CN104680820B - Traffic flow car networking system and traffic flow control method based on gradient field - Google Patents
Traffic flow car networking system and traffic flow control method based on gradient field Download PDFInfo
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- CN104680820B CN104680820B CN201510073953.5A CN201510073953A CN104680820B CN 104680820 B CN104680820 B CN 104680820B CN 201510073953 A CN201510073953 A CN 201510073953A CN 104680820 B CN104680820 B CN 104680820B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims description 40
- 230000008569 process Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000004907 flux Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 2
- 238000013507 mapping Methods 0.000 claims description 2
- 230000010365 information processing Effects 0.000 abstract 1
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- 239000006185 dispersion Substances 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
- G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data
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Abstract
The invention discloses a traffic flow car networking system and a traffic flow control method based on a gradient field. The system comprises a vehicle information obtaining device, an information communication network system, a vehicle information processing server and a vehicle auto-driving guidance system. According to the traffic flow car networking system, a new vehicle travel planning and traffic jam solving idea is proposed, the urban traffic flow distribution gradient map is obtained through the obtained vehicle information, and the traffic flow on urban roads is controlled by planning the best travel route according to the principle of the gradient field. According to the traffic flow car networking system, vehicle information is completely obtained, a traffic services center can more completely and intuitively control the traffic flow in real time according to the principle of the gradient field, and can help drives to more perfectly plan the travel route, so that more convenient intelligent services are provided for the drives, and traffic problems are fundamentally relieved.
Description
Technical field
The present invention relates to traffic management technology field, more particularly, to a kind of traffic flow car networking system based on gradient fields and
Traffic flow control method.
Background technology
Currently, with Chinese society and rapid development of economy, traffic congestion becomes seriously asking of restriction social development
Topic, is the puzzlement of citizens' activities, is also the difficult problem that traffic control department of government carries out traffic administration.Existing on-vehicle vehicle acquisition of information
Stroke planning and navigation that equipment provides, simply carry out shortest route planning according to starting point and destination it is impossible to the shortest row
Real-time road in journey has detailed understanding, frequently results in vehicle and follows the area that the shortest route travelling of navigating meets vehicle congestion
Domain.Meanwhile, the vehicle flowrate scattergram that existing wagon flow amount control system provides, obtains often through installing photographic head on road
The traffic conditions of road, the vehicle flowrate distribution map data source being obtained is restricted, and obtained vehicle flowrate distribution
Figure is only as the foundation of regulation and control traffic lights time length, and can not fundamentally solve the crowded root cause problems of wagon flow.Therefore,
Although the research for traffic problems has extensively caused the attention of people, ask for how fundamentally alleviating traffic
How topic, provide more intelligentized service for people, even do not have more achievements.
Content of the invention
The technical problem to be solved is: provides a kind of traffic flow car networking system based on gradient fields and traffic
Method of flow control.The present invention passes through information communication network system, the information of vehicles of each vehicle in region is acquired, root
Reconstruct through 3 D stereo according to the information of vehicles obtaining and obtain urban transportation vehicle flowrate scattergram and the distribution of urban transportation vehicle flowrate
Gradient map, using the principle of gradient fields, the driving intention of the current geographic position of comprehensive vehicle, destination and driver, be
The optimum planning driving path of car planning of each offer data message, and according to vehicle selected vehicle running path more new town
Special bus flow distribution gradient figure and its variation tendency, so that jam road avoided by vehicle, fundamentally alleviate regional area
Vehicular circulation pressure.
The purpose of the present invention is achieved through the following technical solutions: a kind of traffic flow car networking system based on gradient fields
System, comprising: information of vehicles obtains equipment, information of vehicles processing server and information communication network system.
Described information of vehicles obtains equipment and is used for obtaining information of vehicles；Described information of vehicles includes vehicle and travels speed
The driving of degree, geographical position and driver is intended to；Described travel speed is velocity magnitude and the velocity attitude of vehicle；Described
Driving be intended to include destination and time restriction, described time restriction be needed for driver expects to arrive at the destination when
Between；Described information of vehicles obtains equipment and provides information to information of vehicles processing server, and obtains the optimum roadway of vehicle
Footpath；
Described information of vehicles processing server after obtaining city each road vehicle information, by the city to gained
City's special bus profile of flowrate asks gradient to obtain urban transportation vehicle flowrate distribution gradient figure, and the urban transportation car to subsequent time
Flow distribution gradient map is predicted obtaining urban transportation vehicle flowrate distribution gradient prognostic chart, by judging urban transportation vehicle flowrate
The condition whether distribution gradient figure and prognostic chart meet the threshold value being manually set less than selects the road with feasibility, will have
The road distance to be travelled having feasibility is compared with the maximum operating range of driver, has the road institute of feasibility
The path that distance to be travelled is less than maximum operating range is optimum planning driving path.
