CN106297357A - Real-time route planning based on car networking and POI searching system and method - Google Patents
Real-time route planning based on car networking and POI searching system and method Download PDFInfo
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- CN106297357A CN106297357A CN201610741786.1A CN201610741786A CN106297357A CN 106297357 A CN106297357 A CN 106297357A CN 201610741786 A CN201610741786 A CN 201610741786A CN 106297357 A CN106297357 A CN 106297357A
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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
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
-
- 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
Abstract
The open real-time route planning based on car networking of the present invention and POI searching system and method.System includes car-mounted terminal and server end, and car-mounted terminal includes the onboard wireless self-organizing network module for accessing car networking, for the vehicle status data acquisition module of collection vehicle status information, for controlling to coordinate the embedded main control module of ARM of each module work, for carrying out the visualization car-mounted terminal APP of man-machine interaction for user；Server end is used for setting up map datum library model, provides function services for each car-mounted terminal accessed, and retrieves including path planning and POI.The present invention, based on car networked platforms, utilizes traffic data and the big data of history of Real-time Collection, provides path planning and POI search function for the vehicle in car networked system.System has the feature of real-time and accuracy, provides the user the quick trip of path reliably scheme on this basis, and can also alleviate urban traffic blocking situation to a certain extent.
Description
Technical field
The invention belongs to intelligent transportation field, be specifically related to a kind of real-time route planning based on car networking and POI
Searching system and method.
Background technology
In recent years, delayed due to the growth of automobile pollution and Transport Facility Construction, traffic jam issue becomes day by day
Prominent, traffic safety problem is the most increasing.Therefore, traffic intelligence, safety quickness and high efficiency trip etc. is increasingly by people
Concern.In this context, the concept of intelligent transportation system is proposed out, important as in intelligent transportation system of car networking
Ingredient receives extensive concern and the research of all circles.In car is networked, Che Yuche, car and road surface unit pass through onboard wireless
Self-organizing network is in communication with each other, and car-mounted terminal has also accessed the Internet simultaneously, and user can obtain the multiple of auxiliary driving
Function, such as path planning and POI retrieval etc..
Car networking is currently in research and experimental stage, and a lot of functions based on car networking are proposed out, both enrich
The research contents of car networking, also brings the finest imagination for following trip life.The present invention focuses on and joins based on car
The retrieval of the basic function of net trip, i.e. path planning and POI.Based on visual electronic chart, in conjunction with this two big base
Plinth function, which city no matter car owner user arrive, and can advance freely, and will not get lost.Path planning is that car owner goes on a journey
One just needs.Vehicle obtains own location information by GPS, by means of electronic chart, mates the position of self, finds out arrival and travels
The optimum travel route of destination, and guide car owner to leave for destination on electronic chart.POI retrieval is that car owner goes on a journey
Another firm need, when car owner is unfamiliar with current city environment, it is necessary to find suitable whereabouts by means of POI retrieval,
Such as hotel, station, airport etc..Therefore, travel route real-time, efficient, reliable and POI retrieval knot are provided for car owner
Fruit just seems extremely important.It addition, good path planning system is not only the trip scheme that car owner provides optimum, it is also possible to one
Determine in degree, to alleviate urban traffic blocking situation.
Summary of the invention
It is an object of the invention to provide a kind of real-time route planning based on car networking and POI searching system and side
Method, concrete technical scheme is as follows.
Real-time route planning based on car networking and POI searching system, including car-mounted terminal and server end, vehicle-mounted
It is interior for carrying out man-machine interaction with car owner that terminal is arranged on car, including the onboard wireless self-organizing network mould for accessing car networking
Block, for the vehicle status data acquisition module of collection vehicle status information, in control coordination system constitute module work
The embedded main control module of ARM, carry out the visualization car-mounted terminal APP of man-machine interaction for being supplied to user；Server end is used
In setting up map datum library model, provide function services for each car-mounted terminal accessed, examine including path planning and POI
Rope；The car-mounted terminal of each addition car networked system is required for setting up with server end being connected, and can arbitrarily use after connection establishment
The function that server provides；Each vehicle periodically collection vehicle status information in car networked system, and end of uploading onto the server；Clothes
Business device end by respective stretch in vehicle match to cartographic model, and updates the real-time friendship in section, place according to car status information
Communication breath；Server end utilizes Real-time Traffic Information and the historical traffic information in each section, and combines short-time traffic flow forecast calculation
Method predicts each section traffic within the following short period；User is in car-mounted terminal input path request terminus and search
Condition also sends path planning request to server end, and server end receives request, and friendship in real time based on map datum model
Logical data and the optimum drive route of prediction traffic data search user's trip；Vehicle in the process of moving, according to traffic
Real-time dynamic data timely replacement optimum travel route；User can also send POI retrieval at car-mounted terminal to server end
Request, server end is according to the POI of request content search vehicle periphery and returns to car-mounted terminal and shows.
