CN109341710A - The dynamic programming quickly to reach the destination on the network of communication lines of uncertain environment - Google Patents
The dynamic programming quickly to reach the destination on the network of communication lines of uncertain environment Download PDFInfo
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- CN109341710A CN109341710A CN201811000741.4A CN201811000741A CN109341710A CN 109341710 A CN109341710 A CN 109341710A CN 201811000741 A CN201811000741 A CN 201811000741A CN 109341710 A CN109341710 A CN 109341710A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
Abstract
The present invention relates to the dynamic programmings rapidly to reach the destination on a kind of network of communication lines of uncertain environment.This method real-time computing architecture Internet-based and realize, include the following steps: the collected dynamic congestion information of paths each on the network of communication lines, by internet, upload in the database server of data center；The collected dynamic congestion information of each paths institute is compiled by database server, generates a real-time congestion map；Every period regular time, database server broadcasts real-time congestion map to each vehicle by internet；The computing device of programme path on each vehicle, using probabilistic method, dynamic programming, calculates the fastest path to reach the destination from the current vehicle position according to real-time congestion map.In accordance with the invention it is possible to help any vehicle to adjust route in real time, avoid congestion, to rapidly reach the destination.
Description
Technical field
The present invention relates to dynamic route planning fields in the network of communication lines under uncertain environment, and in particular to a kind of uncertain environment
The network of communication lines on the dynamic programming that quickly reaches the destination.
Background technique
Communications and transportation is basis and the forerunner of development of modern society economy, and the sound development of transportation system is national
The prerequisite of economic long-term sustainable development.Currently, computer and Internet technology rapid development, have continued to bring out computer
The advanced technologies such as automatic control, big data, cloud computing, artificial intelligence.These technologies play in the development of transportation
Transportation management and efficiency of operation is continuously improved in huge effect.By the help of computer and network technologies, congestion information can
To be rapidly sent to all directions by internet.It, can be timely when other road vehicles receive these information
Route is adjusted to avoid traffic congestion, to arrive at the destination in a relatively short period of time.
In real world, traffic route system is usually network-like structure.Therefore, from any point to any other
Point, usually available there are many path, some of them are shortest paths, and some of them have the smallest crossroad, wherein one
A little traffic lights are minimum, etc..Many methods have been proposed at present to find such optimal path.However, these method bases
The online uncertain factor of actual traffic is not accounted in sheet.In reality production, life, communications and transportation mostly exists
It is carried out under uncertain environment, emergency event frequent occurrence on road.It casts anchor for example, vehicle is out of order suddenly, when traffic accident has
Occur, transport project sudden change etc., has all influenced the smooth operating of traffic route system, influenced vehicle and arrived at purpose
The time on ground.
The breadth and depth of application of the computer technology under uncertain environment in the network of communication lines in planning management field is also
Continuously improve.It, can be to arriving at the destination time, dynamic in the network of communication lines under uncertain environment by computer aided technique
State Path selection, congestion, which are administered, carries out effective planning management.Present cargo transport, land transportation, water transportation, the trip of people
All increasingly by the support of computer technology, relatively common is the GPS navigation system on mobile phone or on automobile, such as Gao De
Navigation, Baidu's navigation, Google's navigation etc., can be the trip of the vehicles, people, provide effective route planning.Some systems
The most fast or shortest path for avoiding congestion can be calculated.Some even can calculate the time arrived at the destination.
However, current GPS navigation system, does not all account for the case where there are traffic lights on intersection.When vehicle exists
When encountering red light on intersection, it is necessary to halt, when red light extinguishes, green light lights, this crossroad could be passed through
Mouthful.
The present invention devises the dynamic programming of the fastest path between any two points on the network of communication lines of uncertain environment.According to
The present invention can help any vehicle, there are in the case where traffic lights, adjusting route on intersection in real time, avoid gathering around
Plug, to rapidly reach the destination.
