CN109374006A - The hazardous material road transportation paths planning method of multiple target - Google Patents
The hazardous material road transportation paths planning method of multiple target Download PDFInfo
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- CN109374006A CN109374006A CN201811487105.9A CN201811487105A CN109374006A CN 109374006 A CN109374006 A CN 109374006A CN 201811487105 A CN201811487105 A CN 201811487105A CN 109374006 A CN109374006 A CN 109374006A
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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
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses a kind of hazardous material road transportation paths planning methods of multiple target, it include: time optimal path, safe optimal path and the energy consumption optimal path sought in the road network of screening respectively, time optimal path, safe optimal path and energy consumption optimal path are referred to as target optimal path；Judge that the target optimal path is no for the same directed edge；Seek respectively be not the target optimal path of the same directed edge other impedances；The subordinating degree function of the target optimal path and the bound of the subordinating degree function are determined based on the impedance of the target optimal path, to obtain the degree of membership of the target optimal path；The membership grade sets of the target optimal path are integrated, weighting subgoal is converted to；Optimal path is obtained based on the weighting subgoal.The factors such as comprehensive consideration time, safety, energy consumption are reached to path influence of city layout, to obtain the purpose of optimal path.
Description
Technical field
The present invention relates to path planning fields, and in particular, to a kind of hazardous material road transportation path planning of multiple target
Method.
Background technique
The dangerous material such as strong acid, the highly basic raw material indispensable as chemical industry, the safety of transport are to count the people concerning state
Raw major issue.Though the road transport of current dangerous product has the influence for considering section safety factor in Path selection, dangerous material
Transport is a systematic engineering of business, is the security risk of a movement when transporting on road, and haulage time is shorter, and accident occurs
Probability it is lower, while petroleum, as non-renewable energy resources, under Sustainable Development Background, energy consumption increasingly causes people
Attention.The multiple targets of time of fusion, safety, energy consumption are simultaneously unified for an organic whole, current path planing method
Only consider time or apart from single target, the influence of each factor of consideration that cannot be comprehensive.
Summary of the invention
It is an object of the present invention in view of the above-mentioned problems, propose a kind of hazardous material road transportation path planning of multiple target
Method, to realize the advantages of factors such as comprehensive consideration time, safety, energy consumption are to path influence of city layout.
To achieve the above object, technical solution of the present invention provides a kind of hazardous material road transportation path planning of multiple target
Method, comprising:
Time optimal path, safe optimal path and the energy consumption optimal path in the road network of screening are sought respectively, when
Between optimal path, safe optimal path and energy consumption optimal path be referred to as target optimal path；
Judge that the target optimal path is no for the same directed edge；
Seek respectively be not the target optimal path of the same directed edge other impedances；
The subordinating degree function of the target optimal path is determined based on the impedance of the target optimal path and described is subordinate to
The bound for spending function, to obtain the degree of membership of the target optimal path；
The membership grade sets of the target optimal path are integrated, weighting subgoal is converted to；
Optimal path is obtained based on the weighting subgoal.
A kind of specific implementation according to an embodiment of the present invention,
Time optimal path, safe optimal path and energy consumption optimal path in the road network for seeking screening respectively
The step of before, comprising:
Obtain the road network between origin and destination；
Calculate the time impedance of each directed edge, safety impedance and energy consumption impedance in the reason network；
The directed edge that safety impedance is greater than secure threshold is rejected, thus the road network after being screened.
A kind of specific implementation according to an embodiment of the present invention,
It is described judge the target optimal path it is no for the same directed edge the step of after, comprising:
If the target optimal path is a directed edge,
The directed edge is then confirmed as optimal path.
A kind of specific implementation according to an embodiment of the present invention,
The expression formula of the time impedance are as follows:
t1=t0[1+a·x1 b+c·x2 d]；
In formula:
t0For link travel time in the case of no traffic loading；x1For motor vehicle saturation degree, i.e. section motor vehicle actual traffic
The ratio between amount and the traffic capacity；x2For non-motor vehicle saturation degree, i.e. the ratio between section non-motor vehicle actual traffic amount and the traffic capacity；a,
B, c, d are regression parameter.
A kind of specific implementation according to an embodiment of the present invention,
The safety impedance expression formula are as follows:
In formula:
D is annual traffic accident number；L is road section length.
A kind of specific implementation according to an embodiment of the present invention,
The energy consumption impedance expression are as follows:
In formula:
L is road section length；P is hazardous materials transportation vehicle travel resistance power；η1For specific fuel consumption；V is dangerous material fortune
Defeated Vehicle Speed；α is fuel density；η2For driving engine mechanical output；M is hazardous materials transportation gross vehicle load；G is
Weight acceleration；f1For rolling frictional resistance coefficient；I is road grade；f2For coefficient of air resistance；S is vehicle front face area.
