwards.
S45: before prompting, guide-car travels according to following speed:
VT=(SH-SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THMake front guide-car's latitude and longitude information afterwards
(XD, YDReference instant T corresponding to)DAnd the error between current time T is zero；Wherein SHIt is plus the time with current time T
Adjust threshold value THBenchmark mileage corresponding in table is carved upon execution as fiducial time；SDGuide-car's latitude and longitude information before being
(XD, YD) carve benchmark mileage corresponding in table upon execution as reference position, enter step S5 afterwards.
S5: for the front guide-car of each numbering, perform the running data recorded in timetable all in accordance with corresponding
Before judging, guide-car's latitude and longitude information is the most identical with the latitude and longitude information of destination, if differing, returning step S41, otherwise tying
Bundle.
In the present embodiment, use Arabic numerals be guard duty route and perform guard duty fleet front guide-car,
And schedule plan is numbered, these three numbering is respectively provided with corresponding relation, as long as determining one of them numbering, it becomes possible to
Associative search is numbered to two other.These three numbering can select identical Arabic numerals, such as n guard duty route
The most corresponding n schedule plan of guide-car before corresponding No. n.Different Arabic numerals can also be selected between these three numbering,
Have only to the corresponding relation ensured each other.In the present embodiment as a example by three numberings are identical Arabic numerals
Illustrate.The planned time of the Great Hall of the People is arrived from Friendship Hotel as table 1-1 and table 1-2 show guide-car before No. n
Table and m fleet arrive the schedule plan of the Great Hall of the People from Jingxi Hotel, and wherein m and n is Arabic numerals, and
M and n is unequal.As it was previously stated, the two schedule plan is that before utilizing in advance, guide-car holds along guard duty route with actual
Speed during row task travels, in the process of moving, and the data recorded each second.
Table 1-1 n schedule plan
Departure place: Friendship Hotel destination: the Great Hall of the People
Table 1-2 m schedule plan
Departure place: Jingxi Hotel destination: the Great Hall of the People
Schedule plan as shown in table 1-1 and table 1-2, the latitude and longitude information of front guide-car, running time, distance travelled and
Travel speed is all to use the GPS locating module being arranged on front guide-car and OBD module to obtain.By n schedule plan and m
The latitude and longitude information of number schedule plan compares, and before can being visually observed that No. n, before guide-car and No. m, guide-car " is being revived
Bridge is revived in Men Nei street " interflow, place, traffic route afterwards is overlapping.
Time to be kept between each guard fleet arrives at as requested moment and each guard fleet
Interval obtains performing timetable.The moment that such as before requiring No. n guide-car arrives at is 14:30:00, and before No. m, guide-car arrives
The moment of destination is 14:30:30, then according to table 1-1 and table 1-2 can get guide-car before No. n with No. m before execution corresponding to guide-car
Timetable, be directly adjusted to 14:30:00 and 14:30:30 by the time arrived at, then as benchmark, by before
It is adjusted respectively fiducial time obtaining reference instant.As shown in table 2-1 and table 2-2；
Table 2-1 n performs timetable
Departure place: Friendship Hotel destination: the Great Hall of the People
Table 2-2 m performs timetable
Departure place: Jingxi Hotel destination: the Great Hall of the People
Perform after timetable 2-1 and table 2-2 obtaining, lead two by the front guide-car of guard fleet, at traveling process
Just travel respectively in accordance with the reference instant described in table 2-1 and table 2-2, reference position and reference speed.Once two numbering
Leading garage deviate from the reference position that in table 2-1 and table 2-2, current time should arrive during entering, then be immediately available for prompting and drive
The person of sailing needs to be adjusted the speed of front guide-car, and driver can be pointed out to travel according to great speed, it becomes possible in regulation
Time in make each current location by the front guide-car of guard fleet respectively with current time in table 2-1 and table 2-2 corresponding to
Reference position overlap.
