CN105489043B - Real-time route planing method based on vehicular ad hoc network - Google Patents
Real-time route planing method based on vehicular ad hoc network Download PDFInfo
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- CN105489043B CN105489043B CN201510867331.XA CN201510867331A CN105489043B CN 105489043 B CN105489043 B CN 105489043B CN 201510867331 A CN201510867331 A CN 201510867331A CN 105489043 B CN105489043 B CN 105489043B
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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
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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Abstract
The present invention discloses a kind of real-time route planing method based on vehicular ad hoc network, and its technical scheme is：This method includes：1）Obtain map datum and extract information；2）Serviceable wagon is downloaded from networking technology collection Real-time Traffic Information；3）Section weights based on Real-time Traffic Information are set and carry out pathfinding；4）Real-time Traffic Information and pathfinding again are updated in driving conditions.The present invention solves the problems, such as that existing route planning system lacks real-time and accuracy, there is provided user tackles the more efficiently trip route of different degrees of congestion in road situation and continually changing road traffic state.
Description
Technical field
The present invention relates to onboard wireless self-organization network technology field, and in particular to the Real-time Traffic Information of vehicular ad hoc network
Acquisition and real-time route planing method.
Background technology
In recent years, due to vehicle fleet size growth and Transport Facility Construction hysteresis, traffic safety problem and congestion problems
Become increasingly conspicuous.Traffic intelligence, alleviate congestion problems, trip has more convenience etc. turns into focus of concern further.Herein
Under background, important set of the onboard wireless self-organizing network (Vehicular Ad hoc Network, VANET) as intelligent transportation
Into part, more it is concerned by people.Ad hoc network is creatively applied to inter-vehicular communication by vehicular ad hoc network, makes department
Machine can obtain the condition information and real-time road condition information of other vehicles in the range of over the horizon, in accident early warning, ensure and hand over
Lead to safety and provide the user the secure contexts such as comfortable driving environment and serve huge effect.
Vehicle-mounted path planning is exactly on the basis of electronic map, with GPS (Global Positioning System)
Carry out vehicle location etc. location technology, determine optimal travel route, for traveler provide it is static or it is real-time it is optimal go out walking along the street
Line information, and route guidance is in time made to driver during trip.Path planning system is not only very easy to
Traveler, them are allow to obtain optimal route information according to the optimal objective oneself selected, but also can be to optimizing traffic flow
Active influence is produced in terms of the distribution of whole road network.
The content of the invention
The present invention is directed to existing vehicle-mounted path planning system poor real, the low phenomenon of the degree of accuracy, there is provided based on vehicle-mounted
The real-time route planing method of MANET, there is provided user tackles different degrees of congestion in road situation and continually changing road is handed over
The more convenient rational trip route of logical state, go out line efficiency with improve user.
The present invention realizes especially by following technical scheme.
Real-time route planing method based on vehicular ad hoc network, it comprises the following steps：
(1) obtain map datum and extract information；
(2) serviceable wagon is downloaded from networking technology collection Real-time Traffic Information；
(3) the section weights based on Real-time Traffic Information are set and carry out pathfinding；
(4) Real-time Traffic Information and pathfinding again are updated in driving conditions.
Further, in step (2), according to longitude and latitude, speed and the running condition information of vehicle in vehicular ad hoc network net,
The real-time road speed in one setting sectionIt is calculated by below equation, vaRepresent that traveling is on this section in acquisition time
Vehicular ad hoc network net in vehicle travel speed, a=1~n, n are vehicle number,
Further, the weights in section are arranged to the section based on Real-time Traffic Information in the transportation network of step (3)
The weights in each section of real-time running time and intersection delay, formula are：
Wherein, WijRepresent the weights in the section between node i and node j, LijRepresent section between node i and node j
Path length, VijThe real-time road speed in section between node i and node j that ' expression car networking collects；Represent node i
Crossing traveling delay,Represent node j crossing traveling delay；Allow have reality between current expression node i and node j
Road connection, the road that no through traffic represents to connect or connect without road between node i and node j is prohibited to pass through.
Compared with prior art, the invention has the advantages that and technique effect：Vehicular ad hoc network is traveling on road
Vehicle connect automatically, the communication network of composition, its net in vehicle positional information and status information can be vehicle-mounted from group
Shared in net.We obtain the Real-time Traffic Information of vehicular ad hoc network, and the traffic information data collected is handled, from
And obtain the real-time road speed in each section of traffic network.The real-time road traffic that real-time route planning system application collects
State, the node obtained in map datum and road section information are recycled, real-time link travel time is set for section
Weights.The shortest path obtained with routing algorithm is namely based on the shortest time path of road real-time traffic states.Driving a vehicle
During constantly update real-time road traffic information, more improve the real-time and accuracy of path planning, can be effectively
Ensure this performance of shortest time of the shortest time path search.The present invention can provide the user with the different degrees of road of reply and gather around
The more convenient rational trip route of stifled situation and continually changing road traffic state, go out line efficiency with improve user.