Summary of the invention
It is an object of the present invention to enable any one vehicle to adjust in time on the network of communication lines of a uncertain environment
Whole route proposes quickly to arrive at mesh on a kind of network of communication lines of uncertain environment to avoid congestion and arrive at its destination as soon as possible
Ground dynamic programming, real-time computing architecture Internet-based and realize, utilize real-time calculating Internet-based, dynamic
Law of planning is calculated effectively and rapidly and is reached the destination most from the current vehicle position for what vehicle
Fast path.
In order to achieve the above objectives, the present invention adopts the following technical solutions:
The dynamic programming quickly to reach the destination on a kind of network of communication lines of uncertain environment, this method is reality Internet-based
When computing architecture and realize, this real-time computing architecture has following module to be constituted:
1) on each road congestion information detection acquisition device: all these each detection acquisition devices is responsible for respectively adopting
The dynamic congestion information collected is uploaded in the database server of data center by internet；
2) database server: it is responsible for compiling the collected dynamic congestion information of institute on each road.Period generates real-time
Congestion map broadcasts this by each vehicle of the internet on all roads then every period regular time
Real-time congestion map；
3) each road vehicle: the computing device of route is planned in the navigation system of each vehicle in real time comprising one.This
A device is calculated according to the real-time congestion map that database server is broadcast out using probabilistic method, dynamic programming
It reaches the destination as quickly as possible from the fastest path of the current vehicle position to reach the destination to avoid congestion.
The network of communication lines of the uncertain environment include multiple intersections (0,1,2,3 ...), any two intersect
The monitoring acquisition device that vehicular traffic is installed on road between crossing, every a setting time interval, by internet, on
It passes in the database server of data center.
1) the collected dynamic congestion information of paths each on the network of communication lines is uploaded into data center by internet
In database server；
2) the collected dynamic congestion information of each paths institute is compiled by database server, with generating a real-time congestion
Figure；
3) database server broadcasts real-time congestion map to each vehicle by internet；
4) computing device of the programme path on each vehicle, according to real-time congestion map, using probabilistic method, Dynamic Programming
Method calculates the fastest path to reach the destination from oneself current location.
The distance of these jam roads as above is first set as congestion status by the computing device of programme path on the vehicle
Lower vehicle passes through the average time of this section of road, multiplied by the average speed of this vehicle.
The computing device is calculated separately and is arrived at the destination from each intersection using Dijkstra's algorithm
Shortest path.It is arrived at the destination most by other intersections respectively it is thus possible to calculate from any one intersection
Short path.
If there is the congestion information of one section of road to be changed on the shortest path, the computing device weight
It is new to calculate minimal path, to bypass the road of congestion；Otherwise, if the congestion information of all roads is all on the shortest path
No change has taken place, and computing device then as described above need not recalculate minimal path, this vehicle is still according to nearest
The original minimal path calculated is travelled.
It is generally provided with traffic lights on intersection, must be waited for parking when vehicle encounters red light；Vehicle can be existed
Average latency on intersection is estimated as the half of red light duration on this intersection.It is counted using Di Jiesitela
When calculating shortest path, each section of road by duration should be revised as it is original by duration along with average waiting as above
Time.
This method can carry out extended below, multiple and different for solving quickly to arrive on the network of communication lines of uncertain environment
The problem of destination:
Dynamic programming after extension is as follows:
It is first calculated separately using Di Jiesitela, from starting point 0 to the minimal path of several destinations as above.Then compare these
Minimal path, selection wherein shortest route, such as starting point 0 are nearest to destination A；It is, first cargo is sent to from starting point 0
To destination A；
Then, it reuses Di Jiesitela to calculate separately, from place A to the minimal path of other several destinations, selection is wherein
Shortest route, such as place A are nearest to destination B；It is, first cargo is sent to from place A to destination B；
It reuses Di Jiesitela to calculate separately, from place B to the minimal path of remaining several destinations；And so on, until
All destinations all have arrived at；
Delivery on the way, congestion information on other roads can be received from internet, can be in time using Di Jiesitela weight
It newly calculates separately, the minimal path from current location to remaining several destinations selects wherein shortest route；To again
Next delivery place is selected.
