CN107180532B - Variable information board message routing method based on vehicle location estimation - Google Patents
Variable information board message routing method based on vehicle location estimation Download PDFInfo
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- CN107180532B CN107180532B CN201710429059.6A CN201710429059A CN107180532B CN 107180532 B CN107180532 B CN 107180532B CN 201710429059 A CN201710429059 A CN 201710429059A CN 107180532 B CN107180532 B CN 107180532B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
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Abstract
The invention discloses a kind of variable information board message routing methods based on vehicle location estimation, comprising the following steps: (1) obtains the traffic offence information of vehicle；(2) with the constructing traffic offence local highway network model of region, estimates the driving path of vehicle, every driving path has at least one variable information board；(3) probability that vehicle reaches first variable information board on every driving path is calculated；(4) estimation vehicle reaches the time T of the variable information board M of maximum probability1, and in T1Moment is by the illegal information of variable information board issuing traffic.The factors such as driving parameters when this method comprehensively considers vehicle illegal place, vehicle illegal and the time difference between current time and vehicle illegal time, so that the illegal information informed has directionality, real-time, visuality.
Description
Technical field
The present invention relates to highway transportation field, especially a kind of variable information board information router based on vehicle location estimation
Method.
Background technique
Currently, most of information content that expressway variable message plate is shown is indicative content, such as bad weather, danger
Dangerous section etc., mainly on highway it is all pass through vehicle, have generality, easily cause the vision of driver in this way
Fatigue.
Vehicle location estimation has the following problems: (1) obtaining vehicle location using positioning devices such as GPS, be completely dependent on vehicle
Positioning device on positions vehicle；Since the signal of the positioning devices such as GPS is local very in tunnel, underground parking etc.
It is faint, it might even be possible to ignore, vehicle is caused not have GPS signal or the faint place of GPS signal cannot be to vehicle at these
It is positioned.(2) method combined using the parameter of the positioning devices such as GPS and the traveling of acquisition vehicle itself, i.e. inertia are led
Boat positions vehicle.Vehicle is determined using positioning devices such as GPS in the preferable place of the positioning devices such as GPS signal
Position；Vehicle is positioned using inertial navigation in the faint place of no GPS signal or GPS signal.(3) if vehicle did not both have
There are the positioning devices such as installation GPS or the location information of vehicle cannot be obtained, also there is no vehicle driving parameter, then such case
Under vehicle cannot be positioned.
Variable information board shows that information has the following problems on highway: (1) show that information is mostly prompt category information, and
It is not have directionality for the vehicle Jing Guo variable information board for all vehicles on highway.(2) even if
The display information of variable information board has directionality, but most of display information is that manual hand manipulation shows, real-time
It is poor.
Current freeway traffic illegal activities evidence obtaining is difficult, Difficult Law-enforcement, especially law enforcement real-time are poor, effect of enforcing the law is paid no attention to
Think, it is difficult to meet road traffic security control demand.Therefore, the information that urgent need variable information board is shown has orientation
Property, real-time, visuality, such as display pass through vehicle traffic offence information, can break through in this way traffic behavior assess in real time,
The problems such as typical traffic illegal activities height is precisely collected evidence.
Summary of the invention
Since the evidence obtaining of current vehicle on expressway traffic violation is difficult, the evidence obtaining time is long, and row is obtained in real time
Vehicle location difficulty is sailed, causes vehicle illegal information to be informed and does not have directionality, real-time.To solve the above problems, of the invention
A kind of variable information board message routing method based on vehicle location estimation is proposed, this method is with comprehensively considering vehicle illegal
The factors such as the time difference between driving parameters and current time when point, vehicle illegal and vehicle illegal time, so that informing
Illegal information have directionality, real-time, visuality.
The technical solution of the present invention is as follows:
A kind of variable information board message routing method based on vehicle location estimation, comprising the following steps:
(1) the traffic offence information of vehicle is obtained；
(2) construct traffic offence region local highway network model, estimate the driving path of vehicle, every row
Path is sailed at least one variable information board；
(3) probability that vehicle reaches first variable information board on every driving path is calculated；
(4) estimation vehicle reaches the time T of the variable information board of maximum probability1, and in T1Moment is sent out by the variable information board
Cloth traffic offence information.
