CN114566059A - One-key navigation special vehicle collaborative priority system - Google Patents
One-key navigation special vehicle collaborative priority system Download PDFInfo
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- CN114566059A CN114566059A CN202210042305.3A CN202210042305A CN114566059A CN 114566059 A CN114566059 A CN 114566059A CN 202210042305 A CN202210042305 A CN 202210042305A CN 114566059 A CN114566059 A CN 114566059A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention discloses a one-key navigation special vehicle cooperative priority system, which solves the problem that special vehicles cannot pass preferentially, safely and smoothly in a real traffic environment, and comprises the following steps: the cloud computing server is used for carrying a plurality of edge computing small stations, collecting edge node data, sensing the running condition of a traffic system, analyzing the regional traffic situation and realizing dynamic planning of a special vehicle route; the edge computing small stations are distributed on the special vehicle passing path and are matched with the cloud computing server, and each edge computing small station carries an intersection execution terminal to realize a global optimal special vehicle cooperative priority scheme; and the intersection execution terminal executes the global optimal special vehicle cooperative priority scheme. The method combines the strong resource capacity of cloud computing with the ultralow time delay characteristic of edge computing, achieves the collaborative optimization target of edge support cloud application and cloud assistance edge localization requirements, and ensures that special vehicles pass smoothly and preferentially without obstacles.
Description
Technical Field
The invention relates to the technical field of urban intelligent traffic cooperative control, in particular to a one-key navigation special vehicle cooperative priority system.
Background
The work task of the special vehicle is the emergency travel demand behavior of special vehicles such as police cars, ambulances, fire trucks, traffic and engineering emergency rescue in cities, and the rapid preferential passage of the special vehicle is the key of urban emergency rescue. Although special vehicles have the priority right of passage given by law, in actual traffic operation, the special vehicles are influenced by social vehicles, particularly in congested road sections, and the special vehicles are difficult to realize the priority passage.
The current dilemma faced by special vehicles in real traffic environments is summarized as follows:
1) the priority contradiction of special vehicles in prior passage;
2) the priority interests in the current situation of congestion are similar to the nominal ones;
3) traffic right of way in the traditional guarantee mode is unbalanced.
With the rapid development of technologies such as big data, internet of things and the like and the development and application of a new generation of traffic cooperative control system, a space for improving and promoting the traffic guarantee mode of special vehicles is provided, and opportunities and challenges are provided at the same time. In order to dynamically open up a green channel for a special vehicle in real time, improve the service guarantee capability of a traffic manager for the prior passage of the special vehicle and realize the true priority of the passage of the special vehicle, a special vehicle cooperative priority system is provided, so that the difficult problems of unsmooth road conditions, unscientific planning, untimely rescue, unsafe light running and the like of the special vehicle during a work task can be solved, the reasonable configuration of traffic resources is realized, and the urban traffic control level is improved. Therefore, the special vehicle cooperative priority system needs to satisfy the following requirements:
1) the safe passing of special vehicles is guaranteed;
2) the passing speed of the special vehicle is improved;
3) reduce the influence of traffic road weight imbalance.
Related patents of a special vehicle cooperative priority system exist at present, for example, the invention named as a special vehicle intersection signal priority control device and an application method thereof is disclosed in 2019, 9, 24 and the publication number of the invention is CN 110276967A. The device comprises a networking joint control device, a video detection device, a vehicle-mounted positioning device, a special vehicle database and an intersection task state database, wherein the networking joint control device is used for a command center to issue an adjustment instruction to a signal machine; the video detection device is used for detecting and identifying the license plate number of the special vehicle; the vehicle-mounted positioning device is used for acquiring vehicle operation information; the special vehicle database is used for storing the license plate number of the special vehicle; and the intersection task state database is used for storing the state information of the signal control scheme executed by the annunciator. According to the invention, on the premise of reducing the influence on the social vehicle passing at the intersection as much as possible, the signal timing of the intersection is adjusted in advance, so that the travel delay of the special vehicle caused by the red light at the intersection is reduced, the probability that the special vehicle passes through the intersection without obstruction is improved, and the hidden danger caused by the fact that the special vehicle executes the task in time is reduced. However, the invention only adjusts the signal timing of the intersection, does not consider the lane and the induction, and is easy to generate errors.
Disclosure of Invention
The invention aims to solve the problem that special vehicles cannot pass through the road preferentially, safely and smoothly in the real traffic environment in the prior art, and provides a one-key navigation special vehicle cooperative priority system.
In order to achieve the purpose, the invention adopts the following technical scheme: the method comprises the following steps:
the cloud computing server is used for carrying a plurality of edge computing small stations, collecting edge node data, sensing the running condition of a traffic system, analyzing the regional traffic situation and realizing dynamic planning of a special vehicle route;
the edge computing small stations are distributed on the special vehicle passing path and are matched with the cloud computing server, and each edge computing small station carries an intersection execution terminal to realize a global optimal special vehicle cooperative priority scheme;
and the intersection execution terminal executes the global optimal special vehicle cooperative priority scheme.
