CN106355923B - Wisdom navigation system and air navigation aid based on Real-time Traffic Information under car networking environment - Google Patents

Abstract

The invention discloses an intelligent navigation system and a navigation method based on real-time traffic information in the environment of the Internet of Vehicles, belonging to the field of intelligent services of the Internet of Vehicles. Encoding and decoding are used to transmit information, and then the traffic information is processed to correct each feasible route selection scheme, and finally the real-time and intelligent optimal driving navigation route is obtained through the optimal route selection algorithm. The invention has important practical significance and practical value in improving navigation efficiency, reducing urban traffic pressure, reducing road traffic accident rate, reducing energy consumption, saving resources and protecting environment.

Description

Intelligent navigation system and navigation method based on real-time traffic information in the Internet of Vehicles environment

technical field

The invention belongs to the field of intelligent services of the Internet of Vehicles, and in particular relates to an intelligent navigation system and a navigation method based on real-time traffic information in the environment of the Internet of Vehicles.

Background technique

In the traditional navigation system, the driver selects each possible driving route to the set target location through the navigation route, so that the driver can obtain the status information of other vehicles and real-time road condition information within the range of over-the-horizon. It has played a huge role in ensuring traffic safety and providing users with a comfortable driving environment. But it often happens that someone i chooses the most economical and fastest path k from the starting point r to the ending point s based on his previous driving experience. The path k includes road section a, but he receives a broadcast ( or other ways), "due to a traffic accident, road section a is blocked", so a new search for the most economical and fastest path (including path b) that does not include road section a, but when i arrives at road section b, it is received again A broadcast message "The road section b is blocked, and the road section a has been cleared". Therefore, this kind of navigation system that is not smart enough will greatly weaken the efficiency of navigation in real life road construction maintenance, huge traffic flow on the driving section, traffic accidents on the driving section, and traffic jams caused by it.

Chinese patent CN104867350A discloses a navigation method and system based on the Internet of Vehicles, a dynamic monitoring method and system, but the method provided by it belongs to the passive provision of real-time traffic information, which does not reflect the initiative and intelligence of the navigation system; Chinese patent CN102708698A discloses A vehicle optimal path navigation method based on the Internet of Vehicles is proposed. It is necessary to obtain the definite and real-time start and end information of all vehicles in the road network. The data collection and sorting process is cumbersome, and the real-time performance will be affected to a certain extent.

Under the conditions of the gradual improvement of the infrastructure construction of the Internet of Vehicles and the rapid development of the Internet of Vehicles technology, the present invention comprehensively applies key technologies such as modern information technology, sensing technology, and cloud computing, and analyzes the mileage, traffic conditions, and road traffic of each possible driving route. Unified encoding, dissemination, reception, real-time monitoring, analysis and processing of real-time traffic information such as conditions, real-time and intelligent planning, selection, and establishment of the best driving navigation route. This has important practical significance for improving navigation efficiency, reducing urban traffic pressure, reducing road traffic accidents, saving resources and protecting the environment.

Contents of the invention

In order to overcome the disadvantage that the traditional vehicle navigation is difficult to provide the navigation route automatically updated with real-time traffic information, the present invention provides an intelligent navigation system and navigation method based on real-time traffic information in the Internet of Vehicles environment.

The present invention achieves the above-mentioned technical purpose through the following technical solutions.

The intelligent navigation method based on real-time traffic information under the Internet of Vehicles environment includes the following steps:

S1. Build a smart navigation system based on real-time traffic information in the Internet of Vehicles environment. The smart navigation system includes a traffic information release server, traffic information release software, and a map server. The traffic information release software loads maps from the map server, and designs traffic information release software. The program interface for obtaining traffic information, the traffic information release software obtains traffic information from the traffic information release server, decodes the traffic information and displays it on the map;

S2. Establish road inherent information and feature databases that affect normal traffic in the traffic information release software, and use software and hardware collaborative design methods to construct roadside facilities;

S3. Obtain the traffic information on the road section to be traveled through the short-range wireless communication protocol and the long-range wireless communication protocol, obtain the characteristic factors and the weights of the characteristic factors in the traffic information that affect the normal traffic of the road through the roadside facilities, and use the acquired influence road The normal traffic characteristic factors and their weights are added to the characteristic database;

S4, through the comparative analysis and evaluation of the driving route, correcting the route selection plan;

S5. According to the corrected optimal driving route scheme, the navigation system selects the optimal route.

