CN105070078A - Dynamic route guidance method based on vehicle-to-vehicle communication - Google Patents

Dynamic route guidance method based on vehicle-to-vehicle communication Download PDF

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CN105070078A
CN105070078A CN201510500617.4A CN201510500617A CN105070078A CN 105070078 A CN105070078 A CN 105070078A CN 201510500617 A CN201510500617 A CN 201510500617A CN 105070078 A CN105070078 A CN 105070078A
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CN105070078B (en
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林赐云
龚勃文
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Jilin University
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Abstract

The invention relates to the Internet of Vehicles and the traffic guidance technology field, and particularly relates to a method which performs the dynamic optimization and guidance on the trip of the driver through the information interaction and sharing between vehicles. The invention provides a dynamic route guidance method based on vehicle-to-vehicle communication, comprising steps of utilizing a vehicle-mounted device for collecting, sharing and converging the traffic information, and obtaining road network traffic flow running information between the start point of the trip and the terminal point of the trip. The vehicle-mounted device obtains the road segment travel times of all road segments in the road network as road segment weights for the shortest path calculation, optimizes the optimal path for the driver and guides the driver to the optimal driving route.

Description

A kind of dynamic route guidance method based on truck traffic
Technical field
The present invention relates to car networking and traffic guidance technical field, be specifically related to a kind of by the information interaction between car and car and shared, realize the method for dynamic optimization to driver's trip route and induction.
Technical background
At present, the dynamic traffic inducing system based on real-time road traffic information is mainly divided into distributed induction and center type to induce two kinds of modes.Distributed induction is traffic information center provides road network overall situation dynamic information by cordless communication network to vehicle-mounted terminal equipment, goes out beginning-of-line and travel destination, calculate best driving path voluntarily by vehicle-mounted terminal equipment according to driver.But the problems such as distributed induction mode exists, and the dynamic information traffic is large, the consumption of car-mounted terminal computational resource is large, the road grid traffic information updating time is long, communication network load is serious, simultaneously, research data shows: when the vehicle more than 1/3 in road network adopts distributed induction, easily cause being induced vehicle and all drive towards not crowded route, cause new traffic congestion, i.e. congested in traffic transfer.
Center type induction is traffic information center according to the real-time Traffic Information of road network, from the angle of the road network overall situation, calculate the best driving path between road network all-pair, from balanced road network load, prevent traffic congestion, by cordless communication network for each vehicle-mounted terminal equipment on road network provides optimum trip route, vehicle-mounted terminal equipment, according to the routing information received, guides driver to walk best traffic path.Although center type induction mode effectively can avoid the generation of congested in traffic transfer, but traffic information center needs computing power that is powerful, real-time, high frequency, traffic information center load is serious and difficult in maintenance, do not consider the dynamic variation characteristic of driver's travel route choice and the induction obedience rate of driver, cause induction obedience rate low, really cannot play the object alleviated urban traffic congestion, block up.
No matter be that distributed induction or center type induction all need to install a large amount of traffic information detection devices in system-wide net, carry out the full-time empty testing and monitoring of road traffic operational factor and running status, need a large amount of fund of input and equipment to ensure the full-time sky of system for traffic guiding, highly reliable, high-precision operation.
Summary of the invention
In road network, the problems such as a large amount of Vehicle Detection device, Traffic Information Communication offered load are serious, traffic information center calculated load overload are needed to install for current dynamic traffic inducing system, the present invention proposes a kind of dynamic route guidance method based on truck traffic, the method using the mobile unit of vehicle as traffic information collection, share, aggregating apparatus, obtain the road network traffic flow operation information between vehicle driving starting point to travel destination network.Section weights during mobile unit calculates using the Link Travel Time of each road section of the road network got as shortest path, for driver optimizes optimum trip route, guide driver to walk best driving path.
Technical solution of the present invention is carried out traffic information collection mainly through mobile unit (On-BoardDevice, OBD), is shared, trip road grid traffic information extraction and trip route optimization and induction.A kind of dynamic route guidance method based on truck traffic that the present invention proposes, its feature mainly comprises:
1) vehicle operating track obtains
Mobile unit is arranged on vehicle cab multimedia panel board position, and what obtain vehicle by built-in GPS module and GIS module goes out the vehicle running orbit information such as beginning-of-line VEH_O, travel destination VEH_D, gps time, GPS longitude and latitude, GPS instantaneous velocity, GPS deflection.
