CN109191876A - A kind of special car system for traffic guiding and its control method based on car networking technology - Google Patents
A kind of special car system for traffic guiding and its control method based on car networking technology Download PDFInfo
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- CN109191876A CN109191876A CN201811236319.9A CN201811236319A CN109191876A CN 109191876 A CN109191876 A CN 109191876A CN 201811236319 A CN201811236319 A CN 201811236319A CN 109191876 A CN109191876 A CN 109191876A
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- special car
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
Abstract
The invention discloses this patent discloses a kind of systems for traffic guiding of special car fast running on jam road.It including vehicle-mounted OBU unit, is installed on automobile, to acquire the basic security parameter of vehicle in real time.On-vehicle information broadcasts platform, is attached with OBU, shows for the OBU man-machine interface for receiving information.City cloud console receives the current application of special car for receiving the information of all RSU in the city.Vehicle credit worthiness appraisement system, to guarantee the confidence level of the system.Using cloud control and car networking technology, the macro adjustments and controls that lane is distributed in real time are carried out.Additionally provide a kind of special car system for traffic guiding control method based on car networking technology when emergency vehicle need to preferentially by when, can quickly obtain optimal transit scenario, ensure the traffic efficiency of special automobile.
Description
Technical field
The present invention relates to traffic guidance field more particularly to a kind of special car traffic guidance systems based on car networking technology
System and its control method.
Background technique
For now, the technology of car networking is monopolized by offshore company, such as cohda wireless, is provided based on beauty
IEEE1609 agreement as defined in the communication standard committee of federation of state and European Communications Committee and ETSI agreement.And domestic each grand duke
Actively the new technology of research car networking, the especially leading LTE_V technology of Huawei are even more to breach the limit of traditional DSRC for department
System, provides necessary power for the autonomy-oriented of car networking technology.With China's urban development speedup, progress faster, city pipe
Reason problem increases increasingly.Meanwhile the fast development of Internet information technique is relied on, city day is managed with internet thinking
Benefit is concerned by people and payes attention to, and then, " internet+city management " comes into being, and increasingly becomes current China city
The hot spot and mainstream of management.
Summary of the invention
The present invention has designed and developed a kind of special car system for traffic guiding based on car networking technology, is controlled using cloud
And car networking technology, carry out the macro adjustments and controls that lane is distributed in real time.
The present invention has also designed and developed a kind of special car system for traffic guiding control method based on car networking technology, when
When emergency vehicle need to preferentially pass through, optimal transit scenario can be calculated, ensure the traffic efficiency of special automobile.
Technical solution provided by the invention are as follows:
A kind of special car system for traffic guiding based on car networking technology characterized by comprising
Vehicle-mounted identity label, is mounted on automobile, is used for marked vehicle information；
Vehicle two sides are arranged, for detecting vehicle traveling information, comprising: vehicle row in train safety information acquisition module
Sail speed, the traveling-position and driving trace and vehicle course angle information of vehicle；
On-vehicle information broadcasts platform, the train safety information acquisition module is connected by communication module, for storing
The driving information of all vehicles in urban area；
Roadside unit is arranged in road edge, can identify the vehicle-mounted identity label of vehicle, and can play to vehicle
Induction instruction；
City cloud console receives all drive test unit informations in urban area, receives what special car passed through
Application detects entire urban traffic conditions, and the real-time distribution in related lane is controlled according to special car application.
Preferably, the communication module uses PLC communication module.
Preferably, further includes: vehicle credit worthiness appraisement system is used to calculate the credit worthiness of vehicle, same to prevent
Vehicle frequently proposes the current application of special car, occupies public resource.