Further, the inherent road information in S2 includes road number, lane, and road material.

Further, in said S2, the software in the software-hardware collaborative design method is the real-time information interaction technology between the vehicle navigation system-road-traffic information center, and the hardware is a high-performance processor, a multi-mode wireless communication integrated circuit IC multi-mode communication Roadside Unit RSU.

Further, the real-time information interaction technology between the vehicle navigation system-road-traffic information center includes real-time interaction technology, reliable interaction technology and safe interaction technology.

Further, the characteristic factors affecting normal road traffic in S3 include route mileage, still passable road construction and its maintenance, impassable road construction and its maintenance, traffic accidents on the road section, blockage on the road section, and safety on the road section. Hidden dangers and the number of lanes on the road section.

Further, the specific process of modifying the route selection scheme in S4 through the comparative analysis and evaluation of the driving route is as follows:

S4.1. Obtain relevant information of the road section to be traveled from the feature database, and assign weights to the obtained relevant information;

S4.2. Obtain various characteristic factors that affect the normal traffic of the road from the characteristic database, and obtain the weights of these characteristic factors in the form of an average value;

S4.3. According to the relevant information weight of the road section to be traveled and the weight of the characteristic factors affecting the normal traffic of road traffic, the priority of the driving route is divided to determine an optimal scheme of the driving route.

Further, the specific process for the S5 navigation system to select the optimal route is:

Note that the directed network composed of the set V of all points in the road network and the set A of arcs formed by connecting any two points in all points is D=(V, A); note that p is based on v _s as the starting point and v _t as the end point , the set of p is P; write w(p) as the sum of the weights of all arcs in the path p; if p ₀ ∈ P, and w(p ₀ )=min{w(p)}, then it is called p ₀ is the shortest path starting from v _s and ending at v _t ;

S5.1, the starting point v _s is marked with a fixed label P(v _s )=0, and the other points are marked with a temporary label T(v _j )=∞, j≠1, so v _s and v _j form a point pair (v _s , v _j );

S5.2, if the path selection conditions are met: ①Any pair of points (v _i , v _j )∈A, i∈N; ②v _i has a fixed label P; v _j has a temporary label T, then modify the temporary of v _j The value of the sex label is min{T(v _j ), P(v _i )+w _ij }, and the result is still recorded as T(v _j );

S5.3, if there is no temporary label T point in the network diagram, the path selection stops; otherwise, set T(v _j )=min{T(v _j )}, and then change the temporary label T of v _j to Fixed label P, transfer to S5.2;

S5.4. Repeat S5.1-S5.3 to realize the optimal path selection of the navigation system.

An intelligent navigation system based on real-time traffic information under the Internet of Vehicles environment, including a traffic information release server, traffic information release software, and a map server; the traffic information release software loads maps from the map server, and designs a program interface for the traffic information release software to obtain traffic information , the traffic information release software acquires traffic information from the traffic information release server, decodes the traffic information and displays it on the map.

In the above scheme, when the traffic information publishing software obtains the traffic information from the traffic information publishing server, it first obtains the traffic information URL list through the traffic information program interface, and then obtains the traffic information file according to the traffic information URL; the traffic information publishing software obtains the traffic information URL from the traffic information When the publishing server obtains traffic information, it needs to encode the real-time road traffic information into an XML file according to the TPEG protocol, send a request to the traffic information publishing server, use the PULL analysis method to perform TPEG decoding processing on the obtained information, and then display it on the map, providing users with traffic information service.

In the above scheme, the design of the program interface for the traffic information publishing software to obtain traffic information includes the design of the real-time traffic information viewing interface and the design of the traffic information query interface. The specific process of designing the program interface is: software initialization, real-time traffic information update and traffic information query.

