CN105070076A - Method and system for planning special route of special vehicle based on V2I (Vehicle to Infrastructure) - Google Patents
Method and system for planning special route of special vehicle based on V2I (Vehicle to Infrastructure) Download PDFInfo
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Abstract
A system for planning a special route of a special vehicle based on V2I (Vehicle to Infrastructure) comprises a detection unit, a collection unit and a planning unit. The detection unit detects whether or not an emergency pass request sent by the special vehicle is received; when the emergency pass request sent by the special vehicle is received, the collection unit collects movement state data of the special vehicle connected with a road test unit in a V2I communication mode and a plurality of vehicles within a preset range in the moving direction of the special vehicle, wherein the movement state data comprises latitude and longitude information and speed information; and the planning unit plans driving lanes and driving speeds of the special vehicle and the plurality of vehicles, and sends planning information to corresponding vehicles. After a preset period, that whether or not the special vehicle and the plurality of vehicles run on the planned lanes and at the planed speeds is monitored. The beneficial effects are that the method and system for planning the special route of the special vehicle based on V2I can provide service of priority pass for the special vehicle within an area, and also can record vehicles which obstruct the special vehicle.
Description
Technical field
The present invention relates to car networking arenas, be specifically related to a kind of special vehicle leased circuit planing method based on V2I and system.
Background technology
Car networking is by Internet technology, and the various information transmission of self can be converged to central processing unit by all vehicles.By computer technology, the information of these a large amount of vehicles can analyzed and process, thus calculate different vehicle best route, report without delay road conditions and arrange signal lamp cycle.
Car networking comprises car and car (V2V), Che Yulu (V2I, VehicletoInfrastructure), the interconnecting of car and people (V2P), Che Yu center (V2C) etc., realize the communication between car self-organization network and multiple heterogeneous network and roaming, function and performance ensure the ubiquitous property of real-time, serviceability and network, and it is the entity of public network and private network simultaneously.Che Yulu (V2I) is that the roadside unit by being arranged on highway limit is connected with the board units on vehicle or vehicle, and drive test unit connecting Internet makes car and internet carry out information interaction.
Because special vehicle (ambulance, fire truck, relief car etc.) is responsible for the important task of rescue life, reduction accident secondary effect, for it plans that a designated lane is even more important fast on crowded road.Existing car networked system does not occur to provide the service of priority pass for special vehicle, does not occur the function recorded the vehicle hindering special vehicle to pass through yet.
Summary of the invention
The service of priority pass can be provided for special vehicle for solving not having that existing car networked system exists, also not to the problem of the function that the vehicle hindering special vehicle to pass through records, the present invention proposes a kind of special vehicle leased circuit planing method based on V2I and system.
A kind of special vehicle leased circuit planing method based on V2I provided by the invention, is characterized in that, by gathering the motion state data of the vehicle in special vehicle working direction preset range, diagram data cooks up the leased circuit of special vehicle in combination; The method comprises the following steps:
S1: whether detecting receives special vehicle and send urgent current request; When define receive special vehicle send urgency communication request time, enter S2; Otherwise, continue detecting;
S2: the motion state data gathering the multiple vehicles on the special vehicle and described special vehicle working direction that are connected with V2I communication mode with drive test unit in preset range, described motion state data comprise latitude and longitude information and velocity information;
S3: driving lane and the road speed of cooking up described special vehicle and described multiple vehicle according to the motion state data of data, described special vehicle motion state data and described multiple vehicle according to the map according to path planning algorithm, and send the vehicle of information to correspondence of planning respectively;
S4: after sending the information Preset Time of planning, monitors described special vehicle and the whether respective track according to planning of described multiple vehicle and the speed of a motor vehicle and travels;
S5: as multiple vehicle as described in monitoring does not travel according to the track of each self planning and the speed of a motor vehicle, record the identity information of described violation vehicle and send to traffic control center, sending alert messages simultaneously and travel according to the track of planning and road speed to remind described violation vehicle to described violation vehicle.
Further, the size of described special vehicle working direction preset range is arranged according to the grade of the linear of road and road.
Further, the linear preset range for straight line of described road is greater than curve, and the grade of described road is that the preset range of expressway is greater than urban road.
Further, when described special vehicle travels to traffic light intersection, the timing of traffic lights is controlled, to guarantee described special vehicle priority pass.