Illustrate as a example by guide-car before No. n:
Being set in current time T is 14:09:58, now detects that front guide-car's latitude and longitude information is for (Xn, Yn), by this longitude and latitude
After degree information carries out comparison one by one with the reference position information in table 2-1, find and (Xn, Yn) identical reference position information
It is X for longituden, latitude value is Yn, obtain T fiducial time that this position is correspondingDFor 14:10:00.Then T ≠ TD, now need
Make the current location that front guide-car is actual, mutually overlapping with the position corresponding to current time in execution timetable within the time of regulation
Close.The time of regulation described herein is time adjustment threshold value T described in the present embodimentH.Select according to actual conditions
Take, such as, can be chosen as 3S, 5S etc..This time is selected to consider to ensure the traveling-position of front guide-car as early as possible when adjusting threshold value
Overlap with performing the position of regulation in timetable, but the size of present deviation value to be considered, when deviation value is bigger this time
Between adjust threshold value and can select bigger value, suitably the time can also be adjusted threshold value when deviation is less and reduce, examine again simultaneously
Consider the travel speed after adjusting to front guide-car and not can exceed that the speed limit in this section.
In order to make the above-mentioned situation described in the present embodiment become apparent from, illustrate in conjunction with Fig. 3 and Fig. 4, Fig. 3 and Tu
In 4, rightmost side arrow represents travel direction.
As it is shown on figure 3, each point represents a reference position, reference position corresponding for current time T is set as (XI,
YI), corresponding benchmark mileage is SI；The reference position that front guide-car's latitude and longitude information of the reality under current time T is corresponding is (XD,
YD), corresponding benchmark mileage is SD；Current time T adjusts threshold value T plus the timeHCorresponding reference position is set as (XH, YH),
Corresponding benchmark mileage is SH.Obviously, as shown in Figure 3 in the case of, benchmark corresponding to guide-car's physical location before current time T
Position and benchmark mileage answer corresponding reference position and benchmark mileage advanced than current time in timetable.Guide-car before assuming to require
After 6S, ensure that its traveling-position overlaps with the traveling-position performed in timetable, then need front guide-car at time THInterior from base
Level puts (XD, YD) travel to reference position (XH, YH), i.e. its mileage travelled is SH-SD.Therefore, the row required for front guide-car
Sailing speed is VT=(SH-SD)/TH。
Situation shown in Fig. 4 is contrary with situation shown in Fig. 3, for the situation of the delayed traveling of front guide-car.But it is permissible from figure
Finding out, if guide-car overlaps with execution timetable after the time adjusts threshold value before wanting, its required travel speed is still
VT=(SH-SD)/TH。
And the traveling-position of guide-car can overlap to performing the corresponding traveling-position of record in timetable before once, then may be used
Travel according to the reference speed corresponding to next reference instant with guide-car before prompting order.
As the optional scheme of one, in described step S1, S4, the GPS locating module being arranged on front guide-car is used to obtain
The latitude and longitude information of guide-car, running time, distance travelled and travel speed before.
Preferably, in described step S44, S45, use the mode of the LCDs display word being arranged on front guide-car
Front guide-car driver is pointed out.As directly " please travelled with the speed of 35Km/ hour " by text importing.
It is further preferred that in described step S44, S45, use the Audio Players being arranged on front guide-car to play voice
Mode front guide-car driver is pointed out.As directly play the voice messaging of " please travelling " with the speed of 35Km/ hour.