A kind of special car system for traffic guiding control method based on car networking technology, comprising:
Step 1: detecting the vehicle-mounted identity label of vehicle by drive test unit, special car is identified；
Step 2: the special car is filed an application to on-vehicle information casting platform, and submit destination；
Step 3: the train safety information acquisition module detection vehicle traveling information being mounted on special car, comprising: vehicle
Travel speed, the traveling-position and driving trace and vehicle course angle information of vehicle, and it is flat to be reported to on-vehicle information casting
Platform；
Step 4: city cloud console is that special car plans a nearest path；
Step 5: the nearest path is divided into multiple sections, and according to the traffic condition in section, calculate each road
The current value of section；The current value in section is traversed, if the current value in section is less than current threshold value, plans the traveling road in the section again
Diameter, and then obtain optimal path；
Step 6: allowing row information and instruction by other vehicles broadcasting of the roadside unit into optimal path, and special
Vehicle releases instruction after passing through；
Wherein, the special car includes: fire fighting truck, ambulance, police car and the public vehicles filed an application.
Preferably, the vehicle-mounted identity label is non-contact radio frequency cards, the storage inside identity information of car owner.
Preferably, the step 5 includes:
Step a. detects travel speed of the public vehicles by crossing, acceleration and wagon flow quantity survey (surveying) special car list
The current value of vehicle delay；
Step b., which is delayed the special car quantity survey (surveying) special car in current value and locating section according to bicycle, is allowing market
Current value under condition；
If the current value in the section step c. is less than current threshold value, the driving path in the section is planned again, selects another
Nearest path calculates the current value of another paths, and makes comparisons with current threshold value, is worth until current greater than current threshold value, will
It is as optimal path.
Preferably, the current calculation formula being worth of bicycle delay in the step a are as follows:
Wherein, SNR is the current value of bicycle delay, and Δ T is the delay time at stop in section locating for special car, and α is public vehicles
Travel speed, β are that public vehicles travel acceleration, D0For road section length locating for special car, a is special car travel speed, b
Acceleration, Δ f are travelled for special carnDistance for special car present position apart from section emphasis, v1It is special car in institute
Locate the minimum speed that section is advanced, v2For the maximum speed that special car is advanced in locating section, τ0It (v) is response coefficient, τ0
(v)≈τ0=2.357.
Preferably, the calculation formula of the current value in the case of giving way in the step b are as follows:
Wherein, SNR is the current value of bicycle delay, Δ fnDistance for special car present position apart from section emphasis, npFor
Locating section special car quantity, AdFor current coefficient, numerical value 0.325；t1For minimum
Delay time at stop, t2For the longest delay time at stop, t is traveling time of the special car in locating section.
Preferably, vehicle credit worthiness evaluation coefficient formula in the vehicle credit worthiness appraisement system are as follows:
Wherein, ημ+1For vehicle credit worthiness evaluation coefficient, ημFor the μ times vehicle credit worthiness evaluation coefficient, η0=80, ω are vehicle
To the console application of city cloud number, γ is operation coefficient, numerical value 52.
Beneficial effect of the present invention
The present invention has designed and developed a kind of special car system for traffic guiding, using cloud control and car networking technology, into
The macro adjustments and controls that runway distributes in real time.The present invention has also designed and developed a kind of special car traffic based on car networking technology and has lured
Guiding systems control method can be calculated optimal transit scenario, ensure special automobile when emergency vehicle need to preferentially pass through
Traffic efficiency.It is open to traffic present invention also adds credit worthiness evaluation system and carries out a credit worthiness evaluation, when a certain vehicle applies to become
After special car, cloud detects it and does not complete a series of corelation behaviours or continuous frequent Shen in a certain vehicle short time
Please, cloud can lower the credit worthiness of these vehicles, and be punished, such as lower next time and apply for successful probability, avoid
Resource allocation is uneven.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the special car system for traffic guiding of the present invention based on car networking technology.
Fig. 2 is the structure of special car system for traffic guiding another embodiment of the present invention based on car networking technology
Schematic diagram.