Further, described path planning algorithm comprises the following steps:
T1: read the state of motion of vehicle data within the scope of map and described drive test unit;
T2: calculate the vehicle fleet size on each track, described special vehicle front and determine the most unimpeded track m;
T3: confirm whether track, described special vehicle place is the most unimpeded track m; Be enter step T8, otherwise enter step T4;
T4: command described special vehicle left/right side and be positioned at the vehicle parking of track m;
T5: command described special vehicle to enter the most unimpeded track m;
T6: confirm whether have vehicle in special vehicle front preset distance n; Be enter step T7, otherwise continue to perform step T6;
T7: extract the multiple state of motion of vehicle information in described special vehicle front preset distance n;
T8: the left/right side vehicle parking of the multiple vehicles in commander's special vehicle front preset distance n, vacates adjacent lane position; And
T9: the multiple vehicles in commander's special vehicle front preset distance n enter adjacent lane room.
A kind of special vehicle leased circuit planning system based on V2I that the present invention also provides, is characterized in that, by gathering the motion state data of the vehicle in special vehicle working direction preset range, diagram data cooks up the leased circuit of special vehicle in combination; This system comprises: detecting unit, whether receives special vehicle send urgent current request for detecting; Collecting unit, for define receive special vehicle send urgency communication request time, gather the motion state data of the some vehicles on the special vehicle and described special vehicle working direction that are connected with V2I communication mode with drive test unit in preset range, described motion state data comprise latitude and longitude information and velocity information; Planning unit, cook up driving lane and the road speed of described special vehicle and described multiple vehicle for the motion state data of data, described special vehicle motion state data and described multiple vehicle according to the map according to path planning algorithm, and send the vehicle of information to correspondence of planning respectively; Wherein, after sending the information Preset Time of planning, monitor described special vehicle and the whether respective track according to planning of described multiple vehicle and the speed of a motor vehicle and travel; As multiple vehicle as described in monitoring does not travel according to the track of each self planning and the speed of a motor vehicle, record the identity information of described violation vehicle and send to traffic control center, sending alert messages simultaneously and travel according to the track of planning and road speed to remind described violation vehicle to described violation vehicle.
Further, the size of described special vehicle working direction preset range is arranged according to the grade of the linear of road and road.
Further, the linear preset range for straight line of described road is greater than curve, and the grade of described road is that the preset range of expressway is greater than urban road.
Further, when described special vehicle travels to traffic light intersection, the timing of traffic lights is controlled, to guarantee described special vehicle priority pass.
Further, described path planning algorithm comprises the following steps:
T1: read the state of motion of vehicle data within the scope of map and described drive test unit;
T2: calculate the vehicle fleet size on each track, described special vehicle front and determine the most unimpeded track m;
T3: confirm whether track, described special vehicle place is the most unimpeded track m; Be enter step T8, otherwise enter step T4;
T4: command described special vehicle left/right side and be positioned at the vehicle parking of track m;
T5: command described special vehicle to enter the most unimpeded track m;
T6: confirm whether have vehicle in special vehicle front preset distance n; Be enter step T7, otherwise continue to perform step T6;
T7: extract the multiple state of motion of vehicle information in described special vehicle front preset distance n;
T8: the left/right side vehicle parking of the multiple vehicles in commander's special vehicle front preset distance n, vacates adjacent lane position; And
T9: the multiple vehicles in commander's special vehicle front preset distance n enter adjacent lane room.
Beneficial effect of the present invention can provide the service of priority pass for this special vehicle leased circuit planing method based on V2I and system for the special vehicle in region, record can also be carried out to hindering the current vehicle of special vehicle, can also control the timing of traffic lights, ensure the priority pass of special vehicle.
Accompanying drawing explanation
Fig. 1 is the functional block diagram of special vehicle leased circuit planning system one embodiment that the present invention is based on V2I.
Fig. 2 is the process flow diagram of special vehicle leased circuit planing method one embodiment that the present invention is based on V2I.
Fig. 3 is the process flow diagram of path planning algorithm one embodiment of step S204 in Fig. 2 of the present invention.
Embodiment
Fig. 1 is the functional block diagram of special vehicle leased circuit planning system one embodiment that the present invention is based on V2I.In figure, 10 is the special vehicle leased circuit planning system based on V2I, and 100 is detecting unit, and 102 is collecting unit, 104 planning units.
