CN106570079A - Adjacent vehicle query algorithm based on color index balanced binary tree - Google Patents
Adjacent vehicle query algorithm based on color index balanced binary tree Download PDFInfo
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- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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Abstract
An adjacent vehicle query algorithm based on a color index balanced binary tree is provided. The invention discloses a color index binary tree storage structure and an adjacent vehicle query algorithm based on a color index binary tree. The difference between the structure and a balanced binary tree is that it is necessary to maintain the dynamic index of a predecessor node and a subsequent node of a same color node. No matter if two adjacent vehicles are in the same lane, the two vehicles maintain a parent-child relation, and node coloring can maintain the adjacent index of vehicles in the same lane. With the algorithm, the time complexity of querying adjacent vehicles in front of and after a vehicle reaches O(1), and the time complexity of querying an adjacent vehicle in an adjacent lane reaches O(logn). The adjacent vehicle query algorithm provided by the invention is compared with classic existing mainstream adjacent vehicle query algorithms through tests, and the results indicate that the provided algorithm can improve the query efficiency of adjacent vehicles.
Description
Technical field
The present invention proposes the storage organization of color index binary tree, and the neighbouring car in same track is stored using the structure
.Based on color index balanced binary tree node by：Information of vehicles domain, father node index, left child index, right child's rope
Draw, dynamic color index domain constitutes.And propose an adjacent car search algorithm based on color index binary tree, and by the structure
It is applied in microcosmic traffic simulation system with algorithm, it is existing with classics to adjacent car search algorithm proposed by the present invention by experiment
Main flow neighbour's car search algorithm is compared, and shows that this algorithm can effectively improve the efficiency of Adjacent vehicles inquiry.
Background technology
With Chinese society expanding economy and the transformation in city and expansion, domestic city vehicle guaranteeding organic quantity increases rapidly
Long, road network changed condition tempo increase, traffic congestion are increasingly serious.Traffic congestion works to civic and life brings greatly
Inconvenience, while the problem of environmental pollution that traffic congestion is brought is also increasingly severe, needs a large amount of manpower financial capacities to do statistical analysiss
And transformation and optimization, as traffic conditions complexity, long-term investigation and measurement cause information with ageing, so as to cause transformation
As a result it is not satisfactory.With development and the large-scale application of intelligent transportation system of computer technology, online traffic simulation with
The features such as its high economy, high real-time, becomes the important method of assessment traffic programme and management.Using online traffic simulation
Technology, can be synchronous with true traffic administration, and is simulated prediction to traffic flow, to traffic network planning and optimization, traffic
Flow control etc. provides strong support.
In online microscopic traffic simulation, vehicle before the change of behavior state is made needed to obtain the number of its surrounding
According to.These data include：The status information of traffic light, mark and related Adjacent vehicles, the precise and high efficiency of these information
Acquisition directly influence the accuracy and verity of whole emulation, the road long for, the road vehicle
When occurring a lot, especially for extensive online traffic simulation, when there is congestion, road vehicle can be very
It is many, if not adopting efficient vehicle query structure and algorithm in the case, the speed inquired about can be reduced so as to have influence on
The simulation efficiency and emulation real-time of whole traffic simulating system.
The content of the invention
The present invention proposes the storage organization based on color index binary tree, and the neighbour in same track is stored using the structure
Nearly vehicle, wherein color index domain are a dynamic structures, and quantity is determined according to track quantity in the same direction on road.The node face
There are three index structures in color index domain, and each index structure indexes (Prev) by forerunner and follow-up index (Next) is constituted.The knot
In point structure, Lchild is stored in domain the smaller vehicle node of travel distance on road, and Rchild domains storage track road is up
Enter the distance vehicle node bigger than which.If no car before the vehicle, its Parent domain is sky.
The present invention proposes the adjacent car search algorithm based on color index binary tree, using number based on balanced binary tree
According to structure, make special handling to conventional balanced binary tree node, give one dynamic internal index structure of node, both maintained two
Fork advantage of the sorting tree in sequential query, has the simple node storage mode of chain structure again.By the algorithm vehicle query
O (1) has been reached with the time complexity of Adjacent vehicles before and after track, the time complexity of the Adjacent vehicles of inquiry adjacent lane reaches
O (logn) is arrived.The algorithm is used in the inquiry of the Adjacent vehicles of online microscopic traffic simulation platform, achieves preferably effect
Really.
By experiment to the adjacent car search algorithm based on color index binary tree proposed by the present invention and existing microcosmic traffic
Adjacent car search algorithm in emulation is compared under four kinds of different conditions, and the different condition of setting is respectively：Car in road network
Flow is different, vehicle lane-changing ratio is different, car speed is different, number of track-lines is different in section.As a result show based on color index
The search algorithm of binary tree structure can improve the simulation efficiency and real-time of system.Further analyze, imitate in larger
In very, this algorithm most cases are better than other algorithms.