2) Link Travel Time is extracted
Vehicle is in traveling process, and GPS information is mapped on the electronic chart of GIS module, namely in Traffic Net by built-in GIS module by mobile unit after coordinate conversion, map match.According to the distribution situation of GPS point at road section, calculate the journey time of vehicle by road section.
3) Link Travel Time is shared
When vehicle (comprises vehicle drive into crossing and sail out of crossing) within the scope of the segment distance of crossing one, mobile unit by short-range wireless communication module with keep straight on enter, turn left to enter, the vehicle entering subtend section of turning right carries out Traffic Information Sharing, obtain the journey time of the road section that opposed vehicle sails out of recently, and be stored in the built-in embedded database of mobile unit after multiple Link Travel Time of the same road section obtained are averaging processing.
4) road grid traffic information taken and trip route optimization
When after the vehicle determination travel destination preparing trip, in mobile unit GIS module, then define the lattice road network Grid_OD between vehicle driving starting point and travel destination, mobile unit is by all vehicles in mobile unit radio communication coverage area in built-in radio communication mold block search Grid_OD network, first the road section journey time of all vehicles traveling in Grid_OD network and the adjacent road Link Travel Time of storage thereof is extracted, thus obtain the Link Travel Time of each road section of full Grid_OD road network, and using Link Travel Time as section weights, adopt the optimum trip route INI_Path of Dijstra Algorithm for Solving vehicle driving starting point and travel destination.
Secondly, to all vehicles in Grid_OD network vehicle-mounted equipment radio communication coverage area, extracting with vehicle driving terminal for travel destination or transit point, take vehicle driving starting point as the vehicle VEH_ODS going out beginning-of-line or approach point; Extract with vehicle driving terminal for going out beginning-of-line or transit point, the vehicle VEH_DOS being travel destination or transit point with vehicle driving starting point.VEH_ODS, VEH_DOS are built the new trip network Path_OD of stroke in the trip route set that road network Grid_OD is formed, in Grid_OD, run off the roadway the Link Travel Time in section as the section weights of Path_OD network using VEH_ODS, VEH_DOS, adopt the optimum trip route MIN_Path of Dijstra Algorithm for Solving vehicle driving starting point and travel destination.
Relatively INI_Path and MIN_Path two paths, the shortest path of selecting paths journey time is undertaken showing and inducing by the human-computer interaction interface of mobile unit.Due to the dynamic of road network traffic flow and the time variation of road network traffic flow running status, when vehicle drives into crossing, mobile unit goes out beginning-of-line using this crossing as new, again all vehicles of cordless communication network coverage are searched for, and extract the Link Travel Time of each road section of road network as stated above, carry out optimum trip route respectively to solve, and the path forms time of carrying out two kinds of optimum trip route compares and induces selection, until vehicle finally arrives travel destination.
Accompanying drawing explanation
Fig. 1: vehicle operating track GPS point road section distribution plan;
Fig. 2: mobile unit Link Travel Time extracting position and extraction source schematic diagram;
Fig. 3: vehicle driving lattice road network and mobile unit road network road section stroke extract vehicle range figure;
Fig. 4: forward direction vehicle and backward vehicle running path form undirected graph.