In the present invention, disobeyed using the traffic offence place of the positioning devices such as GPS acquisition vehicle, traffic offence time, traffic
Driving direction when speed when method, traffic offence forms traffic offence information.
In step (2), vehicle current driving location is first estimated, the traveling road of vehicle is then estimated according to current driving location
Diameter.The average value of the Maximum speed limit of express highway section and minimum speed limit where calculating vehicle illegal place, and select this average
The maximum value of both speeds when value and vehicle illegal calculates current time T and vehicle illegal time T as vehicle velocity V0Difference Δ
T, and distance of the vehicle from the illegal moment to current driving is obtained according to formula S=V * Δ T, and estimate according to this distance current
The driving path of vehicle.
The specific steps of step (3) are as follows:
(3-1) is according to section crowding, node exit record and link traffic flow, license plate number and vehicle in front of node
Historical record calculates i-th node N of the vehicle in local highway network modeliThe probability P in j-th of direction is driven towards at placei,j,
In, i=1,2,3 ..., I；J=1,2, I be the total number of local highway network model interior joint；
(3-2) is according to probability Pi,j,, calculate illegal vehicle and encounter first variable information board on kth driving path
Probability Pk, wherein k=1,2,3 ..., K, K are the total number of driving path.
In the present invention, node refers to the outlet port on highway, which is to change highway node, Mei Gejie
Can be there are two vehicle heading at point, one is to continue forward direction along current highway, the other is with current
The highway direction of highway interaction, it is believed that be driving direction to the right.
At each node, influence vehicle heading factor are as follows: section crowding in front of node, node exit record with
Link traffic flow, license plate number and vehicle historical record.
If: it is P that section crowding, which influences the probability of forward travel, in front of nodei,f1, it is to the probability of right travel
Pi,r1If front section crowding is higher, Pi,f1Less than Pi,r1, conversely, Pi,f1Greater than Pi,r1, specific value can be according to front road
Section crowding grade sets itself.For example, probability assignments can be allocated according to table 1.
Table 1
The probability that the available vehicular seat of license plate number influences forward travel is Pi,f2, to the probability of right travel
For Pi,r2；If license plate number location is on right lateral direction, Pi,f2Less than Pi,r2；If license plate number location is in preceding line direction
On, Pi,f2Greater than Pi,r2；If license plate number location is not neither on preceding line direction and on right lateral direction, this group of probability can
It ignores.For example, probability assignments can be allocated according to table 2.
Table 2
Historical record it is available with vehicle in front forward and the ratio to right travel, and then obtain influencing forward travel
Probability be Pi,f3, it is P to the probability of right traveli,r3；According to historical record, vehicle passes through node NiForward direction travel times nf3With
Dextrad travel times nr3, be calculated before to the probability of traveling be Pi,f3=nf3/(nf3+nr3) and probability to right travel be
Pi,r3=nr3/(nf3+nr3).If nf3=nr3=0, then this group of probability is negligible.
Node exit record is with had vehicle at available this node up to now of link traffic flow forward and to another
The ratio of a traveling, and then the probability for obtaining influencing forward travel is Pi,f4, it is P to the probability of right traveli,r4；When unit
Between interior nodes NiOutlet record frequency nr4With link traffic flow n4, be calculated before to traveling probability be Pi,f4=1-nr4/n4The right side and
It is P to traveling probabilityi,r4=nr4/n4。
It is calculated according to above four influence vehicle heading factors in i-th of node NiPlace, forward travel probability
Pi,1, vehicle is to right travel probability Pi,2, specifically:
Pi,1=Pi,f1×Pi,f2×Pi,f3×Pi,f4
Pi,2=Pi,r1+Pi,f1×Pi,r2+Pi,f1×Pi,f2×Pi,r3+Pi,f1×Pi,f2×Pi,f3×Pi,r4
In aforementioned four influence vehicle heading factor, if without or cannot obtain s-th of factor data, it is corresponding general
Rate is Pi,fs=1, Pi,rs=0, s=1,2,3,4.