Description of the drawings
The common traffic scenes of Fig. 1；
Fig. 2 is based on color index binary tree node data structure；
Fig. 3 vehicle location graphs of a relation；
Fig. 4 builds color index binary tree process by sequence insertion；
Fig. 5 complete color index binary tree structure.
Specific embodiment
Below in conjunction with the accompanying drawings technical scheme is elaborated.
By taking a basic traffic scene as an example, one vehicle (Query) of the scene description is attempting carrying out state change
Before (acceleration, lane-change), the adjacent car inquiry operation of initiation.Totally 8 cars in section, when target vehicle (Query) needs to accelerate,
Vehicle (Query) will initiate the request for inquiring about its direct precursor vehicle, i.e., find forward vehicle E, according to the state of vehicle E,
Judge whether to accelerate, i.e., will not collide in an emulation cycle.When target vehicle (Query) needs (car to the left
Road 3) or to the right (track 1) lane-change when, vehicle (Query) needs enquiring vehicle A, vehicle B or vehicle F, the traveling of vehicle G respectively
State, judge whether whereby can lane-change, as shown in Figure 1.
Node based on the balanced binary tree of color index will be by：Information of vehicles domain (Vehicle Info), father node rope
Draw (Parent), left child index (Lchild), right child index (Rchild), dynamic color index domain (Color Index),
As shown in Figure 2.Wherein color index domain is a dynamic structure, and quantity is determined according to track quantity in the same direction on road, due to
By taking Fig. 1 scenes as an example, it can be seen that there are three index structures in the node color index domain, each index structure is indexed by forerunner
(Prev) constitute with follow-up index (Next).In the node structure, it is smaller that Lchild is stored in domain travel distance on road
Vehicle node, the travel distance vehicle node bigger than which on the storage track road of Rchild domains.If no car before the vehicle, its
Parent domains are sky.If being mapped to one-dimensional by vehicle in Fig. 1 scenes by distance, more intuitively can find out between vehicle location
Relation, as shown in Figure 3.
The distance-taxis passed by according to vehicle, can obtain sequence (vehicle E, vehicle H, vehicle B, vehicle G, vehicle
Query, vehicle F, vehicle A, vehicle C).Color index binary tree, hereinafter referred to as CIAVL, the structure and Jing of the tree are built below
The common binary tree building process of allusion quotation is similar, and the Lchild domains of node store the little node of keyword, and the storage of Rchild domains is crucial big
Node.Unlike the process is built from balanced binary tree, in addition it is also necessary to safeguard forerunner's node and successor node of homochromy node
Dynamic indexing structure.Assume that color index binary tree building process presses said sequence insertion, building process is as shown in Figure 4.Most
Eventually, after vehicle A and vehicle C insert the tree, the complete balanced binary tree construction based on color index, red arrow is obtained
The follow-up relation of forerunner of color same node is represented, as shown in Figure 5.
Claims (4)
1. the search algorithm of the Adjacent vehicles based on color index balanced binary tree is proposed, it is characterised in that：Using color rope
Draw the structure of balanced binary tree to store the vehicle in road network, give one dynamic internal index structure of node.Due to balance two
The lookup time complexity of fork tree is O (logn), can provide inquiry velocity faster, while in view of in same track
Fore-aft vehicle relation adjacent before and after having.Therefore, forerunner's node and the dynamic index of successor node of homochromy node are added.
Whether in same track, two neighbouring vehicles remain filiation, and node coloring can be maintained with track car
Neighbour index.By the index, vehicle can inquire about same track fore-aft vehicle in the case of the complexity of O (1)
Information.
2. the time of the search algorithm of the Adjacent vehicles based on color index balanced binary tree as claimed in claim 1 is complicated
Degree, specifically includes the inquiry of Adjacent vehicles before and after identical track, the inquiry of left and right Adjacent vehicles, vehicle node deletion algorithm, car
Knots inserting algorithm, vehicle node branching algorithm etc., single unit vehicle often emulate average time required for a step by track
The number of vehicle, the number in travel direction track, vehicle traveling lane-change rate, 4 parameters simulations of travel speed of vehicle draw.
3. vehicle as claimed in claim 2 travels lane-change rate, refers to that a car of system carries out lane-change in an emulation step
Probability, this to set the quantity of vehicle in each track, the quantity in track, vehicle travel speed it is related.
4. before and after identical track as claimed in claim 2, the time complexity of the inquiry of Adjacent vehicles is O (1), and left and right is adjacent
The query time complexity of vehicle is O (logn), and the time complexity of vehicle node deletion algorithm is O (logn), vehicle node
The time complexity of insertion algorithm is O (logn), and the time complexity of vehicle node branching algorithm is O (logn).
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Cited By (1)
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| CN110457352A (en) * | 2019-07-31 | 2019-11-15 | 东南大学 | A kind of adjacent vehicle querying method based on microscopic traffic simulation vehicle data structure |
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Application publication date: 20170419 |