Embodiment 2
The present embodiment provides a kind of command dispatching system that can precisely complete many fleets guard duty, as in figure 2 it is shown, bag
Include:
The vehicle positioning module being arranged on front guide-car: determine front guide-car latitude and longitude information (X in real timei,Yi), travel
Time Ti, distance travelled Li, travel speed Vi, described vehicle positioning module can carry out real-time Communication for Power with command scheduling processor；
Described command scheduling processor, is arranged at inside command and control center, performs guard for each of command scheduling
The front guide-car of the fleet of task；It farther includes the schedule plan generation module of each bar guard duty, each guard fleet
Perform timetable generation module, command output module of setting out, front guide-car's process judge module and judge module；Wherein:
Described schedule plan generation module, is numbered, for each numbering for the whole routes for guard duty
Guard duty route all generate the schedule plan of a correspondence, specifically include:
Running data acquiring unit, before utilizing in advance guide-car along each guard duty route perform task with reality time
Speed travel, in the process of moving, obtain the running data that described vehicle positioning module all records each second: front guide-car's longitude and latitude
Degree information (Xi,Yi), running time Ti, distance travelled Li, travel speed Vi；
Schedule plan signal generating unit, the schedule plan for each guard's route is numbered；Each guard duty
Schedule plan records and obtains each second in the departure place of guard duty route, destination, junction of two streams, and described step S11
The described running data taken, wherein said front guide-car latitude and longitude information (Xi,Yi) as reference position, described running time TiMake
On the basis of the time, described distance travelled LiAs benchmark mileage, described travel speed ViAs reference speed, corresponding to departure place
Fiducial time be " 0s ", the reference speed corresponding to departure place is speed of setting out；
Described execution timetable generation module, for performing the front guide-car numbering of Mei Tiao guard duty fleet, each front guide-car
The numbering of all corresponding guard duty route of numbering；The front guide-car numbered for each, when generating the execution of its correspondence
Carve table, specifically include:
Data extracting unit, determines guard duty route number according to front guide-car numbering, transfers and compiles with guard duty route
Number corresponding schedule plan；
Performing timetable signal generating unit, the moment requirement arrived at according to each guard fleet, by each guard vehicle
It is sequentially adjusted in the fiducial time in team's schedule plan, for obtaining after corresponding reference instant performing timetable, determining each successively
The front guide-car of guard fleet departure place set out the moment and arrive at, junction of two streams and other each reference positions time
Carving, wherein the moment corresponding to departure place is the moment of setting out；
Described command output module of setting out, current time is equal to setting out the moment in the execution timetable of arbitrary guard fleet
Time, lead the front guide-car of this guard fleet to set out and travel according to the speed of setting out of record in this execution timetable；
Described front guide-car's process judge module, for the front guide-car of each numbering, all in accordance with the corresponding execution moment
Guide-car's process before running data real-time judge recorded in table, specifically includes:
Data capture unit, obtains front guide-car's latitude and longitude information of current time T from described vehicle positioning module in real time
(XD, YD)；
First comparing unit, by the front guide-car latitude and longitude information (X under current timeD, YD) with the benchmark performed in timetable
Positional information (Xi, Yi) carry out comparison one by one, determine and the front guide-car latitude and longitude information (X under current timeD, YDCorresponding to)
Reference instant TD；
Second comparing unit, compares current time T and the front guide-car latitude and longitude information (X under current timeD, YD) corresponding
Reference instant TD:
Information alert unit, at T=TDTime prompting before guide-car according to performing T in timetableDNext reference instant
Corresponding reference speed travels；At T ≠ TDTime prompting before guide-car travel according to following speed:
VT=(SH-SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THMake front guide-car's latitude and longitude information afterwards
(XD, YDReference instant T corresponding to)DAnd the error between current time T is zero；Wherein SHIt is plus the time with current time T
Adjust threshold value THBenchmark mileage corresponding in table is carved upon execution as fiducial time；SDGuide-car's latitude and longitude information before being
(XD, YD) benchmark mileage corresponding in table is carved upon execution as reference position；
Described judge module: for the front guide-car of each numbering, recorded in corresponding execution timetable
Running data judge before guide-car's latitude and longitude information the most identical with the latitude and longitude information of destination, when all front guide-car's longitudes and latitudes
Information terminates scheduling time all identical with the latitude and longitude information of destination.
Preferably, described vehicle positioning module uses GPS locating module and OBD module, before described GPS locating module reads
Guide-car's latitude and longitude information and running time, described OBD module reads travel speed and the distance travelled of front guide-car.Described information carries
Show unit, including the LCDs being arranged on front guide-car, in the way of showing word, front guide-car driver is pointed out.
Described information alert unit, including the Audio Players being arranged on front guide-car, drives front guide-car in the way of playing voice
Member points out.
The command scheduling method and system precisely completing many fleets guard duty described in above-described embodiment, during according to plan
Between table and moment of arriving at of guide-car, the execution timetable obtained before requiring, front guide-car is arrived each reference position
Moment value be all accurate to showing of second, and the task of execution whole during, be all to adjust using the time as commander
The foundation of degree.Current guide-car position is misaligned with the reference position corresponding to current time in execution timetable, and i.e. front guide-car is stagnant
Rear or advanced time, it is possible to prompting driver travels with which kind of speed could ensure and perform timetable holding within the predetermined time
Unanimously.And after currently the position of guide-car overlaps with the reference position performing to specify in timetable, it is also possible to point out driver future
Continue to keep coincidence status, need with which kind of speed to travel.The such scheme in the present invention is used to ensure that multiple execution
When the fleet of guard duty arrives same meeting-place from different guard stations, each can be by by the guard fleet of command scheduling
Time and predetermined time interval precisely arriving to the second according to regulation.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into all changes and the amendment of the scope of the invention.