Further, described server end includes:
For provide various Map Services based on the map datum model increasing income self-built for map OSM；
For accepting the vehicle connection management system that in car networking, vehicle and server end keep or disconnect；
For by from the various message distributions of car-mounted terminal to the message distributor system of corresponding sub-processing system；
For the map match subsystem in cartographic model, vehicle location mated；
For each section being carried out the short-term prediction subsystem of short-time traffic flow forecast；
For responding the route searching subsystem of user's path planning request；
For responding the POI retrieval subsystem giving prompting when user searches for POI and input terminus title；
Database service subsystem for interactive information storage.
Further, car-mounted terminal also include 3 4G access network module, in the case of in networking at car, network is smooth,
Linking Internet is provided；Described car-mounted terminal and server end can by 3 4G access network module or onboard wireless self-organizing network
The onboard wireless self-organizing network module that module accesses in the Internet, and car networking has higher priority.
Positional information that further, described car status information includes utilizing vehicle GPS to obtain (longitude and latitude, highly),
The Vehicle Speed, acceleration, direction and the vehicle-state that utilize data acquisition module to obtain (accelerate and accelerate rank, turning
And turning rank, fatigue driving, collide and rollover etc.)；Described data acquisition module includes that state acquisition sensor and fatigue are driven
Sail monitoring system；State acquisition sensor includes three-axis gyroscope, direction sensor and acceleration transducer.
The embedded main control module of described ARM can install corresponding operating system, and exploitation car-mounted terminal APP thereon, is used for
Control and coordinate the function of other each modules and the function of man-machine interaction is provided；
Further, described visualization car-mounted terminal APP provides visual map window interface, for handing over car owner
Mutually；Main interactive information includes path planning window and POI retrieval window；On path planning window, car owner can input
Terminus position, and send path planning request according to search condition to server end；Described search condition include distance the shortest,
Used time is minimum, the multinomial selection such as minimum of charging；Meanwhile, car owner is when inputting terminus, and APP can send POI to server
Retrieval request obtains a plurality of occurrence, is prompted to car owner and selects input；On POI retrieval window, car owner is optional conventional
POI carry out POI retrieval, such as hotel, airport, railway station, gas station etc., or oneself input retrieval content submits to clothes
Business device end is retrieved, and retrieval result is illustrated on map interface the most at last, selects to check for car owner.
Further, described map datum model is based on the map OSM data base that increases income, and resolves OSM map datum, rebuilds
Being suitable for the map datum model of native system function, map datum model includes section informational table of nodes (nodes), road section information table
(sessions), path information table (ways) and POI data storehouse (pois), provide on the basis of map datum model and include
Path planning and the Map Services of POI retrieval.
Further, described vehicle connection management system is a large amount of driving vehicles and the connection of server in being responsible for system
With the management of off-state, including secure accessing and safely disconnecting, it is ensured that vehicle concurrent connection long-time with server end, high
Request, it is ensured that system is properly functioning；
Described message distributor system is responsible for the request message that sent by each vehicle according to different service number by message distribution
To the subsystem of difference in functionality, each subsystem is transferred to process corresponding message respectively；
Described map match subsystem by the positional information in the vehicle-state receiving each car-mounted terminal at self-built map
Model matches concrete section, in the matching process, it is considered to vehicle heading and the angle in direction, each section and car
Position and the distance in each section calculate corresponding matching value, and two matching value weighted sums are taken the section that minima is corresponding；
After matching section, this car status information is updated coupling section.
Further, described route searching subsystem accepts user's request, according to terminus and the search of user's request
Condition utilizes dijkstra's algorithm and A* algorithm to search for the travel route of optimum on self-built map datum model；Described search
Condition mainly includes that distance is the shortest, the used time is minimum and minimum charge；
Described POI retrieval subsystem, when user inputs terminus, receives the word that inputted of user and in POI data
Storehouse is found the multiple POI items mated the most, is prompted to user and selects；It addition, when car owner searches for the POI of periphery
Time, carry out POI retrieval according to the POI that common POI or user oneself input；
Described database service subsystem is for storing the interactive information in system operation, including the connection of car-mounted terminal
The log-file information that the communication information of time, car-mounted terminal and server end and system are run.
