CN109191876B - Special vehicle traffic guidance system based on Internet of vehicles technology and control method thereof - Google Patents
Special vehicle traffic guidance system based on Internet of vehicles technology and control method thereof Download PDFInfo
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- CN109191876B CN109191876B CN201811236319.9A CN201811236319A CN109191876B CN 109191876 B CN109191876 B CN 109191876B CN 201811236319 A CN201811236319 A CN 201811236319A CN 109191876 B CN109191876 B CN 109191876B
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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
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Abstract
The invention discloses a traffic guidance system for rapid running of special vehicles on congested roads. The system comprises a vehicle-mounted OBU unit, which is arranged on an automobile and used for acquiring basic safety parameters of the automobile in real time. And the vehicle-mounted information broadcasting platform is connected with the OBU and used for displaying a human-computer interface of the OBU for receiving information. And the city cloud console is used for receiving the information of all RSUs in the city and receiving the application of special vehicle passing. And the vehicle credibility evaluation system is used for ensuring the credibility of the system. And (4) carrying out macroscopic regulation and control of lane real-time distribution by using cloud control and the Internet of vehicles technology. The special vehicle traffic guidance system control method based on the Internet of vehicles technology is further provided, when emergency vehicles need to pass preferentially, the optimal passing scheme can be obtained quickly, and the passing efficiency of special vehicles is guaranteed.
Description
Technical Field
The invention relates to the field of traffic guidance, in particular to a special vehicle traffic guidance system based on the internet of vehicles technology and a control method thereof.
Background
At present, the technology of vehicle networking is monopolized by foreign companies, such as cohda wireless and the like, and provides an IEEE1609 protocol and an ETSI protocol which are specified based on the American Federal communication standards Committee and the European communication Commission, and various domestic companies are actively researching new technology of vehicle networking, particularly the dominant L TE _ V technology breaks through the limitation of the traditional DSRC, and provides necessary power for autonomy of the vehicle networking technology.
Disclosure of Invention
The invention designs and develops a special vehicle traffic guidance system based on the vehicle networking technology, and utilizes the cloud control and the vehicle networking technology to perform macroscopic regulation and control of lane real-time distribution.
The invention also designs and develops a special vehicle traffic guidance system control method based on the vehicle networking technology, and when emergency vehicles need to pass preferentially, an optimal passing scheme can be calculated, so that the passing efficiency of special vehicles is guaranteed.
The technical scheme provided by the invention is as follows:
a special vehicle traffic guidance system based on the car networking technology is characterized by comprising:
the vehicle-mounted identity tag is arranged on the automobile and used for marking vehicle information;
vehicle safety information acquisition module, it sets up the vehicle both sides for detect vehicle information of traveling, include: the vehicle driving speed, the driving position and the driving track of the vehicle and the vehicle course angle information;
the vehicle-mounted information broadcasting platform is connected with the vehicle safety information acquisition module through a communication module and is used for storing the running information of all vehicles in the urban area;
the road side unit is arranged at the edge of a road, can identify a vehicle-mounted identity tag of a vehicle, and can play a guidance instruction to the vehicle;
and the city cloud control console receives all the road test unit information in the city area, receives the application of special vehicles for passing, detects the whole city traffic condition and controls the real-time distribution of the relevant lanes according to the application of the special vehicles.
Preferably, the communication module adopts a P L C communication module.
Preferably, the method further comprises the following steps: and the vehicle credit evaluation system is used for calculating the credit of the vehicle so as to prevent the same vehicle from frequently submitting special vehicle passing applications and occupying public resources.
A special vehicle traffic guidance system control method based on the vehicle networking technology comprises the following steps:
the method comprises the following steps that firstly, a vehicle-mounted identity tag of a vehicle is detected through a drive test unit, and a special vehicle is identified;
step two, the special vehicle submits an application to a vehicle-mounted information broadcasting platform and submits a destination;
step three, install the vehicle safety information acquisition module on special vehicle and detect vehicle information of going, include: the vehicle running speed, the running position and the running track of the vehicle and the vehicle course angle information are reported to the vehicle-mounted information broadcasting platform;
fourthly, planning a nearest path for the special vehicle by the city cloud control console;
step five, dividing the nearest route into a plurality of road sections and according to the traffic conditions of the road sections; traversing the road section passing value, and if the road section passing value is smaller than the passing threshold value, re-planning the running path of the road section to obtain an optimal path;
step six, playing the traffic-giving information and the command to other vehicles in the optimal path through the road side unit, and removing the command after the special vehicle passes through;
wherein the special vehicle includes: fire fighting vehicles, ambulances, police vehicles and social vehicles for which applications are made.
