CN105810001B - A kind of real-time dynamic path planning method based on vehicular ad hoc network - Google Patents
A kind of real-time dynamic path planning method based on vehicular ad hoc network Download PDFInfo
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- CN105810001B CN105810001B CN201610334074.8A CN201610334074A CN105810001B CN 105810001 B CN105810001 B CN 105810001B CN 201610334074 A CN201610334074 A CN 201610334074A CN 105810001 B CN105810001 B CN 105810001B
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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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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Abstract
The present invention relates to a kind of real-time dynamic path planning methods based on vehicular ad hoc network, include the following steps：Traffic information, and real-time update are obtained by vehicular ad hoc network between vehicle node；When congestion occurs in road ahead, vehicle independently realizes real-time subpath planning to bypass congested link, while vehicle is according to the congested link situation predicted congestion time；The estimated transit time of alternative plans subpath and predicted congestion time determine around congestion or original route are waited for restore unimpeded.The present invention can realize that vehicle adjusts travelling route in real time in the process of moving, and the shortest time is spent to arrive at.
Description
Technical field
The present invention relates to vehicular ad hoc network technical field, more particularly to a kind of dynamic in real time based on vehicular ad hoc network
State paths planning method.
Background technology
Path planning is one of important content of research of intelligent transportation, its core missions are how to find out a consideration
" optimal path " of traveler optimizing paths, in order to traveler can be easily in traffic network using the system
Successfully arrived at from origin.The problem of crucial in path planning system is shortest route problem and path rule
Draw the very corn of a subject.Classical routing algorithm includes dijkstra's algorithm, Floyd algorithms, A* algorithms and based on these
Modified hydrothermal process etc. on algorithm, using shortest path and static path that aggregate distance, road quality are calculated as weights, this
A little is all to belong to nature static optimal path, being calculated the result is that a unique road of fixation, usually with operating range
Most short or running time most it is short as a purpose.
The accuracy and real-time of real-time road condition information are always to influence the principal element of traffic information application, traditional road
Condition information collection mode includes the methods of traffic radio and fixation means acquisition.Roadside fixation means data capture method is also
Once one of widely used method is specifically included on the major trunk roads in city and has buried underground induction coil to measure vehicle flowrate, also
There are other ways that camera is set such as at crossing, road conditions are detected by live-pictures and picture.Also crossroad goes out
Radar velocity measurement take a picture the methods of, these methods can obtain car speed, the magnitude of traffic flow and roadway occupancy etc. can be used for into
The traffic parameter that walking along the street condition judges.
The basic thought of vehicular ad hoc network is that the vehicle in certain communication range can intercourse respective speed, position
The information such as put and data that onboard sensor perceives, and a mobile network is established in connection automatically, emphasize multi-hop, self-organizing,
Acentric concept.Physical-layer techniques used by the vehicular ad hoc network system that foreign countries are applied at present are mainly based upon
IEEE802.11 and UTRA-TDD technologies, and it is GSM mobile communication technologies, but these belong to center type net that the country is most popular
Network framework if being applied to distributed helpless network, needs to carry out various improvement.In addition, at present using relatively broad
Ad hoc network MAC protocol be IEEE802.11DCFt2s agreements, Routing Protocol is GPSR (Greedy Perimeter
Stateless Routing), optimize Routing Protocol using geographical location.
Invention content
The technical problems to be solved by the invention are to provide a kind of real-time active path planning side based on vehicular ad hoc network
Method can realize that vehicle adjusts travelling route in real time in the process of moving, the shortest time is spent to arrive at.
The technical solution adopted by the present invention to solve the technical problems is：It provides a kind of dynamic in real time based on vehicular ad hoc network
State paths planning method, includes the following steps：
(1) traffic information, and real-time update are obtained by vehicular ad hoc network between vehicle node；
(2) when congestion occurs in road ahead, vehicle independently realizes real-time subpath planning to bypass congested link, simultaneously
Vehicle is according to the congested link situation predicted congestion time；
(3) the estimated transit time of alternative plans subpath and predicted congestion time determine around congestion or wait for former
Restore unimpeded in path.