Further, the car status information that described short-term prediction subsystem utilizes each section to obtain calculates section self
Traffic flow parameter, and according to the traffic flow conditions in current and history the traffic flow parameter prediction following short time；Prediction
Being spaced apart 5 minutes, system can predict the traffic flow parameter value in following 5min, 10min, 15min moment.
Utilize described real-time route planning based on car networking and the real-time route planning of POI searching system and POI
Information retrieval method, wherein real-time route planning includes:
Step 1: based on the map OSM data base that increases income, building new map datum model, model content includes section nodal information
Table, road section information table, path information table and POI data storehouse；
Step 2: after car-mounted terminal access server side, can upload onto the server the car status information of car-mounted terminal collection
End, map match subsystem can utilize the positional information of vehicle by vehicle match to optimum site of road, and by vehicle shape
Other information updatings of state are on this section, and then short-term prediction subsystem utilizes real-time and history the traffic flow in each section
Data predict the following traffic flow conditions setting the time period；
Step 3: when user sends path planning request arrival server end, server end utilizes the search bar of user setup
Part, carries out route searching in self-built map datum library model；When user wants the used time minimum, search procedure also can utilize
The result of short-term prediction, searches out used time minimum traffic path；
Step 4: after user receives the programme path that server end returns, resolves and returns data, and visual on electronic chart
Change shows, is used for guiding car owner to arrive at；
POI retrieval includes:
Step 1: user inputs the content of retrieval, such as Ordinary search content and includes hotel, restaurant, station, airport, gas station
Deng, concurrence retrieval request is sent to server end；Described input includes the input at two interfaces, asks interface at path planning
On, when user inputs terminus, user input content can be sent to server and carry out POI retrieval by APP, retrieval result is carried
Supply user selects input；On POI search interface, provide direct POI retrieval service for car owner；
Step 2: received server-side to retrieval request, if the retrieval of terminus, then searches for whole POI data storehouse, the most just
Centered by current vehicle position, map datum library model searches out the POI meeting retrieval request, and retrieval result is returned
Back to car-mounted terminal；
Step 3: car-mounted terminal is according to retrieval result, and POI retrieval obtained is in car owner's input prompt list or electronically
Mark out on figure, check for car owner and select.
Compared with prior art, the invention have the advantages that and technique effect:
The present invention, based on car networked platforms, by means of the map OSM data base that increases income, utilizes traffic data and the history of Real-time Collection
Big data, provide path planning and POI search function for the vehicle in car networked system.System has real-time with accurate
Property feature, provide the user the quick trip of path reliably scheme on this basis, and can also alleviate to a certain extent
Urban traffic blocking situation.
Accompanying drawing explanation
Fig. 1 is real-time route planning based on car networking and POI searching system integrated stand composition in example.
Fig. 2 is the flowchart of map match subsystem in example.
Fig. 3 is the structure chart of predicting subsystem in short-term in example.
Fig. 4 is route searching dijkstra's algorithm flowchart in example.
Detailed description of the invention
It is embodied as being described further to the present invention below in conjunction with accompanying drawing and example, but the enforcement of the present invention and protection
It is not limited to this, if it is noted that have below and describe part the most especially in detail, being all that those skilled in the art can refer to existing skill
Art realizes.
Such as Fig. 1, real-time route planning based on car networking and POI searching system, including car-mounted terminal and server
End, it is interior for carrying out man-machine interaction with car owner that car-mounted terminal is arranged on car, including the onboard wireless for accessing car networking from group
Knit mixed-media network modules mixed-media, for the vehicle status data acquisition module of collection vehicle status information, in control coordination system constitute
The embedded main control module of ARM of module work, carry out the visualization car-mounted terminal APP of man-machine interaction for being supplied to user；Clothes
Business device end is used for setting up map datum library model, provides function services, including path planning and POI for each car-mounted terminal accessed
Information retrieval；The car-mounted terminal of each addition car networked system is required for setting up with server end being connected, and can appoint after connection establishment
Meaning uses the function that server provides；Each vehicle periodically collection vehicle status information in car networked system, and upload to service
Device end；Server end by respective stretch in vehicle match to cartographic model, and updates section, place according to car status information
Real-time Traffic Information；Server end utilizes Real-time Traffic Information and the historical traffic information in each section, and combines traffic in short-term
Flow prediction algorithm predicts each section traffic within the following short period；User inputs path request start and end at car-mounted terminal
Point sends path planning request with search condition and to server end, and server end receives request, and based on map datum model
Real time traffic data and prediction traffic data search user trip optimum drive route；Vehicle in the process of moving, according to
Traffic real-time dynamic data timely replacement optimum travel route；User can also send POI at car-mounted terminal to server end
Information retrieval requests, server end is according to the POI of request content search vehicle periphery and returns to car-mounted terminal and shows.