It is on-vehicle vehicle information acquisition apparatus or hand-hold vehicle information acquisition apparatus that described information of vehicles obtains equipment.
Described hand-hold vehicle information acquisition apparatus are the mobile intelligent terminal such as smart mobile phone, panel computer.
Described destination is single objective or multiple target ground being intended to successively arrangement according to driver drives vehicle
Point.
Described information of vehicles obtains equipment passes through information communication network directly provides, obtains to information of vehicles processing server
Win the confidence breath or via information of vehicles obtain equipment supplier to information of vehicles processing server provide, acquisition information.
Described vehicle flowrate scattergram can regulate and control the foundation of traffic lights make-and-break time as traffic lights command system.Institute
According to the change of urban traffic amount distribution, the corresponding on-vehicle vehicle acquisition of information of real time modifying sets the information of vehicles processing server stated
Standby planning driving path；Described urban traffic is measured distribution gradient figure and is modified in real time, to guarantee road according to the change of vehicle flowrate
The optimality of footpath planning.
A kind of traffic flow control method based on above-mentioned traffic flow car networking system, comprises the following steps:
Step 1: information of vehicles obtains equipment and driver's man-machine interaction obtains the driving intention of driver, and information of vehicles obtains
Information of vehicles is uploaded to information of vehicles processing server in vehicle travel process by taking equipment；Described information of vehicles includes driving
The person's of sailing driving intention, Vehicle Speed and geographical position；Information of vehicles processing server is that each uploads information of vehicles
Information of vehicles obtains device numbering xi；Practical situation according to city is each road number lj；Each crossing numbering ck.
Step 2: vehicle is located by information of vehicles processing server according to the information of vehicles that information of vehicles obtains equipment upload
Geographical position and travel speed be plotted on urban traffic map, obtain the scatterplot of urban transportation vehicle flowrate；Information of vehicles
Processing server according to the scatterplot of urban transportation vehicle flowrate, to being in same road ljOn information of vehicles obtain equipment provide
Information of vehicles the urban transportation vehicle flowrate scattergram of current time t is obtained by 3 D stereo reconstruct
Step 3: information of vehicles processing server is according to the urban transportation vehicle flowrate scattergram of current time t
The Grad of the flow distribution at no road is set to 0, obtains urban transportation vehicle flowrate distribution gradient figureAccording to
According to the driving intention of driver, travel speed, the geographical position and fixed planning driving path urban transportation car to t+ δ t
Flow distribution gradient map is predicted, and obtains the urban transportation vehicle flowrate distribution gradient prognostic chart of t+ δ t
Step 4: information of vehicles processing server obtains, according to information of vehicles, information of vehicles, the current t that equipment provides
Urban transportation vehicle flowrate distribution gradient figureAnd the urban transportation vehicle flowrate distribution gradient of t+ δ t is pre-
MappingBy choosing the road l that Grad is higher than threshold value δj, provide the vehicle letter of information of vehicles for each
The breath a plurality of planning driving path of acquisition equipment pre-planning, is less than according to whether running distance meets to the planning driving path of each pre-planning
The maximum vehicle operating range l of operator demand is judged, the driving according to driver is intended to determination and returns to information of vehicles
The optimum planning driving path of acquisition equipment.
Step 5: information of vehicles processing server by the optimum planning driving path of each vehicle be transferred to should vehicle vehicle
Information acquisition apparatus, after driver selectes planning driving path, it is anti-that information of vehicles processing server obtains equipment according to information of vehicles
The path selected by each vehicle of feedback is updated to urban transportation vehicle flowrate distribution gradient figure, and the city obtaining t+ δ t is handed over
The flow distribution that is open to traffic gradient mapBy urban transportation vehicle flowrate distribution gradient figureCan be real
The control of existing traffic flow.
Wherein, described 3 D stereo reconstruct refers to the city two-dimensional map in this city as x-y plane, by Mei Tiao road
Wagon flow value on road is as the value in z-axis to obtain three-dimensional city special bus profile of flowrate.