In the step (1) in vehicular ad hoc network, single unit vehicle node needs lead to other vehicles in communication range
Row then periodically transmits mutually information by a jump hello message；Single unit vehicle node needs and not other in communication range
Hello message is then sent to the vehicle node at most edge in communication range by vehicle communication by multi-hop mode, the vehicle at the most edge
Node is further along the nearest next-hop node of the direction finding of destination node vehicle；Wherein, the hello message includes vehicle
The speed of node itself, direction, the ID and length for being currently located section.
The judgment mode that congestion occurs in road ahead in the step (2) is：Vehicle is initially first according to static path method
An initial path is calculated, vehicle is each in the initial path is constantly collected during being travelled along this initial path
The traffic information in section when a certain section or the density of continuous several sections of roads increases above threshold value, illustrates that congestion occurs in the section.
The method of predicted congestion time is in the step (2)：The traffic information that vehicle is collected into is included on congested link
The quantity of vehicle node, the speed and road section length of each vehicle node learn congested link vehicle according to traffic flow theory calculating
Space mean speed, further according to the length computation congestion duration of congested link.
Step (2) the neutron path planning is specially：When vehicle node is advised the starting point of congested link as subpath
The starting point drawn, the terminal that the terminal of congested link is planned as subpath, then planned with static path planning method.
If congested link is still had in the subpath that vehicle is calculated, then marked off from this subpath again point
Subpath continues to plan, after finally obtaining a unimpeded subpath, vehicle node regathers the road like of unimpeded subpath
State information estimates time of the vehicle by this unimpeded subpath according to itself speed.
The step (3) is specially：If the subpath transit time estimated is longer than the congestion duration, arranged at congestion
Team, which is waited to road, restores unimpeded；If the subpath transit time estimated is shorter than the congestion duration, then vehicle is selected in son
It passes through to bypass congested link on path.
Advantageous effect
As a result of above-mentioned technical solution, compared with prior art, the present invention having the following advantages that and actively imitating
Fruit：The present invention realizes the real time monitoring to whole traffic information with the information exchange between vehicle in vehicular ad hoc network network, passes through
The congestion time is predicted compared with detouring the time to determine whether vehicle needs to detour with by congested link, so as to fulfill vehicle
Travelling route is adjusted in real time in the process of moving, the shortest time to be spent to arrive at.
Description of the drawings
Fig. 1 is the flow chart of the present invention.
Specific embodiment
With reference to specific embodiment, the present invention is further explained.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, people in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
Embodiments of the present invention are related to a kind of real-time dynamic path planning method based on vehicular ad hoc network, such as Fig. 1 institutes
Show, include the following steps：
The first step：Vehicle obtains an initial path by static path planning method first.
The static path planning method does not consider that traffic changes in real time, only passes through road section length, passage rate etc.
Fix information carrys out path planning, and static path planning method can select dijkstra's algorithm etc..
Second step：The real-time road condition information of the initial path is obtained between vehicle node by vehicular ad hoc network.In communication model
In enclosing, vehicle periodically transmits mutually information by a jump hello message, includes the speed of vehicle node itself in hello message
Degree, direction, the ID for being currently located section and its length etc..Outside communication range, vehicle node is by multi-hop mode, by hello
New information is sent to the vehicle node at most edge in communication range, and the node is nearest further along the direction finding of destination node vehicle
Next-hop node, by this method downwards transmit.
The real-time road condition information refers to, the quantity of vehicle node on congested link, the speed of each vehicle node, road
Segment length etc., and then estimate the density of wagon flow on each section, vehicle node by monitor the variation of each section vehicle metric density come
Judge current traffic information, when density increases above threshold value, then judge the section into congestion status.
Third walks：When congestion occurs in road ahead, vehicle independently realizes subpath planning algorithm to bypass congested link,
Vehicle is according to the congested link situation predicted congestion time simultaneously.