Preferably, the vehicle-mounted identity tag is a non-contact radio frequency card, and identity information of a vehicle owner is stored in the vehicle-mounted identity tag.
Preferably, the step five includes:
step a, detecting the running speed, the acceleration and the traffic flow quantity of social vehicles passing through the intersection to estimate the single vehicle delay passing value of the special vehicle;
b, estimating the passing value of the special vehicle under the condition of passing according to the passing delay value of the single vehicle and the number of the special vehicles on the road section;
and c, if the passing value of the road section is smaller than the passing threshold value, re-planning the driving path of the road section, selecting another nearest path, calculating the passing value of the other path, comparing the passing value with the passing threshold value until the passing value is larger than the passing threshold value, and taking the passing value as the optimal path.
Preferably, the formula for calculating the vehicle delay passing value in step a is as follows:
wherein SNR is a single vehicle delay passing value, △ T is a delay time of a road section where a special vehicle is located, α is a social vehicle running speed, β is a social vehicle running acceleration, D0The length of the road section where the special vehicle is located, a is the running speed of the special vehicle, b is the running acceleration of the special vehicle, △ fnDistance, v, of the location of the particular vehicle from the end of the section1Minimum speed, v, for a particular vehicle to travel on the road section2For the maximum speed, τ, traveled by a particular vehicle on the section of road0(v) As response coefficient, τ0(v)≈τ0＝2.357。
Preferably, the calculation formula of the pass value in the case of the line assignment in step b is:
where SNR is the bicycle delay traffic value, △ fnDistance, n, of the location of the particular vehicle from the end of the road sectionpNumber of particular vehicles on the road section, AdPass coefficient, which is a value of 0.325;
t1to minimize the delay time, t2For the maximum delay time, t is the time that the particular vehicle has traveled on the road segment.
Preferably, the vehicle reputation evaluation coefficient formula in the vehicle reputation evaluation system is as follows:
wherein, ημ+1As a vehicle reputation degree evaluation coefficient, ημAs the evaluation coefficient of the u-th vehicle reputation degree, η080, ω vehicle to city cloudThe number of applications from the end console, γ, is the coefficient of operation, which is 52.
The invention has the advantages of
The invention designs and develops a special vehicle traffic guidance system, and utilizes cloud control and Internet of vehicles technology to perform macroscopic regulation and control of lane real-time allocation. The invention also designs and develops a special vehicle traffic guidance system control method based on the vehicle networking technology, and when emergency vehicles need to pass preferentially, an optimal passing scheme can be calculated, so that the passing efficiency of special vehicles is guaranteed. The invention also adds a credit evaluation system to evaluate the credit of the vehicles, when a certain vehicle is applied to become a special vehicle, the cloud detects that the vehicle does not finish a series of related behaviors, or a certain vehicle continuously and frequently applies for the vehicle in a short time, the cloud can reduce the credit of the vehicles and punish the vehicles, and the probability of successful application of the next time is reduced as follows, so that the uneven resource distribution is avoided.
Drawings
Fig. 1 is a schematic structural diagram of a special vehicle traffic guidance system based on the car networking technology according to the present invention.
Fig. 2 is a schematic structural diagram of another embodiment of the special vehicle traffic guidance system based on the car networking technology according to the present invention.
Fig. 3 is a flowchart of a control method of a special vehicle traffic guidance system based on the car networking technology according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
As shown in fig. 1, the special vehicle traffic guidance system based on the car networking technology provided by the invention is characterized by comprising: the system comprises a vehicle-mounted identity tag 210, a vehicle safety information acquisition module 220, a vehicle-mounted information broadcasting platform 230, a road side unit 240 and a city cloud console 250.
The vehicle-mounted identity tag 210 is arranged in front of the automobile and used for marking vehicle information; the vehicle safety information collection module 220 is provided on both sides of the vehicle for detecting vehicle driving information, including: the vehicle driving speed, the driving position and the driving track of the vehicle and the vehicle course angle information; the vehicle-mounted information broadcasting platform 230 is connected with the vehicle safety information acquisition module 220 through a communication module and is used for storing the running information of all vehicles in the urban area; the road side unit 240 is arranged at the edge of a road, can identify a vehicle-mounted identity tag of a vehicle, and can play a guidance instruction to the vehicle; the city cloud console 250 receives all the road test unit information in the city area, receives the application of special vehicles for passing, detects the whole city traffic condition, and controls the real-time distribution of relevant lanes according to the application of the special vehicles.