Fig. 3 is the special car system for traffic guiding control method flow chart of the present invention based on car networking technology
Figure.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
As shown in Figure 1, the special car system for traffic guiding provided by the invention based on car networking technology, feature exist
In, comprising: vehicle-mounted identity label 210, train safety information acquisition module 220, on-vehicle information broadcast platform 230, roadside unit
240 and city cloud console 250.
The vehicle-mounted setting of identity label 210 is used for marked vehicle information in vehicle front；Train safety information acquisition module
220 setting vehicle two sides, for detecting vehicle traveling information, comprising: Vehicle Speed, the traveling-position and traveling rail of vehicle
Mark and vehicle course angle information；On-vehicle information broadcasts platform 230, and it passes through communication module connection train safety information acquisition mould
Block 220, for storing the driving information for all vehicles being located in urban area；Roadside unit 240 is arranged in road edge, energy
It enough identifies the vehicle-mounted identity label of vehicle, and induction instruction can be played to vehicle；City cloud console 250 receives metropolitan district
All drive test unit informations in domain receive the current application of special car, detect entire urban traffic conditions, and according to special
Vehicle application controls the real-time distribution in related lane.
It is excellent as a preference, communication module use PLC communication module.
Vehicle credit worthiness appraisement system 260 is used to calculate the credit worthiness of vehicle, special to prevent same vehicle from frequently proposing
Vehicle pass-through application occupies public resource.
As shown in Fig. 2, in another embodiment, the special car traffic guidance provided by the invention based on car networking technology
System, comprising: vahicles label unit 110, on-vehicle information broadcast platform 120, roadside unit 130,140 and of city cloud console
Vehicle credit worthiness appraisement system 150.
Wherein, vahicles label unit 110 is also known as vehicle-mounted OBU unit: OBU is the abbreviation of On Board Unit, vehicle-mounted
Tag unit 110 is installed on automobile, and most basic function will realize the basic security parameter of acquisition vehicle in real time, comprising:
The identity information of vehicle, the identity information of vehicle are used to determine the identity of each vehicle, guarantee each vehicle row
Sail that information is active to seek, also the foundation for subsequent credit rating system provides reliable authentication.
The vehicle speed information of vehicle, the vehicle speed information of vehicle are an information mostly important in above- mentioned information, and source can
To be extracted by vehicle CAN bus.Current vehicle estimates the built-in speed measurement module that information generally passes through OBU equipment
It measures, as the grammer of car networking technology is mature and open, information used in car networking is formulated in each motor corporation's positive coorperativity
Uniform protocol, facilitate carry out information of vehicles acquisition.
GPS position information, GPS information are used to determine the traveling-position of vehicle, the determination etc. of special car driving trace.
Nowadays vehicle GPS has been the standard configuration of vehicle, but as vehicle speed information, not open due to current CAN bus agreement,
Current vehicle GPS information is only capable of being received by the GPS receiving module built in OBU equipment.
Vehicle course angle information, the course line angle information of vehicle is for determining the instantaneous vehicle forward direction of vehicle.It can use
It is predicted in the state to vehicle subsequent time.
Above-mentioned information of vehicles passes through vehicle-mounted OBU unit simultaneously and is acquired, then according to certain stack-protocol to surrounding
Vehicle and roadside unit RSU carry out " broadcast ".This " broadcast " is propagated by DSRC LTE-V technology.Information
Transmission speed is fast, and can carry out ad-hoc network, facilitates the shared of information.
On-vehicle information casting platform 120 and OBU are attached, and are shown for the OBU man-machine interface for receiving information.Work as OBU
When receiving the information of roadside unit RSU or city cloud Cloud, the casting of voice and image is carried out by casting platform, just
Information is obtained in time in driver.This platform can be integrated with the middle control display screen of vehicle.
Roadside unit 130 is RSU, is abridged by Road Side Unit, roadside unit 130 is arranged on roadside
Edge, the information that all vehicles for receiving a certain section of road are broadcasted outward, when instruction is redistributed in the lane for receiving cloud
Afterwards, it can also be broadcasted to vehicle of the traveling on this section of way.
