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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Abstract
本发明公开了一种基于梯度场的交通流车联网系统及交通流控制方法，该系统包括车辆信息获取设备、信息通讯网络系统、车辆信息处理服务器以及车辆自动驾驶引导系统。本发明提出一种全新的车辆行程规划及交通流疏导思想，通过获得的车辆信息，得到城市车流量分布梯度图，利用梯度场的原理规划最佳行车路径，实现城市道路上的车流量控制。本发明充分获取了车辆信息，利用梯度场的原理，更加全面、直观、实时地帮助交管中心调控车流，更好地帮助驾驶员规划行车线路，为驾驶者提供更为智能化便捷的服务，从根本上缓解交通问题。
The invention discloses a gradient field-based traffic flow vehicle networking system and a traffic flow control method. The system includes vehicle information acquisition equipment, an information communication network system, a vehicle information processing server, and a vehicle automatic driving guidance system. The present invention proposes a brand-new idea of vehicle travel planning and traffic flow guidance, obtains a gradient map of urban traffic flow distribution through obtained vehicle information, uses the principle of gradient field to plan an optimal driving route, and realizes traffic flow control on urban roads. The invention fully obtains vehicle information, utilizes the principle of gradient field, helps the traffic control center to regulate the traffic flow in a more comprehensive, intuitive and real-time manner, better helps the driver plan the driving route, and provides the driver with more intelligent and convenient services, from Basically alleviate the traffic problem.
Description
技术领域technical field
本发明涉及交通管理技术领域，尤其涉及一种基于梯度场的交通流车联网系统及交通流控制方法。The invention relates to the technical field of traffic management, in particular to a gradient field-based traffic flow vehicle networking system and a traffic flow control method.
背景技术Background technique
当前，随着我国社会和经济的高速发展，交通拥堵成为了制约社会发展的严重问题，是市民出行的困扰，也是政府交管部门进行交通管理的难题。现有的车载车辆信息获取设备提供的行程规划和导航，只是根据出发点和目的地进行最短行程规划，无法对最短行程内的实时路况有详细的了解，常常导致车辆跟随导航行驶的最短行程遇上车辆拥堵的区域。同时，现有的车流量控制系统提供的车流量分布图，往往通过在道路上安装摄像头获取道路的交通情况，所获得的车流量分布图数据来源受到限制，而且所得到的的车流量分布图只能作为调控交通灯时间长短的依据，而不能从根本上解决车流拥挤的根源问题。因此，虽然对于交通问题的研究已经广泛引起人们的重视，但是对于如何从根本上缓解交通问题，如何为人们提供更为智能化的服务，尚且没有更多的成果。At present, with the rapid development of our country's society and economy, traffic congestion has become a serious problem restricting social development. The trip planning and navigation provided by the existing on-board vehicle information acquisition equipment only plan the shortest trip according to the starting point and destination, and cannot have a detailed understanding of the real-time road conditions within the shortest trip. Areas of traffic congestion. At the same time, the traffic flow distribution map provided by the existing traffic flow control system often obtains the traffic conditions of the road by installing cameras on the road. The data source of the obtained traffic flow distribution map is limited, and the obtained traffic flow distribution map It can only be used as a basis for regulating the length of time of traffic lights, but cannot fundamentally solve the root problem of traffic congestion. Therefore, although the research on traffic problems has attracted people's attention, there are still no more results on how to fundamentally alleviate traffic problems and how to provide people with more intelligent services.
发明内容Contents of the invention
本发明所要解决的技术问题是：提供一种基于梯度场的交通流车联网系统及交通流控制方法。本发明通过信息通讯网络系统，对区域内每一辆车辆的车辆信息进行采集，根据获得的车辆信息经过三维立体重构获得城市交通车流量分布图及城市交通车流量分布梯度图，利用梯度场的原理，综合车辆的当前地理位置、目的地以及驾驶者的行驶意图，为每一辆提供数据信息的车规划最优行车路径，并根据车辆所选择的车辆行驶路径更新城市交通车流量分布梯度图及其变化趋势从而使车辆避开拥堵道路，从根本上缓解局部区域的车辆流通压力。The technical problem to be solved by the present invention is to provide a gradient field-based traffic flow vehicle networking system and a traffic flow control method. The present invention collects the vehicle information of each vehicle in the area through the information communication network system, obtains the urban traffic flow distribution map and the urban traffic flow distribution gradient map through three-dimensional reconstruction according to the obtained vehicle information, and utilizes the gradient field Based on the principle of the vehicle, the current geographical location, destination and driver's driving intention of the vehicle are integrated, and the optimal driving route is planned for each vehicle that provides data information, and the urban traffic flow distribution gradient is updated according to the vehicle driving route selected by the vehicle. The graph and its changing trend enable vehicles to avoid congested roads, and fundamentally relieve the pressure on vehicle circulation in local areas.