Described urban transportation vehicle flowrate distribution gradient figureIt is by urban transportation vehicle flowrate scattergramSeek gradient, and the vehicle flowrate distribution gradient value at no road be set to 0 gained, its formula is as follows:
The urban transportation vehicle flowrate distribution gradient figure of described t+ δ tRefer to through a timing
Between urban transportation vehicle flowrate distribution gradient figure after δ t, the value of δ t can be manually set；The urban transportation of described t+ δ t
Vehicle flowrate distribution gradient prognostic chartRefer to according to the now residing geographical position of all vehicles, travel speed with
And fixed planning driving path analyzes geographical position and the travel speed residing for t+ δ t each car, comprehensive current t
Urban transportation vehicle flowrate scattergram, thus obtain the urban transportation vehicle flowrate distribution gradient prognostic chart of t+ δ t.
Described fixed planning driving path refers to that, in upper once Path selection, to each car, driver is according to car
The optimum planning driving path that netscape messaging server Netscape returns, according to the planning driving path of the wish selection of oneself, and is believed by vehicle
Breath acquisition equipment feeds back to information of vehicles processing server.
Described optimum planning driving path refer to meet driver driving be intended on the premise of, when vehicle flowrate in vehicle flowrate
In the certain limit of little value during fluctuation, running distance path the shortest；Described vehicle flowrate minima refers in current time
In the urban transportation vehicle flowrate distribution gradient prognostic chart of urban transportation vehicle flowrate distribution gradient figure and subsequent time, on road
The value of the vehicle flowrate corresponding to vehicle flowrate distribution gradient value highest road；The certain limit of described vehicle flowrate minima is passed through
The value setting Grads threshold δ is selected, and the Grad corresponding to when road is higher than it is believed that corresponding to this road during threshold value δ
In the range of wagon flow value is in；Described maximum vehicle operating range l refers to according to driving that information of vehicles acquisition equipment is uploaded
The driving of the person of sailing is intended to, by analyzing geographical position, Vehicle Speed, destination and the time limit that driver is presently in
Make the ultimate range that calculated driver can travel before reaching a destination.
Described threshold value δ can be done suitable according to extraneous factors such as local geographical position, weather conditions, time and traffics
When change.
The invention has the beneficial effects as follows: the traffic flow car networking system based on gradient fields for the present invention, make each load wagon
The car of information acquisition apparatus becomes the sensor of monitoring Forecast of Urban Traffic Flow, by the confluence analysiss of data, builds overall car
Flow distribution gradient map, helps vehicle to cook up best traffic route, effectively avoids traffic congestion region.Angle from driver
Degree, driver need not know that upcoming traffic situation just can obtain optimal stroke route from information of vehicles acquisition equipment, thus
Save the travel time and obtain good trip experience；From the angle of traffic administration, the structure of overall wagon flow spirogram helps management
Personnel hold the wagon flow situation of the overall situation well, convenient overall regulation and control, and another aspect vehicle is independently avoided congestion regions, is conducive to
Quickly the releiving of traffic congestion.
Brief description
Fig. 1 is the system block diagram of the present invention；
Fig. 2 is the workflow diagram of the information of vehicles processing server of the present invention；
Fig. 3 is the schematic diagram of embodiments of the invention.
Specific embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below we combine accompanying drawing to the present invention make
Further description.
As shown in figure 1, a kind of traffic flow car networking system based on gradient fields of the present invention, comprising: information of vehicles obtains and sets
Standby, information of vehicles processing server and information communication network system；
Described information of vehicles obtains equipment and is used for obtaining information of vehicles；Described information of vehicles includes vehicle and travels speed
The driving of degree, geographical position and driver is intended to；Described travel speed is velocity magnitude and the velocity attitude of vehicle；Described
Driving be intended to include destination and time restriction, described time restriction be needed for driver expects to arrive at the destination when
Between；Described information of vehicles obtains equipment and provides information to information of vehicles processing server, and obtains the optimum roadway of vehicle
Footpath；
Described information of vehicles processing server after obtaining city each road vehicle information, by the city to gained
City's special bus profile of flowrate asks gradient to obtain urban transportation vehicle flowrate distribution gradient figure, and the urban transportation car to subsequent time
Flow distribution gradient map is predicted obtaining urban transportation vehicle flowrate distribution gradient prognostic chart, by judging urban transportation vehicle flowrate
The condition whether distribution gradient figure and prognostic chart meet the threshold value being manually set less than selects the road with feasibility, will have
The road distance to be travelled having feasibility is compared with the maximum operating range of driver, has the road institute of feasibility
The path that distance to be travelled is less than maximum operating range is optimum planning driving path, the workflow of information of vehicles processing server
Journey figure is as shown in Figure 2.