Refer to Fig. 1, for the present invention is based on the functional block diagram of special vehicle leased circuit planning system 1 one embodiment of V2I, in the present embodiment, the special vehicle leased circuit planning system 1 based on V2I comprises collecting unit 100, collecting unit 102 and planning unit 104.In the present embodiment, Che Yulu (V2I) is that the roadside unit (sign) by being arranged on highway limit is connected with the board units on vehicle or vehicle, and drive test unit connecting Internet, makes car and internet carry out information interaction.
Whether detecting unit 100 receives special vehicle for detecting and sends urgent current request.Collecting unit 102 for define receive special vehicle send urgency communication request time, gather the motion state data of the some vehicles on the special vehicle and special vehicle working direction that are connected with V2I communication mode with drive test unit in preset range.In the present embodiment, motion state data comprise latitude and longitude information and velocity information.In the present embodiment, the size of special vehicle working direction preset range (can be 100 meters) is arranged according to the grade of the linear of road and road, such as, the linear preset range for straight line of road is greater than curve, and the grade of road is that the preset range of expressway is greater than urban road.
Planning unit 104 for cooking up driving lane and the road speed of special vehicle and multiple vehicle according to path planning algorithm according to the motion state data of data, special vehicle motion state data and multiple vehicle according to the map, and sends the vehicle of information to correspondence of planning respectively.In the present embodiment, the driving lane that planning unit 104 sends to special vehicle corresponding and road speed, send to driving lane and road speed that other vehicles are corresponding respectively.
In the present embodiment, send the information Preset Time of planning at planning unit 104 after, whether detecting unit 100 is detected special vehicle and is travelled by the speed of a motor vehicle of planning, guarantees special vehicle priority pass.When detecting unit 100 detects special vehicle not by the speed of a motor vehicle traveling planned, determine whether multiple vehicle has and travel by predetermined track and road speed.When planning unit 104 determines to have in multiple vehicle the violation vehicle do not travelled according to predetermined track and road speed, record the identity information of vehicle in violation of rules and regulations and send to traffic control center, so that rule process is handed over to violate by traffic control center, send alert messages simultaneously and travel according to predetermined track and road speed to remind described violation vehicle to violation vehicle.
When special vehicle travels to traffic light intersection, the timing of roadside unit to traffic lights controls, and the working direction of guarantee special vehicle is green light phase, to guarantee special vehicle priority pass.
After special vehicle travels out the scope of this roadside unit, this roadside unit is in the normal operating conditions not receiving urgent current request, when next roadside unit receives urgent current request, repeats above process and comes for the service of special vehicle priority pass.
Refer to Fig. 2, for the present invention is based on the process flow diagram of special vehicle leased circuit planing method one embodiment of V2I.
In step S200, whether detecting receives special vehicle and sends urgent current request.When define receive special vehicle send urgency communication request time, roadside unit is in the normal operating conditions not receiving urgent current request.When determining that not receiving special vehicle sends urgency communication request, continuing detecting and whether receiving the urgent current request of special vehicle transmission.
When define receive special vehicle send urgency communication request time, enter step S202: the motion state data gathering the some vehicles on the special vehicle and special vehicle working direction that are connected with V2I communication mode with drive test unit in preset range.Concrete, motion state data comprise latitude and longitude information and velocity information.In the present embodiment, special vehicle working direction is arranged according to the grade of the linear of road and road in preset range (can be 100 meters), such as, the linear preset range for straight-line segment of road is greater than segment of curve, and the grade of road is that the preset range of expressway is greater than urban road.
In step S204, the motion state data schema of data, special vehicle motion state data and multiple vehicle goes out driving lane and the road speed of special vehicle and multiple vehicle according to the map, and sends the vehicle of information to correspondence of planning respectively.
In step S206, after sending the information Preset Time of planning, monitor special vehicle and the whether respective track according to planning of multiple vehicle and the speed of a motor vehicle and travel.
When detecting the speed of a motor vehicle of special vehicle by planning and travelling, enter step S210, determine whether special vehicle exceeds the coverage of this roadside unit.When exceeding coverage, when next roadside unit receives urgent current request, repeating above process and coming for the service of special vehicle priority pass.When not exceeding the coverage of this roadside unit, enter step S202.
