CN109101015A - A kind of unmanned cruiser - Google Patents
A kind of unmanned cruiser Download PDFInfo
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- CN109101015A CN109101015A CN201810827875.7A CN201810827875A CN109101015A CN 109101015 A CN109101015 A CN 109101015A CN 201810827875 A CN201810827875 A CN 201810827875A CN 109101015 A CN109101015 A CN 109101015A
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- 241001544487 Macromiidae Species 0.000 title claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 12
- 238000012546 transfer Methods 0.000 claims abstract description 8
- 239000003344 environmental pollutant Substances 0.000 claims description 20
- 231100000719 pollutant Toxicity 0.000 claims description 19
- 238000005457 optimization Methods 0.000 claims description 18
- 238000005259 measurement Methods 0.000 claims description 14
- 238000005265 energy consumption Methods 0.000 claims description 10
- 230000007613 environmental effect Effects 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 239000000446 fuel Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000011161 development Methods 0.000 description 4
- 102000002067 Protein Subunits Human genes 0.000 description 1
- 108010001267 Protein Subunits Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The present invention provides a kind of unmanned cruisers, including trolley and the control system being connect with trolley, the control system includes route acquisition device, traffic information acquisition device, processing unit, driving device and transfer, the route acquisition device is for obtaining trolley patrol route, the traffic information acquisition device controls trolley according to trolley patrol route and urban traffic information control driving device and transfer for obtaining urban traffic information, the processing unit.The invention has the benefit that providing a kind of unmanned cruiser, the unmanned patrol in city is realized.
Description
Technical field
The present invention relates to patrol technical fields, and in particular to a kind of unmanned cruiser.
Background technique
Traffic Systems are one of the basic building blocks for carrying mankind's activity, are city prosperity, orderly and high speed development
Main support condition.However, modern city encounters the traffic problems got worse in fast development process, drastically influence
The economic construction and running efficiency in city bring various inconvenient and damage to the work and life of people, oneself is through becoming restriction
The main bottleneck of urban sustainable development.Due to Traffic Systems complexity, existing cruiser can not automatically be carried out city
Accurate patrol.
Summary of the invention
In view of the above-mentioned problems, the present invention is intended to provide a kind of unmanned cruiser.
The purpose of the present invention is realized using following technical scheme:
Provide a kind of unmanned cruiser, including trolley and the control system connecting with trolley, the control system
Including route acquisition device, traffic information acquisition device, processing unit, driving device and transfer, the route acquisition dress
It sets for obtaining trolley patrol route, the traffic information acquisition device is for obtaining urban traffic information, the processing unit
Trolley is controlled according to trolley patrol route and urban traffic information control driving device and transfer.
The invention has the benefit that providing a kind of unmanned cruiser, the unmanned patrol in city is realized.
Optionally, the traffic information acquisition device includes model foundation unit, the first metric element, the second measurement list
Member, traffic optimization unit and information generating unit, for the model foundation unit for establishing city model, first measurement is single
For determining traffic efficiency metric according to city model, second metric element is used to determine environment according to city model member
Metric, for the traffic optimization unit according to traffic efficiency metric and environmental metric Optimizing Urban Transportation, the information is raw
At unit using urban transportation efficiency optimization result as urban traffic information.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is structural schematic diagram of the invention；
Appended drawing reference:
Environment sensing subsystem 1, traffic information obtain subsystem 2, navigation subsystem 3.
Specific embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of unmanned cruiser of the present embodiment, including trolley 1 and the control system being connect with trolley 2
2, the control system 2 includes route acquisition device, traffic information acquisition device, processing unit, driving device and transfer,
The route acquisition device is for obtaining trolley patrol route, and the traffic information acquisition device is for obtaining urban transportation letter
Breath, the processing unit carry out trolley according to trolley patrol route and urban traffic information control driving device and transfer
Control.
The invention has the benefit that providing a kind of unmanned cruiser, the unmanned patrol in city is realized.
Preferably, the traffic information acquisition device includes model foundation unit, the first metric element, the second measurement list
Member, traffic optimization unit and information generating unit, for the model foundation unit for establishing city model, first measurement is single
For determining traffic efficiency metric according to city model, second metric element is used to determine environment according to city model member
Metric, for the traffic optimization unit according to traffic efficiency metric and environmental metric Optimizing Urban Transportation, the information is raw
At unit using urban transportation efficiency optimization result as urban traffic information；The model foundation unit is for establishing city model
Specifically in the following ways: city being divided into a central area and n-1 peripheral region, it is No. 1 that central area, which is compiled, will
Peripheral region is according to 2,3 ..., and n is numbered, and n indicates the sum of urban area.