As an example, described server end includes:
For provide various Map Services based on the map datum model increasing income self-built for map OSM；
For accepting the vehicle connection management system that in car networking, vehicle and server end keep or disconnect；
For by from the various message distributions of car-mounted terminal to the message distributor system of corresponding sub-processing system；
For the map match subsystem in cartographic model, vehicle location mated；
For each section being carried out the short-term prediction subsystem of short-time traffic flow forecast；
For responding the route searching subsystem of user's path planning request；
For responding the POI retrieval subsystem giving prompting when user searches for POI and input terminus title；
Database service subsystem for interactive information storage.
As an example, car-mounted terminal also include 3 4G access network module, in the case of in networking at car, network is smooth,
Linking Internet is provided；Described car-mounted terminal and server end can by 3 4G access network module or onboard wireless self-organizing network
The onboard wireless self-organizing network module that module accesses in the Internet, and car networking has higher priority.
Positional information that described car status information includes utilizing vehicle GPS to obtain (longitude and latitude, highly), utilize data acquisition
Vehicle Speed that collection module obtains, acceleration, direction and vehicle-state (accelerate and accelerate rank, rank of turning and turn,
Fatigue driving, collide and rollover etc.)；Described data acquisition module includes state acquisition sensor and real-time driving fatigue monitoring system；
State acquisition sensor includes three-axis gyroscope, direction sensor and acceleration transducer.
The embedded main control module of described ARM can install corresponding operating system, and exploitation car-mounted terminal APP thereon, is used for
Control and coordinate the function of other each modules and the function of man-machine interaction is provided；Described visualization car-mounted terminal APP provides visual
The map window interface changed, for interacting with car owner；Main interactive information includes path planning window and POI retrieval
Window；On path planning window, car owner can input terminus position, and sends path rule according to search condition to server end
Draw request；Described search condition includes that distance is the shortest, the used time is minimum, the multinomial selection such as minimum of charging；Meanwhile, car owner inputs
During terminal, APP can send POI retrieval request to server and obtain a plurality of occurrence, is prompted to car owner and selects input；?
On POI retrieval window, car owner may select conventional POI and carries out POI retrieval, such as hotel, airport, railway station, adds
Petrol station etc., or oneself input retrieval content submits to server end and retrieves, and retrieval result is illustrated in map circle the most at last
On face, select to check for car owner.Described map datum model is based on the map OSM data base that increases income, and resolves OSM map datum,
Rebuilding the map datum model being suitable for native system function, map datum model includes section informational table of nodes (nodes), section letter
Breath table (sessions), path information table (ways) and POI data storehouse (pois), offer on the basis of map datum model
The Map Services retrieved including path planning and POI.Described vehicle connection management system is responsible for high number of row in system
Sail the management of the state that is connected and disconnected from of vehicle and server, including secure accessing with safely disconnect, it is ensured that vehicle and server
End concurrent connection request long-time, high, it is ensured that system is properly functioning；Described message distributor system is responsible for sending out each vehicle
The request message sent according to different service number by message distribution to the subsystem of difference in functionality, transfer to each subsystem to process respectively
Corresponding message；Described map match subsystem by the positional information in the vehicle-state receiving each car-mounted terminal self-built
Cartographic model matches concrete section, in the matching process, it is considered to the angle in vehicle heading and direction, each section with
And vehicle location calculates corresponding matching value with the distance in each section, two matching value weighted sums are taken the road that minima is corresponding
Section；After matching section, this car status information is updated coupling section.
Described route searching subsystem accepts user's request, and terminus and search condition according to user's request utilize
Dijkstra's algorithm and A* algorithm search for the travel route of optimum on self-built map datum model；Described search condition is main
Including distance the shortest, the used time is minimum and minimum charge；
Described database service subsystem is for storing the interactive information in system operation, including the connection of car-mounted terminal
The log-file information that the communication information of time, car-mounted terminal and server end and system are run.