When detecting the speed of a motor vehicle of special vehicle by planning and travelling, enter step S208, monitor that multiple vehicle not do not travel according to the track of each self planning and the speed of a motor vehicle, record the identity information of vehicle in violation of rules and regulations and send to traffic control center, sending alert messages simultaneously and travel according to the track of planning and road speed to remind vehicle in violation of rules and regulations to violation vehicle.
When determining all to travel according to predetermined track and road speed in all vehicles, enter step S202.
In the present embodiment, when special vehicle travels to traffic light intersection, the timing of traffic lights is controlled, to guarantee special vehicle priority pass.
In one embodiment, when receiving special vehicle and sending urgent current request, gather the exercise data of the some vehicles in special vehicle working direction in preset range, the exercise data of information and all vehicles plans driving lane and the speed of each vehicle according to the map again, and whether monitor special vehicle and common vehicle by predetermined track and speeds, pass through preferentially to allow special vehicle, when special vehicle travels to traffic light intersection, the timing of traffic lights is controlled, ensure that the traffic lights in special vehicle working direction keep green light phase, to guarantee special vehicle priority pass, record can also be carried out to hindering the current vehicle of special vehicle.
Referring to Fig. 3, is the process flow diagram of path planning algorithm one embodiment of step S204 in Fig. 2 of the present invention.
In step S300, read the state of motion of vehicle data within the scope of map and drive test unit.
In step S302, calculate the vehicle fleet size on each track, special vehicle front and determine the most unimpeded track m.
In step S304, confirm whether track, special vehicle place is the most unimpeded track m, is enter step S314.
When determining track, special vehicle place for the most unimpeded track m, enter step S306, left/right side corresponding to commander's special vehicle and be positioned at the vehicle parking of track m.
In step S308, commander's special vehicle enters the most unimpeded track m.
In step S310, confirm whether have vehicle in special vehicle front preset distance n.In the present embodiment, predeterminable range n is more than or equal to the twice of special vehicle vehicle commander.
When there being vehicle in special vehicle front preset distance n, entering step S312, extracting the multiple state of motion of vehicle information in special vehicle front preset distance n.
When there is no vehicle in special vehicle front preset distance n, continue to perform step S310.In the present embodiment, when there is no vehicle in special vehicle front preset distance n, after certain hour (can be 5-10 second), continue to perform step S310.
In step S314, the left/right side vehicle parking corresponding to multiple vehicles in commander's special vehicle front preset distance n, vacates adjacent lane position.
In step S316, the multiple vehicles in commander's special vehicle front preset distance n enter adjacent lane room.To ensure that special vehicle preferentially passes through.
Beneficial effect of the present invention can provide the service of priority pass for the described special vehicle leased circuit planing method based on V2I and system for the special vehicle in region, record can also be carried out to hindering the current vehicle of special vehicle, can also control the timing of traffic lights, ensure the priority pass of special vehicle.
The foregoing is only the preferred embodiments of the present invention; be not limited to the present invention, for a person skilled in the art, within the spirit and principles in the present invention all; any amendment of doing, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. based on a special vehicle leased circuit planing method of V2I, it is characterized in that, by gathering the motion state data of the vehicle in special vehicle working direction preset range, diagram data cooks up the leased circuit of special vehicle in combination; The method comprises the following steps:
S1: whether detecting receives special vehicle and send urgent current request; When define receive special vehicle send urgency communication request time, enter S2; Otherwise, continue detecting;
S2: the motion state data gathering the multiple vehicles on the special vehicle and described special vehicle working direction that are connected with V2I communication mode with drive test unit in preset range, described motion state data comprise latitude and longitude information and velocity information;
S3: driving lane and the road speed of cooking up described special vehicle and described multiple vehicle according to the motion state data of data, described special vehicle motion state data and described multiple vehicle according to the map according to path planning algorithm, and send the vehicle of information to correspondence of planning respectively;
S4: after sending the information Preset Time of planning, monitors described special vehicle and the whether respective track according to planning of described multiple vehicle and the speed of a motor vehicle and travels; And
S5: as multiple vehicle as described in monitoring does not travel according to the track of each self planning and the speed of a motor vehicle, record the identity information of described violation vehicle and send to traffic control center, sending alert messages simultaneously and travel according to the track of planning and road speed to remind described violation vehicle to described violation vehicle.
2. as claimed in claim 1 based on the special vehicle leased circuit planing method of V2I, it is characterized in that, the size of described special vehicle working direction preset range is arranged according to the grade of the linear of road and road.