Embodiment
A kind of dynamic route guidance method based on truck traffic of the present invention is using mobile unit as traffic information collection source, by the information interaction in road network between mobile unit and mobile unit with shared, obtain the Link Travel Time of road network between vehicle driving starting point and travel destination.Mobile unit, using the Link Travel Time got as section weights, adopts the optimum trip route between Dijstra Algorithm for Solving vehicle driving starting point and travel destination, for driver provides induced travel.A kind of dynamic route guidance method based on truck traffic that the present invention proposes, specific works flow process is as follows:
Step1: Link Travel Time is extracted.Operate in the vehicle in road network, the mobile unit in vehicle is by GPS information such as built-in GPS module T acquisition at a certain time interval GPS longitude and latitude, GPS instantaneous velocity, GPS deflection, gps times.Meanwhile, the GPS of vehicle operating track point is presented on GIS electronic chart by coordinate conversion, map match etc. by the GIS module that mobile unit is built-in by GPS information in real time.The GPS point of the GPS point and the section that leaves the road that enter road section due to vehicle can not mate completely with the starting point of road section and terminal, needs to estimate the Link Travel Time of vehicle according to the GPS point position, instantaneous velocity, gps time etc. of vehicle.Suppose that the GPS point that vehicle enters road section LINK is respectively GPS 1, GPS 2..., GPS n.GPS 0for vehicle is at last GPS point of a upper road section, GPS n+1for vehicle enters first GPS point of next road section.By GIS electronic chart, GPS can be obtained 0and GPS 1the distance of distance LINK starting point LINK_O is respectively LEN_O1 and LEN_O2; GPS nand GPS n+1the distance of distance LINK terminal LINK_D is respectively LEN_D1 and LEN_D2, as shown in Figure 1.Then the Link Travel Time Estimation of vehicle on road section LINK is:
L K O _ T = T - T · G P S _ V 0 2 + 2 · L E N _ O 1 · G P S _ V 1 - G P S _ V 0 T - G P S _ V 0 G P S _ V 1 - G P S _ V 0
L K D _ T = T · G P S _ V n 2 + 2 · L E N _ D 1 · G P S _ V n + 1 - G P S _ V n T - G P S _ V n G P S _ V n + 1 - G P S _ V n
LINK_T＝GPS_T n-GPS_T 1+LKO_T+LKD_T
Wherein: GPS_V 0, GPS_V 1, GPS_V n, GPS_V n+1be respectively GPS point GPS 0, GPS 1, GPS n, GPS n+1instantaneous velocity; GPS_T 1, GPS_T nbe respectively GPS point GPS 1, GPS ngps time; LKO_T is that vehicle is from LINK starting point to GPS 1estimation journey time; LKD_T is that vehicle is from GPS nto the estimation journey time of LINK terminal; LINK_T is the estimation Link Travel Time of vehicle at road section LINK.
Meanwhile, mobile unit is estimating that the road section journey time of gained is stored in the built-in embedded database of mobile unit.
Step2: Link Travel Time is shared.When the vehicle in road network drives into or sails out of centered by crossing, time in the crossing scope CR_Scan being radius with length CR, mobile unit in vehicle opens built-in short range wireless communication function, contrary with vehicle heading within the scope of search CR_Scan, keep straight on, turn right, turn left to sail out of the vehicle VEH_Scan of crossing, extract VEH_Scan just to have run off the roadway the Link Travel Time in section, as shown in Figure 2.Meanwhile, mobile unit carries out identifying to the Link Travel Time extracted from VEH_Scan and classifies, and by the different importer in crossing to carrying out the statistical average of road section journey time respectively, and is stored in the built-in embedded database of mobile unit.
Step3: vehicle driving rises puts acquisition so far.When there being vehicle to prepare trip in road network, in vehicle, the man-machine interaction unit of mobile unit obtains the travel destination VEH_D of driver's input, and simultaneously mobile unit is by built-in GPS module, goes out beginning-of-line VEH_O in conjunction with the built-in automatic positioned vehicle of GIS module.
Step4: road grid traffic information taken and trip route optimization.The lattice road network Grid_OD that it is the upper left corner that mobile unit extracts with VEH_O on built-in GIS electronic chart, VEH_D is the lower right corner.Meanwhile, mobile unit is by built-in cordless communication network, and being initial point with VEH_O, take WR as cordless communication network covering radius, forms the fan line search network G rid_OR in Grid_OD, as shown in Figure 3.In mobile unit extraction Grid_OR, the Link Travel Time of descending vehicle and the subtend Link Travel Time of storage thereof are as the road section weights in Grid_OR region; Extract the Link Travel Time of up vehicle in Grid_OR and store subtend Link Travel Time as the Grid_OR in Grid_OD with the road section weights of exterior domain; There is its Link Travel Time of many vehicle registrations in same road section Grid_OR region, then adopt the Link Travel Time mean value of many vehicle registrations as these road section weights; Cannot obtain the situation of its Link Travel Time from vehicle in Grid_OR region for the road section in Grid_OD, then these road section weights are infinitely great.Thus, each road section of Grid_OD all obtains road section weights, and employing Dijstra algorithm optimization solves the initial optimal path between VEH_O, VEH_D, and be defined as INI_Path, its path forms time is PT (INI_Path).
