CN111882909A - Emergency rescue scheduling and dynamic path integration method based on double-layer planning - Google Patents
Emergency rescue scheduling and dynamic path integration method based on double-layer planning Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- 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
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Abstract
The invention relates to the technical field of traffic signal control at urban road intersections, and discloses an emergency rescue scheduling and dynamic path integration method based on double-layer planning, which comprises the following steps: 1) 2), 3), 4), 5), 6), 7), 8). According to the emergency rescue scheduling and dynamic path integration method based on double-layer planning, emergency vehicles with different priority levels and real-time changing traffic environments are fully considered, and on the basis of considering factors influencing emergency vehicle scheduling and dynamic path selection, an emergency rescue scheduling and dynamic path integration scheme based on double-layer planning is established, so that the emergency vehicles can avoid traffic jam in real time, quickly reach destinations and improve emergency rescue operation efficiency.
Description
Technical Field
The invention relates to the technical field of traffic signal control at urban road intersections, in particular to an emergency rescue scheduling and dynamic path integration method based on double-layer planning.
Background
At present, the urbanization process of most domestic cities is aggravated, and emergency emergencies are increasingly severe, so how to effectively combine the scheduling and path selection of emergency vehicles, the maximum efficiency of emergency rescue traffic is brought into play, the method is a powerful method for relieving casualties and property loss of emergency events, an emergency rescue scheduling and dynamic path integration method based on double-layer planning is built, and effective management and control are carried out on the emergency traffic with different priority levels, so that the method is a powerful means for reducing the influence of the emergency and the severity of occurrence consequences.
Most of the existing emergency vehicle rescue methods divide the dispatching and path selection of emergency vehicles into two parts for research, even if a small part considers double-layer planning, only a single research target in the dispatching or path selection can be considered, the defects that the characteristics of different types of emergency traffic and the dynamic change of a road network are not considered exist, the traffic model is not suitable in all occasions due to the different characteristics of different types of emergency vehicles, the dynamic change of the road network and the interference source type, the applicability and reliability are limited, even if the traffic model can be suitable, a series of complicated processes such as parameter calibration and correction of the model exist, the aim at the emergency vehicles with different priority levels cannot be effectively realized, and the integrated rescue of the dispatching and path optimization of the emergency vehicles is realized on the basis of considering the dynamic change of the road network, therefore, an emergency rescue scheduling and dynamic path integration method based on double-layer planning is provided to solve the problems provided in the above.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an emergency rescue scheduling and dynamic path integration method based on double-layer planning, which has the advantages of being capable of adjusting the optimal path selection problem of emergency vehicles under the scheduling and dynamic road network aiming at different types of emergency vehicles and the like, and solves the problem that the prior art can not realize the scheduling and path optimization integrated rescue of the emergency vehicles aiming at the emergency vehicles with different priority levels on the basis of considering the dynamic change of the road network.
(II) technical scheme
In order to realize the aim of adjusting the optimal path selection problem of the emergency vehicle under the dispatching and dynamic road network aiming at different types of emergency vehicles, the invention provides the following technical scheme: an emergency rescue scheduling and dynamic path integration method based on double-layer planning comprises the following steps:
1) and analyzing factors influencing the dispatching of the emergency vehicle, wherein the dispatching stage of the emergency vehicle is divided into three targets: the emergency vehicle dispatching method comprises the following steps of realizing supply of accident request points with the minimum time cost, realizing selection of all rescue districts with the minimum fixed cost, and limiting the dispatching quantity of emergency vehicles of different grades in all rescue districts with the minimum capacity cost;
2) the method comprises the following steps of analyzing factors influencing the path selection of the emergency vehicle, and dividing the target of the emergency vehicle path selection stage into two parts: the accident point is reached by the minimum road section travel time of the rescue vehicle, and the intersection is avoided by the minimum signal delay time;
3) establishing an objective function of upper-layer emergency vehicle dispatching:
λpa decision variable for judging whether a rescue cell P sends a vehicle for rescue, wherein P is a set of all the alternative rescue cells, and P is0To be selected as the set of rescue cells,
number of k-vehicles participating in rescue district p, fpA fixed cost for each rescue community p to participate in the rescue, K is a set of all vehicle types participating in the emergency rescue, betal′To rescue the capacity limiting factor of the kth car in the community p, fβFor the cost of capacity limitation of the rescue community, l is the severity level of the emergency vehicle, alWeight of priority level of emergency vehicle of level l, T'pFor optimal travel time from p leaving the rescue cell to the point of accident, ck(t) the cost of the k-type vehicle per minute from the rescue district to the rescue request point;
4) establishing a supplementary condition for dispatching upper-layer emergency vehicles:
5) establishing a target function for vehicle dynamic path selection of the lower-layer emergency vehicle:
6) establishing a supplementary condition for the dynamic path selection of the lower-layer emergency vehicle:
7) solving an objective function of upper-layer emergency vehicle dispatching by adopting an NSGA-II algorithm to obtain a preliminary upper-layer optimal solution, and solving an objective function selected by a lower-layer emergency vehicle road network by adopting an improved ant colony algorithm to obtain a preliminary lower-layer optimal solution;
8) and updating the road network condition according to a fixed time interval, determining the iteration times by adopting a mode of combining the optimal solutions of the upper and lower objective functions, if the cost of the current upper layer scheduling and the optimal solution of the time cost of the lower layer path selection are not changed within a certain iteration times, terminating the calculation, and outputting the current optimal solutions of the upper and lower layers to form an emergency rescue scheduling and dynamic path scheme.