A kind of specific implementation according to an embodiment of the present invention,
The subordinating degree function expression formula of the target optimal path:
The upper bound and lower bound for the subordinating degree function of target optimal path.
A kind of specific implementation according to an embodiment of the present invention,
The membership grade sets by the target optimal path are integrated, and are converted to weighting subgoal, specifically:
Multiply number formulary being subordinate to the target optimal path according to the weighted value of the target optimal path and weighting evolution
Spend together as one.
A kind of specific implementation according to an embodiment of the present invention,
It is described that number formulary is multiplied for the target optimal path according to the weighted value and weighting evolution of the target optimal path
During membership grade sets are integrated, the weighting evolution multiplies number formulary and is integrated the membership grade sets of the target optimal path, specifically:
In formula:
aiFor integrated target；wiFor the weighted value of target i, w and β are constant.
A kind of specific implementation according to an embodiment of the present invention,
The β takes 1,2 or-∞.
Technical solution of the present invention has the advantages that
Technical solution of the present invention calculates the impedance of target optimal path in path planning, and according to impedance
The degree of membership of the target optimal path is obtained, so that the degree of membership based on target optimal path obtains optimal path, in path
The influence of time, safety and energy consumption to path planning is fully considered in planning, to reach comprehensive consideration time, peace
Entirely, the factors such as energy consumption are to path influence of city layout, to obtain the purpose of optimal path.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the flow chart of the hazardous material road transportation paths planning method of multiple target described in the embodiment of the present invention one；
Fig. 2 is the flow chart of the hazardous material road transportation paths planning method of multiple target described in the embodiment of the present invention two；
Fig. 3 is transportation network schematic diagram between origin and destination described in the embodiment of the present invention two.
Specific embodiment
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
Embodiment one:
As shown in Figure 1, a kind of hazardous material road transportation paths planning method of multiple target, comprising:
Step S101: seek respectively screening road network in time optimal path, safe optimal path and energy consumption most
Shortest path, time optimal path, safe optimal path and energy consumption optimal path are referred to as target optimal path.
Step S102: judge that the target optimal path is no for the same directed edge；
Judge whether time optimal path, safe optimal path and energy consumption optimal path are the same path.To screening
Road network afterwards seeks the optimal path of time, safety, each target of energy consumption with dijkstra's algorithm respectively, if three mesh
Target optimal path is identical, then the path is the final path for meeting all targets.
Step S103: seek respectively be not the target optimal path of the same directed edge other impedances；
Other target impedance values for solving each target optimal path, such as will also seek time optimal path its safety
Impedance and energy consumption impedance, safe optimal path will also seek its time impedance and energy consumption impedance, and energy consumption optimal path also requires
Take its time impedance and safety impedance.Other target impedance values of each target optimal path are solved,
Step S104: based on the target optimal path impedance determine the target optimal path subordinating degree function and
The bound of the subordinating degree function, to obtain the degree of membership of the target optimal path；
Step S105: the membership grade sets of the target optimal path are integrated, weighting subgoal is converted to；
Step S106: optimal path is obtained based on the weighting subgoal.
The Lower and upper bounds of each subordinating degree function are determined by the impedance value of each targetAccording to weight w=(w1,w2,w3)
And suitable weighting evolution multiplies number formulary and is integrated the membership grade sets of three targets, acquires it with the dijkstra's algorithm of extension
Pareto optimal path.
Optionally, time optimal path, safe optimal path and the energy consumption in the road network for seeking screening respectively
Before the step of optimal path, comprising:
Obtain the road network between origin and destination；
The road network G=(V, E) between origin and destination is obtained, wherein V is node, V={ v1,v2,…,vn, node viWith section
Point vjBetween section ei,jIt indicates, i, j ∈ V, whole directed edges constitute set E, E={ e1,2,e2,3,…,em-1,m, to appoint
One directed edge ei,jImpedance three-dimensional vectorIt indicates, whereinFor directed edge ei,jTime
Impedance,For directed edge ei,jSafety impedance,For directed edge ei,jEnergy consumption impedance.
Calculate the time impedance of each directed edge, safety impedance and energy consumption impedance in the reason network；
The directed edge that safety impedance is greater than secure threshold is rejected, thus the road network after being screened.
The safety impedance of the i.e. preferred safety impedance for considering path, all paths will be in the threshold value of setting, such as safety
Impedance is greater than the threshold value of setting, then directly rejects.If ei,jSafety impedance be greater than secure threshold, then it is straight in road network
It connects and rejects the directed edge.
Optionally, it is described judge the target optimal path it is no for the same directed edge the step of after, comprising:
If the target optimal path is a directed edge,
The directed edge is then confirmed as optimal path.