Brief description of the drawings
Fig. 1 be the present invention the real-time route planning system based on vehicular ad hoc network in pathfinding again flow chart
Specific embodiment
The specific implementation process of the present invention is elaborated below in conjunction with the accompanying drawings, but the implementation and protection of the present invention are unlimited
In this, if it is noted that the following process or parameter for having not special detailed description, is that those skilled in the art can refer to now
Have technology realize or understand.
The real-time route planing method based on vehicular ad hoc network of this example, there is specific following steps.
1st, obtain map datum and extract information
Map datum is the basis of vehicle-mounted path planning system.Realized used here as OSM map datums based on vehicle-mounted from group
The real-time route planning system of net.
OpenStreetMap opens street map data storehouse, abbreviation OSM, is the common participation by Global Subscriber and shape
Into public map data, services website.The OSM complete Free Acquisition of map datum and Map Services, acquisition modes are convenient, make
With simple and convenient, and renewal speed is fast.OSM map datums are increased income, and the OSM map datums of download can be saved as based on can
The .osm forms of extending mark language (eXtensible Markup Language, XML), or directly save as .xml files.
OSM map datum has following several downloading modes：
(1) downloaded by JOSM
(2) downloaded by HTTP request
(3) downloaded by OSM official websites
(4) downloaded by third party OSM service providers website
After obtaining OSM map datums, the data for comprising road and nodal information, being identified as " highway " are filtered out.It is logical
Cross the data of traversal " highway " figure layer and handled, we are by nodal information and road section information deposit database.Traversal
The method of xml document has Pull parsings, Sax parsings and Dom parsings etc..
2nd, serviceable wagon is downloaded from networking technology collection Real-time Traffic Information
Vehicular ad hoc network is that traveling connects automatically in road vehicle, the communication network of composition, can improve driver
Travel safety and convenience, improve traffic efficiency.After establishing communication network, vehicle mutually obtains the longitude and latitude of vehicle in net
The information such as degree, speed and transport condition, as shown in Table 1 and Table 2, table 1 is that the vehicular ad hoc network of the present invention gathers to specifying information
The information of vehicle in net, table 2 are the status bit messages of information of vehicles in net in table 1.
Table 1
Table 2
This example communicates in onboard wireless self-organizing network, by 802.11p protocol realization cars with car, uses 3G network
Realize that car communicates with control centre.After building vehicular ad hoc network, in control centre and car-mounted terminal, car can be got automatically
It is downloaded from the traffic data of vehicle in networking net.Latitude and longitude information, transmits information in the data of collection, can orient car
Any bar section be currently at.By the velocity information averaging of the more chassis travelled on a certain section, can substantially reflect
The real-time road speed in this section of current time.In a large amount of nets after the processing of data, it is each that we can obtain current road network
The real-time road speed in section.
The real-time road speed in a certain sectionIt is calculated by below equation, v1, v2, v3..., vnRepresent in acquisition time
Travel the travel speed of vehicle in the vehicular ad hoc network net on this section.
A=1~n, n are vehicle number,
Data are pre-processed after collection traffic data, to obtain more accurate real time traffic data.Data are pre-
Processing includes filtering negative valued data, identification and Exception Filter data and repairs missing data etc. with road condition prediction.
The 3rd, section weights based on Real-time Traffic Information are set and carry out pathfinding
The present invention obtains the real-time road speed in each section using vehicular ad hoc network technology collection Real-time Traffic Information
Afterwards, using these data, each section being delayed there is provided the real-time running time of the section based on Real-time Traffic Information and intersection
Weights, structure optimization criteria be minimum running time real-time route planning system.
Wherein, WijRepresent the weights in the section between node i and node j, LijRepresent section between node i and node j
Path length, VijThe real-time road speed in section between node i and node j that ' expression vehicular ad hoc network collects.Represent
The crossing traveling delay of node i,Represent node j crossing traveling delay.Allow to have between current expression node i and node j
Actual road connection, the road that no through traffic represents to connect or connect without road between node i and node j are prohibited to pass through.
Crossing delay is primarily referred to as being delayed when vehicle passes through intersection caused by intersection node.Intersection delay is one
Individual statistical concept, the numerical value of intersection delay is also a statistic.
In node i to node j sections, node i and node j delay time at stop are set toWithVehicle passes through node
When i is to node j sections, node i crossing is first passed through, the crossing delay of node i, approximate can regard as and divide equally to node i both ends
Section, half therein give node i to node j sections.Similarly, vehicle passes through node j crossings.The then total road in this section
Mouth is delayed
In real-time route planning system, after the weights for setting real-time link travel time, input source node deteriorates mesh
After marking node, with path search algorithm, most short path of total running time is searched out.