The present invention compared with prior art, have following obvious prominent substantive distinguishing features and significant technology into
Step.
The dynamic programming that any vehicle rapidly reaches the destination on the network of communication lines of uncertain environment of the invention, is based on
The real-time computing architecture of internet and realize, include the following steps: paths each on the network of communication lines collected dynamic congestion letter
Breath, by internet, uploads in the database server of data center；Each paths institute is compiled by database server
Collected dynamic congestion information generates a real-time congestion map；Every period regular time, database server
Real-time congestion map is broadcasted to each vehicle by internet；The computing device of programme path on each vehicle, according to gathering around in real time
Stifled map is calculated most fast from reaching the destination for the current vehicle position using probabilistic method, dynamic programming
Path.
In accordance with the invention it is possible to help any vehicle to adjust route in real time, avoid congestion, to rapidly arrive at purpose
Ground.
Detailed description of the invention
Fig. 1 is Internet-based by congestion information detection acquisition device, database server, Ge Geche on each road
The system architecture calculated in real time composed by.
Fig. 2 is the calculation flow chart of the dynamic programming of computing device on vehicle.
Specific embodiment
The preferred embodiment of the present invention is illustrated with reference to the accompanying drawing.It is noted that described example of applying only regards
For the purpose illustrated, rather than limiting the invention.
According to the present invention it is proposed that a kind of Dynamic Programming quickly to reach the destination on the network of communication lines of uncertain environment
Method.Core of the invention thought is to help using real-time computing architecture Internet-based, real-time broadcast road congestion information
Any vehicle adjusts route in time, avoids congestion, to reach the destination as quickly as possible.
Below with reference to the accompanying drawings preferred embodiment in accordance with the present invention described.
Embodiment one:
Referring to Fig. 1, the dynamic programming quickly to reach the destination on the network of communication lines of this uncertain environment, this method is based on interconnection
Net real-time computing architecture and realize, this real-time computing architecture has following module to be constituted:
1) on each road congestion information detection acquisition device: all these each detection acquisition devices is responsible for respectively adopting
The dynamic congestion information collected is uploaded in the database server of data center by internet；
2) database server: it is responsible for compiling the collected dynamic congestion information of institute on each road.Period generates real-time
Congestion map broadcasts this by each vehicle of the internet on all roads then every period regular time
Real-time congestion map；
3) each road vehicle: the computing device of route is planned in the navigation system of each vehicle in real time comprising one.This
A device is calculated according to the real-time congestion map that database server is broadcast out using probabilistic method, dynamic programming
It reaches the destination as quickly as possible from the fastest path of the current vehicle position to reach the destination to avoid congestion.
Embodiment two: the present embodiment is basically the same as the first embodiment, and special feature is as follows:
The network of communication lines of the uncertain environment include multiple intersections (0,1,2,3 ...), in any two intersection
Between road on install vehicular traffic monitoring acquisition device, uploaded to every a setting time interval by internet
In the database server of data center.
1) the collected dynamic congestion information of paths each on the network of communication lines is uploaded into data center by internet
In database server；
2) the collected dynamic congestion information of each paths institute is compiled by database server, with generating a real-time congestion
Figure；
3) database server broadcasts real-time congestion map to each vehicle by internet；
4) computing device of the programme path on each vehicle, according to real-time congestion map, using probabilistic method, Dynamic Programming
Method calculates the fastest path to reach the destination from oneself current location.
The distance of these jam roads as above is first set as congestion status by the computing device of programme path on the vehicle
Lower vehicle passes through the average time of this section of road, multiplied by the average speed of this vehicle.
The computing device is calculated separately and is arrived at the destination from each intersection using Dijkstra's algorithm
Shortest path.It is arrived at the destination most by other intersections respectively it is thus possible to calculate from any one intersection
Short path.