Claims (8)
1. the command scheduling method that can precisely complete many fleets guard duty, it is characterised in that comprise the steps:
S1: the whole routes for guard duty are numbered, the guard duty route for each numbering all generates a correspondence
Schedule plan, specifically includes following steps:
S11: the speed that before utilizing in advance, guide-car performs during task along each guard duty route with reality travels, is travelling
During, all record following running data each second: front guide-car latitude and longitude information (Xi,Yi), running time Ti, distance travelled Li、
Travel speed Vi；
S12: generate schedule plan, number for each schedule plan, each schedule plan is numbered the most corresponding guard and is appointed
The numbering of business route；Each schedule plan records the departure place of guard duty route, destination, junction of two streams, and described
The described running data that in step S11, each second obtains, wherein said front guide-car latitude and longitude information (Xi,Yi) as reference position,
Described running time TiAs fiducial time, described distance travelled LiAs benchmark mileage, described travel speed ViAs benchmark speed
Degree, the fiducial time corresponding to departure place is " 0s ", and the reference speed corresponding to departure place is speed of setting out；
S2: for performing the front guide-car numbering of the fleet of guard duty, all corresponding guard duty road of the numbering of each front guide-car
The numbering of line；The front guide-car numbered for each, generates the execution timetable of its correspondence, specifically includes following steps:
S21: determine guard duty route number according to front guide-car numbering, transfer the plan corresponding with guard duty route number
Timetable；
S22: the moment requirement arrived at according to each guard fleet, by the benchmark in each guard fleet schedule plan
Time is sequentially adjusted in, for obtaining after corresponding reference instant performing timetable, determining that the front guide-car of each guard fleet is going out successively
Send out ground set out the moment and arrive at, junction of two streams and the moment of other each reference positions, wherein corresponding to departure place
Moment be the moment of setting out；
S3: current time equal to arbitrary guard fleet perform in timetable set out the moment time, before leading this guard fleet
Guide-car should set out and travel according to the speed of setting out of record in this execution timetable；
S4: for the front guide-car of each numbering, real-time all in accordance with the running data recorded in corresponding execution timetable
Guide-car's process before judging, specifically includes following steps:
S41: read the front guide-car latitude and longitude information (X of current time T in real timeD, YD)；
S42: by the front guide-car latitude and longitude information (X under current timeD, YD) with the reference position information (X performed in timetablei,
Yi) carry out comparison one by one, determine and the front guide-car latitude and longitude information (X under current timeD, YDReference instant T corresponding to)D；
S43: compare current time T and the front guide-car latitude and longitude information (X under current timeD, YDReference instant T corresponding to)D:
Work as T=TDTime, enter step S44；
As T ≠ TDTime, enter step S45；
S44: before prompting, guide-car is according to performing T in timetableDThe reference speed corresponding to next reference instant travel, afterwards
Enter step S5；
S45: before prompting, guide-car travels according to following speed:
VT=(SH-SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THMake front guide-car latitude and longitude information (X afterwardsD,
YDReference instant T corresponding to)DAnd the error between current time T is zero；Wherein SHIt is to adjust plus the time with current time T
Threshold value THBenchmark mileage corresponding in table is carved upon execution as fiducial time；SDGuide-car latitude and longitude information (X before beingD, YD)
Carve benchmark mileage corresponding in table as reference position upon execution, enter step S5 afterwards；
S5: for the front guide-car of each numbering, judge all in accordance with the corresponding running data recorded in timetable that performs
Front guide-car's latitude and longitude information is the most identical with the latitude and longitude information of destination, if differing, returning step S41, otherwise terminating.
