CN110110919A - The object intercepting method of path minimum is reached based on particle swarm algorithm and region - Google Patents
The object intercepting method of path minimum is reached based on particle swarm algorithm and region Download PDFInfo
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- CN110110919A CN110110919A CN201910360944.2A CN201910360944A CN110110919A CN 110110919 A CN110110919 A CN 110110919A CN 201910360944 A CN201910360944 A CN 201910360944A CN 110110919 A CN110110919 A CN 110110919A
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- G06N3/004—Artificial life, i.e. computing arrangements simulating life
- G06N3/006—Artificial life, i.e. computing arrangements simulating life based on simulated virtual individual or collective life forms, e.g. social simulations or particle swarm optimisation [PSO]
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Abstract
The present invention relates to a kind of, and the motor vehicle based on intelligent algorithm intercepts paths planning method.The topological structure of city road network and vehicle movement track are abstracted into mostly matrix by the present invention, Thiessen polygon is formed in a matrix by the radiation of core circle of all vehicles, target where calculating target vehicle in Thiessen polygon region reaches path overall length, using the predicted path of target vehicle as terminal, asked by intelligent algorithm makes the shortest crossing position in path in target vehicle Thiessen polygon region in interception car motion process, connects these crossing positions and just obtains Optimal Intercept path.The present invention needs the trace information of road network and vehicle, road network information can be obtained directly by map, trace information needs to monitor by urban road crossing, method passes through the graphical method for combining common path optimizing algorithm and simplifying areal calculation, provides new approaches for the vehicle intercept problems under urban environment.
Description
Technical field
It is specifically a kind of that path is reached most based on particle swarm algorithm and region the present invention relates to a kind of object intercepting method
The object intercepting method of smallization.
Background technique
The development of infrastructure makes traffic network in city become increasingly complex in city.The path planning of vehicle in city
It is more and more important, it is most common as avoiding congestion in road section, but in some emergencies such as ambulance, fire fighting truck, police car
Deng enforcement vehicle path planning on have bigger application value.
By taking law enforcement for environmental protection as an example, limitation disposal of pollutants is to the most effective method of pollution control.The air pollution master in city
It to be caused by automotive emission, therefore limiting vehicle exhaust emissions can reach the most direct mesh for administering air pollution
's.However limited under current background all automotive emissions be it is difficult to realize, realize that pollution control is arranged at this stage
Applying is discharge beyond standards motor vehicle in limitation city.
The interception of motor vehicle is mainly made of discovery target, tracking target, interception target three parts, mesh is found and track
Mark is dependent on nowadays advanced monitoring device and image capture device, and cost reason in practice makes urban road crossing, and these set
Standby limited amount, it is therefore desirable to look-ahead be carried out to the track of intercepted vehicle, while the reasonable path that intercepts can lack
Guarantee effectively control pollution sources in the case where few monitoring device, so that pollution level is reduced to minimum while reducing cost.Therefore vehicle
Intercept problems become the key technology of moving urban pollution source control.
Summary of the invention
The problems such as to overcome number of devices to be restricted, the present invention propose that a kind of motor vehicle based on particle swarm algorithm intercepts road
Diameter planing method utilizes the topological structure and some traffic informations being easy to get of traffic network, such as discharge beyond standards vehicle
The position at moment or the future may appear position, interception car of enforcing the law can be made in the case where monitoring device is as few as possible
Discharge beyond standards vehicle is intercepted by most fast, most accurate, the highest planning path of efficiency.
Method provided by the invention can be in the prediction locus of known discharge beyond standards vehicle or the feelings of incomplete real time position
Interception function is played under condition, must quick and precisely to intercept discharge beyond standards vehicle control disposal of pollutants as far as possible, by combining Tyson
Polygon and particle swarm algorithm provide for interception car most preferably intercepts route.
The present invention the following steps are included:
(1) urban road network is abstracted into matrix according to topological structure, is that the vehicle and later period in region calculate path
Overall length provides coordinate data.
(2) radiation circle is generated according to the position of vehicle in road network, the shape on boundary by from the circle spread centered on vehicle,
The scattering occurred when encountering barrier determines, therefore boundary is irregular, the speed of radiation circle diffusion and the traveling of vehicle
Speed is directly proportional.
(3) prediction locus that target vehicle is primarily determined according to existing monitoring information, by certain point on prediction locus away from mesh
The distance and target vehicle of mark vehicle assign the weight to the crossing quantity that the point is passed through.