If there is the congestion information of one section of road to be changed on the shortest path, the computing device weight
It is new to calculate minimal path, to bypass the road of congestion；Otherwise, if the congestion information of all roads is all on the shortest path
No change has taken place, and computing device then as described above need not recalculate minimal path, this vehicle is still according to nearest
The original minimal path calculated is travelled.
It is generally provided with traffic lights on intersection, must be waited for parking when vehicle encounters red light；Vehicle can be existed
Average latency on intersection is estimated as the half of red light duration on this intersection.It is counted using Di Jiesitela
When calculating shortest path, each section of road by duration should be revised as it is original by duration along with average waiting as above
Time.
This method can carry out extended below, multiple and different for solving quickly to arrive on the network of communication lines of uncertain environment
The problem of destination:
Dynamic programming after extension is as follows:
It is first calculated separately using Di Jiesitela, from starting point 0 to the minimal path of several destinations as above.Then compare these
Minimal path, selection wherein shortest route, such as starting point 0 are nearest to destination A；It is, first cargo is sent to from starting point 0
To destination A；
Then, it reuses Di Jiesitela to calculate separately, from place A to the minimal path of other several destinations, selection is wherein
Shortest route, such as place A are nearest to destination B；It is, first cargo is sent to from place A to destination B；
It reuses Di Jiesitela to calculate separately, from place B to the minimal path of remaining several destinations；And so on, until
All destinations all have arrived at；
Delivery on the way, congestion information on other roads can be received from internet, can be in time using Di Jiesitela weight
It newly calculates separately, the minimal path from current location to remaining several destinations selects wherein shortest route；To again
Next delivery place is selected.
Embodiment three:
Fig. 1 is system architecture Internet-based.This system architecture has following module to be constituted:
The detection acquisition device of congestion information on each road: all these each detection acquisition devices is responsible for respectively acquisition
The dynamic congestion information arrived is uploaded in the database server of data center by internet.
Database server: it is responsible for compiling the collected dynamic congestion information of institute on each road.Period generates real
When congestion map then every period regular time this is broadcasted by each vehicle of the internet on all roads
A real-time congestion map.
Each road vehicle: the computing device of route is planned in the navigation system of each vehicle in real time comprising one.
The real-time congestion map that this device is broadcast out according to database server is calculated using probabilistic method, dynamic programming
Purpose is arrived at as quickly as possible to avoid congestion from the fastest path of the current vehicle position to reach the destination out
Ground.
Fig. 2 is the dynamic programming process of computing device on vehicle of the invention.Specific steps are described as follows:
Each vehicle will leave for its destination from current location, this will pass through multiple intersections in the process.Such as Fig. 1 institute
Show, a vehicle of left end will pass through the intersections such as 0,1,3,6,9,11 during leaving for its destination.
Each vehicle in the process of moving, every period regular time, will be received from database server
The real-time congestion information broadcast out.This vehicle need determine from current location by which route can to avoid congestion from
And it arrives at the destination in the shortest possible time.
Such as shown in Fig. 1, a vehicle of left end is received before reaching intersection 0 from database server
On the real-time congestion information that broadcasts out.It has been known that following several roads are currently at congestion shape from this congestion information
State: 2 → 6,9 → 11 etc..
The distance of these jam roads as above is first set as congestion status by the computing device of programme path on this vehicle
Lower vehicle passes through the average time of this section of road, multiplied by the average speed of this vehicle.The intersection adjacent with intersection 0
There are 3, be respectively: 1,2,3.
Computing device as described above, using Dijkstra's algorithm (Dijkstra), calculate separately from intersection 1,
2,3 shortest path arrived at the destination.Mesh is reached by intersection 1,2,3 respectively it is thus possible to calculate from intersection 0
Ground shortest path.