本发明的目的是通过以下技术方案来实现的：一种基于梯度场的交通流车联网系统，包括：车辆信息获取设备、车辆信息处理服务器和信息通讯网络系统。The purpose of the present invention is achieved through the following technical solutions: a gradient field-based traffic flow vehicle networking system, including: vehicle information acquisition equipment, vehicle information processing server and information communication network system.
所述的车辆信息获取设备用于获取车辆信息；所述的车辆信息包括车辆行驶速度、地理位置以及驾驶员的行车意图；所述的行驶速度为车辆的速度大小和速度方向；所述的行车意图包括目的地和时间限制，所述的时间限制为驾驶员期望达到目的地所需的时间；所述的车辆信息获取设备向车辆信息处理服务器提供信息，并获取车辆的最优行车路径；The vehicle information acquisition device is used to acquire vehicle information; the vehicle information includes vehicle speed, geographic location and driver's driving intention; the described driving speed is the speed and direction of the vehicle; the driving The intention includes a destination and a time limit, and the time limit is the time required for the driver to reach the destination; the vehicle information acquisition device provides information to the vehicle information processing server and acquires the optimal driving route of the vehicle;
所述的车辆信息处理服务器在获得城市各道路上的车辆信息后，通过对所得的城市交通车流量分布图求梯度得到城市交通车流量分布梯度图，并对下一时刻的城市交通车流量分布梯度图进行预测得到城市交通车流量分布梯度预测图，通过判断城市交通车流量分布梯度图及预测图是否满足小于一人为设定的阈值的条件选择具有可行性的道路，将具有可行性的道路所要行驶的距离与驾驶者的最大行驶距离进行比较，具有可行性的道路所要行驶的距离小于最大行驶距离的路径即为最优行车路径。After the vehicle information processing server obtains the vehicle information on each road in the city, it obtains the urban traffic flow distribution gradient map by calculating the gradient of the obtained urban traffic flow distribution map, and calculates the urban traffic flow distribution gradient map at the next moment. The gradient map of urban traffic flow distribution is obtained by predicting the gradient map. By judging whether the gradient map of urban traffic flow distribution and the prediction map meet the condition of less than an artificially set threshold, a feasible road is selected, and the feasible road is selected. The distance to be driven is compared with the maximum driving distance of the driver, and the route with a feasible road whose distance to be driven is less than the maximum driving distance is the optimal driving route.
所述的车辆信息获取设备为车载车辆信息获取设备或手持式车辆信息获取设备。The vehicle information acquisition device is a vehicle-mounted vehicle information acquisition device or a handheld vehicle information acquisition device.
所述的手持式车辆信息获取设备为智能手机、平板电脑等移动智能终端。The handheld vehicle information acquisition device is a mobile intelligent terminal such as a smart phone or a tablet computer.
所述的目的地为单一的目标地点或多个按照驾驶员行车意图先后排列的目标地点。The destination is a single target point or multiple target points arranged sequentially according to the driver's driving intention.
所述的车辆信息获取设备通过信息通讯网络直接向车辆信息处理服务器提供、获取信息或者经由车辆信息获取设备提供商向车辆信息处理服务器提供、获取信息。The vehicle information acquisition device directly provides and acquires information to the vehicle information processing server through the information communication network, or provides and acquires information to the vehicle information processing server through the vehicle information acquisition equipment provider.