Preferably, the method comprises the steps of dividing emergency vehicles with different priority levels, scheduling the emergency vehicles, changing the dynamic road state and selecting the optimal path, firstly establishing a double-layer planning model, determining the influence factors of emergency scheduling and path selection, starting from the optimal path selection of the emergency vehicle at the lower layer to obtain the optimal path which meets the satisfaction index and reaches the rescue request point from the rescue cell, then determining the iteration times and adopting a mode of combining the optimal solution of the objective function at the upper layer and the lower layer, if the optimal solution of the cost of the current upper-layer scheduling and the time cost of the lower-layer path selection does not change within a certain iteration number, the calculation is terminated, and outputting the current optimal solution of the upper layer and the lower layer, comparing the rescue result of the objective function planned on the upper layer, finally obtaining the optimal solution of the double-layer planning model, and determining the emergency rescue scheduling and dynamic path integration method of the double-layer planning.
Preferably, the factors considered in the upper-level scheduling model include implementation of pairs at a time cost of implementing the provision of the accident request point, fixed costs of implementing the selection of each emergency cell, and capacity costs of implementing the limit of the number of different levels of emergency vehicles scheduled in each emergency cell.
Preferably, the factors considered in the lower layer routing model include the road section travel time of the emergency vehicle to the accident and the signal delay time related to the number of intersections in routing.
Preferably, the different types of emergency rescue vehicles are divided into priority levels, and the emergency vehicles with high priority levels are dispatched, so that casualties at disaster points are reduced.
Preferably, the road network traffic state is updated at regular time intervals in consideration of dynamic changes of the road network.
Preferably, the solving of the upper-layer scheduling model adopts a non-dominated sorting genetic algorithm with an elite strategy to obtain the rescue cell conditions of the emergency vehicles with different priority levels and the corresponding number of the rescue vehicles, and the rescue cell conditions and the corresponding number of the rescue vehicles are used as the upper-layer optimal solution input integration method.
Preferably, the solution of the lower-layer scheduling model is solved by adopting an improved ant colony algorithm, so that dynamic rescue paths of emergency vehicles with different priority levels are obtained and are used as the lower-layer optimal solution input integration method.
Preferably, the determination is performed after the optimal solution is obtained, if the optimal solutions of the upper layer and the lower layer are not changed within a certain number of iterations, the calculation is terminated, the current optimal solutions of the upper layer and the lower layer are output, and finally the optimal solution of the double-layer planning model is obtained.
(III) advantageous effects
Compared with the prior art, the invention provides an emergency rescue scheduling and dynamic path integration method based on double-layer planning, which has the following beneficial effects:
1. according to the emergency rescue scheduling and dynamic path integration method based on double-layer planning, emergency vehicles with different priority levels and real-time changing traffic environments are fully considered, and on the basis of considering factors influencing emergency vehicle scheduling and dynamic path selection, an emergency rescue scheduling and dynamic path integration scheme based on double-layer planning is established, so that the emergency vehicles can avoid traffic jam in real time, quickly reach destinations and improve emergency rescue operation efficiency.
2. According to the emergency rescue scheduling and dynamic path integration method based on double-layer planning, aiming at the scheduling of different types of emergency vehicles and the problem of optimal path selection of the emergency vehicles under a dynamic road network, the emergency rescue scheduling and dynamic path integration optimization method based on double-layer planning is provided based on the rescue characteristics of the emergency vehicles after urban emergency accidents occur, the emergency rescue scheduling and dynamic path integration method based on double-layer planning is verified, and the result shows that the total cost in scheduling is reduced by more than 2% compared with the method only considering scheduling or path selection; the in-transit travel time in the path selection is reduced by more than 21%, so that the problem that the dispatching and path optimization integrated rescue of emergency vehicles cannot be realized on the basis of considering the dynamic change of a road network aiming at emergency vehicles with different priority levels in the prior art is effectively solved.