The car status information that described short-term prediction subsystem utilizes each section to obtain calculates the traffic flow in section self
Parameter, and according to the traffic flow conditions in current and history the traffic flow parameter prediction following short time；Predicting interval is 5 points
Clock, system can predict the traffic flow parameter value in following 5min, 10min, 15min moment.
As an example, car-mounted terminal 10 is car-mounted terminal, and car-mounted terminal can utilize the own network of car networking or pass through
Carrier network access server side, thus enjoy the map function that server provides.In car-mounted terminal 11 modules based on
Android system realizes, and develops car-mounted terminal APP, provides human-computer interaction interface for car owner, and car owner can use basic path
Search and POI search function, meanwhile, it obtains car status information by data acquisition module 13, and periodically uploads
To server end.The subsystem 21 that server end 20 includes is the map data base mould self-built based on the map OSM data base that increases income
Type, it is the basis of the various map functions that server end provides.Certain relatedness, car networked system is had between each subsystem
In the car status information uploaded of vehicle be sent to server end after, first map match subsystem 22 carries out map to it
Join, after matching certain section, car status information is updated on this section, the friendship in each section can be calculated according to these information
Through-flow parameter.Here, required for the traffic flow parameter produced short-term prediction subsystem 23 just, short-term prediction subsystem utilizes
Traffic flow conditions in real-time and history the traffic flow parameter prediction following short time.When search condition be the used time minimum time,
Route searching subsystem 24 can carry out path rule in conjunction with the future transportation stream parameter of current arithmetic for real-time traffic flow parameter and short-term prediction
Draw.It addition, route searching is also real-time update, namely when vehicle is in the road travelled, and system can utilize real time data weight
New search optimal path, and feed back to car-mounted terminal APP.POI retrieval subsystem 25, when user inputs terminus, receives
Word that user has inputted also finds the multiple POI items mated the most in POI data storehouse, is prompted to user and selects；Separately
Outward, when car owner searches for the POI of periphery, carry out POI inspection according to the POI that common POI or user oneself input
Rope.The flowchart of each subsystem is respectively as shown in accompanying drawing 2, accompanying drawing 3, accompanying drawing 4.
Fig. 2 illustrates the realization citing of map match.It accepts the car status information that car-mounted terminal is periodically uploaded, and
Match on section with this, and save as coupling road traffic delay parameter.Specific embodiments is described as follows: car-mounted terminal is at car
In driving process, periodically obtained vehicle geographical location information by GPS, be described as State_Loc, specifically comprise longitude and latitude
Coordinate, and the end that uploads onto the server；Service end carries out map match after receiving data.First find out in self-built map data base
All nodes in a certain range of error of State_Loc, are described as Gps_Nodes, then find out all these node place
Section, is described as Gps_Sessions, then calculates the matching degree in all sections in State_Loc Yu Gps_Sessions, looks for
Go out best one section of matching degree, be described as Gps_MinSession, finally calculate State_Loc throwing on this section
Shadow position, this projected position is exactly vehicle match to the position on map.After having mated, the parameter information that vehicle is uploaded
Update to coupling section.
The computational methods of matching degree are as previously mentioned: first according to current vehicle position information and the last position uploaded
Information, calculates the travel direction of vehicle, according to the direction in section each in this direction and Gps_Sessions, calculates theirs
Direction matching degree, direction matching degree is the smaller the better, and namely their direction is the most consistent；Then current location information is utilized to calculate
Arrive the vertical line distance in each section in Gps_Sessions, thus calculate distance matching degree, distance matching degree be also the least more
Good, represent it from this section more close to.Finally, direction matching degree and distance matching degree are weighted summation, i.e. obtain section
Matching degree.
Fig. 3 illustrates the system construction drawing of short-term prediction.Short-term prediction subsystem receives arithmetic for real-time traffic flow parameter, and combines
Historical traffic flow data, calculates the traffic flow conditions in the following short time by wavelet neural network, and this calculates process can week
The carrying out of phase property.Three important parameters of traffic flow are traffic speed, the volume of traffic and traffic density (or occupation rate), and car networking is
In system, upload to a large amount of positional informationes of service end according to vehicle, the traffic flow parameter in each section can be calculated.Then ought
Front traffic flow parameter value is input in short-term prediction system, and system can be in conjunction with historical traffic flow data, it was predicted that go out future in short-term
Interior traffic flow conditions.