所述的车流量分布图可作为城市交通灯指挥系统调控红绿灯通断时间的依据。所述的车辆信息处理服务器根据城市车流量分布的变化，实时修改对应车载车辆信息获取设备的行车路径；所述的城市车流量分布梯度图依据车流量的改变实时进行修改，以确保路径规划的最优性。The traffic flow distribution diagram can be used as the basis for the urban traffic light command system to regulate the on-off time of the traffic light. The vehicle information processing server modifies in real time the driving route corresponding to the on-vehicle vehicle information acquisition device according to the change of the urban traffic flow distribution; optimality.
一种基于上述交通流车联网系统的交通流控制方法，包括以下步骤：A traffic flow control method based on the above-mentioned traffic flow vehicle networking system, comprising the following steps:
步骤1：车辆信息获取设备与驾驶员人机交互获取驾驶员的行车意图，车辆信息获取设备在车辆行驶过程中将车辆信息上传给车辆信息处理服务器；所述的车辆信息包括驾驶员行车意图、车辆行驶速度和地理位置；车辆信息处理服务器为每一个上传车辆信息的车辆信息获取设备编号Xi；根据城市的实际情况为每一条道路编号Lj；每一个路口编号Ck。Step 1: The vehicle information acquisition device interacts with the driver to obtain the driver's driving intention, and the vehicle information acquisition device uploads the vehicle information to the vehicle information processing server during the driving process of the vehicle; the vehicle information includes the driver's driving intention, Vehicle speed and geographic location; vehicle information processing server obtains equipment number X i for each vehicle information uploaded vehicle information; according to the actual situation of the city, each road is numbered L j ; each intersection is numbered C k .
步骤2：车辆信息处理服务器根据车辆信息获取设备上传的车辆信息将车辆所在的地理位置和行驶速度绘制在城市交通地图上，得到城市交通车流量的散点图；车辆信息处理服务器根据城市交通车流量的散点图，对处于同一道路Lj上的车辆信息获取设备提供的车辆信息通过三维立体重构得到当前时刻t的城市交通车流量分布图 Step 2: The vehicle information processing server draws the geographical location and driving speed of the vehicle on the urban traffic map according to the vehicle information uploaded by the vehicle information acquisition device, and obtains the scatter diagram of the urban traffic flow; The scatter diagram of traffic flow, the vehicle information provided by the vehicle information acquisition equipment on the same road L j is reconstructed through three-dimensional reconstruction to obtain the urban traffic flow distribution map at the current moment t
步骤3：车辆信息处理服务器根据当前时刻t的城市交通车流量分布图将无道路处的流量分布的梯度值设为0，获得城市交通车流量分布梯度图依据驾驶员的行车意图、行驶速度、地理位置和已确定的行车路径对t+Δt时刻的城市交通车流量分布梯度图进行预测，得到t+Δt时刻的城市交通车流量分布梯度预测图 Step 3: The vehicle information processing server is based on the urban traffic flow distribution map at the current moment t Set the gradient value of the flow distribution at no roads to 0 to obtain the gradient map of urban traffic flow distribution According to the driver's driving intention, driving speed, geographical location and the determined driving route, the urban traffic flow distribution gradient map at time t+Δt is predicted, and the urban traffic flow distribution gradient prediction map at time t+Δt is obtained
步骤4：车辆信息处理服务器根据车辆信息获取设备提供的车辆信息、当前t时刻的城市交通车流量分布梯度图以及t+Δt时刻的城市交通车流量分布梯度预测图通过选取梯度值高于阈值δ的道路Lj，为每一个提供车辆信息的车辆信息获取设备预规划多条行车路径，对每一条预规划的行车路径根据行车距离是否满足小于驾驶者要求的最大车辆行驶距离l进行判断，根据驾驶员的行车意图确定返回给车辆信息获取设备的最优行车路径。Step 4: The vehicle information processing server obtains the vehicle information provided by the device according to the vehicle information, and the gradient map of urban traffic flow distribution at the current moment t And the gradient prediction map of urban traffic flow distribution at time t+Δt By selecting the road L j whose gradient value is higher than the threshold δ, multiple driving paths are pre-planned for each vehicle information acquisition device that provides vehicle information. The vehicle travel distance l is judged, and the optimal driving route returned to the vehicle information acquisition device is determined according to the driver's driving intention.
