CN109559544A - A kind of vehicle intelligent navigates the traffic fast selecting method under the traffic accident that happens suddenly - Google Patents

A kind of vehicle intelligent navigates the traffic fast selecting method under the traffic accident that happens suddenly Download PDF

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CN109559544A
CN109559544A CN201811386648.1A CN201811386648A CN109559544A CN 109559544 A CN109559544 A CN 109559544A CN 201811386648 A CN201811386648 A CN 201811386648A CN 109559544 A CN109559544 A CN 109559544A
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traffic
row
volume
coverage
period
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CN109559544B (en
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张方伟
赵顗
尹传忠
胡聿理
莫明凤
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Shanghai Maritime University
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Shanghai Maritime University
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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
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data

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  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention belongs to the travel route choice technical fields of intelligent navigation, a kind of vehicle intelligent is provided to navigate the traffic fast selecting method under the traffic accident that happens suddenly, the shared knowledge base of intelligent navigation is defined, it includes urban road network's information and road network flow information that this, which shares knowledge base,；It determines and four direction is divided to carry out forecast analysis to the traffic flow of emergency event peripheral path net respectively, four direction is respectively east → west, west → east, south → north, north → south, each direction includes the road traffic delay prediction of the analysis of traffic accident coverage, the different sections of highway volume of traffic shared in proportion grading and coverage, finally obtains trip route decision in conjunction with the analysis result in 4 directions；The estimation of more accurate travel time of each path is finally obtained, time shortest trip route is the decision scheme of trip route.

Description

A kind of vehicle intelligent navigates the traffic fast selecting method under the traffic accident that happens suddenly
Technical field
The invention belongs to the travel route choice technical fields of intelligent navigation, exist more particularly to a kind of navigation of vehicle intelligent The traffic fast selecting method to happen suddenly under traffic accident.
Background technique
Burst traffic accident belongs to the normal hair sexual behavior part of urban highway traffic, and burst traffic accident will lead to localized road road The poly- drop of the traffic capacity of section, steps into new steady s tate so as to cause periphery traffic assignation.About reply burst traffic thing Urban traffic control measure and choice for traveling research under therefore is more, but most of research is not in view of traveler is in burst traffic Information feature under accident, does not provide traveler is only capable of how realizing the rapid Optimum of trip route by navigation in trip With decision-making technique.If the limited information that will appreciate that using trip, relatively accurate and dynamic evaluation road network state, thus to go out It is those skilled in the art's urgent problem that passerby, which formulates optimal travel route choice scheme,.
Summary of the invention
It is a kind of quick using trip route of the intelligent navigation under emergency event the purpose of the present invention is being provided for traveler Decision Method cannot quickly select optimal trip route to avoid traveler after encountering emergency event, cause Travel time trip comfort level reduces.
A kind of vehicle intelligent navigates the traffic fast selecting method under the traffic accident that happens suddenly, comprising the following steps:
The shared knowledge base of intelligent navigation is defined, it includes urban road network's information and road network flow letter that this, which shares knowledge base, Breath；
It determines and four direction is divided to carry out forecast analysis, four direction point to the traffic flow of emergency event peripheral path net respectively Not Wei east → west, west → east, south → north, north → south, each direction include traffic accident coverage analysis, different sections of highway hand over The road traffic delay prediction of flux shared in proportion grading and coverage, finally obtains in conjunction with the analysis result in 4 directions Trip route decision；
The traffic accident coverage determined under each direction is examined using differentiation；
When each direction carries out independent analysis, determine every row's link counting shares ratio；
When each direction carries out independent analysis, determine that target vehicle enters the time h of coverage1, in coverage Each section subsequent period h2The volume of traffic predicted；
The volume of traffic using BPR function and each section future calculates section Impedance Function again, to change institute There is the estimated travel time of alternative path, the travel time is the smallest as choice for traveling scheme.