The command scheduling method that can precisely complete many fleets guard duty the most according to claim 1, it is characterised in that:
In described step S1, S4, the latitude and longitude information of guide-car before using the GPS locating module that is arranged on front guide-car to obtain, OK
Sail the time；The OBD module being arranged on front guide-car is used to obtain the real-time distance travelled of front guide-car and travel speed.
The command scheduling method that can precisely complete many fleets guard duty the most according to claim 1 and 2, its feature exists
In:
In described step S44, S45, use the mode of the LCDs being arranged on front guide-car display word that front guide-car is driven
The person of sailing points out.
The command scheduling method that can precisely complete many fleets guard duty the most according to claim 1 and 2, its feature exists
In:
In described step S44, S45, front guide-car is driven by the mode using the Audio Players being arranged on front guide-car to play voice
The person of sailing points out.
5. the command dispatching system that can precisely complete many fleets guard duty, it is characterised in that including:
The vehicle positioning module being arranged on front guide-car: determine front guide-car latitude and longitude information (X in real timei,Yi), running time
Ti, distance travelled Li, travel speed Vi, described vehicle positioning module can carry out real-time Communication for Power with command scheduling processor；
Described command scheduling processor, is arranged at inside command and control center, performs guard duty for each of command scheduling
The front guide-car of fleet；It farther includes the schedule plan generation module of each bar guard duty, each guard fleet performs
Timetable generation module, command output module of setting out, front guide-car's process judge module and judge module；Wherein:
Described schedule plan generation module, is numbered, for the police of each numbering for the whole routes for guard duty
The task route of defending all generates the schedule plan of a correspondence, specifically includes:
Running data acquiring unit, before utilizing in advance, guide-car performs speed during task along each guard duty route with reality
Degree travels, and in the process of moving, obtains the running data that described vehicle positioning module all records each second: front guide-car's longitude and latitude is believed
Breath (Xi,Yi), running time Ti, distance travelled Li, travel speed Vi；
Schedule plan signal generating unit, numbers for each schedule plan, and each schedule plan is numbered the most corresponding guard and appointed
The numbering of business route；Each schedule plan records the departure place of guard duty route, destination, junction of two streams, and described
The described running data that in running data acquiring unit, each second obtains, wherein said front guide-car latitude and longitude information (Xi,Yi) conduct
Reference position, described running time TiAs fiducial time, described distance travelled LiAs benchmark mileage, described travel speed Vi
As reference speed, the fiducial time corresponding to departure place is " 0s ", and the reference speed corresponding to departure place is speed of setting out；
Described execution timetable generation module, for performing the front guide-car numbering of the fleet of guard duty, the numbering of each front guide-car
The numbering of the most corresponding guard duty route；The front guide-car numbered for each, generates the execution timetable of its correspondence, tool
Body includes:
Data extracting unit, determines guard duty route number according to front guide-car numbering, transfers and guard duty route number phase
Corresponding schedule plan；
Perform timetable signal generating unit, the moment requirement arrived at according to each guard fleet, each guard fleet is counted
It is sequentially adjusted in the fiducial time in the timetable of drawing, for obtaining after corresponding reference instant performing timetable, determining each guard successively
The front guide-car of fleet departure place set out the moment and arrive at, junction of two streams and the moment of other each reference positions,
Wherein the moment corresponding to departure place is the moment of setting out；
Described command output module of setting out, current time equal to arbitrary guard fleet perform in timetable set out the moment time,
The front guide-car leading this guard fleet should set out and travel according to the speed of setting out of record in this execution timetable；
Described front guide-car's process judge module, for the front guide-car of each numbering, all in accordance with in corresponding execution timetable
Guide-car's process before the running data real-time judge recorded, specifically includes:
Data capture unit, obtains the front guide-car latitude and longitude information (X of current time T from described vehicle positioning module in real timeD,
YD)；
First comparing unit, by the front guide-car latitude and longitude information (X under current timeD, YD) with the reference position performed in timetable
Information (Xi, Yi) carry out comparison one by one, determine and the front guide-car latitude and longitude information (X under current timeD, YDBenchmark corresponding to)
Moment TD；
Second comparing unit, compares current time T and the front guide-car latitude and longitude information (X under current timeD, YDBase corresponding to)
Carve T on timeD:
Information alert unit, at T=TDTime prompting before guide-car according to performing T in timetableDNext reference instant institute right
The reference speed answered travels；At T ≠ TDTime prompting before guide-car travel according to following speed:
VT=(SH-SD)/TH, wherein THIt is the time to adjust threshold value, i.e. elapsed time THMake front guide-car latitude and longitude information (X afterwardsD,
YDReference instant T corresponding to)DAnd the error between current time T is zero；Wherein SHIt is to adjust plus the time with current time T
Threshold value THBenchmark mileage corresponding in table is carved upon execution as fiducial time；SDGuide-car latitude and longitude information (X before beingD, YD)
Benchmark mileage corresponding in table is carved upon execution as reference position；
Described judge module: for the front guide-car of each numbering, perform the row recorded in timetable all in accordance with corresponding
Sail guide-car's latitude and longitude information before data judge the most identical with the latitude and longitude information of destination, when all front guide-car's latitude and longitude information
Scheduling is terminated time all identical with the latitude and longitude information of destination.