Drawings
Fig. 1 is a flowchart of the overall optimization of the emergency rescue scheduling and dynamic path integration method based on the double-layer planning.
FIG. 2 is a schematic diagram of an overall road network of an emergency rescue scheduling and dynamic path integration method based on double-layer planning according to the present invention;
FIG. 3 is a schematic diagram of an initial state of an overall road network of the emergency rescue scheduling and dynamic path integration method based on double-layer planning provided by the invention;
fig. 4 is a schematic diagram of the state change of the whole road network in 5 minutes according to the emergency rescue scheduling and dynamic path integration method based on the double-layer planning provided by the invention;
FIG. 5 is a schematic diagram of the state change of the whole road network in 10 minutes of the emergency rescue scheduling and dynamic path integration method based on the double-layer planning provided by the invention;
fig. 6 is a schematic diagram of the overall dynamic path selection result of the emergency rescue scheduling and dynamic path integration method based on double-layer planning according to the present invention;
fig. 7 is a schematic diagram illustrating comparison of overall scheduling costs of an emergency rescue scheduling and dynamic path integration method based on double-layer planning according to the present invention;
fig. 8 is a schematic diagram of travel time comparison analysis of overall path selection of the emergency rescue scheduling and dynamic path integration method based on double-layer planning, which is provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 8, the emergency rescue scheduling and dynamic path integration method based on double-layer planning includes the following steps:
1) and analyzing factors influencing the dispatching of the emergency vehicle, wherein the dispatching stage of the emergency vehicle is divided into three targets: the emergency vehicle dispatching method comprises the following steps of realizing supply of accident request points with the minimum time cost, realizing selection of all rescue districts with the minimum fixed cost, and limiting the dispatching quantity of emergency vehicles of different grades in all rescue districts with the minimum capacity cost;
2) the method comprises the following steps of analyzing factors influencing the path selection of the emergency vehicle, and dividing the target of the emergency vehicle path selection stage into two parts: the accident point is reached by the minimum road section travel time of the rescue vehicle, and the intersection is avoided by the minimum signal delay time;
3) establishing an objective function of upper-layer emergency vehicle dispatching:
λpa decision variable for judging whether a rescue cell P sends a vehicle for rescue, wherein P is a set of all the alternative rescue cells, and P is0To be selected as the set of rescue cells,
number of k-vehicles participating in rescue district p, fpA fixed cost for each rescue community p to participate in the rescue, K is a set of all vehicle types participating in the emergency rescue, betal′To rescue the capacity limiting factor of the kth car in the community p, fβFor the cost of capacity limitation of the rescue community, l is the severity level of the emergency vehicle, alWeight of priority level of emergency vehicle of level l, T'pFor optimal travel time from p leaving the rescue cell to the point of accident, ck(t) the cost of the k-type vehicle per minute from the rescue district to the rescue request point;
4) establishing a supplementary condition for dispatching upper-layer emergency vehicles:
5) establishing a target function for vehicle dynamic path selection of the lower-layer emergency vehicle:
6) establishing a supplementary condition for the dynamic path selection of the lower-layer emergency vehicle:
7) solving an objective function of upper-layer emergency vehicle dispatching by adopting an NSGA-II algorithm to obtain a preliminary upper-layer optimal solution, and solving an objective function selected by a lower-layer emergency vehicle road network by adopting an improved ant colony algorithm to obtain a preliminary lower-layer optimal solution;
8) updating the road network condition according to a fixed time interval, determining the iteration times by adopting a mode of combining the optimal solutions of the upper and lower objective functions, if the cost of the current upper layer scheduling and the time cost of the lower layer path selection do not change within a certain iteration times, terminating the calculation, outputting the current upper and lower optimal solutions, forming an emergency rescue scheduling and dynamic path scheme, comprising the division of emergency vehicles with different priority levels, the scheduling of the emergency vehicles, the change of the dynamic road state and the selection of the optimal path, firstly establishing a double-layer planning model, determining the influence factors of the emergency scheduling and the path selection, starting from the optimal path selection of the lower layer emergency vehicles, obtaining the optimal path which meets the satisfaction index and reaches the rescue request point from the rescue cell, then determining the iteration times and adopting the mode of combining the optimal solutions of the upper and lower objective functions, if the cost of the current upper-layer scheduling and the time cost optimal solution of the lower-layer path selection do not change within a certain iteration number, the calculation is terminated, the current upper-layer and lower-layer optimal solutions are output, the result of the rescue by the objective function planned at the upper layer is compared, the optimal solution of a double-layer planning model is finally obtained, the emergency rescue scheduling and dynamic path integration method of the double-layer planning is determined, the factors considered in the upper-layer scheduling model comprise the fixed cost for realizing the pairing and the selection of each rescue cell according to the time cost for realizing the supply of the accident request point and the capacity cost for realizing the limitation of the scheduling number of emergency vehicles at different levels in each rescue cell, the factors considered in the lower-layer path selection model comprise the section travel time of the