The beneficial effects of the present invention are:

1. The present invention corrects the route selection plan through the comparative analysis and evaluation of the driving route, and according to the corrected optimal driving route plan, the navigation system selects the optimal route, which can reduce unnecessary parking and waiting for drivers in traffic jams It reduces fuel consumption and saves money, which has far-reaching significance for saving resources and protecting the environment.

2. The intelligent navigation system and navigation method proposed by the present invention can make full use of roads with good traffic capacity, improve driving efficiency, and effectively alleviate urban road traffic pressure; in addition, the navigation method proposed by the present invention can also provide navigation for multiple vehicles at the same time Service, to avoid the driver to go the wrong way, take a detour, and at the same time can understand the traffic information, facilitate the passage of vehicles, and improve the efficiency of driving safety.

Description of drawings

Fig. 1 is the flow chart of the intelligent navigation method based on real-time traffic of the present invention;

Fig. 2 is a schematic structural diagram of an intelligent navigation system based on real-time traffic information of the present invention;

Fig. 3 is a schematic diagram of the real-time road traffic information acquisition and decoding display process;

Fig. 4 is a flow chart of the optimal path selection algorithm of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

As shown in Figure 1, the flow chart of the intelligent navigation method based on real-time traffic information in the Internet of Vehicles environment includes steps:

S1. Build a smart navigation system based on real-time traffic information in the Internet of Vehicles environment. As shown in Figure 2, the smart navigation system includes a traffic information release server, traffic information release software, and a map server. The traffic information release software loads maps from the map server. Design The program interface for the traffic information release software to obtain traffic information. The traffic information release software obtains traffic information from the traffic information release server, decodes the traffic information and displays it on the map; the traffic information release software includes a feature database and an algorithm model etc. are used to realize data collection and analysis functions.

S1.1, the traffic information release software loads the map from the map server.

S1.2. The traffic information release software obtains traffic information from the traffic information release server. The traffic information release software encodes the real-time road traffic information into an XML file according to the TPEG protocol, sends a request to the traffic information release server, and adopts the PULL analysis method for the obtained information. After TPEG decoding processing, it will be displayed on the map to provide users with traffic information services, as shown in Figure 3; the traffic information publishing software requests traffic information from the traffic information publishing server, which needs to go through two steps:

(1) Obtain the traffic information URL list through the traffic information program interface; the traffic information publishing software requests traffic information from the traffic information publishing server according to the program interface in Table 1 and Table 2, and returns an XML file containing the traffic information URL list, traffic information The meaning of each field in the URL list file is shown in Table 3;

Table 1 URL format of real-time traffic information

Table 2 URL format for querying real-time traffic information

Table 3 Key fields and meanings of real-time traffic information URL list

(2) Obtain the traffic information file according to the traffic information URL; the traffic information release software parses the file to obtain the traffic information URL, and then obtains the traffic information file encoded by the TPEG protocol through the URL; in order to reduce information redundancy and improve the utilization rate of communication bandwidth, according to traffic According to the actual requirements of the information release system, the traffic information is tailored and customized according to the TPEG protocol. The meanings of the main fields of the traffic information XML file customized by TPEG are shown in Table 4.

Table 4 The main fields and meanings of the traffic information XML file customized by TPEG

S1.3, program interface design; the traffic information publishing software obtains the traffic information encoded by TPEG by sending a request to the traffic information publishing server, and the request interface mainly includes a real-time traffic information viewing interface and a traffic information query interface;

(1) Real-time traffic information viewing interface, as shown in Table 1; when the traffic information publishing software requests real-time traffic information from the traffic information publishing server, it sends an HTTP request according to the URL format in Table 1, wherein the view range uses the map on the screen of the Android platform The geographical coordinates in the upper left and lower right corners of the view indicate that the map level indicates the zoom level of the current map view, which is a floating point value of 4.0-20.0;

(2) Traffic information query interface, as shown in Table 2; when the traffic information release software requests real-time or historical traffic information from the traffic information release server, it sends an HTTP request according to the URL format in Table 2, where the city name uses the first letter of the Chinese pinyin Capitalized abbreviations, road names using Chinese characters, date formatted as yyyymmdd (year, month, day), time formatted as hhmmss (hour, minute, second), road conditions are divided into four situations: smooth, slow, congested, and severely congested, represented by 1-4.