The subpath planning algorithm refers to, using the starting point of congested link as the starting point of active path planning, congestion
Terminal of the terminal in section as active path planning, then calculated with static path planning algorithm, it can be reduced significantly with this
The cost of path planning.If congested link is still had in the sub- initial path that vehicle is calculated, then again from this Ge Zi road
Subpath is marked off in diameter to continue to plan.After the subpath for finally obtaining a P Passable, at the beginning of vehicle node regathers son
The road status information in beginning path can estimate vehicle by this paths to bypass the time of congestion according to itself speed.
The predicted congestion time refers to, can be calculated according to traffic flow theory and learn that the space of congested link vehicle is put down
Equal speed, can the predicted congestion duration in the case of known congested link length.
4th step：Compare the scheduled time of new path planning and congestion time, determine around congestion or wait for original route
Restore unimpeded.If the subpath transit time estimated is longer than the congestion duration, the needs that illustrate to detour take more time,
In this case, vehicle is waited in line to restore unimpeded to road at congestion, then proceedes to advance；If the subpath estimated leads to
The row time is shorter than the congestion duration, then vehicle selection passes through to bypass congested link on subpath.
It is not difficult to find that the present invention is realized with the information exchange between vehicle in vehicular ad hoc network network to whole traffic information
Real time monitoring, by predict with compared with the congestion time with detour the time come determine vehicle whether need detour with by congestion road
Section, adjusts travelling route, the shortest time to be spent to arrive in real time in the process of moving so as to fulfill vehicle.
Claims (5)
1. a kind of real-time dynamic path planning method based on vehicular ad hoc network, which is characterized in that include the following steps：
(1) traffic information, and real-time update are obtained by vehicular ad hoc network between vehicle node；
(2) when congestion occurs in road ahead, vehicle independently realizes real-time subpath planning to bypass congested link, while vehicle
According to the congested link situation predicted congestion time；Wherein, subpath, which is planned, is specially：When vehicle node is by the starting point of congested link
As the starting point of subpath planning, terminal that the terminal of congested link is planned as subpath, then with static path planning side
Method is planned；If congested link is still had in the subpath that vehicle is calculated, then divided from this subpath again
Go out molecular path to continue to plan, after finally obtaining a unimpeded subpath, vehicle node regathers the road of unimpeded subpath
Line state information estimates time of the vehicle by this unimpeded subpath according to itself speed；
(3) the estimated transit time of alternative plans subpath and predicted congestion time determine around congestion or wait for original route
Restore unimpeded.
2. the real-time dynamic path planning method according to claim 1 based on vehicular ad hoc network, which is characterized in that described
In step (1) in vehicular ad hoc network, single unit vehicle node needs and other vehicle pass-throughs in communication range then pass through one and jump
Hello message periodically transmits mutually information；Single unit vehicle node needs and other vehicle communications not in communication range, then leads to
Cross the vehicle node that hello message is sent to most edge in communication range by multi-hop mode, the vehicle node at the most edge further along
The nearest next-hop node of the direction finding of destination node vehicle；Wherein, the hello message includes vehicle node itself
Speed, direction, the ID and length for being currently located section.
3. the real-time dynamic path planning method according to claim 1 based on vehicular ad hoc network, which is characterized in that described
The judgment mode that congestion occurs in road ahead in step (2) is：Vehicle is initially first according at the beginning of static path method calculates one
Beginning path, the road conditions that vehicle constantly collects each section in the initial path during being travelled along this initial path are believed
Breath when a certain section or the density of continuous several sections of roads increases above threshold value, illustrates that congestion occurs in the section.
4. the real-time dynamic path planning method according to claim 1 based on vehicular ad hoc network, which is characterized in that described
The method of predicted congestion time is in step (2)：The traffic information that vehicle is collected into includes the number of vehicle node on congested link
Amount, the speed and road section length of each vehicle node learn the space average of congested link vehicle according to traffic flow theory calculating
Speed, further according to the length computation congestion duration of congested link.
5. the real-time dynamic path planning method according to claim 1 based on vehicular ad hoc network, which is characterized in that described
Step (3) is specially：If the subpath transit time estimated is longer than the congestion duration, wait in line at congestion to road
Restore unimpeded；If the subpath transit time estimated is shorter than the congestion duration, then vehicle selection on subpath pass through with
Around congested link.
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