emergency rescue vehicle reaching the accident and the signal delay time related to the number of intersections in the path selection, the priority level division is carried out on the emergency rescue vehicles of different types, the emergency vehicles with high priority are dispatched, the casualties at disaster points are reduced, the dynamic change of a road network is considered, updating road network traffic states at fixed time intervals, solving the upper layer scheduling model by adopting a non-dominated sorting genetic algorithm with an elite strategy to obtain rescue cell conditions of emergency vehicles with different priority levels and corresponding quantity of the rescue vehicles, using the rescue cell conditions and the corresponding quantity of the rescue vehicles as an upper layer optimal solution input integration method, solving the lower layer scheduling model by adopting an improved ant colony algorithm to obtain dynamic rescue paths of the emergency vehicles with different priority levels, using the dynamic rescue paths as a lower layer optimal solution input integration method to obtain an optimal solution, and judging the optimal solution, if the optimal solutions of the upper layer and the lower layer are not changed within a certain iteration number, the calculation is terminated, the current optimal solutions of the upper layer and the lower layer are output, and the optimal solution of the double-layer planning model is finally obtained.
The working principle is as follows: according to the emergency rescue scheduling and dynamic path integration method based on double-layer planning, emergency vehicles with different priority levels and real-time changing traffic environments are fully considered, and on the basis of considering factors influencing emergency vehicle scheduling and dynamic path selection, an emergency rescue scheduling and dynamic path integration scheme based on double-layer planning is established, so that the emergency vehicles can avoid traffic jam in real time, quickly reach destinations and improve emergency rescue operation efficiency.
In summary, according to the emergency rescue scheduling and dynamic path integration method based on the double-layer planning, aiming at the scheduling of different types of emergency vehicles and the problem of optimal path selection of the emergency vehicles under a dynamic road network, the emergency rescue scheduling and dynamic path integration optimization method based on the double-layer planning is provided based on the rescue characteristics of the emergency vehicles after the occurrence of urban emergency accidents, the emergency rescue scheduling and dynamic path integration method based on the double-layer planning is verified, and the result shows that the total cost in scheduling is reduced by more than 2% compared with the method only considering scheduling or path selection; the in-transit travel time in the path selection is reduced by more than 21%, so that the problem that the dispatching and path optimization integrated rescue of emergency vehicles cannot be realized on the basis of considering the dynamic change of a road network aiming at emergency vehicles with different priority levels in the prior art is effectively solved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. An emergency rescue scheduling and dynamic path integration method based on double-layer planning is characterized by comprising the following steps:
1) and analyzing factors influencing the dispatching of the emergency vehicle, wherein the dispatching stage of the emergency vehicle is divided into three targets: the emergency vehicle dispatching method comprises the following steps of realizing supply of accident request points with the minimum time cost, realizing selection of all rescue districts with the minimum fixed cost, and limiting the dispatching quantity of emergency vehicles of different grades in all rescue districts with the minimum capacity cost;
2) the method comprises the following steps of analyzing factors influencing the path selection of the emergency vehicle, and dividing the target of the emergency vehicle path selection stage into two parts: the accident point is reached by the minimum road section travel time of the rescue vehicle, and the intersection is avoided by the minimum signal delay time;
3) establishing an objective function of upper-layer emergency vehicle dispatching:
λpa decision variable for judging whether a rescue cell P sends a vehicle for rescue, wherein P is a set of all the alternative rescue cells, and P is0To be selected as the set of rescue cells,
number of k-vehicles participating in rescue district p, fpA fixed cost for each rescue community p to participate in the rescue, K is a set of all vehicle types participating in the emergency rescue, betal′To rescue the capacity limiting factor of the kth car in the community p, fβFor the cost of capacity limitation of the rescue community, l is the severity level of the emergency vehicle, alWeight of priority level of emergency vehicle of level l, T'pFor optimal travel time from p leaving the rescue cell to the point of accident, ck(t) the cost of the k-type vehicle per minute from the rescue district to the rescue request point;
4) establishing a supplementary condition for dispatching upper-layer emergency vehicles:
5) establishing a target function for vehicle dynamic path selection of the lower-layer emergency vehicle:
6) establishing a supplementary condition for the dynamic path selection of the lower-layer emergency vehicle:
7) solving an objective function of upper-layer emergency vehicle dispatching by adopting an NSGA-I I algorithm to obtain a preliminary upper-layer optimal solution, and solving an objective function selected by a lower-layer emergency vehicle road network by adopting an improved ant colony algorithm to obtain a preliminary lower-layer optimal solution;
8) and updating the road network condition according to a fixed time interval, determining the iteration times by adopting a mode of combining the optimal solutions of the upper and lower objective functions, if the cost of the current upper layer scheduling and the optimal solution of the time cost of the lower layer path selection are not changed within a certain iteration times, terminating the calculation, and outputting the current optimal solutions of the upper and lower layers to form an emergency rescue scheduling and dynamic path scheme.