Preferably, the communication module is a P L C communication module.
The vehicle credit evaluation system 260 is used for calculating the credit of the vehicle so as to prevent the same vehicle from frequently submitting special vehicle passing applications and occupying public resources.
As shown in fig. 2, in another embodiment, the present invention provides a special vehicle traffic guidance system based on car networking technology, comprising: the vehicle-mounted tag unit 110, the vehicle-mounted information broadcasting platform 120, the road side unit 130, the city cloud control console 140 and the vehicle reputation evaluation system 150.
The vehicle-mounted tag unit 110 is also called a vehicle-mounted OBU unit: the OBU is an abbreviation of an On Board Unit, the vehicle-mounted tag Unit 110 is installed On an automobile, and the most basic functions of the OBU are to realize real-time acquisition of basic safety parameters of the automobile, including:
the identity information of the vehicles and the identity information of the vehicles are used for determining the identity of each vehicle, so that the driving information of each vehicle is ensured to be actively found, and reliable identity authentication is provided for the establishment of a subsequent credit evaluation system.
The vehicle speed information of the vehicle is the most important information, and the source of the information CAN be extracted through a vehicle CAN bus. The current vehicle measurement information is generally measured through a built-in speed measuring module of the OBU equipment, and with the mature and open grammar of the vehicle networking technology, each automobile company collaboratively formulates a uniform protocol of information used by the vehicle networking, so that the vehicle information is conveniently acquired.
GPS position information, which is used to determine the travel position of the vehicle, the travel track of a particular vehicle, and the like. At present, the vehicle-mounted GPS is already a standard configuration of a vehicle, but like the vehicle speed information, the current vehicle-mounted GPS information CAN only be received through a GPS receiving module built in an OBU device due to the non-openness of the current CAN bus protocol.
Vehicle heading angle information, and vehicle course angle information are used to determine the vehicle's instantaneous direction of travel. Can be used to predict the state of the vehicle at the next moment.
The vehicle information is collected by the vehicle-mounted OBU unit at the same time, and then the surrounding vehicles and the RSU are broadcasted according to a certain stacking protocol, the broadcast is transmitted by DSRC or L TE-V technology, the information transmission speed is high, and the self-organizing network can be carried out, so that the information sharing is convenient.
The vehicle-mounted information broadcasting platform 120 is connected with the OBU, and is used for displaying a human-computer interface of the OBU receiving information. When the OBU receives the information of the road side unit RSU or the city Cloud, the voice and the image are broadcasted through the broadcasting platform, and a driver can conveniently and timely obtain the information. This platform can be integrated with the central display screen of the vehicle.
The roadside Unit 130 is an RSU, which is abbreviated by Road Side Unit, and the roadside Unit 130 is disposed at the edge of the Road and is configured to receive information broadcasted by all vehicles on a certain Road section, and after receiving a lane re-allocation instruction from the cloud, the roadside Unit also broadcasts the information to the vehicles driving on the Road section.
The city cloud console 140 is used for receiving information of all RSUs in the city and receiving an application for special vehicle passing. And detecting the traffic condition of the whole city, and controlling the real-time distribution of the related lanes according to the application of the special vehicles.
When a special vehicle, such as a fire truck executing a task, needs to arrive at a destination as soon as possible, the cloud platform plans a nearest route for the special vehicle, and simultaneously broadcasts to inform vehicles running on the route to avoid timely, so that the special vehicle can pass through quickly. For ordinary road vehicle, like private car, when it need pass through a certain section road fast when meetting special incident, also can apply for to city high in the clouds and become special vehicle, when the vehicle high in the clouds passes through this application after, this car can obtain the authority the same with above-mentioned special vehicle. It is obvious that such application "convenience" is sometimes utilized by some people. Therefore, the credit evaluation system of the cloud end can evaluate the credit of the common vehicles, when a certain vehicle is applied to become a special vehicle, the cloud end detects that a series of related behaviors are not completed, or a certain vehicle is continuously and frequently applied in a short time, the cloud end can adjust the credit of the vehicles downwards and punish, and the probability of successful application of the next time is adjusted as follows.
The working process of the special vehicle traffic guidance system based on the vehicle networking technology is as follows:
first we define the fire truck, ambulance and police car performing the task as special vehicles. When a special vehicle needs to arrive at a destination as soon as possible, the cloud platform plans a nearest route for the special vehicle, and simultaneously broadcasts to inform the vehicle running on the route to avoid in time, so that the special vehicle can be guaranteed to pass through quickly. For common road vehicles, such as private cars, when the private cars meet special events, the private cars can also apply to the city cloud monitoring platform to become special vehicles, and under the premise that the credit degree of the private cars is good, the private cars can obtain the same authority as the special vehicles. The system can also provide convenient travel service for the system.