That is, the distance of the shortest path arrived at the destination from intersection 0 by intersection 1, is equal to from friendship
Cross road mouth 0 reaches the distance of intersection 1, in addition the distance arrived at the destination from intersection 1.From intersection 0 by handing over
The distance for the shortest path that cross road mouth 2 arrives at the destination, equal to the distance for reaching intersection 2 from intersection 0, in addition from friendship
The distance that cross road mouth 2 arrives at the destination.And so on.
Among the intersection adjacent with intersection 0, we select such intersection, so that from intersection
0 distance arrived at the destination by such intersection is shortest.
Before reaching an intersection, if the real-time congestion map before the map comparison of congestion in real time is changed
Become, computing device then as described above should dynamic programming as described above, recalculate minimal path, so as to around
Cross the road of congestion.If no change has taken place for the real-time congestion map before congestion map compares in real time, then as described above
Computing device need not recalculate minimal path, this vehicle is still according to the original minimal path calculated recently
It is travelled.
According to the present invention, the realization of the dynamic programming of the programme path based on probabilistic method, system can be according to upper
The step of stating successively is linked in sequence.
The several detailed problems considered below besides required for bright the method for the present invention.
One detailed problem is, in order to reduce calculation amount, whenever a vehicle receives real-time congestion letter from internet
After breath, the computing device on this vehicle checks that this is most short for the shortest path that its last time has calculated
Whether the congestion information of each section of road on path is changed.
If there is the congestion information of one section of road to be changed on the shortest path, the computing device weight
It is new to calculate minimal path, to bypass the road of congestion.Otherwise, if the congestion information of all roads is all on the shortest path
No change has taken place, and computing device then as described above need not recalculate minimal path, this vehicle is still according to nearest
The original minimal path calculated is travelled.
Another detailed problem is that traffic lights are generally provided on intersection, must be stopped when vehicle encounters red light
It waits.Can be estimated as the half of red light duration on this intersection average latency of the vehicle on intersection.
When calculating shortest path using Di Jiesitela, each section of road by duration should be revised as it is original by duration again
In addition the average latency as above.
Example IV:
The dynamic programming quickly to reach the destination on the network of communication lines of uncertain environment as described above, this method can carry out
Extended below, for solving the problems, such as quickly to arrive at multiple and different destinations on the network of communication lines of uncertain environment.
One example is a truck deliveryman, several different by a vehicle cargo is sent to respectively from starting point 0
Place A, B, C, D etc..How the driving route of deliveryman is arranged, so that this truck successively passes through these places, and
The total time spent is most short.The method that we design is as follows:
It is calculated separately using Di Jiesitela, from starting point 0 to the minimal path of several destinations as above.Then compare these most
Short-circuit line, selection wherein shortest route, such as starting point 0 are nearest to destination A.It is, first cargo from starting point 0 be sent to
Destination A.
Then, it reuses Di Jiesitela to calculate separately, from place A to the minimal path of other several destinations.Selection
Wherein shortest route, such as place A are nearest to destination B.It is, first cargo is sent to from place A to destination B.
It reuses Di Jiesitela to calculate separately, from place B to the minimal path of remaining several destinations.And so on,
Until all destinations all have arrived at.
Delivery on the way, congestion information on other roads can be received from internet.Di Jiesi can be used in time
Te La is calculated separately again, and the minimal path from current location to remaining several destinations selects wherein shortest route.From
And next delivery place is reselected.
Being described above is for realizing the present invention and embodiment, and each step is example, ordinary skill people
Member can actual step to be used determines according to actual conditions, and each step should belong to this there are many implementation method
Within the scope of invention.Therefore, the scope of the present invention should not necessarily be limited by this description.It should be appreciated by those skilled in the art,
In any modification or partial replacement for not departing from the scope of the present invention, the range for belonging to the claims in the present invention to limit.