步骤5：车辆信息处理服务器将各车辆的最优行车路径传输给对应该车辆的车辆信息获取设备，在驾驶员选定行车路径后，车辆信息处理服务器根据车辆信息获取设备反馈的各车辆所选的路径对城市交通车流量分布梯度图进行更新，得到t+Δt时刻的城市交通车流量分布梯度图通过城市交通车流量分布梯度图即可实现交通流的控制。Step 5: The vehicle information processing server transmits the optimal driving route of each vehicle to the vehicle information acquisition device corresponding to the vehicle. After the driver selects the driving route, the vehicle information processing server selects the optimal driving route for each vehicle according to the feedback from the vehicle information acquisition device. The path of the urban traffic flow distribution gradient map is updated to obtain the urban traffic flow distribution gradient map at time t+Δt Gradient map of traffic flow distribution through urban traffic Traffic flow control can be realized.
其中，所述的三维立体重构是指将该城市的城市二维地图作为X-Y平面，将每条道路上的车流量值作为Z轴上的值以得到三维城市交通车流量分布图。Wherein, the three-dimensional reconstruction refers to the urban two-dimensional map of the city as the X-Y plane, and the traffic flow value on each road as the value on the Z axis to obtain a three-dimensional urban traffic flow distribution map.
所述的城市交通车流量分布梯度图是通过对城市交通车流量分布图求梯度，并将无道路处的车流量分布梯度值设为0所得，其公式如下：The gradient map of urban traffic flow distribution is through the urban traffic flow distribution map Find the gradient, and set the gradient value of the traffic flow distribution at the place where there is no road to 0. The formula is as follows:
所述的t+Δt时刻的城市交通车流量分布梯度图是指在经过一定时间Δt后的城市交通车流量分布梯度图，Δt的值可人为设定；所述的t+Δt时刻的城市交通车流量分布梯度预测图是指根据所有车辆现在所处的地理位置，行驶速度以及已确定的行车路径分析t+Δt时刻每辆车所处的地理位置和行驶速度，综合当前t时刻的城市交通车流量分布图，从而获得t+Δt时刻的城市交通车流量分布梯度预测图。The urban traffic flow distribution gradient map at the moment t+Δt Refers to the urban traffic traffic flow distribution gradient map after a certain time Δt, and the value of Δt can be set artificially; the urban traffic traffic flow distribution gradient prediction map at the time t+Δt It refers to analyzing the geographical location and driving speed of each vehicle at time t+Δt according to the current geographical location, driving speed and determined driving route of all vehicles, and integrating the current urban traffic flow distribution map at time t, so that Obtain the gradient prediction map of urban traffic flow distribution at time t+Δt.
所述的已确定的行车路径是指在上一次路径选择中，对每一辆车，驾驶员依据车辆信息处理服务器返回的最优行车路径，依据自己的意愿选取的行车路径，并通过车辆信息获取设备反馈到车辆信息处理服务器。The determined driving route refers to the driving route selected by the driver based on the optimal driving route returned by the vehicle information processing server for each vehicle in the last route selection and according to the vehicle information. Get device feedback to the vehicle information processing server.
所述的最优行车路径是指在满足驾驶者行车意图的前提下，当车流量在车流量最小值的一定范围内波动时，行车距离最短的路径；所述的车流量最小值是指在当前时刻的城市交通车流量分布梯度图以及下一时刻的城市交通车流量分布梯度预测图中，道路上的车流量分布梯度值最高的道路所对应的车流量的值；所述的车流量最小值的一定范围通过设定梯度阈值δ的值进行选择，当道路所对应的梯度值高于阈值δ时，认为该道路所对应的车流量值处于范围内；所述的最大车辆行驶距离l是指依据车辆信息获取设备所上传的驾驶者的行车意图，通过分析驾驶者当前所处的地理位置、车辆行驶速度、目的地以及时间限制所计算出的驾驶者在到达目的地前所能行驶的最大距离。The optimal driving route refers to the route with the shortest driving distance when the traffic flow fluctuates within a certain range of the minimum value of the traffic flow under the premise of satisfying the driving intention of the driver; The urban traffic flow distribution gradient map of the current moment and the urban traffic flow distribution gradient prediction map of the next moment, the value of the corresponding traffic flow of the road with the highest traffic flow distribution gradient value on the road; the minimum traffic flow A certain range of values is selected by setting the value of the gradient threshold δ. When the gradient value corresponding to the road is higher than the threshold δ, it is considered that the corresponding traffic flow value of the road is within the range; the maximum vehicle travel distance l is Refers to the driver's driving intention uploaded by the vehicle information acquisition device, and the driver's current geographical location, vehicle speed, destination and time limit, which are calculated by the driver's driving intention before arriving at the destination. maximum distance.