City cloud console 140 is used to receive the information of all RSU in the city, receives the current application of special car.
Entire urban traffic conditions are detected, and control the real-time distribution in related lane according to special car application.
Vehicle credit worthiness appraisement system 150, works as special car, such as executes the fire fighting truck of task, needs to reach purpose as early as possible
Ground, this when, cloud platform will plan nearest route for it, while it is timely to broadcast vehicle of the notice traveling on the route
Evacuation guarantees that the special car can be quickly through.For common road vehicle, such as private car, when it encounters special event
When need quickly through certain stretch when, special car can also be applied to become to city cloud, when vehicle cloud pass through the Shen
Please after, which can obtain the permission as above-mentioned special car.Obvious this application " convenience " is busy can be by some benefits
With.Therefore, the credit rating system in cloud can carry out credit worthiness evaluation to common vehicle, when a certain vehicle applies to become special vehicle
After, cloud detects it and does not complete a series of corelation behaviours or continuous frequently application in a certain vehicle short time, cloud
The credit worthiness of these vehicles can be lowered, and be punished, such as lowered next time and apply for successful probability.
The course of work of special car system for traffic guiding based on car networking technology are as follows:
The fire fighting truck, ambulance, police car of the task that executes are defined as special car by us first.When special car needs to the greatest extent
When arriving at the destination fastly, cloud platform will plan nearest route for it, while broadcast vehicle of the notice traveling on the route
Evacuation in time guarantees that the special car can be quickly through.And for common road vehicle, such as private car, when it encounters spy
Special car can also be applied to become to city cloud monitor supervision platform when different event, under the premise of its credit worthiness is good, the private
Family's vehicle can obtain the permission as above-mentioned special car.This system may be that it provides easily trip service.
If vehicle also encounters special circumstances, needs arrive at the destination in time, it proposes Shen to city cloud control platform first
Please, after carrying out credit worthiness audit, if agreeing to, just it becomes one optimal route of planning, dotted line in figure, including passes through in cloud
Road and lane line, while city cloud and vehicle-mounted OBU establish real-time, interactive, which will be in driving process
GPS position information, vehicle speed information and course angle information upload to cloud in real time.Cloud is under the support of high-precision map, really
Surely change route by section RSU, and by vehicle ID, above-mentioned running route, vehicle GPS location information, speed and course
After angle information receives the information to corresponding RSU, RSU with transmitted in data packet form, the data packet is parsed first,
Obtain vehicle essential information.When vehicle will travel to the administrative section a certain RSU, cloud can be in advance to bristling with anger under response RSU
It enables, after RSU receives instruction, vehicle on above-mentioned optimal path is road that it is reserved into front is broadcast.As cloud or RSU
After the special car sails out of the administrative section certain RSU, RSU is broadcasted again to surrounding traffic vehicle, illustrates that the special car has been sailed
From original path restores normal.The service is some vehicles: executing the ambulance of task, fire fighting truck, police car and has special circumstances
Common private car etc. to provide easily service be that these vehicles can arrive at the destination in time and provide guarantee.