As a kind of example, as it is shown on figure 3, short-term prediction system includes preprocessor and wavelet neural network (WNN) two
Individual part, input value is as input, it was predicted that value is as output.Preprocessor is mainly used to filter input value and history value
Ripple, in figure, (can be traffic speed, the volume of traffic or occupation rate, different parameters be corresponding for S (k) expression traffic flow valuve in the k moment
Different short-term prediction systems), m (k), m (k-1), m (k-i+1), m (k-m+1) represent the output after preprocessor processes
Value, the most corresponding k, k-1, k-i+1, k-m+1 moment, such as m (k) are the pretreatment values m (k-through s (k) He front m-1 moment
1), m (k-i+1), m (k-m+1) weighting after obtain, x1, x2...xm are its weight coefficients, and these weight coefficients normally behave as
One low pass filter.
Wavelet neural network is for predicting the short-term traffic flow in future, and wavelet neural network herein comprises three layers, the most defeated
Enter layer, hidden layer and output layer.Each ellipse in figure represents a neuron in wavelet neural network, function therein
F, g, h are the activation primitives of neuron, and it is also a wavelet function.Input layer receives input, is m (k), m (k-here
1) ... m (k-m+1), the output of output layer neuron is the output of system, and Wmk is the weight coefficient arriving hidden layer from input layer,
Wkn is the weight coefficient arriving output layer from hidden layer.Wavelet neural network comprises two processes: trains and predicts.First system is given
A large amount of historical traffic flow data, the model parameter of training system are provided；Then given input, wavelet neural network can be predicted defeated
Go out.Native system can utilize when day data carries out retraining to system after terminating every day so that system has ageing, overcomes little
The model characteristics of ripple neutral net.
What Fig. 4 illustrated route searching realizes flow process.This realizes flow process based on dijkstra's algorithm, it from
Path planning request starting point starts, constantly search section node around, until arriving path planning request terminal.Path
The another kind of searching algorithm is embodied as A* algorithm, and search routine is substantially similar with Dijkstra.
Above-mentioned dijkstra's algorithm realizes flow process and is described as follows: be that a cum rights has based on the map data base that OSM is self-built
Xiang Tu, these weights can be the length in section, running time or charge situation.Dijkstra's algorithm safeguards two point sets
Open set and Close gather, and represent the some set will searched for and search for respectively, and the two is before being integrated into search
Sky, and all nodes traversed have a distance value.First, from the beginning of path request starting point, starting point is joined
In Open set, and to arrange its distance be 0, carries out the most as follows:
(1) judge whether Open set is empty, if it is empty, then search for failure, exit search；
(2) from Open gathers, the node i that distance value is minimum is found out；
(3) whether decision node i is path request terminal, if it is, search for successfully, terminates search；
(4) node i is joined in Close set, then (remove those to exist by all of its neighbor point that node i connects
Node in Close set) all join in Open set；
(5) calculate, by node i, the distance value that during Open gathers, all of its neighbor point is new, and judge that new distance value is with former
The size of distance value, if less, then updates distance value, otherwise avoids the need for updating, then rebound (1st) step,
Until algorithm terminates.
After algorithm has performed, the distance value of the node in all Close set is and arrives this joint from starting point
The beeline of point.It is basically identical that A* algorithm realizes step, but the mode calculating distance is different, and A* also contemplates search
The distance reached home of node, certain weighted sum will be carried out apart from the distance of starting point and distance terminal and obtain distance
Value.
Utilize described real-time route planning based on car networking and the real-time route planning of POI searching system and POI
Information retrieval method, wherein real-time route planning includes:
Step 1: based on the map OSM data base that increases income, building new map datum model, model content includes section nodal information
Table, road section information table, path information table and POI data storehouse；
Step 2: after car-mounted terminal access server side, can upload onto the server the car status information of car-mounted terminal collection
End, map match subsystem can utilize the positional information of vehicle by vehicle match to optimum site of road, and by vehicle shape
Other information updatings of state are on this section, and then short-term prediction subsystem utilizes real-time and history the traffic flow in each section
Data predict the following traffic flow conditions setting the time period；
Step 3: when user sends path planning request arrival server end, server end utilizes the search bar of user setup
Part, carries out route searching in self-built map datum library model；When user wants the used time minimum, search procedure also can utilize
The result of short-term prediction, searches out used time minimum traffic path；
Step 4: after user receives the programme path that server end returns, resolves and returns data, and visual on electronic chart
Change shows, is used for guiding car owner to arrive at；
POI retrieval includes:
Step 1: user inputs the content of retrieval, such as Ordinary search content and includes hotel, restaurant, station, airport, gas station
Deng, concurrence retrieval request is sent to server end；Described input includes the input at two interfaces, asks interface at path planning
On, when user inputs terminus, user input content can be sent to server and carry out POI retrieval by APP, retrieval result is carried
Supply user selects input；On POI search interface, provide direct POI retrieval service for car owner；
Step 2: received server-side to retrieval request, if the retrieval of terminus, then searches for whole POI data storehouse, the most just
Centered by current vehicle position, map datum library model searches out the POI meeting retrieval request, and retrieval result is returned
Back to car-mounted terminal；
Step 3: car-mounted terminal is according to retrieval result, and POI retrieval obtained is in car owner's input prompt list or electronically
Mark out on figure, check for car owner and select.