It is on-vehicle vehicle information acquisition apparatus or hand-hold vehicle information acquisition apparatus that described information of vehicles obtains equipment.
Described hand-hold vehicle information acquisition apparatus are the mobile intelligent terminal such as smart mobile phone, panel computer.
Described destination is single objective or multiple target ground being intended to successively arrangement according to driver drives vehicle
Point.
Described information of vehicles obtains equipment passes through information communication network directly provides, obtains to information of vehicles processing server
Win the confidence breath or via information of vehicles obtain equipment supplier to information of vehicles processing server provide, acquisition information.
Described vehicle flowrate scattergram can regulate and control the foundation of traffic lights make-and-break time as traffic lights command system.Institute
According to the change of urban traffic amount distribution, the corresponding on-vehicle vehicle acquisition of information of real time modifying sets the information of vehicles processing server stated
Standby planning driving path；Described urban traffic is measured distribution gradient figure and is modified in real time, to guarantee road according to the change of vehicle flowrate
The optimality of footpath planning.
Embodiment
Assume currently there are three cars the first and second the third, information of vehicles obtains device numbering and is respectively x1, x2, x3, wherein the first and second two
Car is in t in the same time0Set out, travel speed is respectively v1, v2, the third car is in t1Moment sets out, and travel speed is v2, and between three cars
Meet v2>v1, t1<t0, the driving of driver is intended to be before t arrive at d, and optional path is l1, l2, l3, three
The length relation of paths is l3>l2>l1；The concrete grammar realizing vehicle flowrate control is as follows:
(1) information of vehicles processing server travels on the vehicle in each path according to current time and will enter each path
The travel speed that uploaded of vehicle, analyze and process and update the traffic in each path, particularly as follows: all cars in this city
The information of vehicles of itself is transmitted to information of vehicles processing server by communication system, wherein, information of vehicles includes currently
Present position, driving is intended to, travel speed.
(2) information of vehicles processing server processes the geographical position uploading in this cities all and travel speed is plotted in city
On city's traffic map, obtain the scatterplot of urban transportation vehicle flowrate；Information of vehicles processing server is according to urban transportation vehicle flowrate
Scatterplot, the vehicle speed information being in same road vehicle information acquisition apparatus and providing is carried out Effective judgement and
Homogenization is processed, and obtains current t0The urban transportation vehicle flowrate scattergram in moment
(3) by current t0The urban transportation vehicle flowrate scattergram in momentProcessed, obtained current t0
The urban transportation vehicle flowrate distribution gradient figure in momentVehicle information processor is intended to according to the driving of driver, OK
Sail speed, geographical position and fixed planning driving path to t1The urban transportation vehicle flowrate distribution gradient figure in moment is predicted,
Obtain t1The urban transportation vehicle flowrate distribution gradient prognostic chart in momentTo carry out to the planning driving path of vehicle in advance
Rational planning.
(4) it is that the planning driving path of the first and second the third three cars is planned, and realizes traffic dispersion, specifically include following sub-step
Rapid:
(4.1) information of vehicles, the current t that equipment provides is obtained according to information of vehicles0The urban transportation vehicle flowrate in moment divides
Cloth gradient mapAnd t1The urban transportation vehicle flowrate distribution gradient prognostic chart in momentChoose gradient
Value is higher than the road l of threshold value δj, the path of gained has feasibility.
(4.2) if the vehicle flowrate obtained according to urban transportation vehicle flowrate scattergram is relatively small and wagon flow within a certain period of time
It is l that amount continues less path1, l2, l3, as shown in figure 3, being intended to according to the driving of the first and second the third three cars, the first and second the third three cars can be obtained
Maximum vehicle operating range be respectively as follows: l1=v1(t-t0), l2=v2(t-t0), l3=v2(t-t1), if selected path
Less than maximum vehicle operating range, then this path is feasible, and otherwise this path is infeasible.Assume l1<l2<l1<l3, l2>l3, l3>l3,
So first car optional path is l1、l2, third liang of car optional path of second is respectively l1、l2、l3.