Claims (8)
1. the dynamic programming quickly to reach the destination on a kind of network of communication lines of uncertain environment, this method are Internet-based
Real-time computing architecture and realize, this real-time computing architecture has following module to be constituted:
1) on each road congestion information detection acquisition device: all these each detection acquisition devices is responsible for respectively adopting
The dynamic congestion information collected is uploaded in the database server of data center by internet；
2) database server: being responsible for compiling the collected dynamic congestion information of institute on each road, and the period generates real-time
Congestion map broadcasts this by each vehicle of the internet on all roads then every period regular time
Real-time congestion map；
3) each road vehicle: planning the computing device of route in real time comprising one in the navigation system of each vehicle, this
A device is calculated according to the real-time congestion map that database server is broadcast out using probabilistic method, dynamic programming
It reaches the destination as quickly as possible from the fastest path of the current vehicle position to reach the destination to avoid congestion.
2. the dynamic programming quickly to reach the destination on the network of communication lines of uncertain environment according to claim 1, special
Sign is, the network of communication lines of the uncertain environment include multiple intersections (0,1,2,3 ...), intersect in any two
The monitoring acquisition device that vehicular traffic is installed on road between crossing, every a setting time interval, by internet, on
It passes in the database server of data center.
3. the dynamic programming quickly to reach the destination on the network of communication lines of uncertain environment according to claim 1, special
Sign is to operate as follows:
1) the collected dynamic congestion information of paths each on the network of communication lines is uploaded into the data of data center by internet
In the server of library；
2) the collected dynamic congestion information of each paths institute is compiled by database server, with generating a real-time congestion
Figure；
3) database server broadcasts real-time congestion map to each vehicle by internet；
4) computing device of the programme path on each vehicle, according to real-time congestion map, using probabilistic method, Dynamic Programming
Method calculates the fastest path to reach the destination from oneself current location.
4. the dynamic programming quickly to reach the destination on the network of communication lines of uncertain environment according to claim 3, special
Sign is:
The distance of these jam roads as above is first set as congestion status and got off by the computing device of programme path on the vehicle
By average time of this section of road, multiplied by the average speed of this vehicle.
5. computing device described in is calculated separately and is arrived at the destination most from each intersection using Dijkstra's algorithm
Short path, it is thus possible to calculate from any one intersection respectively by other intersections arrive at the destination it is most short
Path；
If there is the congestion information of one section of road to be changed on the shortest path, the computing device is counted again
Minimal path is calculated, to bypass the road of congestion；Otherwise, if all there there is no the congestion information of all roads on the shortest path
It changes, computing device then as described above need not recalculate minimal path, this vehicle is still according to recently
The original minimal path calculated is travelled.
6. the dynamic programming quickly to reach the destination on the network of communication lines of uncertain environment according to claim 3, special
Sign is: being generally provided with traffic lights on intersection, must wait for parking when vehicle encounters red light；Vehicle can handed over
Average latency on cross road mouth is estimated as the half of red light duration on this intersection.
7. each section of road should be revised as original pass through by duration when calculating shortest path using Di Jiesitela
Duration adds the average latency as above.
8. the dynamic programming quickly to reach the destination on the network of communication lines of uncertain environment according to claim 3, special
Sign is: this method can carry out extended below, multiple and different for solving quickly to arrive on the network of communication lines of uncertain environment
The problem of destination:
Dynamic programming after extension is as follows:
It is first calculated separately using Di Jiesitela, from starting point 0 to the minimal path of several destinations as above, then compares these
Minimal path, selection wherein shortest route, such as starting point 0 are nearest to destination A；It is, first cargo is sent to from starting point 0
To destination A；
Then, it reuses Di Jiesitela to calculate separately, from place A to the minimal path of other several destinations, selection is wherein
Shortest route, such as place A are nearest to destination B；It is, first cargo is sent to from place A to destination B；
It reuses Di Jiesitela to calculate separately, from place B to the minimal path of remaining several destinations；And so on, until
All destinations all have arrived at；
Delivery on the way, congestion information on other roads can be received from internet, can be in time using Di Jiesitela weight
It newly calculates separately, the minimal path from current location to remaining several destinations selects wherein shortest route；To again
Next delivery place is selected.
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