Step5: Undirected networks builds and trip route optimization.From the vehicle of search network Grid_OR, extracting with VEH_D is travel destination or transit point, is the vehicle VEH_ODS beginning-of-line or approach point, is called forward direction vehicle with VEH_O.Extract these vehicles from VEH_O to current vehicle position the Link Travel Time through section; Extraction for going out beginning-of-line or transit point with VEH_D, take VEH_D as the vehicle VEH_DOS of travel destination or approach point, is called backward vehicle.Extract these vehicles from VEH_D to current vehicle position the Link Travel Time through section; The trip route of the trip route of VEH_ODS and VEH_DOS is formed undirected path collection between VEH_O, VEH_D, and this undirected path integrates as Undirected networks Path_OD, as shown in Figure 4.For the existing VEH_ODS Link Travel Time in section same in Path_OD, there is again VEH_DOS Link Travel Time, using VEH_ODS Link Travel Time as the section weights of Undirected networks Path_OD; For same section have many in the same way vehicle have its Link Travel Time, then adopt Link Travel Time mean value as the section weights of Undirected networks Path_OD; Finally, employing Dijstra algorithm optimization solves the optimal path in Undirected networks Path_OD between VEH_O, VEH_D, and be defined as MIN_Path, its path forms time is PT (MIN_Path).
Step6: if PT (MIN_Path)≤PT (INI_Path), then the mobile unit of vehicle is that induction path GUI_Path carries out paths chosen at mobile unit human-computer interaction interface to driver with MIN_Path; Otherwise be that induction path GUI_Path carries out paths chosen at mobile unit human-computer interaction interface to driver with INI_Path.
Step7: when vehicle runs to next node VEH_O ' from VEH_O, VEH_O ' is gone out beginning-of-line as new by mobile unit, take VEH_D as travel destination, repeat Step4-Step6 again to solve trip route, obtain SUB_Path, its path forms time is PT (SUB_Path).If SUB_Path ≠ GUI_Path-|VEH_O-VEH_O ' |, mobile unit is changed by human-computer interaction interface prompting driver front optimal path, and changes reason.
Step8: repeat Step4-Step7, until vehicle arrives travel destination VEH_D.

Claims (1)

1., based on a dynamic route guidance method for truck traffic, its feature comprises the following steps:
Step1: Link Travel Time is extracted.Operate in the vehicle in road network, the mobile unit in vehicle is by GPS information such as built-in GPS module T acquisition at a certain time interval GPS longitude and latitude, GPS instantaneous velocity, GPS deflection, gps times.Meanwhile, the GPS of vehicle operating track point is presented on GIS electronic chart by coordinate conversion, map match etc. by the GIS module that mobile unit is built-in by GPS information in real time.The GPS point of the GPS point and the section that leaves the road that enter road section due to vehicle can not mate completely with the starting point of road section and terminal, needs to estimate the Link Travel Time of vehicle according to the GPS point position, instantaneous velocity, gps time etc. of vehicle.Suppose that the GPS point that vehicle enters road section LINK is respectively GPS 1, GPS 2..., GPS n.GPS 0for vehicle is at last GPS point of a upper road section, GPS n+1for vehicle enters first GPS point of next road section.By GIS electronic chart, GPS can be obtained 0and GPS 1the distance of distance LINK starting point LINK_O is respectively LEN_O1 and LEN_O2; GPS nand GPS n+1the distance of distance LINK terminal LINK_D is respectively LEN_D1 and LEN_D2.Then the Link Travel Time Estimation of vehicle on road section LINK is:
L K O _ T = T - T · G P S _ V 0 2 + 2 · L E N _ O 1 · G P S _ V 1 - G P S _ V 0 T - G P S _ V 0 G P S _ V 1 - G P S _ V 0
L K D _ T = T · G P S _ V n 2 + 2 · L E N _ D 1 · G P S _ V n + 1 - G P S _ V n T - G P S _ V n G P S _ V n + 1 - G P S _ V n
LINK_T＝GPS_T n-GPS_T 1+LKO_T+LKD_T
Wherein: GPS_V 0, GPS_V 1, GPS_V n, GPS_V n+1be respectively GPS point GPS 0, GPS 1, GPS n, GPS n+1instantaneous velocity; GPS_T 1, GPS_T nbe respectively GPS point GPS 1, GPS ngps time; LKO_T is that vehicle is from LINK starting point to GPS 1estimation journey time; LKD_T is that vehicle is from GPS nto the estimation journey time of LINK terminal; LINK_T is the estimation Link Travel Time of vehicle at road section LINK;
Meanwhile, mobile unit is estimating that the road section journey time of gained is stored in the built-in embedded database of mobile unit;