Described being examined using differentiation determines that the traffic accident coverage under each direction specifically includes following step It is rapid:
When analyzing either direction, regard the direction as north → south to then to the following weight of each direction progress Multiple step；
Longitudinal road number is i0, lateral section number of rows is j0, section S0(i0,j0) north → south to traffic flow in t0When It carves and burst traffic accident occurs, the duration is △ t for traffic flow interruption0；
[t0,t0+△t0] magnitude of traffic flow of period section S (i, j) is[t0-△t0,t0] period section S (i, j) friendship Through-current capacity is
When burst traffic accident point southern side n-th(1)Arrange sectionWithThere is no significant difference, and n-th(1)- 1 row road SectionWithThere are when significant difference, by n-th(1)Row is used as coverage southern side boundary；
When burst traffic accident point north side n-th(2)Arrange sectionWithThere is no significant difference, and n-th(2)+ 1 row road SectionWithThere are when significant difference, by n-th(2)Row is used as coverage north side boundary；
As burst traffic accident point west side m(1)RoadWithThere is no significant difference, and m(1)+ 1 road RoadWithThere are when significant difference, by m(1)Road is as coverage west side boundary；
As burst traffic accident point east side m(2)RoadWithThere is no significant difference, and m(2)- 1 road RoadWithThere are when significant difference, by m(2)Road is as coverage west side boundary；
Final determining coverage is that m item longitudinal direction road and n arrange lateral section, wherein m=m(1)+m(2), n=n(1)+ n(2)。
The every row's link counting of the determination share ratio the following steps are included:
When analyzing either direction, regard the direction as north → south to then to the following weight of each direction progress Multiple step；
North → south mainly enters from the north side of coverage to traffic flow, since coverage is limited, it is believed that enters and hands over Flux is synchronous forward, i.e. the overall volume of traffic summation of any row of east-west direction is relatively stable, and each road of each row is shared Ratio indicates are as follows:
Each section subsequent period h in the coverage2The volume of traffic predicted the following steps are included:
When either direction is analyzed, regard the direction as north → south to then to the following repetition of each direction progress Step；
Remember all sections of first row in [to-Δt,to] volume of traffic summation of period is
Remember all sections of first row before 3 days in [to-Δt,to] volume of traffic summation mean value of period is
Then day attenuation coefficient
Remember all sections of first row in [to,to+Δt0] volume of traffic summation of period is
Remember all sections of first row before 3 days in [to,to+Δt0] volume of traffic summation mean value of period is
Then event attenuation coefficient
Note burst traffic accident is kth row, and kth arranges all sections in [to,to+Δt0] volume of traffic summation of period is
Then stable region attenuation coefficient
Remember all sections of the n-th row in [to,to+Δt0] volume of traffic summation of period is
Then output area attenuation coefficient
Note target vehicle coverage is entered by north side after the h moment, before all sections of first row 3 days in [to+Δt0,to +Δt0+ h] volume of traffic summation mean value of period is
Then the 1st all sections of row are in [to+Δt0,to+Δt0+ h] volume of traffic summation of period is1st each link counting of row is
Then kth arranges all sections in [to+Δt0,to+Δt0+ h] volume of traffic summation of period isKth arranges each link counting
Then all sections of the n-th row are in [to+Δt0,to+Δt0+ h] volume of traffic summation of period isEach link counting of n-th row is
When r ∈ [2, k-1], r arranges each section in [to+Δt0,to+Δt0+ h] period the volume of traffic
As r ∈ [k+1, n-1], r arranges each section in [to+Δt0,to+Δt0+ h] period the volume of traffic
Beneficial effects of the present invention: target vehicle is indicated using needs when certain path by how long entering traffic accident The zone of influence updates next h moment based on BPR function by the way that 4 directions are carried out with the traffic volume forecast of next h period respectively Road Impedance Function obtains the more accurate travel time of each path so that the travel time row to all alternative paths updates Estimation, time shortest trip route is the decision scheme of trip route.