Such as: in node NiPlace, cannot obtain node NiThis influence vehicle heading factor of front section crowding,
Then Pi,f1=1, Pi,r1=0, at this point, forward travel probability Pi,1, vehicle is to right travel probability Pi,2Specifically:
Pi,1=Pi,f2×Pi,f3×Pi,f4
Pi,2=Pi,r2+Pi,f2×Pi,r3+Pi,f2×Pi,f3×Pi,r4
Obtaining probability Pi,jAfter possible driving path, acquisition vehicle reaches first on kth driving path and can be changed
The probability P of advices platekSpecific steps are as follows:
Firstly, obtaining vehicle, from traffic offence place to reach vehicle on this driving path through kth driving path current
The m node that first variable information board is passed through in front of possible position driving direction forms node set Ck={ N1,N2,…,
Nm}；
Then, node set C is transferredkIn vehicle moves forward along place driving path at each node Probability pi,j；
Here, it is assumed that in node N1Place, vehicle are turned right into next highway, then by this node N1The vehicle at place is to right travel
Probability P1,2The Probability p to move forward as vehicle along place driving pathi,j；
Finally, according to formulaVehicle is calculated and reaches vehicle currently possibility on kth driving path
The probability P of first variable information board in front of the driving direction of positionk。
Obtaining probability PkAfterwards, maximum probability P is chosenkCorresponding variable information board M issues vehicular traffic violation information
's.After determining variable information board M and driving path, calculate vehicle along the driving path reach variable information board M when
Between T1, specifically:
Firstly, determining two according to the position of position, variable information board M on the driving path where current time T vehicle
The distance between position Δ S；
Then, the average value of the Maximum speed limit of express highway section and minimum speed limit where calculating variable information board M, and select
The maximum value of both the average value and speed when vehicle illegal is selected as vehicle velocity V；
Finally, according to formula T1Time T is calculated in=T+ Δ S/V1。
It is worth noting that the time T of heretofore described arrival variable information board M1Referring to that driver can see clearly can
Become in advices plate M and shows the time of content.
Further, the method for the present invention further includes estimating that vehicle sails out of the time T of variable information board M2, and in T2When remove
The traffic offence information of vehicle.
The vehicle sails out of the time T of variable information board M2=T1+Te, wherein TeGenerally fixed value, value 20
~30s.
Further, the method for the present invention further includes the record that real-time update vehicle crosses each node, is gone through as the vehicle
The Records of the Historian is employed in estimation probability P of the vehicle at node next timei,j。
The device have the advantages that are as follows:
(1) when driving parameters and current time and vehicle illegal when comprehensively considering vehicle illegal place, vehicle illegal
Between between the factors such as time difference estimate vehicle location, select suitable variable information board to show illegal information, to solve illegal letter
The problems such as ceasing the directionality informed, real-time, visuality.
(2) comprehensively consider section crowding in front of node, license plate number, historical record, node exit record to hand over section
Four factors such as flux obtain probability of the vehicle in two driving directions of Egress node, so that probability more connects as criterion
Nearly actual conditions.
(3) probability of each node in two driving directions be closer to actual conditions, calculate vehicle reach it is each can
The total probability of variable information board on energy driving path is also closer to actual conditions, so that the accuracy of variable information board selection
It is higher.
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow charts of the variable information board message routing method of vehicle location estimation；
Fig. 2 is the local road network schematic diagram in the local highway network model constructed in the method for the present invention.
Specific embodiment
In order to more specifically describe the present invention, with reference to the accompanying drawing and specific embodiment is to technical solution of the present invention
It is described in detail.
Referring to Fig. 1, the present invention is based on the variable information board message routing method of vehicle location estimation the following steps are included:
S01 obtains the traffic offence information of vehicle.
In this step, disobeyed using the traffic offence place of the positioning devices such as GPS acquisition vehicle, traffic offence time, traffic
Driving direction when speed when method, traffic offence forms traffic offence information.
S02, building traffic offence region local highway network model, estimate the driving path of vehicle, every
Driving path has at least one variable information board.
The driving path of vehicle is prepared by the following: the highest of express highway section where calculating vehicle illegal place
The average value of speed limit and minimum speed limit, and select the maximum value of both the average value and speed when vehicle illegal as vehicle velocity V,
Calculate current time T and vehicle illegal time T0Difference Δ T, and according to formula S=V * Δ T obtain vehicle from the illegal moment to
The distance of current driving, and the driving path of current vehicle is estimated according to this distance.
S03, according to section crowding, node exit record and link traffic flow, license plate number and vehicle in front of node
Historical record calculates i-th node N of the vehicle in local highway network modeliThe probability P in j-th of direction is driven towards at placei,j,
In, i=1,2,3 ..., I；J=1,2, I be the total number of local highway network model interior joint.