(4.3) due to t1<t0, that is, the third car set out to destination prior to first and second liang of cars, therefore the third bus or train route footpath is entered row major rule
Draw.Assume that the wagon flow magnitude relation in now each path meets l3<l1=l2Pay the utmost attention to the minimum path of vehicle flowrate, then the third car
Optimal path is l3.When third car select planning driving path when, update urban transportation vehicle flowrate distribution gradient figure, and take this as a foundation for
Optimum planning driving path selected by first and second liang of cars.
(4.4) optimum planning driving path judgment rule:
When the running distance in all paths meets less than maximum vehicle operating range, the minimum path of vehicle flowrate is selected to make
For optimum driving path；
When the running distance of only part path meets less than maximum vehicle operating range, then to the path meeting condition
Carry out the comparison of vehicle flowrate size, select the minimum path of vehicle flowrate as optimum driving path；
When the running distance in all paths is both greater than maximum vehicle operating range, then the minimum path of vehicle flowrate is selected to make
For optimum driving path.
When the vehicle flowrate in all paths is satisfied by condition, then running distance is judged, the running distance of selection
Path the shortest is as optimum driving path；
When the vehicle flowrate of only part path meets condition, then the running distance in the path meeting condition is sentenced
Disconnected, the running distance of selection path the shortest is as optimum driving path；
When the vehicle flowrate in all paths is unsatisfactory for condition, then the running distance selecting path the shortest travels as optimum
Path.
Described vehicle flowrate minimum refers in current t0The urban transportation vehicle flowrate distribution gradient figure in moment
And t1The urban transportation vehicle flowrate distribution gradient prognostic chart in momentIn, Grad highest.
According to above judgment principle, in this example, the optimum planning driving path of first car is l1, the optimum driving path of second car is
l2, the optimum driving path of the third car is l3.
(5) information of vehicles processing server by the optimum planning driving path of each vehicle be transferred to should vehicle information of vehicles
Acquisition equipment, and after driver selectes path, the display screen that this information of vehicles obtains equipment shows planning driving path.With
When, path according to selected by each vehicle that information of vehicles obtains equipment feedback for the information of vehicles processing server is to urban transportation wagon flow
Amount distribution gradient figure is updated, and obtains t1The urban transportation vehicle flowrate distribution gradient figure in momentFor next time
Path selection is prepared.Now, a circulation of Traffic flux detection is accomplished, and enters next circulation.
Claims (7)
1. a kind of traffic flow car networking system based on gradient fields, this system includes: at information of vehicles acquisition equipment, information of vehicles
Reason server and information communication network system；Described information of vehicles obtains equipment and is used for obtaining information of vehicles；Described vehicle
The driving that information includes Vehicle Speed, geographical position and driver is intended to；Described travel speed is the speed of vehicle
Size and velocity attitude；Described driving is intended to include destination and time restriction, and described time restriction is expected for driver
Arrive at the destination the required time；Described information of vehicles obtains equipment and provides information to information of vehicles processing server, and obtains
The optimum planning driving path of pick-up；It is characterized in that, described information of vehicles processing server is on obtaining each road in city
After information of vehicles, by asking gradient to obtain urban transportation vehicle flowrate distribution gradient the urban transportation vehicle flowrate scattergram of gained
Figure, and the urban transportation vehicle flowrate distribution gradient figure of subsequent time is predicted obtain urban transportation vehicle flowrate distribution gradient pre-
Mapping, by judging whether urban transportation vehicle flowrate distribution gradient figure and prognostic chart meet the bar of the threshold value being manually set less than
Part selects the road with feasibility, by the maximum operating range of distance to be travelled for the road with feasibility and driver
It is compared, the road distance to be travelled with feasibility is less than the path of maximum operating range and is optimum roadway
Footpath.
2. the traffic flow car networking system based on gradient fields according to claim 1 is it is characterised in that described vehicle is believed
Breath acquisition equipment is on-vehicle vehicle information acquisition apparatus or hand-hold vehicle information acquisition apparatus.
3. the traffic flow car networking system based on gradient fields according to claim 2 is it is characterised in that described hand-held
It is the mobile intelligent terminal such as smart mobile phone, panel computer, Intelligent bracelet that information of vehicles obtains equipment.
4. the traffic flow car networking system based on gradient fields according to claim 1 is it is characterised in that described destination
For single objective or multiple objective being intended to successively arrangement according to driver drives vehicle.
5. the traffic flow car networking system based on gradient fields according to claim 1 is it is characterised in that described vehicle is believed
Breath acquisition equipment passes through information communication network directly to be provided to information of vehicles processing server, obtains information or via vehicle letter
Breath obtains equipment supplier and provides to information of vehicles processing server, obtains information.