Detailed description of the invention
Fig. 1 is road network schematic diagram within the scope of virtual influences under burst traffic accident of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
A kind of vehicle intelligent navigates the traffic fast selecting method under the traffic accident that happens suddenly, comprising the following steps:
(1) vehicle intelligent navigation knowledge library
1) urban road network's information: basic condition is controlled including road network structure, road section information, link length, signal；
2) road network flow information: the historical data of each link counting of urban road network, each section of urban road network are worked as The preceding day part volume of traffic.
(2) direction is divided to carry out each link flow prediction theory
Road network traffic flow can be divided into four flow directions: east → west, west → east, south → north, north → south.Its Middle East → Xi Hexi → east belongs to East and West direction traffic but also belongs to opposite direction, and south → Bei Hebei → south belongs to north-south traffic but also belongs to phase negative side To the influence of opposite direction traffic flow is negligible；East and West direction traffic and north-south traffic belong to the friendship that intersects vertically each other It is through-flow；It is any to flow to traffic flow and mainly influenced by same flow to upstream and downstream traffic, while the traffic flow that intersects vertically has part shadow It rings.For the mutation analysis for the traffic accident following peripheral traffic environment that happens suddenly, the influencing characterisitic of all directions traffic flow, this patent are considered It is proposed flows to traffic flow to east → west, west → east, south → north, four, north → south and carries out forecast analysis respectively, takes into account phase in analysis Influence feature between mutually.
(3) coverage is determined
When being discussed to a direction, the direction can be regarded as north → south to, therefore once implement only to north → south It flows to and is analyzed as follows for traffic flow:
1) longitudinal road number is set as i0, lateral section number of rows is j0, it is assumed that section S0(i0,j0) north → south to traffic Stream is in t0Burst traffic accident occurs for the moment, and section north → south is caused to be interrupted to traffic flow, and traffic flow is interrupted Duration is △ t0；
2) as shown in Figure 1, original pass through S0(i0,j0) at the traffic flow of north orientation south think that east and west sides shift, be transferred to Parallel track road, parallel road saturation degree rise, and road network traffic flow distribution equilibrium state is broken and redistributed, such as water It is diffused after stream is intercepted to both sides, dotted line indicates the schematic diagram of traffic direction two sides diffusion in attached drawing 1；
3) [t is enabled0,t0+△t0] period, the magnitude of traffic flow of i-th road jth row section S (i, j) isEnable [t0-△t0, t0], the magnitude of traffic flow of section S (i, j) is
4) coverage boundary definition:
When burst accident point north side the n-th row section is in [t0,t0+△t0] period link counting arrayWith in [t0- △t0,t0] period link counting arrayThere is no significant differences, and the (n+1)th row section is handed in the section of two periods Flux arrayWithIt, can be using the n-th row as coverage north side boundary there are when significant difference；
When burst accident point southern side the n-th row section is in [t0,t0+△t0] period link counting arrayWith in [t0- △t0,t0] period link counting arrayThere is no significant differences, and the (n-1)th row section is handed in the section of two periods Flux arrayWithIt, can be using the n-th row as coverage southern side boundary there are when significant difference；
When the m articles of west side of burst accident point road is in [t0,t0+△t0] period each link counting arrayWith [t0-△t0,t0] period volume of traffic arrayThere is no significant differences, and the m+1 articles road is handed in the section of two periods Flux arrayWithIt, can be using the m articles road as coverage west side boundary there are when significant difference；
When the m articles of east side of burst accident point road is in [t0,t0+△t0] period each link counting arrayWith [t0-△t0,t0] period volume of traffic arrayThere is no significant differences, and the m-1 articles road is handed in the section of two periods Flux arrayWithIt, can be using the m articles road as coverage west side boundary there are when significant difference；
Wherein, i indicates north-south road number at southern side and north side boundary definition, and number is sequentially increased eastwards from west；i East and West direction section number is indicated at east side and west side boundary definition, number north orientation south is sequentially increased；In view of the boundary volume of traffic Amplitude of variation is smaller, it is proposed that i value is 1 to 7, and road number where burst accident is 4 when southern side and north side boundary definition, east side It is 4 with section number where burst accident when the boundary definition of west side.