所述的阈值δ可依据当地的地理位置、天气因素、时间及交通状况等外界因素做适时的更改。The threshold δ can be changed in a timely manner according to external factors such as local geographical location, weather factors, time and traffic conditions.
本发明的有益效果是：本发明基于梯度场的交通流车联网系统，使每一辆装载车辆信息获取设备的车成为监测城市交通流量的传感器，通过数据的整合分析，构建全局车流量分布梯度图，帮助车辆规划出最好的行车路线，有效避开交通拥堵区域。从驾驶者的角度，驾驶员无需知道前方交通情况便能从车辆信息获取设备上得到最佳的行程路线，从而节约出行时间并获得良好的出行体验；从交通管理的角度，全局车流量图的构建帮助管理人员很好地把握全局的车流情况，方便整体调控，另一方面车辆自主避开拥堵区域，有利于交通拥堵的快速舒缓。The beneficial effects of the present invention are: the gradient field-based traffic flow vehicle networking system of the present invention makes each vehicle loaded with vehicle information acquisition equipment a sensor for monitoring urban traffic flow, and builds a global traffic flow distribution gradient through integrated analysis of data map to help vehicles plan the best driving route and effectively avoid traffic congestion areas. From the perspective of the driver, the driver can obtain the best travel route from the vehicle information acquisition device without knowing the traffic situation ahead, thereby saving travel time and obtaining a good travel experience; from the perspective of traffic management, the global traffic flow map The construction helps managers to grasp the overall traffic flow situation and facilitate overall regulation. On the other hand, vehicles can autonomously avoid congested areas, which is conducive to the rapid relief of traffic congestion.
附图说明Description of drawings
图1是本发明的系统框图；Fig. 1 is a system block diagram of the present invention;
图2是本发明的车辆信息处理服务器的工作流程图；Fig. 2 is the work flowchart of vehicle information processing server of the present invention;
图3是本发明的实施例的示意图。Figure 3 is a schematic diagram of an embodiment of the present invention.
具体实施方式detailed description
为了使本发明的目的、技术方案和优点更加清楚，下面我们结合附图对本发明作进一步的描述。In order to make the purpose, technical solution and advantages of the present invention clearer, we will further describe the present invention below in conjunction with the accompanying drawings.
如图1所示，本发明一种基于梯度场的交通流车联网系统，包括：车辆信息获取设备、车辆信息处理服务器和信息通讯网络系统；As shown in Figure 1, a traffic flow networking system based on a gradient field in the present invention includes: a vehicle information acquisition device, a vehicle information processing server and an information communication network system;
所述的车辆信息获取设备用于获取车辆信息；所述的车辆信息包括车辆行驶速度、地理位置以及驾驶员的行车意图；所述的行驶速度为车辆的速度大小和速度方向；所述的行车意图包括目的地和时间限制，所述的时间限制为驾驶员期望达到目的地所需的时间；所述的车辆信息获取设备向车辆信息处理服务器提供信息，并获取车辆的最优行车路径；The vehicle information acquisition device is used to acquire vehicle information; the vehicle information includes vehicle speed, geographic location and driver's driving intention; the described driving speed is the speed and direction of the vehicle; the driving The intention includes a destination and a time limit, and the time limit is the time required for the driver to reach the destination; the vehicle information acquisition device provides information to the vehicle information processing server and acquires the optimal driving route of the vehicle;
所述的车辆信息处理服务器在获得城市各道路上的车辆信息后，通过对所得的城市交通车流量分布图求梯度得到城市交通车流量分布梯度图，并对下一时刻的城市交通车流量分布梯度图进行预测得到城市交通车流量分布梯度预测图，通过判断城市交通车流量分布梯度图及预测图是否满足小于一人为设定的阈值的条件选择具有可行性的道路，将具有可行性的道路所要行驶的距离与驾驶者的最大行驶距离进行比较，具有可行性的道路所要行驶的距离小于最大行驶距离的路径即为最优行车路径，车辆信息处理服务器的工作流程图如图2所示。After the vehicle information processing server obtains the vehicle information on each road in the city, it obtains the urban traffic flow distribution gradient map by calculating the gradient of the obtained urban traffic flow distribution map, and calculates the urban traffic flow distribution gradient map at the next moment. The gradient map of urban traffic flow distribution is obtained by predicting the gradient map. By judging whether the gradient map of urban traffic flow distribution and the prediction map meet the condition of less than an artificially set threshold, a feasible road is selected, and the feasible road is selected. The distance to be driven is compared with the maximum driving distance of the driver, and the path with a feasible road whose distance to be driven is less than the maximum driving distance is the optimal driving route. The working flow chart of the vehicle information processing server is shown in Figure 2.