6. a kind of method carrying out Traffic flux detection using the traffic flow car networking system based on gradient fields described in claim 1,
It is characterized in that, comprise the following steps:
Step 1: information of vehicles obtains equipment and driver's man-machine interaction obtains the driving intention of driver, and information of vehicles obtains and sets
Standby in vehicle travel process, information of vehicles is uploaded to information of vehicles processing server；Described information of vehicles includes driver
Driving intention, Vehicle Speed and geographical position；Information of vehicles processing server is the vehicle that each uploads information of vehicles
Information acquisition apparatus numbering xi；Practical situation according to city is each road number lj；Each crossing numbering ck；
Step 2: the ground that vehicle is located by information of vehicles processing server according to the information of vehicles that information of vehicles obtains equipment upload
Reason position and travel speed are plotted on urban traffic map, obtain the scatterplot of urban transportation vehicle flowrate；Information of vehicles is processed
Server according to the scatterplot of urban transportation vehicle flowrate, to being in same road ljOn information of vehicles obtain equipment provide car
Information obtains the urban transportation vehicle flowrate scattergram of current time t by 3 D stereo reconstruct
Step 3: information of vehicles processing server is according to the urban transportation vehicle flowrate scattergram of current time tWill be no
The Grad of the flow distribution at road is set to 0, obtains urban transportation vehicle flowrate distribution gradient figureFoundation is driven
The driving intention of the person of sailing, travel speed, the geographical position and fixed planning driving path urban transportation vehicle flowrate to t+ δ t
Distribution gradient figure is predicted, and obtains the urban transportation vehicle flowrate distribution gradient prognostic chart of t+ δ t
Step 4: information of vehicles processing server obtains the information of vehicles of equipment offer, the city of current t according to information of vehicles
City's special bus flow distribution gradient figureAnd the urban transportation vehicle flowrate distribution gradient prognostic chart of t+ δ tBy choosing the road l that Grad is higher than threshold value δj, for each provide information of vehicles information of vehicles obtain
Whether a plurality of planning driving path of taking equipment pre-planning, meet less than driving according to running distance to the planning driving path of each pre-planning
The maximum vehicle operating range l that person requires is judged, the driving according to driver is intended to determination and returns to information of vehicles acquisition
The optimum planning driving path of equipment；
Step 5: information of vehicles processing server by the optimum planning driving path of each vehicle be transferred to should vehicle information of vehicles
Acquisition equipment, after driver selectes planning driving path, information of vehicles processing server obtains equipment feedback according to information of vehicles
Path selected by each vehicle is updated to urban transportation vehicle flowrate distribution gradient figure, obtains the urban transportation car of t+ δ t
Flow distribution gradient mapBy urban transportation vehicle flowrate distribution gradient figureCan achieve and hand over
Through-flow control.
7. the method for Traffic flux detection according to claim 6 is it is characterised in that described optimum planning driving path refers to
On the premise of meeting driver's driving intention, when vehicle flowrate fluctuates in the certain limit of vehicle flowrate minima, running distance
Path the shortest；Described vehicle flowrate minima refer to the urban transportation vehicle flowrate distribution gradient figure of current time and next
In the urban transportation vehicle flowrate distribution gradient prognostic chart in moment, corresponding to the vehicle flowrate distribution gradient value highest road on road
Vehicle flowrate value；The certain limit of described vehicle flowrate minima is selected by the value setting Grads threshold δ, works as road
Corresponding Grad is higher than it is believed that in the range of the wagon flow value corresponding to this road is in during threshold value δ；Described maximum vehicle
Operating range l refers to that the driving obtaining the driver that equipment is uploaded according to information of vehicles is intended to, current by analyzing driver
The driver that residing geographical position, Vehicle Speed, destination and time restriction are calculated is before reaching a destination
The ultimate range that can travel.
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| CN201510073953.5A CN104680820B (en) | 2015-02-12 | 2015-02-12 | Traffic flow car networking system and traffic flow control method based on gradient field |
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| CN108470447B (en) * | 2018-03-30 | 2019-02-22 | 特斯联（北京）科技有限公司 | A kind of traffic dispersion system and method for autonomous path planning |
| CN108810846B (en) * | 2018-06-20 | 2019-12-17 | 北京邮电大学 | vehicle-mounted network group sensing coverage method based on urban public transport |
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