2. The double-layer planning-based emergency rescue scheduling and dynamic path integration method according to claim 1, wherein: the method comprises the steps of dividing emergency vehicles with different priority levels, scheduling the emergency vehicles, changing the dynamic road state and selecting an optimal path, firstly establishing a double-layer planning model, determining the influence factors of emergency scheduling and path selection, starting from the optimal path selection of the emergency vehicle at the lower layer to obtain the optimal path which meets the satisfaction index and reaches a rescue request point from a rescue cell, then determining the iteration times and adopting a mode of combining the optimal solution of the objective function at the upper layer and the lower layer, if the optimal solution of the cost of the current upper-layer scheduling and the time cost of the lower-layer path selection does not change within a certain iteration number, the calculation is terminated, and outputting the current optimal solution of the upper layer and the lower layer, comparing the rescue result of the objective function planned on the upper layer, finally obtaining the optimal solution of the double-layer planning model, and determining the emergency rescue scheduling and dynamic path integration method of the double-layer planning.
3. The double-layer planning-based emergency rescue scheduling and dynamic path integration method according to claim 1, wherein: factors considered in the upper-level scheduling model include implementation of pairings at a time cost to implement provisioning of the incident request points, fixed costs to implement selection of each rescue cell, and capacity costs to implement limiting the number of dispatches of different levels of emergency vehicles in each rescue cell.
4. The double-layer planning-based emergency rescue scheduling and dynamic path integration method according to claim 1, wherein: factors considered in the lower-layer path selection model comprise the road section travel time of the emergency rescue vehicle reaching the accident and the signal delay time related to the number of intersections in the path selection.
5. The double-layer planning-based emergency rescue scheduling and dynamic path integration method according to claim 1, wherein: the different types of emergency rescue vehicles are divided into priority levels, and the emergency vehicles with high priority levels are dispatched, so that casualties at disaster points are reduced.
6. The double-layer planning-based emergency rescue scheduling and dynamic path integration method according to claim 1, wherein: the road network traffic state is updated at regular time intervals in consideration of dynamic changes of the road network.
7. The double-layer planning-based emergency rescue scheduling and dynamic path integration method of claim 3, wherein: solving of the upper-layer scheduling model is achieved through a genetic algorithm with elitism strategy and non-dominated sorting, and the rescue cell conditions of the emergency vehicles with different priority levels and the corresponding number of the rescue vehicles are obtained and used as an upper-layer optimal solution input integration method.
8. The double-layer planning-based emergency rescue scheduling and dynamic path integration method of claim 4, wherein: and solving the lower-layer scheduling model by adopting an improved ant colony algorithm to obtain dynamic rescue paths of emergency vehicles with different priority levels, and inputting the dynamic rescue paths as the optimal solution of the lower layer into an integration method.
9. The double-layer planning-based emergency rescue scheduling and dynamic path integration method according to claim 1, wherein: and judging after the optimal solution is obtained, if the optimal solutions of the upper layer and the lower layer are not changed within a certain iteration number, terminating the calculation, outputting the current optimal solutions of the upper layer and the lower layer, and finally obtaining the optimal solution of the double-layer planning model.
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| CN113724510A (en) * | 2021-07-22 | 2021-11-30 | 东南大学 | Emergency signal priority and social vehicle dynamic path induction collaborative optimization method |
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