Claims (10)
1. real-time route planning based on car networking and POI searching system, it is characterised in that include car-mounted terminal and service
Device end, it is interior for carrying out man-machine interaction with car owner that car-mounted terminal is arranged on car, including the onboard wireless for accessing car networking certainly
Hoc module, for the vehicle status data acquisition module of collection vehicle status information, in control coordination system structure
Become the embedded main control module of ARM of module work, carry out the visualization car-mounted terminal APP of man-machine interaction for being supplied to user；
Server end is used for setting up map datum library model, provides function services for each car-mounted terminal accessed, including path planning and
POI is retrieved；The car-mounted terminal of each addition car networked system is required for setting up with server end being connected, energy after connection establishment
Arbitrarily use the function that server provides；Each vehicle periodically collection vehicle status information in car networked system, and upload to clothes
Business device end；Server end by respective stretch in vehicle match to cartographic model, and updates place road according to car status information
The Real-time Traffic Information of section；Server end utilizes Real-time Traffic Information and the historical traffic information in each section, and combination is handed in short-term
Through-flow prediction algorithm predicts each section traffic within the following short period；User rises in car-mounted terminal input path request
Terminal and search condition also send path planning request to server end, and server end receives request, and based on map datum mould
The real time traffic data of type and the optimum drive route of prediction traffic data search user's trip；Vehicle in the process of moving, root
According to traffic real-time dynamic data timely replacement optimum travel route；User can also send to server end at car-mounted terminal
POI retrieval request, server end is according to the POI of request content search vehicle periphery and returns to car-mounted terminal and shows
Show.
Real-time route planning based on car networking and POI searching system the most as described in the appended claim 1, it is characterised in that clothes
Business device end includes:
For provide various Map Services based on the map datum model increasing income self-built for map OSM；
For accepting the vehicle connection management system that in car networking, vehicle and server end keep or disconnect；
For by from the various message distributions of car-mounted terminal to the message distributor system of corresponding sub-processing system；
For the map match subsystem in cartographic model, vehicle location mated；
For each section being carried out the short-term prediction subsystem of short-time traffic flow forecast；
For responding the route searching subsystem of user's path planning request；
For responding the POI retrieval subsystem giving prompting when user searches for POI and input terminus title；
Database service subsystem for interactive information storage.
Real-time route planning based on car networking and POI searching system the most as described in the appended claim 1, it is characterised in that:
Car-mounted terminal also include 3 4G access network module, in the case of in networking at car, network is smooth, it is provided that linking Internet；Institute
State car-mounted terminal and server end can by 3 4G access network module or onboard wireless self-organizing network module access the Internet, and
And the onboard wireless self-organizing network module in car networking has higher priority.
Real-time route planning based on car networking and POI searching system the most as described in the appended claim 1, it is characterised in that:
The vehicle traveling that described car status information includes the positional information utilizing vehicle GPS to obtain, utilizes data acquisition module to obtain
Speed, acceleration, direction and vehicle-state；Described data acquisition module includes that state acquisition sensor and fatigue driving monitoring are
System；State acquisition sensor includes three-axis gyroscope, direction sensor and acceleration transducer.
Real-time route planning based on car networking and POI searching system the most as described in the appended claim 1, it is characterised in that:
Described visualization car-mounted terminal APP provides visual map window interface, for interacting with car owner；Main interactive information
Window is retrieved including path planning window and POI；On path planning window, car owner can input terminus position, and root
Path planning request is sent to server end according to search condition；Described search condition includes that distance is the shortest, the used time is minimum, charges
The multinomial selection such as few；Meanwhile, car owner is when inputting terminus, and APP can send POI retrieval request to server and obtain a plurality of
Occurrence, is prompted to car owner and selects input；On POI retrieval window, car owner may select conventional POI and carries out POI
Retrieve, or oneself input retrieval content is submitted to server end and retrieved, and retrieval result is illustrated in map interface the most at last
On, select to check for car owner.