S1.4, the specific process of designing the program interface for traffic information publishing software to obtain traffic information includes software initialization, real-time traffic information update and traffic information query;

(1) Software initialization

The initialization process of the traffic information release software is executed in the following order of Step1-Step3:

Step1, the program starts and initializes the user interface, including menus and map views;

Step2, locate the user's current location, load the map data, and display the map;

Step3. Start the user operation monitoring and timing refresh mechanism. When the user drags or zooms the map to change the map range in the view, or when the timing is up, the traffic information update process will be executed.

(2) Real-time traffic information update

The real-time traffic information update process is executed in the following order of Step1-Step6:

Step1, the traffic information publishing software calls the application programming interface (API) of the map to obtain map view range and zoom level information;

Step2, send the HTTP request to the traffic information publishing server according to the URL format in Table 3 with the map view range and the zoom level information;

Step3, the traffic information release server returns the traffic information URL list as shown in Table 3 after receiving the request, which contains the URL list of the required real-time traffic information files;

Step4, the traffic information publishing software parses the URL list file to obtain the traffic information URL, and obtains the real-time TPEG traffic information file through the URL;

Step5, the traffic information release software uses the TPEG decoding program to analyze the TPEG traffic information file to obtain the original data of real-time traffic information;

Step6, the traffic information publishing software processes and converts the original data of traffic information, and calls the relevant API to update and display the traffic information on the map.

In addition, in order to ensure the accuracy and real-time performance of the real-time traffic information displayed by the publishing software, when the user does not perform any operations for a long period of time, the program executes a real-time traffic information update process every 120 seconds.

(3) Traffic information query

The traffic information query process is executed in the following order of Step1-Step7:

Step1, the user enters query conditions, including city name, road name, date, time and road conditions, etc.;

Step2, the traffic information release software sends the HTTP request to the traffic information release server according to the URL format in Table 4 according to the query condition information set in Step1;

Step3, the traffic information release server returns a traffic information URL list as shown in Table 3 after receiving the request, which includes the URL list of the required traffic information files;

Step4, the traffic information publishing software obtains the URL by parsing the URL list file, and obtains the TPEG traffic information file inquired through the URL;

Step5, the traffic information release software uses the TPEG decoding program to analyze the TPEG traffic information file to obtain the original traffic information data;

Step6, the traffic information publishing software organizes and converts the original traffic information data, and adds the traffic information to the list for display;

Step7, the user selects a row or several rows of traffic information in the list, and after confirmation, the traffic information publishing software displays the corresponding traffic information on the map.

In addition, in order to improve the response speed of the traffic information publishing software and improve the user experience, a multi-thread method is adopted in the process of obtaining traffic information files through URLs.

S2. Establish road inherent information and feature databases that affect normal traffic in the traffic information release software, and use software and hardware collaborative design methods to construct roadside facilities. The inherent road information includes road numbers, lanes, and road materials; the software is vehicle-mounted The real-time information interaction technology between navigation system-road-traffic information center, the real-time information interaction technology between vehicle navigation system-road-traffic information center includes real-time interaction technology, reliable interaction technology, and safe interaction technology; the hardware is based on 32-bit High-performance processor, multi-mode wireless communication integrated circuit IC multi-mode communication roadside unit RSU.

S3, obtain the traffic information on the waiting road section through the 802.11P/IEEE1609 short-range wireless communication protocol and the 3G/GPRS long-range wireless communication protocol, and obtain the characteristic factors and the weights of the characteristic factors in the traffic information that affect the normal traffic of the road through the roadside facilities , and add the obtained characteristic factors and their weights that affect normal road traffic to the feature database; characteristic factors that affect normal road traffic include route mileage, passable road construction and its maintenance, impassable road construction and its Maintenance, traffic accidents on the road section, congestion on the road section, potential safety hazards on the road section, and the number of lanes on the road section.