(4) optimal path of certain point on interception car to prediction locus is calculated with particle swarm algorithm.
(4-1) due to needing multiple interception cars that could constitute effective interception, so in algorithm a particle by two and
The matrix that above interception car is constituted indicates that objective function is the round radiation circle with interception car of radiation where target vehicle
Path overall length is reached in the region formed after tangent.The computation model of path overall length is as follows:
Cr in formula1Indicate first crossing intersected with round edge circle, criAnd cri+1The current crossing intersected with round edge circle and
Next crossing, peIndicate coordinates of targets, LsIndicate path overall length, calculated path length becomes reachable path in this approach
Length, this calculation also calculate Invalid path length in overall length it is possible to prevente effectively from when calculating path overall length.
In view of speed that the actual conditions of interception are interception cars is consistently greater than the speed of target vehicle, interception car is total
It is that can reach next crossing with target vehicle in advance or at least while before target vehicle reaches next crossing, therefore algorithm is only
Coordinate according to vehicle at crossing calculates.
(4-2) particle is dispensed on different crossings, and each particle is according to oneself speed to the road closed on when algorithm starts
Mouth movement updates the direction of motion and speed according to group's extreme value and individual extreme value.Target carriage is calculated by the position of interception car
Path overall length in region, when final movement velocity is reduced to zero, so that it is determined that the road that interception car occurs next time
Mouthful.
(4-3) all vehicles are moved from new position to the position of subsequent time, are repeated step (4-2), arrive mesh until calculating
It marks the prediction locus of vehicle or intercepts target vehicle, interception car, which shifts to an earlier date, reaches some road on predicted path in target vehicle
Mouthful, then it is effectively to track path by the track that the crossing extends to interception car current location.
(8) the crossing number n passed through according to certain point on target vehicle to prediction locus, finds out interception car to prediction locus
The crossing number that the upper point is passed through is less than or equal to the track of n, particle swarm algorithm repeatedly calculate in the optimal solution crossing institute that obtains
Constitute optimal tracking path.
Two parts can be divided into according to the algorithm this method used in this method:
One: city road network, which is converted to matrix, to be indicated:
The circle to external radiation is formed centered on the position of vehicle in road network, is divided into multiple Tysons polygon road network
Shape calculates target in each Thiessen polygon region and reaches path overall length.
Two: when being moved since random start by different directions with the multiple interception cars of particle swarm algorithm calculating, target
The minimum value of reachable path overall length where vehicle in Thiessen polygon region, this in the process obtains that target is made to reach path
Overall length the smallest interception car position always, is associated with these positions and obtains the Optimal Intercept path of interception car.
In described one, traffic network is abstracted into matrix, each road section length is calculated with this, when point-to-point transmission coordinate is 0,
0 the two crossing can mutually be reached without road.
Beneficial effects of the present invention:
(1) information that needs of the present invention is less, be only utilized traffic network topological structure and some friendships being easy to get
Communication breath, such as the part real time position or prediction locus of research vehicle, can be obtained the best interception to discharge beyond standards vehicle
Path.
(2) present invention is calculated using dynamic objective function particle swarm algorithm combination Thiessen polygon, so that intercepting path
The higher calculating speed of accuracy rate is faster in the calculating process of planning.Using all location points in Thiessen polygon to central point away from
Scope of activities from most short and Thiessen polygon central point can only effectively increase interception in the feature in polygon
Accuracy rate.The present invention for the first time by based on Thiessen polygon area method and particle swarm algorithm combine be applied to vehicle intercept
In.
(3) urban road network is abstracted as coordinates matrix by the present invention, and is determined by Thiessen polygon domain division method
Objective function of the invention is that reachable path is most short, based on particle swarm algorithm and Thiessen polygon area minimum principle, by grain
Swarm optimization finds discharge beyond standards vehicle and reaches the position of the shortest interception car in path, and is finally made of most these positions
Excellent interception path, compared to traditional hold-up interception method, the present invention makes interception car that may not necessarily obtain the position of exceeded vehicle in real time
Information can also complete interception task.
Detailed description of the invention
Fig. 1 inventive method flow chart；
Fig. 2 survey region binary map；
Fig. 3 radiation circle forms Thiessen polygon figure；
Fig. 4 particle swarm algorithm intercepts process schematic；
The Thiessen polygon that Fig. 5 city road network environment is formed；
The change procedure in the reachable path during intercepting Fig. 6.
Specific embodiment
Below with reference to example and attached drawing, the invention will be further described, but the scope of protection of the present invention is not limited thereto.