所述的车辆信息获取设备为车载车辆信息获取设备或手持式车辆信息获取设备。The vehicle information acquisition device is a vehicle-mounted vehicle information acquisition device or a handheld vehicle information acquisition device.
所述的手持式车辆信息获取设备为智能手机、平板电脑等移动智能终端。The handheld vehicle information acquisition device is a mobile intelligent terminal such as a smart phone or a tablet computer.
所述的目的地为单一的目标地点或多个按照驾驶员行车意图先后排列的目标地点。The destination is a single target point or multiple target points arranged sequentially according to the driver's driving intention.
所述的车辆信息获取设备通过信息通讯网络直接向车辆信息处理服务器提供、获取信息或者经由车辆信息获取设备提供商向车辆信息处理服务器提供、获取信息。The vehicle information acquisition device directly provides and acquires information to the vehicle information processing server through the information communication network, or provides and acquires information to the vehicle information processing server through the vehicle information acquisition equipment provider.
所述的车流量分布图可作为城市交通灯指挥系统调控红绿灯通断时间的依据。所述的车辆信息处理服务器根据城市车流量分布的变化，实时修改对应车载车辆信息获取设备的行车路径；所述的城市车流量分布梯度图依据车流量的改变实时进行修改，以确保路径规划的最优性。The traffic flow distribution diagram can be used as the basis for the urban traffic light command system to regulate the on-off time of the traffic light. The vehicle information processing server modifies in real time the driving route corresponding to the on-vehicle vehicle information acquisition device according to the change of the urban traffic flow distribution; optimality.
实施例Example
假设当前有三辆车甲乙丙，车辆信息获取设备编号分别为X1，X2，X3，其中甲乙两辆车于同时刻t0出发，行驶速度分别为V1，V2，丙车于t1时刻出发，行驶速度为V2，并且三车之间满足V2>V1，t1<t0，驾驶员的行车意图均为于T时刻前到达目的地D，可选路径为L1，L2，L3，三条路径的长度关系为L3>L2>L1；实现车流量控制的具体方法如下：Assume that there are currently three vehicles, A, B, and C, and the vehicle information acquisition equipment numbers are X 1 , X 2 , and X 3 . Vehicles A and B depart at the same time t 0 with speeds of V 1 and V 2 respectively. Vehicle C departs at t 0 Departure at time 1 , the driving speed is V 2 , and the relationship between the three vehicles satisfies V 2 >V 1 , t 1 <t 0 , the driver’s driving intention is to reach the destination D before time T, and the optional route is L 1 , L 2 , L 3 , the length relationship of the three paths is L 3 >L 2 >L 1 ; the specific method to realize traffic flow control is as follows:
(1)车辆信息处理服务器根据当前时刻行驶于各路径的车辆以及即将进入各路径的车辆所上传的行驶速度，分析处理并且更新各路径的交通状况，具体为：本城市内所有车辆将本身的车辆信息通过通讯系统传输至车辆信息处理服务器，其中，车辆信息包括当前所处位置，行车意图，行驶速度。(1) The vehicle information processing server analyzes, processes and updates the traffic conditions of each route according to the speeds uploaded by the vehicles driving on each route at the current moment and the vehicles about to enter each route, specifically: all vehicles in the city send their own The vehicle information is transmitted to the vehicle information processing server through the communication system, wherein the vehicle information includes the current location, driving intention, and driving speed.