Step2: Link Travel Time is shared.When the vehicle in road network drives into or sails out of centered by crossing, time in the crossing scope CR_Scan being radius with length CR, mobile unit in vehicle opens built-in short range wireless communication function, contrary with vehicle heading within the scope of search CR_Scan, keep straight on, turn right, turn left to sail out of the vehicle VEH_Scan of crossing, extracts VEH_Scan and just to have run off the roadway the Link Travel Time in section.Meanwhile, mobile unit carries out identifying to the Link Travel Time extracted from VEH_Scan and classifies, and by the different importer in crossing to carrying out the statistical average of road section journey time respectively, and is stored in the built-in embedded database of mobile unit;
Step3: vehicle driving rises puts acquisition so far.When there being vehicle to prepare trip in road network, in vehicle, the man-machine interaction unit of mobile unit obtains the travel destination VEH_D of driver's input, and simultaneously mobile unit is by built-in GPS module, goes out beginning-of-line VEH_O in conjunction with the built-in automatic positioned vehicle of GIS module;
Step4: road grid traffic information taken and trip route optimization.The lattice road network Grid_OD that it is the upper left corner that mobile unit extracts with VEH_O on built-in GIS electronic chart, VEH_D is the lower right corner.Meanwhile, mobile unit is by built-in cordless communication network, and being initial point with VEH_O, take WR as cordless communication network covering radius, forms the fan line search network G rid_OR in Grid_OD.In mobile unit extraction Grid_OR, the Link Travel Time of descending vehicle and the subtend Link Travel Time of storage thereof are as the road section weights in Grid_OR region; Extract the Link Travel Time of up vehicle in Grid_OR and store subtend Link Travel Time as the Grid_OR in Grid_OD with the road section weights of exterior domain; There is its Link Travel Time of many vehicle registrations in same road section Grid_OR region, then adopt the Link Travel Time mean value of many vehicle registrations as these road section weights; Cannot obtain the situation of its Link Travel Time from vehicle in Grid_OR region for the road section in Grid_OD, then these road section weights are infinitely great.Thus, each road section of Grid_OD all obtains road section weights, and employing Dijstra algorithm optimization solves the initial optimal path between VEH_O, VEH_D, and be defined as INI_Path, its path forms time is PT (INI_Path);
Step5: Undirected networks builds and trip route optimization.From the vehicle of search network Grid_OR, extracting with VEH_D is travel destination or transit point, is the vehicle VEH_ODS beginning-of-line or approach point, is called forward direction vehicle with VEH_O.Extract these vehicles from VEH_O to current vehicle position the Link Travel Time through section; Extraction for going out beginning-of-line or transit point with VEH_D, take VEH_D as the vehicle VEH_DOS of travel destination or approach point, is called backward vehicle.Extract these vehicles from VEH_D to current vehicle position the Link Travel Time through section; The trip route of the trip route of VEH_ODS and VEH_DOS is formed undirected path collection between VEH_O, VEH_D, and this undirected path integrates as Undirected networks Path_OD.For the existing VEH_ODS Link Travel Time in section same in Path_OD, there is again VEH_DOS Link Travel Time, using VEH_ODS Link Travel Time as the section weights of Undirected networks Path_OD; For same section have many in the same way vehicle have its Link Travel Time, then adopt Link Travel Time mean value as the section weights of Undirected networks Path_OD; Finally, employing Dijstra algorithm optimization solves the optimal path in Undirected networks Path_OD between VEH_O, VEH_D, and be defined as MIN_Path, its path forms time is PT (MIN_Path);
Step6: if PT (MIN_Path)≤PT (INI_Path), then the mobile unit of vehicle is that induction path GUI_Path carries out paths chosen at mobile unit human-computer interaction interface to driver with MIN_Path; Otherwise be that induction path GUI_Path carries out paths chosen at mobile unit human-computer interaction interface to driver with INI_Path;
Step7: when vehicle runs to next node VEH_O ' from VEH_O, VEH_O ' is gone out beginning-of-line as new by mobile unit, take VEH_D as travel destination, repeat Step4-Step6 again to solve trip route, obtain SUB_Path, its path forms time is PT (SUB_Path).If SUB_Path ≠ GUI_Path-|VEH_O-VEH_O ' |, mobile unit is changed by human-computer interaction interface prompting driver front optimal path, and changes reason;
Step8: repeat Step4-Step7, until vehicle arrives travel destination VEH_D.
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CN106643769A (en) * 2016-12-19 2017-05-10 中国科学院微电子研究所 Method and system for determining communication path for formation driving and formation driving method
CN109887288A (en) * 2019-03-27 2019-06-14 江苏智通交通科技有限公司 A kind of city road network induction scheme dissemination method and system based on travel components
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