Detailed process is as follows for the present embodiment, sees Fig. 1 and Fig. 2:
1, urban road network is abstracted into matrix according to topological structure first, is that the vehicle and later period in region calculate road
Diameter overall length provides coordinate data, as follows:
The seat at each crossing as in survey region
The length of certain road can be directly calculated in scale value by the Euclidean distance of point-to-point transmission, and the point expression that coordinate is zero is not deposited
Crossing can not be calculated.
2, radiation circle is then generated according to the position distribution of the vehicle in region and forms Thiessen polygon such as Fig. 3, on road
Netting and forming the boundary of Thiessen polygon under such non-convex environment is irregular such as Fig. 5.After completing region segmentation, calculate super
Area of the Voronoi area when not influenced by barrier where mark discharge vehicle, can first calculate point between Voronoi area
Boundary line equation and the intersection point in these lines of demarcation can be divided by triangle in the case where these known coordinates and be asked
The area of each region out.The purpose of areal calculation is to provide crossing cr when seeking optimal path with particle swarm algorithmiIt chooses
With reference to improve accuracy.
3, the prediction locus that target vehicle is primarily determined according to existing monitoring information, by certain point on prediction locus away from target
The distance and target vehicle of vehicle assign the weight to the crossing quantity that the point is passed through.
4, the optimal path of certain point on interception car to prediction locus is calculated with particle swarm algorithm.Due to needing multiple interceptions
Vehicle could constitute effective interception, so the matrix table that a particle is made of two or more interception cars in algorithm
Show, objective function is to reach path in the round region formed after tangent with the radiation circle of interception car of radiation where target vehicle
Overall length.The computation model of reachable path overall length is as follows:
Cr in formula1Indicate first crossing intersected with round edge circle, criAnd cri+1Indicate the current road intersected with round edge circle
Mouth and next crossing, peIndicate coordinates of targets, LsIndicate path overall length, calculated path length becomes reachable in this approach
Path length, this calculation also calculate Invalid path length to overall length it is possible to prevente effectively from when calculating path overall length
It is interior.
5, in view of speed that the actual conditions of interception are interception cars is consistently greater than the speed of target vehicle, interception car
Next crossing, therefore algorithm can always be reached with target vehicle in advance or at least while before target vehicle reaches next crossing
Only the coordinate according to vehicle at crossing calculates.
6, particle is dispensed on different crossings, and each particle is transported according to the speed of oneself to the crossing closed on when algorithm starts
It is dynamic, the direction of motion and speed are updated according to group's extreme value and individual extreme value.Target vehicle institute is calculated by the position of interception car
Path overall length in region, when final movement velocity is reduced to zero, so that it is determined that the crossing that interception car occurs next time.It blocks
The variation of Thiessen polygon is as shown in Figure 6 during cutting
It is input as particle using the position of discharge beyond standards vehicle and interception car, using reachable path overall length as population
The objective function of algorithm determines speed and the position of population according to the reachable path overall length of discharge beyond standards vehicle region
It sets, according to formula:
Renewal speed and position, general ω, c in formula1、c2For normal number, pbestiIndicate single particle optimal solution, gi
Expression closes on particle optimal solution, and rand () indicates the random number of [0,1], viIndicate particle rapidity, xiIndicate that particle is by multiple
Interception car formed vector (such as:)。
7, all vehicles are moved from new position to the position of subsequent time, also according to path overall length meter described in (6)
Calculation method, until calculate to target vehicle prediction locus or intercept target vehicle, interception car shift to an earlier date is arrived in target vehicle
It is then optional tracking by the track that interception car starting point extends to interception car current location up to some crossing on predicted path
Path.At this time according to the predicted motion track of target vehicle whether it is known that can be in two kinds of situation:
Situation one: the prediction locus of known discharge beyond standards vehicle
It is input with the position of discharge beyond standards vehicle and interception car when the prediction locus of known discharge beyond standards vehicle,
Using reachable path overall length as the objective function of particle swarm algorithm, calculated every time using population according to the determination of reachable path overall length
The particle optimal solution of method, the terminal of algorithm is predicted path at this time.When particle calculates optimal solution comprising pre- in reachable path
Path is surveyed, algorithm terminates.Along the optimal solution crossing that each particle swarm algorithm is calculated since the starting point of interception car, constitute
One interception path by starting point to predicted path, interception car go directly to predicted path.Circle indicates exceeded in (such as Fig. 4) figure
Vehicle is discharged, triangle indicates that interception car, dotted line indicate that the predicted path of discharge beyond standards vehicle, solid line indicate interception car
Motion profile.