A kind of specific implementation according to an embodiment of the present invention,
The expression formula of the time impedance are as follows:
t1=t0[1+a·x1 b+c·x2 d]；
In formula:
t0For link travel time in the case of no traffic loading；x1For motor vehicle saturation degree, i.e. section motor vehicle actual traffic
The ratio between amount and the traffic capacity；x2For non-motor vehicle saturation degree, i.e. the ratio between section non-motor vehicle actual traffic amount and the traffic capacity；a,
B, c, d are regression parameter.
Optionally, the safety impedance expression formula are as follows:
In formula:
D is annual traffic accident number；L is road section length.
Optionally, the energy consumption impedance expression are as follows:
In formula:
L is road section length；P is hazardous materials transportation vehicle travel resistance power；η1For specific fuel consumption；V is dangerous material fortune
Defeated Vehicle Speed；α is fuel density；η2For driving engine mechanical output；M is hazardous materials transportation gross vehicle load；G is
Weight acceleration；f1For rolling frictional resistance coefficient；I is road grade；f2For coefficient of air resistance；S is vehicle front face area.
Optionally, the subordinating degree function expression formula of the target optimal path:
The upper bound and lower bound for the subordinating degree function of target optimal path.
Optionally, the membership grade sets by the target optimal path are integrated, and are converted to weighting subgoal, specifically
Are as follows:
Multiply number formulary being subordinate to the target optimal path according to the weighted value of the target optimal path and weighting evolution
Spend together as one.
Optionally, the weighted value and weighting evolution according to the target optimal path multiplies number formulary the target is optimal
During the membership grade sets in path are integrated, the weighting evolution multiplies number formulary and is integrated the membership grade sets of the target optimal path,
Specifically:
In formula:
aiFor integrated target；wiFor the weighted value of target i, w and β are constant.
Optionally, the β takes 1,2 or-∞.
Time impedance, safety impedance and energy consumption impedance weighted value w=(w1,w2,w3) given by hazardous materials transportation administrative department
It is fixed.
Embodiment two:
As shown in Fig. 2, hazardous materials transportation origin and destination are v1, v10 in Fig. 3, the road traffic net between v1, v10 in step 1
Network G=(V, E) is as shown in figure 3, wherein V={ v1,v2..., v10, E={ e1,e2,…e10, each directed edge ei,jImpedance beTime impedance unit is h, and safety impedance unit is secondary/hundred million truck kilometers, and energy consumption impedance unit is
Kwh, as shown in table 1.
| Directed edge | Vector impedance | Directed edge | Vector impedance |
| e1,2 | (3,24,274) | e8,9 | (9,24,151) |
| e1,3 | (4,5,231) | e2,6 | (14,20,267) |
| e3,4 | (10,5,300) | e6,7 | (5,3,273) |
| e4,5 | (8,23,161) | e5,7 | (12,15,281) |
| e2,5 | (6,32,216) | e7,10 | (12,9,162) |
| e4,8 | (13,38,216) | e9,10 | (6,33,210) |
| e5,9 | (9,7,295) |
Table 1: impedance information table.
Wherein time lower bound is 3, and safe lower bound is 3, and energy consumption lower bound is 150.
It is 40 times/hundred million truck kilometers that secure threshold is preset in step 2, and each directed edge safety impedance is all larger than 40 times/hundred million vehicles public affairs
In, therefore each directed edge is all effective.
Step 3 with dijkstra's algorithm acquire time optimal path be 1. → 2. → 5. → 9. → 10.；The optimal road of safety
Diameter be 1. → 2. → 6. → 7. → 10.；Energy consumption optimal path be 1. → 2. → 5. → 7. → 10., because three's optimal path is different, after
Continuous step 4.Assuming that three's optimal path is identical, i.e., as time optimal path, safe optimal path and energy consumption optimal path are
1. → 2. → 5. → 9. → 10., then assert 1. → 2. → → 9. → be 10. 5. optimal path.
It is as follows that step 4 acquires each other target values of target optimal path:
Therefore, the time upper bound is 33, secure upper bound 96, and the energy consumption upper bound is 995, the subordinating degree function of each target are as follows:
It is w=(0.3,0.4,0.3) that hazardous materials transportation administrative department, which gives each target weight, is calculated using weighting evolution power
Three target membership grade sets are integrated by son, and as β=1, the weighted impedance value of each directed edge is as shown in table 2.
| Directed edge | Weighted impedance | Directed edge | Weighted impedance |
| e1,2 | 0.866 | e8,9 | 0.85 |
| e1,3 | 0.953 | e2,6 | 0.775 |
| e3,4 | 0.868 | e6,7 | 0.936 |
| e4,5 | 0.86 | e5,7 | 0.812 |
| e2,5 | 0.822 | e7,10 | 0.88 |
| e4,8 | 0.744 | e9,10 | 0.82 |
| e5,9 | 0.871 |
Weighted impedance information table when table 2: β=1.