S4, through the comparative analysis and evaluation of the driving route, correcting the route selection plan;

S4.1. Obtain relevant information of the road section to be traveled from the feature database, and assign weights to the obtained relevant information;

S4.2. Obtain various characteristic factors that affect the normal traffic of the road from the characteristic database, and obtain the weights of these characteristic factors in the form of an average value;

S4.3, according to the relevant information weight of the road section to be traveled and the weight of the characteristic factors affecting the normal traffic of road traffic, the priority of the driving route is divided to determine the optimal scheme of a driving route;

When all possible routes have characteristic factors that affect normal traffic flow, you can only choose a better solution. Here, the following mathematical function calculation method is used; if there is a potential safety hazard on the driving route, the vehicle should be prompted by voice information The driver; the vehicle navigation route selection evaluation method adopts roadside sensor equipment, GPS system, background service system and its client, the GPS system includes GPS satellites and communication towers, and the GPS satellites and communication towers are carried out through the GPRS two-way wireless data communication network For data transmission, the communication tower communicates with the background service system through the Internet network. The background server system includes a communication server, a database server, an Internet information publishing server and an application server. The background server system communicates with the vehicle navigation device through the Internet.

The basis for route selection is shown in Table 5.

Table 5 Main factors and explanations for route selection

S5, according to the corrected optimal driving route scheme, the navigation system selects the optimal route;

This system is based on the real-time collection of road traffic information in the Internet of Vehicles environment, continuously automatically updates the navigation route or independently selects the shortest driving route according to the driver's request, and realizes the intelligentization of navigation; therefore, the following is based on graph theory. Taking the shortest path real-time navigation as an example, as shown in Figure 4, an optimal path selection algorithm for the navigation system is proposed, where:

①Record the directed network composed of the set V of all points in the road network and the set A of arcs formed by connecting any two points in all points as D=(V,A); ②Record p with v _s as the starting point, v _t is a path at the end point, the set of p is P; ③Record w(p) as the sum of the weights of all arcs in the path p; ④If p ₀ ∈ P, and w(p ₀ )=min{w(p) }, then p ₀ is said to be the shortest path starting from v _s and ending at v _t ;

S5.1, the starting point v _s is marked with a fixed label P(v _s )=0, and the other points are marked with a temporary label T(v _j )=∞, j≠1, so v _s and v _j form a point pair (v _s , v _j );

S5.2, if the path selection conditions are met: ①Any pair of points (v _i , v _j )∈A, i∈N; ②v _i has a fixed label P; v _j has a temporary label T, then modify the temporary of v _j The value of the sex label is min{T(v _j ), P(v _i )+w _ij }, and the result is still recorded as T(v _j );

S5.3, if there is no temporary label T point in the network diagram, the path selection stops; otherwise, set T(v _j )=min{T(v _j )}, and then change the temporary label T of v _j to Fixed label P, transfer to S5.2;

S5.4. Repeat S5.1-S5.3 to realize the optimal path selection of the navigation system.

The intelligent navigation method based on real-time traffic information under the Internet of Vehicles environment provided by the present invention has been introduced in detail above. The present invention has applied specific examples to illustrate the principle and implementation of the present invention. What is to be explained is that the above is only It is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (7)

1. the wisdom air navigation aid based on Real-time Traffic Information under car networking environment, which is characterized in that include the following steps：

S1, builds the wisdom navigation system based on Real-time Traffic Information under car networking environment, and wisdom navigation system includes traffic letter Breath publisher server, Traffic information demonstration software and map server, the Traffic information demonstration software add from map server Map is carried, design Traffic information demonstration software obtains the routine interface of traffic information, and Traffic information demonstration software is from traffic information Publisher server obtains traffic information, and is decoded after processing to traffic information and is shown on map；

S2 establishes road intrinsic information in Traffic information demonstration software and influences the characteristic of road traffic normal pass Road trackside facility is built in library using software and hardware cooperating design method；

S3 obtains the traffic information waited in walking along the street section by short range wireless communication protocol and remote radio communication agreement, passes through Road trackside facility obtains the weights of characteristic factor and characteristic factor that road normal pass is influenced in traffic information, and by acquisition Property data base is added in the weights of the characteristic factor and characteristic factor that influence road normal pass；

S4 corrects routing scheme by the comparative analysis and assessment to planning driving path；

S4.1 obtains the relevant information for waiting for walking along the street section from property data base, and weights are assigned to the relevant information obtained；

S4.2 is obtained the various characteristic factors for influencing road normal pass from property data base, is obtained by the way of average value Take the weights of these characteristic factors；

S4.3 is divided according to the weights of the relevant information weights for waiting for walking along the street section and the characteristic factor for influencing road traffic normal pass The priority of traffic route, to determine the optimal case of a planning driving path；

S5, according to revised optimal planning driving path scheme, navigation system carries out optimal route selection.