Urban transportation efficiency is maximized and is used as traffic optimization target by this preferred embodiment traffic information acquisition device, simultaneously
Trip energy consumption and pollutant emission are included in optimization aim, it will be preferably anti-in entire Traffic Systems optimization process
The dynamic relationship for reflecting land-change science, resource consumption, environmental protection and Traffic Systems meets society's effect of Traffic Systems
Benefit maximizes target；With perfect, traffic accessibility the continuous improvement of peripheral region inhabitation auxiliary facility, peripheral region population
Density will be gradually increasing, and more trip requirements be produced, while city has the central area density of population that can be declined, by city
It is divided into central area and peripheral region, meets urban development trend.
Preferably, first metric element includes single treatment subelement, secondary treatment subelement and handles three times sub
Unit, the single treatment subelement is for determining the first metric of traffic efficiency, and the secondary treatment subelement is for determining
The second metric of traffic efficiency, the processing subelement three times are measured according to the first metric of traffic efficiency and traffic efficiency second
It is worth and determines traffic efficiency metric；
The single treatment subelement is for determining the first metric of traffic efficiency specifically in the following ways: setting each area
There are m kind transportation trade and l kind Land-Use inside domain or between region.Traffic efficiency is determined using following formula
One metric:In formula, FN1Indicate the first metric of traffic efficiency, f
(FNI, k) indicate ith zone kth kind mode of transportation average travel time function, QiIndicate travel amount in ith zone,
rI, kIndicate that kth kind mode of transportation travel amount accounts for travel amount ratio in ith zone, whereinSI, jIt indicates
The land area of jth kind Land-Use, q in ith zoneI, jIndicate jth kind Land-Use in ith zone
Intensity occurs for trip；The secondary treatment subelement is for determining the second metric of traffic efficiency specifically in the following ways: adopting
The second metric of traffic efficiency is determined with following formula:In formula, FN2It indicates
The second metric of traffic efficiency,Indicate the travel amount of ith zone and h-th of interregional kth kind mode of transportation,It indicates
The path distance of ith zone and h-th of interregional kth kind mode of transportation operation,Indicate ith zone and h-th of region
Between kth kind mode of transportation average travel speed；The subelement of processing three times is according to the first metric of traffic efficiency and traffic
The second metric of efficiency determines traffic efficiency metric specifically in the following ways: traffic efficiency metric is determined using following formula:In formula, FN indicates traffic efficiency metric；
This preferred embodiment single treatment subelement and secondary treatment subelement consider respectively region internal transportation efficiency and
Traffic efficiency between region, the first metric of traffic efficiency reflect the total time consumption gone on a journey in region, traffic efficiency second
Metric reflects the total time consumption of interregional trip, traffic efficiency the first metric of metric comprehensive traffic efficiency and traffic
The second metric of efficiency reflects city totality traffic efficiency；
Preferably, second metric element includes energy measurement subelement and pollutant measurement subelement, the energy
Measurement subelement is for determining energy consumption metric, and the pollutant measurement subelement is for determining that pollutant emission is measured
Value；The energy measurement subelement is for determining energy consumption metric specifically in the following ways: determining the energy using following formula
Consume metric:In formula, AY1Indicate energy consumption metric, AiIndicate i-th
Traffic fuel consumption in a region, BI, hIndicate ith zone and h-th of interregional traffic fuel consumption；The pollution
Object measurement subelement is for determining pollutant emission metric specifically in the following ways: determining pollutant emission degree using following formula
Magnitude: In formula, AY2Indicate pollutant emission metric, CiIndicate i-th of area
Pollutant discharge amount in domain, EI, hIndicate ith zone and h-th of interregional pollutant discharge amount；
Preferably, the traffic optimization unit is specific according to traffic efficiency metric and environmental metric Optimizing Urban Transportation
In the following ways: traffic efficiency optimization object function: BE=FN, constraint condition AY are determined using following formula1< AY1max, AY2
< AY2max, among these, AY1maxIndicate energy consumption limit value, AY2maxPollutant emission limit is indicated, according to objective function to friendship
Logical efficiency optimizes.
Objective function urban highway traffic efficiency optimization meets various trip sides in this preferred embodiment traffic optimization unit
Minimum is consumed when formula is total, but also meets transportation and energy's consumption and pollutant emission limit constraint, helps to build efficient city
City's traffic system,
City patrol is carried out using the unmanned cruiser of the present invention, 5 cities is chosen and is tested, respectively city 1,
City 2, city 3, city 4, city 5 count patrol efficiency and patrol cost, compare compared with cruiser, generation
It has the beneficial effect that shown in table:
| Going on patrol cost reduces | Efficiency is gone on patrol to improve | |
| City 1 | 29% | 27% |
| City 2 | 27% | 26% |
| City 3 | 26% | 26% |
| City 4 | 25% | 24% |
| City 5 | 24% | 22% |
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (7)
1. a kind of unmanned cruiser, which is characterized in that including trolley and the control system being connect with trolley, the control system
System includes route acquisition device, traffic information acquisition device, processing unit, driving device and transfer, the route acquisition
Device is for obtaining trolley patrol route, and the traffic information acquisition device is for obtaining urban traffic information, the processing dress
It sets and trolley is controlled according to trolley patrol route and urban traffic information control driving device and transfer.