Herein, node refers to the outlet port on highway, which is to change highway node, at each node
Can be there are two vehicle heading, one is to continue forward direction along current highway, the other is with current high speed
The highway direction of highway interaction, it is believed that be driving direction to the right.
In i-th of node NiPlace, forward travel probability Pi,1, vehicle is to right travel probability Pi,2, specifically:
Pi,1=Pi,f1×Pi,f2×Pi,f3×Pi,f4
Pi,2=Pi,r1+Pi,f1×Pi,r2+Pi,f1×Pi,f2×Pi,r3+Pi,f1×Pi,f2×Pi,f3×Pi,r4
S04, according to probability Pi,j,, calculate illegal vehicle and encounter first variable information board on kth driving path
Probability Pk, wherein k=1,2,3 ..., K, K are the total number of driving path.
In this step, reached on this driving path from traffic offence place through kth driving path firstly, obtaining vehicle
The m node that first variable information board is passed through in front of the current possible position driving direction of vehicle, forms node set Ck=
{N1,N2,…,Nm}；
Then, node set C is transferredkIn vehicle moves forward along place driving path at each node Probability pi,j；
Finally, according to formulaVehicle is calculated and reaches vehicle currently possibility on kth driving path
The probability P of first variable information board in front of the driving direction of positionk。
S05, estimation vehicle reach the time T of the variable information board of maximum probability1, and in T1Moment is by the variable information board
The illegal information of issuing traffic.
In this step, time T1It is calculated by the following method:
Firstly, determining two according to the position of position, variable information board M on the driving path where current time T vehicle
The distance between position Δ S；
Then, the average value of the Maximum speed limit of express highway section and minimum speed limit where calculating variable information board M, and select
The maximum value of both the average value and speed when vehicle illegal is selected as vehicle velocity V；
Finally, according to formula T1Time T is calculated in=T+ Δ S/V1。
Time T herein1Refer to that driver can see the time that content is shown in variable information board M clearly.
S06, estimation vehicle sail out of the time T of variable information board M2, and in T2When remove vehicle traffic offence information.
In this step, time T2=T1+Te, wherein TeGenerally fixed value, value are 20~30s.
S07, real-time update vehicle cross the record of each node, as the vehicle historical record for estimating next train
Probability P at nodei,j。
Embodiment
Local road network in the local highway network model of the present embodiment building is as shown in Fig. 2, include: that vehicle is worked as in the figure
Preceding possibility traveling-position 1 and 5, vehicle illegal position 2, node N1、N2、N3、N4、N5, changeability advices plate 3 and 4.Fig. 2 interior joint
N1To change high speed Egress node, other nodes are high speed Egress node, and can represent vehicle there are two arrow at each node
Driving direction, with node N1For, it is general at the corresponding node respectively along vehicle heading and driving direction to the right
Rate is respectively P1,1And P1,2.Specifically:
Pi,1=P1,f1×P1,f2×P1,f3×P1,f4
Pi,2=P1,r1+P1,f1×P1,r2+P1,f1×P1,f2×P1,r3+P1,f1×P1,f2×P1,f3×P1,r4
Possible driving path has two in Fig. 2, is respectively as follows: the 1st article of N1→N2→N3With the 2nd article of N1→N4→N5.Possible row
Sail path L1The upper current possible position 1 of vehicle, first variable information board 3 in driving direction front；Possible driving path L2Upper vehicle
Current possible position 5, first variable information board 4 in driving direction front.
In Fig. 2 on the 1st article of possible driving path, vehicle reaches the probability of variable information board 3 are as follows:
P1=P1,1×P2,1×P3,1
On 2nd article of possible driving path, vehicle reaches the probability of variable information board 4 are as follows:
P2=P1,2×P4,1×P5,1
Compare probability P1And P2, it is target variable information board M that the greater, which corresponds to the variable information board on possible driving path,.
The time T1 of vehicle arrival target variable information board M are as follows:
T1=T+ Δ S/V
Wherein T is current time；Δ S is that the vehicle on the possible driving path of vehicle where target variable information board M is current
The distance between possible position and target variable information board M；V is the highest of express highway section where target variable information board M
The average value of speed limit and minimum speed limit, the maximum value with both speeds when vehicle illegal.