The command dispatching system that can precisely complete many fleets guard duty the most according to claim 5, it is characterised in that:
Described vehicle positioning module includes the GPS locating module for obtaining the latitude and longitude information of front guide-car, running time；With with
The real-time distance travelled of guide-car and the OBD module of travel speed before obtaining.
7., according to the command dispatching system that can precisely complete many fleets guard duty described in claim 5 or 6, its feature exists
In:
Described information alert unit, including the LCDs being arranged on front guide-car, to front guide-car in the way of showing word
Driver points out.
8., according to the command dispatching system that can precisely complete many fleets guard duty described in claim 5 or 6, its feature exists
In:
Described information alert unit, including the Audio Players being arranged on front guide-car, to front guide-car in the way of playing voice
Driver points out.
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| RU2256952C2 (en) * | 2003-09-16 | 2005-07-20 | ЗАО НТЦ "Навигатор Технолоджи" | Method for operative escorting and controlling of surface vehicles |
| CN1280777C (en) * | 2004-05-16 | 2006-10-18 | 大连市公安局交通警察支队 | Automatic commanding and dispatching system and operating method for large security vehicle team |
| JP2007285734A (en) * | 2006-04-12 | 2007-11-01 | Kenwood Corp | System and method for course guidance in parking lot, onboard navigation device |
| KR20070067047A (en) * | 2007-06-07 | 2007-06-27 | 김선영 | Navigation system |
| JP4555321B2 (en) * | 2007-07-25 | 2010-09-29 | クラリオン株式会社 | Route search apparatus and route search method |
| JP2009064179A (en) * | 2007-09-05 | 2009-03-26 | Toyota Motor Corp | Lead vehicle determining apparatus |
| US8676466B2 (en) * | 2009-04-06 | 2014-03-18 | GM Global Technology Operations LLC | Fail-safe speed profiles for cooperative autonomous vehicles |
| CN102768795B (en) * | 2011-05-05 | 2014-07-09 | 李志恒 | System and method for commanding and dispatching leading vehicle of guard vehicle platoon based on JTDDS algorithm |
| CN102768796B (en) * | 2011-05-05 | 2014-07-09 | 李志恒 | System and method for commanding and dispatching leading vehicle of guard vehicle platoon based on JTDDS algorithm |
| DE102011087791A1 (en) * | 2011-12-06 | 2013-06-06 | Robert Bosch Gmbh | Method for operating adaptive cruise control system of vehicle, involves making driver of vehicle to take manual action regarding object outside vehicle, and supporting alignment of vehicle regarding object |
| CN102521991A (en) * | 2011-12-23 | 2012-06-27 | 北京易华录信息技术股份有限公司 | System and method used for controlling traffic signal lamps and capable of achieving fast green wave function |
| CN103186981B (en) * | 2011-12-31 | 2015-09-02 | 姜廷顺 | A kind of accurate command dispatching system of large-scale guard duty and method |
| CN102521975B (en) * | 2011-12-31 | 2013-09-04 | 姜廷顺 | System and method capable of guiding leading vehicle to accurately fulfill guard task |
| CN103198696B (en) * | 2012-01-06 | 2015-04-15 | 姜廷顺 | System and method capable of improving accuracy of large-scale guard duty command and dispatch |
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