If the vehicle meets special conditions and needs to arrive at a destination in time, the vehicle firstly applies for the city cloud control platform, after credit degree audit is carried out on the cloud, an optimal route including a passing road and a lane line is planned for the vehicle if the cloud agrees, meanwhile, real-time interaction is established between the city cloud and the vehicle-mounted OBU, and GPS position information, vehicle speed information and course angle information in the driving process are uploaded to the cloud in real time by the special vehicle. The cloud end determines the RSU of the road section where the route passes under the support of the high-precision map, transmits the vehicle ID, the running route, the vehicle GPS position information, the vehicle speed and the course angle information to the corresponding RSU in a data packet mode, and after the RSU receives the information, firstly analyzes the data packet to obtain the basic information of the vehicle. When the vehicle is about to run to a road section controlled by a certain RSU, the cloud end sends an instruction to the response RSU in advance, and after receiving the instruction, the RSU broadcasts a road reserved for the vehicle in front to the vehicle on the optimal path. When the cloud end or the RSU drives away from a road section controlled by the RSU, the RSU broadcasts to surrounding traffic vehicles again, and the fact that the special vehicle drives away is indicated, and the original road is normal. The service is for some vehicles: the ambulance, fire engine, police car and special ordinary private car provide convenient service for these vehicles to reach the destination in time.
As shown in fig. 3, a method for controlling a special vehicle traffic guidance system based on the car networking technology includes:
step S110, detecting a vehicle-mounted identity label of a vehicle through a drive test unit, and identifying a special vehicle; preferably, the vehicle-mounted identity tag is a non-contact radio frequency card, and identity information of a vehicle owner is stored in the vehicle-mounted identity tag;
step S120, the special vehicle submits an application to the vehicle-mounted information broadcasting platform and submits a destination;
step S130, the vehicle safety information collecting module installed on the special vehicle detects vehicle driving information, including: the vehicle running speed, the running position and the running track of the vehicle and the vehicle course angle information are reported to the vehicle-mounted information broadcasting platform;
step S140, the city cloud console plans a nearest path for the special vehicle;
step S150, dividing the nearest route into a plurality of road sections and according to the traffic conditions of the road sections; traversing the road section passing value, and if the road section passing value is smaller than the passing threshold value, re-planning the running path of the road section to obtain an optimal path; the method comprises the following steps:
s151, detecting the running speed, the acceleration and the traffic flow quantity of the social vehicles passing through the intersection and estimating the single vehicle delay passing value of the special vehicle; the calculation formula of the bicycle delay passing value is as follows:
wherein SNR is a single vehicle delay passing value, △ T is a delay time of a road section where a special vehicle is located, α is a social vehicle running speed, β is a social vehicle running acceleration, D0The length of the road section where the special vehicle is located, a is the running speed of the special vehicle, b is the running acceleration of the special vehicle, △ fnDistance, v, of the location of the particular vehicle from the end of the section1Minimum speed, v, for a particular vehicle to travel on the road section2For the maximum speed, τ, traveled by a particular vehicle on the section of road0(v) As response coefficient, τ0(v)≈τ0＝2.357。
S152, estimating a passing value of the special vehicle under the condition of passing according to the passing delay value of the single vehicle and the number of the special vehicles on the road section; wherein, the calculation formula of the passing value under the condition of letting the rows is as follows:
where SNR is the bicycle delay traffic value, △ fnDistance, n, of the location of the particular vehicle from the end of the road sectionpNumber of particular vehicles on the road section, AdPass coefficient, which is a value of 0.325;
t1is a minimum delay time, t, over a period of time2T is the maximum delay time in a period of time, and t is the time that a particular vehicle has traveled on the road segment.
And S153, if the passing value of the road section is smaller than the passing threshold value, re-planning the driving path of the road section, selecting another nearest path, calculating the passing value of the other path, comparing the passing value with the passing threshold value until the passing value is larger than the passing threshold value, and taking the passing value as the optimal path. The traffic threshold value is 75% ave (NTED), wherein ave (NTED) is the average value of the traffic values of the special vehicles in a period of time.
Step S160, playing the traffic-giving information and the command to other vehicles in the optimal path through the road side unit, and removing the command after the special vehicle passes through;
wherein the special vehicle includes: fire fighting vehicles, ambulances, police vehicles and social vehicles for which applications are made.