Meet when acquiring β=1 according to the dijkstra's algorithm of extension all targets Pareto optimal path be 1. → 2.
→ 5. → 9. → 10., similarly, when β=2, β=- ∞, the Pareto optimal path for meeting all targets is as shown in table 3.
| β | The path Pareto | Time | Safety | Energy consumption |
| 1 | ①→②→⑤→⑨→⑩ | 24 | 96 | 995 |
| 2 | ①→②→⑤→⑨→⑩ | 24 | 96 | 995 |
| -∞ | ①→②→⑤→⑨→⑩ | 24 | 96 | 995 |
Table 3: Pareto optimal path when different beta.
To sum up, meet all targets and the highest final path of satisfaction be 1. → 2. → 5. → 9. → 10., time resistance
Resist for for 24 hours, safety impedance is 96 times/hundred million truck kilometers, energy consumption impedance is 995kwh.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of hazardous material road transportation paths planning method of multiple target characterized by comprising
Time optimal path, safe optimal path and the energy consumption optimal path in the road network of screening are sought respectively, and the time is most
Shortest path, safe optimal path and energy consumption optimal path are referred to as target optimal path；
Judge that the target optimal path is no for the same directed edge；
Seek respectively be not the target optimal path of the same directed edge other impedances；
Based on the target optimal path impedance determine the target optimal path subordinating degree function and the degree of membership letter
Several bound, to obtain the degree of membership of the target optimal path；
The membership grade sets of the target optimal path are integrated, weighting subgoal is converted to；
Optimal path is obtained based on the weighting subgoal.
2. the hazardous material road transportation paths planning method of multiple target according to claim 1, which is characterized in that described point
Do not seek time optimal path in the road network of screening, safe optimal path and the step of energy consumption optimal path before, packet
It includes:
Obtain the road network between origin and destination；
Calculate the time impedance of each directed edge, safety impedance and energy consumption impedance in the reason network；
The directed edge that safety impedance is greater than secure threshold is rejected, thus the road network after being screened.
3. the hazardous material road transportation paths planning method of multiple target according to claim 1 or 2, which is characterized in that institute
State judge the target optimal path it is no for the same directed edge the step of after, comprising:
If the target optimal path is a directed edge,
The directed edge is then confirmed as optimal path.
4. the hazardous material road transportation paths planning method of multiple target according to claim 1 or 2, which is characterized in that
The expression formula of the time impedance are as follows:
t1=t0[1+a·x1 b+c·x2 d]；
In formula:
t0For link travel time in the case of no traffic loading；x1For motor vehicle saturation degree, i.e., section motor vehicle actual traffic amount with
The ratio between traffic capacity；x2For non-motor vehicle saturation degree, i.e. the ratio between section non-motor vehicle actual traffic amount and the traffic capacity；a,b,c,
D is regression parameter.
5. the hazardous material road transportation paths planning method of multiple target according to claim 1 or 2, which is characterized in that institute
State safety impedance expression formula are as follows:
In formula:
D is annual traffic accident number；L is road section length.
6. the hazardous material road transportation paths planning method of multiple target according to claim 1 or 2, which is characterized in that institute
State energy consumption impedance expression are as follows:
In formula:
L is road section length；P is hazardous materials transportation vehicle travel resistance power；η1For specific fuel consumption；V is hazardous materials transportation vehicle
Travel speed；α is fuel density；η2For driving engine mechanical output；M is hazardous materials transportation gross vehicle load；G adds for weight
Speed；f1For rolling frictional resistance coefficient；I is road grade；f2For coefficient of air resistance；S is vehicle front face area.
7. the hazardous material road transportation paths planning method of multiple target according to claim 1 or 2, which is characterized in that
The subordinating degree function expression formula of the target optimal path:
The upper bound and lower bound for the subordinating degree function of target optimal path.
8. the hazardous material road transportation paths planning method of multiple target according to claim 1 or 2, which is characterized in that institute
It states and is integrated the membership grade sets of the target optimal path, be converted to weighting subgoal, specifically:
Multiply number formulary for the membership grade sets of the target optimal path according to the weighted value of the target optimal path and weighting evolution
It is integrated.
9. the hazardous material road transportation paths planning method of multiple target according to claim 8, which is characterized in that
It is described that number formulary being subordinate to the target optimal path is multiplied according to the weighted value and weighting evolution of the target optimal path
It spends in together as one, the weighting evolution multiplies number formulary and is integrated the membership grade sets of the target optimal path, specifically:
In formula:
aiFor integrated target；wiFor the weighted value of target i, w and β are constant.
10. the hazardous material road transportation paths planning method of multiple target according to claim 8, which is characterized in that the β
Take 1,2 or-∞.
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