3. as claimed in claim 2 based on the special vehicle leased circuit planing method of V2I, it is characterized in that, the linear preset range for straight line of described road is greater than curve, and the grade of described road is that the preset range of expressway is greater than urban road.
4. as claimed in claim 1 based on the special vehicle leased circuit planing method of V2I, it is characterized in that, when described special vehicle travels to traffic light intersection, the timing of traffic lights is controlled, to guarantee described special vehicle priority pass.
5., as claimed in claim 1 based on the special vehicle leased circuit planing method of V2I, it is characterized in that, described path planning algorithm comprises the following steps:
T1: read the state of motion of vehicle data within the scope of map and described drive test unit;
T2: calculate the vehicle fleet size on each track, described special vehicle front and determine the most unimpeded track m;
T3: confirm whether track, described special vehicle place is the most unimpeded track m; Be enter step T8, otherwise enter step T4;
T4: command described special vehicle left/right side and be positioned at the vehicle parking of track m;
T5: command described special vehicle to enter the most unimpeded track m;
T6: confirm whether have vehicle in special vehicle front preset distance n; Be enter step T7, otherwise continue to perform step T6;
T7: extract the multiple state of motion of vehicle information in described special vehicle front preset distance n;
T8: the left/right side vehicle parking of the multiple vehicles in commander's special vehicle front preset distance n, vacates adjacent lane position; And
T9: the multiple vehicles in commander's special vehicle front preset distance n enter adjacent lane room.
6. based on a special vehicle leased circuit planning system of V2I, it is characterized in that, by gathering the motion state data of the vehicle in special vehicle working direction preset range, diagram data cooks up the leased circuit of special vehicle in combination; This system comprises:
Whether detecting unit, receive special vehicle for detecting and send urgent current request;
Collecting unit, for define receive special vehicle send urgency communication request time, gather the motion state data of the some vehicles on the special vehicle and described special vehicle working direction that are connected with V2I communication mode with drive test unit in preset range, described motion state data comprise latitude and longitude information and velocity information; And
Planning unit, cook up driving lane and the road speed of described special vehicle and described multiple vehicle for the motion state data of data, described special vehicle motion state data and described multiple vehicle according to the map according to path planning algorithm, and send the vehicle of information to correspondence of planning respectively;
Wherein, after sending the information Preset Time of planning, monitor described special vehicle and the whether respective track according to planning of described multiple vehicle and the speed of a motor vehicle and travel; As multiple vehicle as described in monitoring does not travel according to the track of each self planning and the speed of a motor vehicle, record the identity information of described violation vehicle and send to traffic control center, sending alert messages simultaneously and travel according to the track of planning and road speed to remind described violation vehicle to described violation vehicle.
7. as claimed in claim 6 based on the special vehicle leased circuit planning system of V2I, it is characterized in that, the size of described special vehicle working direction preset range is arranged according to the grade of the linear of road and road.
8. as claimed in claim 7 based on the special vehicle leased circuit planning system of V2I, it is characterized in that, the linear preset range for straight line of described road is greater than curve, and the grade of described road is that the preset range of expressway is greater than urban road.
9. as claimed in claim 6 based on the special vehicle leased circuit planning system of V2I, it is characterized in that, when described special vehicle travels to traffic light intersection, the timing of traffic lights is controlled, to guarantee described special vehicle priority pass.
10., as claimed in claim 6 based on the special vehicle leased circuit planning system of V2I, it is characterized in that, described path planning algorithm comprises the following steps:
T1: read the state of motion of vehicle data within the scope of map and described drive test unit;
T2: calculate the vehicle fleet size on each track, described special vehicle front and determine the most unimpeded track m;
T3: confirm whether track, described special vehicle place is the most unimpeded track m; Be enter step T8, otherwise enter step T4;
T4: command described special vehicle left/right side and be positioned at the vehicle parking of track m;
T5: command described special vehicle to enter the most unimpeded track m;
T6: confirm whether have vehicle in special vehicle front preset distance n; Be enter step T7, otherwise continue to perform step T6;
T7: extract the multiple state of motion of vehicle information in described special vehicle front preset distance n;
T8: the left/right side vehicle parking of the multiple vehicles in commander's special vehicle front preset distance n, vacates adjacent lane position; And
T9: the multiple vehicles in commander's special vehicle front preset distance n enter adjacent lane room.
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