2. the wisdom air navigation aid based on Real-time Traffic Information, feature exist under car networking environment according to claim 1 In the road intrinsic information in the S2 includes road number, track, pavement material.

3. the wisdom air navigation aid based on Real-time Traffic Information, feature exist under car networking environment according to claim 1 In using the software in software and hardware cooperating design method between onboard navigation system-road-traffic information center in the S2 Real-time information interaction technology, hardware are the roadside unit of high-performance processor, multi-mode radio communication Integrated circuit IC multi-mode communication RSU。

4. the wisdom air navigation aid based on Real-time Traffic Information, feature exist under car networking environment according to claim 3 In, real-time information interaction technology between the onboard navigation system-road-traffic information center include real-time, interactive technology, can By interaction technique and secure interactive technology.

5. the wisdom air navigation aid based on Real-time Traffic Information, feature exist under car networking environment according to claim 1 In, in the S3 influence road normal pass characteristic factor include route mileage, still transitable road construction and its maintenance, Occur in the road construction and its maintenance of impassabitity, section traffic accident, occur on section to block, there are security risks in section And section number of track-lines.

6. the wisdom air navigation aid based on Real-time Traffic Information, feature exist under car networking environment according to claim 1 In the detailed process that the S5 navigation system carries out optimal route selection is：

The set V of all the points connects the directed networks of the set A compositions for the arc to be formed with any two points in all the points in note road network For D=(V, A)；Remember that p is with v_sFor initial point, v_tFor a paths of terminal, the collection of p is combined into P；Remember that w (p) is all arcs in the p of path Weights sum；If p₀∈ P, and w (p₀)=min { w (p) }, then claim p₀It is with v_sFor initial point, v_tFor the shortest path of terminal；

S5.1, initial point v_sPut on fixed label P (v_s)=0, remaining each point mark temporary mark T (v_j)=∞, j ≠ 1, then v_sWith v_jComposition point is to (v_s, v_j)；

S5.2, if meeting the condition of Path selection：1. arbitrary point is to (v_i, v_j) ∈ A, i ∈ N；②v_iWith fixed label P；v_jTool There is temporary mark T, then changes v_jTemporary mark value be min { T (v_j), P (v_i)+w_ij, and result is still denoted as T (v_j)；

S5.3, if without temporary mark T points in network, Path selection stops；Otherwise, enable T (v_j)=min { T (v_j), Again by v_jTemporary mark T make fixed label P into, be transferred to S5.2；

S5.4 repeats S5.1-S5.3, realizes navigation system optimal route selection.

7. the wisdom navigation system based on Real-time Traffic Information under car networking environment, which is characterized in that including Traffic information demonstration Server, Traffic information demonstration software and map server；The Traffic information demonstration software loads map from map server, The routine interface that Traffic information demonstration software obtains traffic information is designed, Traffic information demonstration software is from Traffic information demonstration service Device obtains traffic information, and is decoded after processing to traffic information and is shown on map；The Traffic information demonstration software When obtaining traffic information from Traffic information demonstration server, the routine interface for first passing through traffic information obtains traffic information URL column Table obtains traffic information file further according to traffic information URL；Traffic information demonstration software is obtained from Traffic information demonstration server When traffic information, need according to TPEG agreements to be XML file by real-time road traffic information coding, to Traffic information demonstration service Device sends request, carries out after TPEG decoding process showing on map using PULL analysis modes to the information of acquisition, for Family provides traffic-information service；It includes Real-time Traffic Information to design Traffic information demonstration software and obtain the routine interface of traffic information Check Interface design and traffic information inquiry Interface design, the detailed process for designing routine interface is：Software initialization is handed in real time Logical information update and traffic information inquiry.