2. unmanned cruiser according to claim 1, which is characterized in that the traffic information acquisition device includes mould
Type establishes unit, the first metric element, the second metric element, traffic optimization unit and information generating unit, the model foundation
For establishing city model, first metric element is used to determine traffic efficiency metric according to city model unit, described
Second metric element is for determining environmental metric according to city model, and the traffic optimization unit is according to traffic efficiency metric
With environmental metric Optimizing Urban Transportation, the information generating unit is believed urban transportation efficiency optimization result as urban transportation
Breath；The model foundation unit is for establishing city model specifically in the following ways: city is divided into a central area
With n-1 peripheral region, it is No. 1 that central area, which is compiled, and by peripheral region according to 2,3 ..., n is numbered, and n indicates metropolitan district
The sum in domain.
3. unmanned cruiser according to claim 2, which is characterized in that first metric element includes primary place
Reason subelement, secondary treatment subelement and handle subelement three times, the single treatment subelement is for determining traffic efficiency the
One metric, the secondary treatment subelement for determining the second metric of traffic efficiency, the processing subelement three times according to
The first metric of traffic efficiency and the second metric of traffic efficiency determine traffic efficiency metric.
4. unmanned cruiser according to claim 3, which is characterized in that the single treatment subelement is for determining
The first metric of traffic efficiency is specifically in the following ways: setting inside each region or between region has m kind communications and transportation
Mode and l kind Land-Use determine the first metric of traffic efficiency using following formula:In formula, FN1Indicate the first metric of traffic efficiency, f (FNI, k) indicate the
The average travel time function of i region kth kind mode of transportation, QiIndicate travel amount in ith zone, rI, kIndicate that kth kind is handed over
Logical mode travel amount accounts for travel amount ratio in ith zone, whereinSI, jIndicate jth in ith zone
The land area of kind Land-Use, qI, jIndicate that intensity occurs for the trip of jth kind Land-Use in ith zone.
5. unmanned cruiser according to claim 4, which is characterized in that the secondary treatment subelement is for determining
The second metric of traffic efficiency is specifically in the following ways: the second metric of traffic efficiency is determined using following formula: In formula, FN2Indicate the second metric of traffic efficiency,Indicate ith zone and
The travel amount of h-th of interregional kth kind mode of transportation,Indicate ith zone and h-th of interregional kth kind mode of transportation fortune
Capable path distance,Indicate the average travel speed of ith zone and h-th of interregional kth kind mode of transportation；Described three
Secondary processing subelement determines that traffic efficiency metric is specific according to the first metric of traffic efficiency and the second metric of traffic efficiency
In the following ways: traffic efficiency metric is determined using following formula:In formula, FN indicates traffic effect
Rate metric value.
6. unmanned cruiser according to claim 5, which is characterized in that second metric element includes energy degree
Quantum boxes and pollutant measure subelement, and the energy measurement subelement is for determining energy consumption metric, the pollution
Object measurement subelement is for determining pollutant emission metric；The energy measurement subelement is for determining energy consumption metric
Specifically in the following ways: energy consumption metric is determined using following formula:In formula
In, AY1Indicate energy consumption metric, AiIndicate the traffic fuel consumption in ith zone, BI, hIndicate ith zone and
H-th of interregional traffic fuel consumption；The pollutant measurement subelement is for determining that pollutant emission metric is specifically adopted
With the following methods: pollutant emission metric is determined using following formula:In formula,
AY2Indicate pollutant emission metric, CiIndicate the pollutant discharge amount in ith zone, EI, hIndicate ith zone and h
A interregional pollutant discharge amount.
7. unmanned cruiser according to claim 6, which is characterized in that the traffic optimization unit is imitated according to traffic
Rate metric value and environmental metric Optimizing Urban Transportation be specifically in the following ways: determining traffic efficiency optimization aim using following formula
Function: BE=FN, constraint condition AY1< AY1max, AY2< AY2max, among these, AY1maxIndicate energy consumption limit value, AY2max
It indicates pollutant emission limit, traffic efficiency is optimized according to objective function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810827875.7A CN109101015A (en) | 2018-07-25 | 2018-07-25 | A kind of unmanned cruiser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810827875.7A CN109101015A (en) | 2018-07-25 | 2018-07-25 | A kind of unmanned cruiser |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109101015A true CN109101015A (en) | 2018-12-28 |
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ID=64847448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810827875.7A Withdrawn CN109101015A (en) | 2018-07-25 | 2018-07-25 | A kind of unmanned cruiser |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109101015A (en) |
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2018
- 2018-07-25 CN CN201810827875.7A patent/CN109101015A/en not_active Withdrawn
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Application publication date: 20181228 |