4th, Real-time Traffic Information and pathfinding again are updated in driving conditions
The path that above step is drawn is the driving path that the road traffic state based on the moment of setting out is cooked up.And in car
Traveling during, transportation network travel conditions constantly change, may before a certain section of path generation cooking up
Congestion.Therefore, in vehicle travel process, Real-time Traffic Information constantly changes, it would be desirable at regular intervals collection and more
The road speed in new each section, calculate the weights of the real-time running time in each section.
When driving, path planning can be re-started according to each section real-time running time of continuous renewal.
The flow chart that pathfinding again is carried out in driving conditions is as shown in Figure 1.It will be noted from fig. 1 that only under reaching
One node location, and when Real-time Traffic Information has renewal, can just carry out pathfinding again, using present node as starting point, plan again
Path.Again the process of pathfinding can continue in vehicle travel process, until arriving at.
Claims (1)
1. the real-time route planing method based on vehicular ad hoc network, it is characterised in that comprise the following steps：
(1) obtain map datum and extract information；
(2) serviceable wagon is downloaded from networking technology collection Real-time Traffic Information；After building vehicular ad hoc network, control centre and car-mounted terminal
On, the traffic data of vehicle in vehicular ad hoc network net can be got automatically；Latitude and longitude information, traveling side in the data of collection
To information, it can orient which bar section vehicle is currently at；The velocity information of the more chassis travelled on a certain section is asked flat
Mean, the real-time road speed in reflection this section of current time；In a large amount of nets after the processing of data, it is each to obtain current road network
The real-time road speed in section；
Data are pre-processed after collection traffic data, to obtain more accurate real time traffic data；Data prediction
Missing data is repaired including filtering negative valued data, identification and Exception Filter data and with road condition prediction；According to it is vehicle-mounted from
The longitude and latitude of vehicle, speed and running condition information in networking net, the real-time road speed in a setting sectionBy below equation
It is calculated, vaRepresent the travel speed of traveling vehicle in the vehicular ad hoc network net on this section in acquisition time, a=1
~n, n are vehicle number,
<mrow>
<mover>
<mi>v</mi>
<mo>&OverBar;</mo>
</mover>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>n</mi>
</mfrac>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>a</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>v</mi>
<mi>a</mi>
</msub>
<mo>;</mo>
</mrow>
(3) the section weights based on Real-time Traffic Information are set and carry out pathfinding；The weights in section is arranged in transportation network
The weights in each section of section real-time running time and intersection delay based on Real-time Traffic Information, formula are：
Wherein, WijRepresent the weights in the section between node i and node j, LijRepresent the distance in section between node i and node j
Length, VijThe real-time road speed in section between node i and node j that ' expression car networking collects；Represent the road of node i
Mouth traveling delay,Represent node j crossing traveling delay；Allow have actual road between current expression node i and node j
Connection, the road that no through traffic represents to connect or connect without road between node i and node j are prohibited to pass through；Crossing delay master
Refer to be delayed when vehicle passes through intersection caused by intersection node,
In node i to node j sections, node i and node j delay time at stop are set toWithVehicle is by node i to section
During point j sections, node i crossing is first passed through, the crossing delay of node i, approximate can regard the section divided equally to node i both ends as
, half therein gives node i to node j sections；Similarly, vehicle passes through node j crossings, then the total crossing in this section is prolonged
Shi Wei
In real-time route planning system, after the weights for setting real-time link travel time, input source node deteriorates target section
After point, with path search algorithm, most short path of total running time is searched out；
(4) Real-time Traffic Information and pathfinding again are updated in driving conditions；The path that above step is drawn is to be based on setting out the moment
The driving path cooked up of road traffic state；In vehicle travel process, Real-time Traffic Information constantly changes, every one section
Time gathers and updated the road speed in each section, calculates the weights of the real-time running time in each section.
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| CN106052709A (en) * | 2016-05-16 | 2016-10-26 | 腾讯科技（深圳）有限公司 | Congestion information processing method and device |
| CN105810001B (en) * | 2016-05-19 | 2018-06-26 | 东华大学 | A kind of real-time dynamic path planning method based on vehicular ad hoc network |
| CN106092111B (en) * | 2016-06-03 | 2019-09-24 | 山东师范大学 | A kind of vehicle route dynamic programming method, server and navigation system |
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| CN112860716B (en) * | 2020-12-28 | 2021-10-19 | 北京航空航天大学 | Double-chain repair information safety control method and device for intelligent networked automobile |
| CN113566835A (en) * | 2021-06-21 | 2021-10-29 | 南京市德赛西威汽车电子有限公司 | Vehicle import perception real-time navigation method and system based on RSU |
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| CN103337189B (en) * | 2013-06-08 | 2015-07-29 | 北京航空航天大学 | A kind of vehicle route guidance method dynamically divided based on section |
| CN103971529A (en) * | 2014-04-28 | 2014-08-06 | 中国科学院深圳先进技术研究院 | Method and system for acquiring and estimating road conditions based on vehicle-to-vehicle communication |
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