Real-time route planning based on car networking and POI searching system the most as described in the appended claim 1, it is characterised in that:
Described map datum model is based on the map OSM data base that increases income, and resolves OSM map datum, rebuilds and is suitable for native system function
Map datum model, map datum model includes section informational table of nodes, road section information table, path information table and POI data
Storehouse, provides on the basis of map datum model and includes path planning and the Map Services of POI retrieval.
Real-time route planning based on car networking and POI searching system the most as described in the appended claim 1, it is characterised in that:
Described vehicle connection management system is the management of the state that is connected and disconnected from of a large amount of driving vehicles and server in being responsible for system,
Including secure accessing and safely disconnecting, it is ensured that vehicle concurrent connection request long-time with server end, high, it is ensured that system is normal
Run；
Described message distributor system is responsible for the request message that sent by each vehicle according to different service number by message distribution
To the subsystem of difference in functionality, each subsystem is transferred to process corresponding message respectively；
Described map match subsystem by the positional information in the vehicle-state receiving each car-mounted terminal at self-built map
Model matches concrete section, in the matching process, it is considered to vehicle heading and the angle in direction, each section and car
Position and the distance in each section calculate corresponding matching value, and two matching value weighted sums are taken the section that minima is corresponding；
After matching section, this car status information is updated coupling section.
Real-time route planning based on car networking and POI searching system the most as described in the appended claim 1, it is characterised in that:
Described route searching subsystem accepts user's request, and terminus and search condition according to user's request utilize Dijkstra to calculate
Method and A* algorithm search for the travel route of optimum on self-built map datum model；Described search condition mainly includes distance
Short, the used time is minimum and minimum charge；
Described POI retrieval subsystem, when user inputs terminus, receives the word that inputted of user and in POI data
Storehouse is found the multiple POI items mated the most, is prompted to user and selects；It addition, when car owner searches for the POI of periphery
Time, carry out POI retrieval according to the POI that common POI or user oneself input；
Described database service subsystem is for storing the interactive information in system operation, including the connection of car-mounted terminal
The log-file information that the communication information of time, car-mounted terminal and server end and system are run.
Real-time route planning based on car networking and POI searching system the most as described in the appended claim 1, it is characterised in that:
The car status information that described short-term prediction subsystem utilizes each section to obtain calculates the traffic flow parameter in section self, and root
According to the traffic flow conditions in current and history the traffic flow parameter prediction following short time；Predicting interval is 5 minutes, system energy
The traffic flow parameter value in prediction following 5min, 10min, 15min moment.
10. utilize described real-time route planning based on car networking and the real-time route planning of POI searching system and POI to believe
Breath search method, it is characterised in that:
Real-time route planning includes:
Step 1: based on the map OSM data base that increases income, building new map datum model, model content includes section nodal information
Table, road section information table, path information table and POI data storehouse；
Step 2: after car-mounted terminal access server side, can upload onto the server the car status information of car-mounted terminal collection
End, map match subsystem can utilize the positional information of vehicle by vehicle match to optimum site of road, and by vehicle shape
Other information updatings of state are on this section, and then short-term prediction subsystem utilizes real-time and history the traffic flow in each section
Data predict the following traffic flow conditions setting the time period；
Step 3: when user sends path planning request arrival server end, server end utilizes the search bar of user setup
Part, carries out route searching in self-built map datum library model；When user wants the used time minimum, search procedure also can utilize
The result of short-term prediction, searches out used time minimum traffic path；
Step 4: after user receives the programme path that server end returns, resolves and returns data, and visual on electronic chart
Change shows, is used for guiding car owner to arrive at；
POI retrieval includes:
Step 1: user inputs the content of retrieval, concurrence retrieval request is sent to server end；Described input includes two interfaces
Input, path planning request interface on, when user inputs terminus, APP user input content can be sent to service
Device carries out POI retrieval, retrieval result is supplied to user and selects input；On POI search interface, provide direct for car owner
POI retrieval service；
Step 2: received server-side to retrieval request, if the retrieval of terminus, then searches for whole POI data storehouse, the most just
Centered by current vehicle position, map datum library model searches out the POI meeting retrieval request, and retrieval result is returned
Back to car-mounted terminal；
Step 3: car-mounted terminal is according to retrieval result, and POI retrieval obtained is in car owner's input prompt list or electronically
Mark out on figure, check for car owner and select.
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