(2)车辆信息处理服务器处理所有本城市内上传的地理位置和行驶速度绘制在城市交通地图上，得到城市交通车流量的散点图；车辆信息处理服务器根据城市交通车流量的散点图，对处于同一道路上的车辆信息获取设备提供的车辆速度信息进行有效性判断和均一化处理，获得当前t0时刻的城市交通车流量分布图 (2) The vehicle information processing server processes all uploaded geographic locations and driving speeds in the city and draws them on the city traffic map to obtain a scatter diagram of the urban traffic flow; the vehicle information processing server, according to the scatter diagram of the urban traffic flow, Carry out validity judgment and homogenization processing on the vehicle speed information provided by the vehicle information acquisition equipment on the same road, and obtain the urban traffic flow distribution map at the current time t 0
(3)通过对当前t0时刻的城市交通车流量分布图进行处理，获得当前t0时刻的城市交通车流量分布梯度图车辆信息处理器依据驾驶员的行车意图、行驶速度、地理位置和已确定的行车路径对t1时刻的城市交通车流量分布梯度图进行预测，得到t1时刻的城市交通车流量分布梯度预测图以提前对车辆的行车路径进行合理的规划。(3) Through the distribution map of urban traffic flow at the current time t 0 process to obtain the gradient map of urban traffic flow distribution at the current time t 0 The vehicle information processor predicts the gradient map of urban traffic flow distribution at time t1 according to the driver's driving intention, driving speed, geographical location and the determined driving route, and obtains the gradient prediction map of urban traffic flow distribution at time t1 In order to make reasonable planning for the driving path of the vehicle in advance.
(4)为甲乙丙三辆车的行车路径进行规划，并实现交通疏导，具体包括以下子步骤：(4) Plan the driving paths of the three vehicles A, B, and C, and realize traffic flow, which specifically includes the following sub-steps:
(4.1)根据车辆信息获取设备提供的车辆信息、当前t0时刻的城市交通车流量分布梯度图以及t1时刻的城市交通车流量分布梯度预测图选取梯度值高于阈值δ的道路Lj，所得的路径具有可行性。(4.1) According to the vehicle information provided by the vehicle information acquisition device, the gradient map of the urban traffic flow distribution at the current time t 0 And the gradient prediction map of urban traffic flow distribution at time t 1 Select the road L j whose gradient value is higher than the threshold δ, and the resulting path is feasible.
(4.2)若根据城市交通车流量分布图求出的车流量相对较小且在一定时间内车流量持续较小的路径为L1，L2，L3，如图3所示，根据甲乙丙三车的行车意图，可得甲乙丙三辆车的最大车辆行驶距离分别为：l1＝V1(T-t0)，l2＝V2(T-t0)，l3＝V2(T-t1)，若所选的路径长度小于最大车辆行驶距离，则该路径可行，否则该路径不可行。假设L1<L2<l1<L3，l2>L3，l3>L3，那么甲车可选路径为L1、L2，乙丙两车可选路径分别为L1、L2、L3。(4.2) If the traffic flow calculated according to the urban traffic flow distribution map is relatively small and the path with a continuous small traffic flow within a certain period of time is L 1 , L 2 , L 3 , as shown in Figure 3, according to A, B, C According to the driving intentions of the three vehicles, the maximum driving distances of vehicles A, B, and C can be obtained as follows: l 1 =V 1 (Tt 0 ), l 2 =V 2 (Tt 0 ), l 3 =V 2 (Tt 1 ) , if the selected path length is less than the maximum vehicle travel distance, the path is feasible, otherwise the path is not feasible. Assuming that L 1 <L 2 <l 1 <L 3 , l 2 >L 3 , l 3 >L 3 , then the optional routes for vehicle A are L 1 and L 2 , and the optional routes for vehicles B and C are L 1 , L 2 , L 3 .