Vehicle crosses the time T of target variable information board M2, i.e. target variable information board M removes the vehicle illegal information
Time, specifically:
T2=T1+Te
Wherein, TeGenerally fixed value, value are 20~30s.
Technical solution of the present invention and beneficial effect is described in detail in above-described specific embodiment, Ying Li
Solution is not intended to restrict the invention the foregoing is merely presently most preferred embodiment of the invention, all in principle model of the invention
Interior done any modification, supplementary, and equivalent replacement etc. are enclosed, should all be included in the protection scope of the present invention.
Claims (1)
1. a kind of variable information board message routing method based on vehicle location estimation, comprising the following steps:
(1) the traffic offence information of vehicle is obtained；
(2) construct traffic offence region local highway network model, first estimate vehicle current driving location, then root
The driving path of vehicle is estimated according to current driving location, every driving path has at least one variable information board, wherein estimates
The driving path of vehicle includes:
The average value of the Maximum speed limit of express highway section and minimum speed limit where calculating vehicle illegal place, and select this average
The maximum value of both speeds when value and vehicle illegal calculates current time T and vehicle illegal time T as vehicle velocity V0Difference Δ
T, and distance of the vehicle from the illegal moment to present position is obtained according to formula S=V * Δ T, and estimate according to this distance
The driving path of current vehicle；
(3) probability that vehicle reaches first variable information board on every driving path is calculated, is specifically included:
(3-1) is according to section crowding, node exit record and link traffic flow, license plate number and vehicle history in front of node
Record calculates i-th node N of the vehicle in local highway network modeliThe probability P in j-th of direction is driven towards at placei,j, wherein i
=1,2,3 ..., I；J=1,2, I be the total number of local highway network model interior joint, specifically:
Pi,1=Pi,f1×Pi,f2×Pi,f3×Pi,f4
Pi,2=Pi,r1+Pi,f1×Pi,r2+Pi,f1×Pi,f2×Pi,r3+Pi,f1×Pi,f2×Pi,f3×Pi,r4
Wherein, it is P that front section crowding, which influences the probability of forward travel,i,f1, it is P to the probability of right traveli,r1；License plate
The probability that number influences forward travel is Pi,f2, it is P to the probability of right traveli,r2；Historical record influences forward travel
Probability be Pi,f3, it is P to the probability of right traveli,r3；Node exit record influences the general of forward travel with link traffic flow
Rate is Pi,f4, it is P to the probability of right traveli,r4；
(3-2) is according to probability Pi,j, calculate the probability that illegal vehicle encounters first variable information board on kth driving path
Pk, wherein k=1,2,3 ..., K, K are the total number of driving path, are specifically included:
Currently may firstly, obtaining vehicle and reaching vehicle on this driving path through kth driving path from traffic offence place
The m node that first variable information board is passed through in front of the driving direction of position forms node set Ck={ N1,N2,…,Nm}；
Then, node set C is transferredkIn vehicle moves forward along place driving path at each node probability Pi,j；
Finally, according to formulaVehicle is calculated and reaches the current possible position of vehicle on kth driving path
The probability P of first variable information board in front of driving directionk；
(4) estimation vehicle reaches the time T of the variable information board M of maximum probability1, and in T1Moment is issued by the variable information board
Traffic offence information, wherein estimation vehicle reaches the time T of the variable information board M of maximum probability1Include:
Firstly, determining two positions according to the position of position, variable information board M on the driving path where current time T vehicle
The distance between Δ S；
Then, the average value of the Maximum speed limit of express highway section and minimum speed limit where calculating variable information board M, and selecting should
The maximum value of both speeds when average value and vehicle illegal is as vehicle velocity V；
Finally, according to formula T1Time T is calculated in=T+ Δ S/V1；
The method further includes estimating that vehicle sails out of the time T of variable information board M2, and in T2When remove vehicle traffic offence
Information, wherein the vehicle sails out of the time T of variable information board M2=T1+Te, wherein TeFor fixed value, value is 20~
30s；
The method further includes the record that real-time update vehicle crosses each node.
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| CN112991761A (en) * | 2021-05-17 | 2021-06-18 | 武汉中科通达高新技术股份有限公司 | Traffic guiding method and device for traffic condition event |
| CN112991760A (en) * | 2021-05-17 | 2021-06-18 | 武汉中科通达高新技术股份有限公司 | Traffic guiding method and device for vehicle illegal event |
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