In another embodiment, the vehicle reputation evaluation system is further included, wherein the vehicle reputation evaluation coefficient formula is as follows:
wherein, ημ+1As a vehicle reputation degree evaluation coefficient, ημAs the evaluation coefficient of the u-th vehicle reputation degree, η0The number of times the vehicle applies to the city cloud console is 80, and γ is a calculation coefficient, and the value thereof is 52.
The invention designs and develops a special vehicle traffic guidance system, and utilizes cloud control and Internet of vehicles technology to perform macroscopic regulation and control of lane real-time allocation. The invention also designs and develops a special vehicle traffic guidance system control method based on the vehicle networking technology, and when emergency vehicles need to pass preferentially, an optimal passing scheme can be calculated, so that the passing efficiency of special vehicles is guaranteed. The invention also adds a credit evaluation system to evaluate the credit of the vehicles, when a certain vehicle is applied to become a special vehicle, the cloud detects that the vehicle does not finish a series of related behaviors, or a certain vehicle continuously and frequently applies for the vehicle in a short time, the cloud can reduce the credit of the vehicles and punish the vehicles, and the probability of successful application of the next time is reduced as follows, so that the uneven resource distribution is avoided.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (1)
1. A special vehicle traffic guidance system control method based on the vehicle networking technology is characterized by comprising the following steps:
the method comprises the following steps that firstly, a vehicle-mounted identity tag of a vehicle is detected through a drive test unit, and a special vehicle is identified;
step two, the special vehicle submits an application to a vehicle-mounted information broadcasting platform and submits a destination;
step three, install the vehicle safety information acquisition module on special vehicle and detect vehicle information of going, it includes: the vehicle running speed, the running position and the running track of the vehicle and the vehicle course angle information are reported to the vehicle-mounted information broadcasting platform;
fourthly, planning a path for the special vehicle by the city cloud control console;
step five, dividing the path into a plurality of road sections, and calculating the traffic value of each road section according to the traffic condition of the road sections; traversing the road section passing value, and if the road section passing value is smaller than the passing threshold value, re-planning the running path of the road section to obtain an optimal path;
step six, playing the traffic-giving information and the command to other vehicles in the optimal path through the road side unit, and removing the command after the special vehicle passes through;
wherein the special vehicle includes: fire trucks, ambulances, police cars and social vehicles for which applications are made;
the vehicle-mounted identity tag is a non-contact radio frequency card;
the fifth step comprises the following steps:
step a, detecting the driving speed, the acceleration and the traffic flow quantity of social vehicles passing through the intersection to estimate a single vehicle delay passing value;
b, estimating the passing value of the special vehicle under the condition of passing according to the passing delay value of the single vehicle and the number of the special vehicles on the road section;
if the passing value of the road section is smaller than the passing threshold value, re-planning the driving path of the road section, calculating the passing value, comparing the passing value with the passing threshold value until the passing value is larger than the passing threshold value, and taking the passing value as the optimal path;
the calculation formula of the passing delay value of the bicycle in the step a is as follows:
wherein SNR is a single vehicle delay passing value, △ T is a delay time of a road section where a special vehicle is located, α is a social vehicle running speed, β is a social vehicle running acceleration, D0The length of the road section where the special vehicle is located, a is the running speed of the special vehicle, b is the running acceleration of the special vehicle, △ fnDistance, v, of the location of the particular vehicle from the end of the section1Minimum speed, v, for a particular vehicle to travel on the road section2For the maximum speed, τ, traveled by a particular vehicle on the section of road0(v) As response coefficient, τ0(v)≈τ0＝2.357；
The calculation formula of the passing value under the condition of letting the line in the step b is as follows:
where SNR is the bicycle delay traffic value, △ fnDistance, n, of the location of the particular vehicle from the end of the road sectionpNumber of particular vehicles on the road section, AdPass coefficient, which is a value of 0.325;
t1to minimize the delay time, t2For the maximum delay time, t is the time that the particular vehicle has traveled on the road segment.
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| CN106652518A (en) * | 2016-12-01 | 2017-05-10 | 大连海事大学 | Vehicle coordination control system based on vehicle networking |
| CN106558230A (en) * | 2016-12-30 | 2017-04-05 | 深圳天珑无线科技有限公司 | Road condition information acquisition method and device |
| CN108363397B (en) * | 2018-03-07 | 2020-12-01 | 安徽江淮汽车集团股份有限公司 | Vehicle avoidance control system and control method |
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2018
- 2018-10-23 CN CN201811236319.9A patent/CN109191876B/en not_active Expired - Fee Related
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