(4.3)由于t1<t0，即丙车先于甲乙两车向目的地出发，因此对丙车路径进行优先规划。假设此时各路径的车流量关系满足L3<L1＝L2优先考虑车流量最小的路径，那么丙车的最优路径为L3。当丙车选定行车路径时，更新城市交通车流量分布梯度图，并以此为根据为甲乙两车选定最优行车路径。(4.3) Since t 1 <t 0 , that is, car C departs for the destination before car A and car B, so the path of car C is prioritized. Assuming that the traffic flow relationship of each route satisfies L 3 <L 1 =L 2 and the route with the smallest traffic flow is given priority, then the optimal route of car C is L 3 . When vehicle C selects a driving route, update the gradient map of urban traffic flow distribution, and use this as a basis to select the optimal driving route for vehicles A and B.
(4.4)最优行车路径判断规则：(4.4) Judgment rules for the optimal driving route:
当所有路径的行车距离满足小于最大车辆行驶距离时，选择车流量最小的路径作为最优行驶路径；When the driving distance of all paths is less than the maximum vehicle driving distance, the path with the smallest traffic flow is selected as the optimal driving path;
当只有部分路径的行车距离满足小于最大车辆行驶距离时，则对满足条件的路径进行车流量大小的比较，选择车流量最小的路径作为最优行驶路径；When the driving distance of only some routes is less than the maximum vehicle driving distance, compare the traffic volume of the paths that meet the conditions, and select the route with the smallest traffic volume as the optimal driving route;
当所有路径的行车距离都大于最大车辆行驶距离时，则选择车流量最小的路径作为最优行驶路径。When the driving distance of all paths is greater than the maximum vehicle driving distance, the path with the smallest traffic flow is selected as the optimal driving path.
当所有路径的车流量均满足条件时，那么对行车距离进行判断，选择的行车距离最短的路径作为最优行驶路径；When the traffic flow of all paths meets the conditions, then the driving distance is judged, and the path with the shortest driving distance is selected as the optimal driving path;
当只有部分路径的车流量满足条件时，那么对满足条件的路径的行车距离进行判断，选择的行车距离最短的路径作为最优行驶路径；When only the traffic flow of some routes meets the conditions, then judge the driving distance of the routes that meet the conditions, and select the route with the shortest driving distance as the optimal driving route;
当所有路径的车流量不满足条件时，则选择的行车距离最短的路径作为最优行驶路径。When the traffic flow of all paths does not meet the conditions, the path with the shortest driving distance is selected as the optimal driving path.
所述的车流量最小是指在当前t0时刻的城市交通车流量分布梯度图以及t1时刻的城市交通车流量分布梯度预测图中，梯度值最高。The minimum traffic flow refers to the gradient map of urban traffic traffic flow distribution at the current moment t0 And the gradient prediction map of urban traffic flow distribution at time t 1 Among them, the gradient value is the highest.
根据以上判断原则，本示例中甲车的最优行车路径为L1，乙车的最优行驶路径为L2，丙车的最优行驶路径为L3。According to the above judgment principles, in this example, the optimal driving route of car A is L 1 , the optimal driving route of car B is L 2 , and the optimal driving route of car C is L 3 .
(5)车辆信息处理服务器将各车辆的最优行车路径传输给对应该车辆的车辆信息获取设备，并在驾驶员选定路径后，在该车辆信息获取设备的显示屏上显示行车路径。同时，车辆信息处理服务器根据车辆信息获取设备反馈的各车辆所选的路径对城市交通车流量分布梯度图进行更新，得到t1时刻的城市交通车流量分布梯度图为下一次路径选择做准备。此时，交通流控制的一个循环得以完成，进入下一个循环。(5) The vehicle information processing server transmits the optimal driving route of each vehicle to the vehicle information acquisition device corresponding to the vehicle, and displays the driving route on the display screen of the vehicle information acquisition device after the driver selects a route. At the same time, the vehicle information processing server updates the urban traffic flow distribution gradient map according to the route selected by each vehicle fed back by the vehicle information acquisition device, and obtains the urban traffic flow distribution gradient map at time t1 Prepare for the next path selection. At this point, one cycle of traffic flow control is completed and the next cycle is entered.
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