(4) both ends allocation proportion is determined
The coverage that can determine burst traffic accident according to the above coverage is that m item longitudinal direction road and n row are lateral Section, m is equal to 7, n and is equal to 9 in Fig. 1.North → south orientation traffic flow mainly enters from the north side of coverage, since coverage has Limit, it is believed that enter the volume of traffic and synchronize forward, is i.e. the overall volume of traffic summation of any row of East and West direction is relatively stable, and each row Each road is shared ratio and can be expressed as follows:
(5) basic traffic volume variation tendency is determined
1) note all sections of first row are in [to-Δt,to] volume of traffic summation of period is
2) remember all sections of first row before 3 days in [to-Δt,to] volume of traffic summation mean value of period is
3) remember day attenuation coefficient
4) note all sections of first row are in [to,to+Δt0] volume of traffic summation of period is
5) remember all sections of first row before 3 days in [to,to+Δt0] volume of traffic summation mean value of period is
6) account part attenuation coefficient
7) note burst traffic accident is kth row, and kth arranges all sections in [to,to+Δt0] volume of traffic summation of period is
8) remember stable region attenuation coefficient
9) note all sections of the n-th row are in [to,to+Δt0] volume of traffic summation of period is
10) remember output area attenuation coefficient
11) note target vehicle coverage is entered by north side after the h moment, before all sections of first row 3 days in [to+Δ t0,to+Δt0+ h] volume of traffic summation mean value of period is
12) then the 1st all sections of row in [to+Δt0,to+Δt0+ h] volume of traffic summation of period is1st each link counting of row is
13) then kth arranges all sections in [to+Δt0,to+Δt0+ h] volume of traffic summation of period isKth arranges each link counting
14) then all sections of the n-th row in [to+Δt0,to+Δt0+ h] volume of traffic summation of period isEach link counting of n-th row is
15) when r ∈ [2, k-1], r arranges each section in [to+Δt0,to+Δt0+ h] period the volume of traffic
16) as r ∈ [k+1, n-1], r arranges each section in [to+Δt0,to+Δt0+ h] period the volume of traffic
(6) Impedance Function is updated
Link travel time is determined using the BPR Impedance Function that Bureau of Public Roads is recommended, for each specific road section roadlock Function is unique, is not expressed as follows:
I, j- indicate section number；
TijIndicate link travel time；
tijLink travel time under the conditions of indicating unimpeded；
qijIndicate link counting；
CijIndicate road section capacity；
α, β-constant.
Any section is in [to+Δt0,to+Δt0+ h] link travel time can be expressed as follows:
(7) Path selection
Have for target vehicle alternative path it is a plurality of, emergency event occur after, target vehicle may pass through within the h time The emergency event zone of influence uses the relevant road segments in the time burst zone of influence, is utilized the running time T in sectionijIt carries out Replacement, to obtain the travel time prediction value of every alternative path, and preferably travel time shortest path is gone on a journey.