As shown in figure 3, a kind of special car system for traffic guiding control method based on car networking technology, comprising:
Step S110, the vehicle-mounted identity label that vehicle is detected by drive test unit, identifies special car；As a kind of excellent
Choosing, vehicle-mounted identity label are non-contact radio frequency cards, the storage inside identity information of car owner
Step S120, special car is filed an application to on-vehicle information casting platform, and submits destination；
Step S130, the train safety information acquisition module detection vehicle traveling information being mounted on special car, comprising:
Vehicle Speed, the traveling-position and driving trace and vehicle course angle information of vehicle, and it is reported to on-vehicle information casting
Platform；
Step S140, city cloud console is that special car plans a nearest path；
Step S150, nearest path is divided into multiple sections, and according to the traffic condition in section, calculates each section
Current value；The current value in section is traversed, if the current value in section is less than current threshold value, plans the driving path in the section again,
And then obtain optimal path；Include:
Step S151. detects travel speed of the public vehicles by crossing, acceleration and wagon flow quantity survey (surveying) special car
The current value of bicycle delay；Wherein, the calculation formula of the current value of bicycle delay are as follows:
Wherein, SNR is the current value of bicycle delay, and Δ T is the delay time at stop in section locating for special car, and α is public vehicles
Travel speed, β are that public vehicles travel acceleration, D0For road section length locating for special car, a is special car travel speed, b
Acceleration, Δ f are travelled for special carnDistance for special car present position apart from section emphasis, v1It is special car in institute
Locate the minimum speed that section is advanced, v2For the maximum speed that special car is advanced in locating section, τ0It (v) is response coefficient, τ0
(v)≈τ0=2.357.
Step S152, it is being given way according to the special car quantity survey (surveying) special car that bicycle is delayed current value and locating section
In the case of current value；Wherein, the calculation formula of the current value in the case of giving way are as follows:
Wherein, SNR is the current value of bicycle delay, Δ fnDistance for special car present position apart from section emphasis, npFor
Locating section special car quantity, AdFor current coefficient, numerical value 0.325；t1It is one section
Minimum lateness in time, t2For the longest delay time at stop in the time of one end, t is special car having gone in locating section
Into the time.
If step S153, the current value in section is less than current threshold value, the driving path in the section is planned again, is selected another
The nearest path of item calculates the current value of another paths, and makes comparisons with current threshold value, is worth until current greater than current threshold value,
As optimal path.Threshold value value of wherein passing through is 75%ave (NTED), wherein ave (NTED) is in a period of time
The current value average value of special car.
Step S160, other vehicles broadcasting by roadside unit into optimal path allows row information and instruction, and in spy
Different vehicle releases instruction after passing through；
Wherein, the special car includes: fire fighting truck, ambulance, police car and the public vehicles filed an application.
It in another embodiment, further include vehicle credit worthiness appraisement system, wherein vehicle credit worthiness evaluation coefficient formula are as follows:
Wherein, ημ+1For vehicle credit worthiness evaluation coefficient, ημFor the μ times vehicle credit worthiness evaluation coefficient, η0=80, ω are vehicle
To the console application of city cloud number, γ is operation coefficient, numerical value 52.
The present invention has designed and developed a kind of special car system for traffic guiding, using cloud control and car networking technology, into
The macro adjustments and controls that runway distributes in real time.The present invention has also designed and developed a kind of special car traffic based on car networking technology and has lured
Guiding systems control method can be calculated optimal transit scenario, ensure special automobile when emergency vehicle need to preferentially pass through
Traffic efficiency.It is open to traffic present invention also adds credit worthiness evaluation system and carries out a credit worthiness evaluation, when a certain vehicle applies to become
After special car, cloud detects it and does not complete a series of corelation behaviours or continuous frequent Shen in a certain vehicle short time
Please, cloud can lower the credit worthiness of these vehicles, and be punished, such as lower next time and apply for successful probability, avoid
Resource allocation is uneven.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (9)
1. a kind of special car system for traffic guiding based on car networking technology characterized by comprising
Vehicle-mounted identity label, is mounted on automobile, is used for marked vehicle information；
Vehicle two sides are arranged, for detecting vehicle traveling information in train safety information acquisition module；
Wherein, the vehicle traveling information includes: Vehicle Speed, the traveling-position and driving trace and vehicle of vehicle
Course angle information；
On-vehicle information broadcasts platform, connects the train safety information acquisition module by communication module, is located at for storing
The driving information of all vehicles in urban area；
Roadside unit, setting can identify the vehicle-mounted identity label of vehicle in road edge, and can play and induce to vehicle
Instruction；
City cloud console receives all drive test unit informations in urban area, receives the current application of special car,
Entire urban traffic conditions are detected, and control the real-time distribution in related lane according to special car application.