On interception car arrival predicted path behind certain crossing, if discharge beyond standards vehicle does not reach the crossing yet, intercept
Vehicle is moved toward discharge beyond standards vehicle opposite direction until intercepting successfully along predicted path.Due to being predicted path, finally block
It is cut into the prediction accuracy that power also needs to consider the crossing, is provided when prediction accuracy weight is by predicting, is to multiply with capture rate
Product relationship.
Situation two: the real time position of known a small amount of discharge beyond standards vehicle
The case where known a small amount of real time position, it can be determined that the crossing that discharge beyond standards vehicle subsequent time occurs, quite
In the shorter predicted path of known distance, using predicted path as the terminal of particle swarm algorithm, the terminal of algorithm will be according to target
Change in location and constantly change, the terminal of adjustment algorithm when there is real-time route, Dynamic Programming is come with this and most preferably intercepts path.
The difference is that needing only just to will do it calculating in this case when a crossing position under known target vehicle, calculating is one
A discontinuous process.
8, the crossing number n passed through according to certain crossing on target vehicle to prediction locus finds out interception car to prediction
The crossing number that the point is passed through on track be less than or equal to n track, as particle swarm algorithm repeatedly calculate in obtain it is optimal
Solve optimal tracking path composed by crossing.
In short, the present invention is more flexible to be efficiently more feasible compared to traditional pursuit and interception method, traffic is utilized
The topological structure of road network, the form that Graphic Trend is combined in intelligent algorithm improve to plan the path of interception car
Intercepting efficiency and interception success rate, provide new idea and method to the research of urban automobile intercept problems.
Above embodiments are provided merely to describing the purpose of the present invention, and be not intended to limit the scope of the invention.This hair
Bright range is defined by the following claims.It does not depart from spirit and principles of the present invention and the various equivalent replacements made and repairs
Change, should all cover within the scope of the present invention.
Claims (2)
1. reaching the object intercepting method of path minimum based on particle swarm algorithm and region, which is characterized in that including following
Step:
(1) urban road network is abstracted into matrix according to topological structure, is that the vehicle and later period in region calculate path overall length
Coordinate data is provided；
(2) radiation circle is generated according to the position of vehicle in road network, the shape on boundary is by working as chance from the circle spread centered on vehicle
The scattering occurred when to barrier determines, boundary be it is irregular, radiate the speed of circle diffusion and the travel speed of vehicle at just
Than；
(3) prediction locus that target vehicle is primarily determined according to existing monitoring information, by certain point on prediction locus away from target carriage
Distance and target vehicle to the crossing quantity that the point is passed through assign the weight；
(4) optimal path of certain point on interception car to prediction locus is calculated with particle swarm algorithm, specifically:
(4-1) due to needing multiple interception cars that could constitute effective interception, so a particle is by two or more in algorithm
The matrix that is constituted of interception car indicate that objective function is that the round radiation with interception car of radiation where target vehicle is round tangent
Path overall length is reached in the region formed afterwards；
(4-2) particle is dispensed on different crossings, and when particle swarm algorithm starts, each particle is according to oneself speed to closing on
Crossing movement updates the direction of motion and speed according to group's extreme value and individual extreme value；Target is calculated by the position of interception car
Path overall length in vehicle region, when final movement velocity is reduced to zero, so that it is determined that interception car occurred next time
Crossing；
(4-3) all vehicles are moved from new position to the position of subsequent time, are repeated step (4-2), arrive target carriage until calculating
Prediction locus or intercept target vehicle, interception car shift to an earlier date in target vehicle reach predicted path on some crossing,
It is then effectively to track path by the track that the crossing extends to interception car current location；
(4-4) passed through according to certain point on target vehicle to prediction locus crossing number n, finds out on interception car to prediction locus
The crossing number that the point is passed through is less than or equal to the track of n, particle swarm algorithm repeatedly calculate in the optimal solution crossing institute group that obtains
At optimal tracking path.
2. the object intercepting method according to claim 1 that path minimum is reached based on particle swarm algorithm and region,
It is characterized in that, the computation model of path overall length is as follows in step (4-1):
Cr in formula1Indicate first crossing intersected with round edge circle, criAnd cri+1Indicate the current crossing intersected with round edge circle and
Next crossing, peIndicate coordinates of targets, LsIndicate path overall length.
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