Claims (3)

  1. The traffic fast selecting method under the traffic accident that happens suddenly 1. a kind of vehicle intelligent navigates, which is characterized in that
    The shared knowledge base of intelligent navigation is defined, it includes urban road network's information and road network flow information that this, which shares knowledge base,；
    It determines and four direction is divided to carry out forecast analysis to the traffic flow of emergency event peripheral path net respectively, four direction is respectively East → west, west → east, south → north, north → south, each direction include the analysis of traffic accident coverage, the different sections of highway volume of traffic The road traffic delay prediction shared in proportion grading and coverage, finally obtain trip in conjunction with the analysis result in 4 directions Path decision；
    The traffic accident coverage determined under each direction is examined using differentiation；
    When each direction carries out independent analysis, determine every row's link counting shares ratio；
    When each direction carries out independent analysis, determine that target vehicle enters the time h of coverage1, to road each in coverage Section subsequent period h2The volume of traffic predicted；
    The volume of traffic using BPR function and each section future calculates section Impedance Function again, to change all standby It is the estimated travel time of routing diameter, the travel time is the smallest as choice for traveling scheme；
    It is described examined using differentiation determine traffic accident coverage under each direction specifically includes the following steps:
    When analyzing either direction, regard the direction as northern → south to then to the following repetition step of each direction progress Suddenly；
    Longitudinal road number is i0, lateral section number of rows is j0, section S0(i0,j0) north → south to traffic flow in t0Moment hair Raw burst traffic accident, the duration is △ t for traffic flow interruption0；
    [t0,t0+△t0] magnitude of traffic flow of period section S (i, j) is[t0-△t0,t0] period section S (i, j) traffic flow Amount is
    When burst traffic accident point southern side n-th(1)Arrange sectionWithThere is no significant difference, and n-th(1)- 1 row sectionWithThere are when significant difference, by n-th(1)Row is used as coverage southern side boundary；
    When burst traffic accident point north side n-th(2)Arrange sectionWithThere is no significant difference, and n-th(2)+ 1 row sectionWithThere are when significant difference, by n-th(2)Row is used as coverage north side boundary；
    As burst traffic accident point west side m(1)RoadWithThere is no significant difference, and m(1)+ 1 roadWithThere are when significant difference, by m(1)Road is as coverage west side boundary；
    As burst traffic accident point east side m(2)RoadWithThere is no significant difference, and m(2)- 1 roadWithThere are when significant difference, by m(2)Road is as coverage west side boundary；
    Final determining coverage is that m item longitudinal direction road and n arrange lateral section, wherein m=m(1)+m(2), n=n(1)+n(2)。
  2. 2. traffic fast selecting method according to claim 1, which is characterized in that the every row's link counting of the determination Share ratio the following steps are included:
    When analyzing either direction, regard the direction as northern → south to then to the following repetition step of each direction progress Suddenly；
    North → south mainly enters from the north side of coverage to traffic flow, since coverage is limited, it is believed that enters the volume of traffic Synchronous the overall volume of traffic summation of the i.e. any row of east-west direction is relatively stable forward, and each road of each row shares ratio It indicates are as follows:
  3. 3. traffic fast selecting method according to claim 1 or 2, which is characterized in that each in the coverage Section subsequent period h2The volume of traffic predicted the following steps are included:
    When either direction is analyzed, regard the direction as north → south to then to the following repetition step of each direction progress；
    Remember all sections of first row in [to-Δt,to] volume of traffic summation of period is
    Remember all sections of first row before 3 days in [to-Δt,to] volume of traffic summation mean value of period is
    Then day attenuation coefficient
    Remember all sections of first row in [to,to+Δt0] volume of traffic summation of period is
    Remember all sections of first row before 3 days in [to,to+Δt0] volume of traffic summation mean value of period is
    Then event attenuation coefficient
    Note burst traffic accident is kth row, and kth arranges all sections in [to,to+Δt0] volume of traffic summation of period is
    Then stable region attenuation coefficient
    Remember all sections of the n-th row in [to,to+Δt0] volume of traffic summation of period is
    Then output area attenuation coefficient
    Note target vehicle coverage is entered by north side after the h moment, before all sections of first row 3 days in [to+Δt0,to+Δt0 + h] volume of traffic summation mean value of period is
    Then the 1st all sections of row are in [to+Δt0,to+Δt0+ h] volume of traffic summation of period is 1st each link counting of row is
    Then kth arranges all sections in [to+Δt0,to+Δt0+ h] volume of traffic summation of period is Kth arranges each link counting
    Then all sections of the n-th row are in [to+Δt0,to+Δt0+ h] volume of traffic summation of period is Each link counting of n-th row is
    When r ∈ [2, k-1], r arranges each section in [to+Δt0,to+Δt0+ h] period the volume of traffic
    As r ∈ [k+1, n-1], r arranges each section in [to+Δt0,to+Δt0+ h] period the volume of traffic
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