2. the special car system for traffic guiding according to claim 1 based on car networking technology, which is characterized in that described
Communication module uses PLC communication module.
3. the special car system for traffic guiding according to claim 2 based on car networking technology, which is characterized in that also wrap
Include: vehicle credit worthiness appraisement system is used to calculate the credit worthiness of vehicle.
4. a kind of special car system for traffic guiding control method based on car networking technology characterized by comprising
Step 1: detecting the vehicle-mounted identity label of vehicle by drive test unit, special car is identified；
Step 2: the special car is filed an application to on-vehicle information casting platform, and submit destination；
Step 3: the train safety information acquisition module detection vehicle traveling information being mounted on special car comprising: vehicle
Travel speed, the traveling-position and driving trace and vehicle course angle information of vehicle, and it is flat to be reported to on-vehicle information casting
Platform；
Step 4: city cloud console is special car planning path；
Step 5: the path is divided into multiple sections, and according to the traffic condition in section, calculate the passage in each section
Value；It traverses section and passes through and be worth, if the current value in section is less than threshold value of passing through, plan the driving path in the section again, and then obtain
To optimal path；
Step 6: allowing row information and instruction by other vehicles broadcasting of the roadside unit into optimal path, and in special car
It is instructed by rear releasing；
Wherein, the special car includes: fire fighting truck, ambulance, police car and the public vehicles filed an application.
5. the special car system for traffic guiding control method according to claim 4 based on car networking technology, feature
It is, the vehicle-mounted identity label is non-contact radio frequency cards.
6. the special car system for traffic guiding control method according to claim 4 based on car networking technology, feature
It is, the step 5 includes:
Step a. detects travel speed of the public vehicles by crossing, acceleration and the current value of wagon flow quantity survey (surveying) bicycle delay；
Step b. is delayed the special car quantity survey (surveying) special car of pass through value and locating section according to bicycle when giving way
Current value；
If the current value in the section step c. is less than current threshold value, the driving path in the section is planned again and calculates current value, with
Current threshold value is made comparisons, until current value is greater than current threshold value, as optimal path.
7. the special car system for traffic guiding control method according to claim 6 based on car networking technology, feature
It is, the calculation formula of the current value of bicycle delay in the step a are as follows:
Wherein, SNR is the current value of bicycle delay, and Δ T is the delay time at stop in section locating for special car, and α is public vehicles traveling
Speed, β are that public vehicles travel acceleration, D0For road section length locating for special car, a is special car travel speed, and b is spy
Different vehicle driving acceleration, Δ fnDistance for special car present position apart from section emphasis, v1It is special car on locating road
The minimum speed of Duan Hangjin, v2For the maximum speed that special car is advanced in locating section, τ0It (v) is response coefficient, τ0(v)≈
τ0=2.357.
8. the special car system for traffic guiding control method according to claim 7 based on car networking technology, feature
It is, the calculation formula of the current value in the case of giving way in the step b are as follows:
Wherein, SNR is the current value of bicycle delay, Δ fnDistance for special car present position apart from section emphasis, npIt is locating
Section special car quantity, AdFor current coefficient, numerical value 0.325；t1For minimum delay
Time, t2For the longest delay time at stop, t is traveling time of the special car in locating section.
9. the special car system for traffic guiding control method according to claim 8 based on car networking technology, feature
It is, vehicle credit worthiness evaluation coefficient formula in the vehicle credit worthiness appraisement system are as follows:
Wherein, ημ+1For vehicle credit worthiness evaluation coefficient, ημFor the μ times vehicle credit worthiness evaluation coefficient, η0=80, ω be vehicle to
The number of city cloud console application, γ are operation coefficient, numerical value 52.
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| CN113240918A (en) * | 2021-04-14 | 2021-08-10 | 中国信息通信研究院 | Method for reserving a lane for a vehicle, storage medium and electronic device |
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