The cloud side end is cooperated to serve as a novel computing paradigm, and the strong resource capacity of cloud computing and the ultra-low time delay characteristic of edge computing are combined, so that the cooperative optimization target of edge supporting cloud application and cloud power-assisted edge localization requirements is achieved. The cloud computing server is responsible for collecting widely distributed edge node data, sensing the running condition of a traffic system, analyzing the regional traffic situation and realizing the dynamic planning of the special vehicle route. The edge node positions are distributed on the special vehicle passing path, edge computing and cloud computing are matched, computing loads of partial algorithm strategies are integrated to the edge side of the road, meanwhile, the edge node feeds the state back to the center cloud to form closed-loop computing, and finally the global optimal special vehicle collaborative priority scheme is achieved.
Preferably, the edge computing small station comprises an edge algorithm policy system, and the edge algorithm policy system comprises:
the road condition studying and judging module has the main functions of comprehensively sensing the traffic conditions of each intersection and each road section, including traffic flow, running speed and queuing length;
the road network prediction module has the main functions of predicting the running conditions of the road network in advance by combining road network information and utilizing a traffic prediction model on the basis of studying and judging road conditions, wherein the running conditions comprise future traffic flow, future running speed, congested intersection distribution and congested road section distribution.
A traffic prediction model is a prior art and refers to quantitative description of the interrelation between various elements of traffic phenomena and between the traffic phenomena and various factors of social and economic activities. The method is used for traffic analysis and traffic prediction and is one of important technical methods for traffic planning. The method mainly comprises a traffic demand model and a traffic flow model.
Preferably, the cloud computing server includes:
the application center system is a dispatching center, consists of three functional applications, namely a command dispatching application, a one-key navigation application and a video monitoring application, and is used for planning and monitoring a special vehicle passing route;
the real-time operation system is a data guarantee and comprises a central real-time operation system positioned in a cloud computing server and an edge real-time operation system arranged in an edge computing small station, wherein the real-time operation system has the main function of receiving and processing basic data in the working task process of special vehicles by utilizing big data and cloud computing technology, and related data comprises road flow, running speed, queuing length, vehicle positioning and road network data;
the central algorithm strategy system is a priority intelligent bag, consists of five functional modules of road condition study and judgment, road network prediction, path planning, cooperative priority and intersection compensation, and is used for planning the shortest path and realizing the cooperative control of special vehicles.
Preferably, the application center system includes:
the command scheduling module is mainly used for receiving and processing the alarm events and simultaneously initiating the working task of the special vehicle to the one-key navigation module;
the one-key navigation protection module is mainly used for receiving the special vehicle task request of the commanding and scheduling module, planning a special vehicle passing route according to the task request and simultaneously ensuring the safe and smooth passing of the special vehicle;
the video monitoring module comprises a plurality of cameras installed at an intersection execution terminal, and has the main functions of automatically setting a video monitoring angle according to a special vehicle planning route and simultaneously supporting the checking of the special vehicle passing condition in the task process.
Preferably, the central algorithm policy system includes:
the route planning module is used for planning the shortest time route of the special vehicle to the destination address by utilizing road condition studying and judging and road network predicting information after receiving the starting address and the destination address of the special vehicle;
the cooperative priority module is mainly used for realizing three-in-one cooperative priority of the special vehicle from three dimensions of signals, lanes and inducement after receiving a priority scheduling instruction of the special vehicle;
the intersection compensation module has the main functions of executing a control compensation mechanism on the premise of effectively ensuring the safety of the special vehicle and quickly passing through a task intersection, reducing the influence on the traffic balance of the intersection from the previous stage, the previous stage and the later stage, quickly restoring the operation of the intersection to the original state and ensuring the overall optimal passing process of the special vehicle.
Preferably, the three dimensions in the collaborative priority module include:
the signal dimension module is used for automatically recombining an intersection signal lamp list mapped on a planned path to form a new coordination control signal list, improving the coordination control level, timely emptying intersections for queuing according to information such as special vehicle positioning and running speed provided by a real-time computing system, properly sacrificing the transverse traffic benefit, and ensuring the green light traffic of the special vehicle until the special vehicle passes through a task intersection;
the lane dimension module is used for timely adjusting the intersection variable lane scheme when the signal scheme cannot be continuously adjusted or the intersection is congested, improving the traffic capacity of the special vehicle in the planned path direction by matching lane dimensions with the signal lamp, timely emptying the intersection and queuing, and ensuring that the special vehicle can quickly pass through the task intersection;
and the guidance dimension module is used for linking the guidance screen to issue the position of the special vehicle and the planning path information in time during the task execution period of the special vehicle, and reminding the social vehicle of avoiding.
Preferably, the intersection execution terminal includes a cooperative control system, and the cooperative control system includes:
signal lamp device: the system comprises a plurality of signal lamps, a lane-changeable scheme provided by a one-key navigation module is received and executed, and vehicles and pedestrians are guided to safely and orderly pass;
an induced screen module: the system comprises a plurality of traffic guidance screens and a control module, wherein the traffic guidance screens receive and execute a guidance screen scheme provided by a one-key navigation module, are generally made of LED (light emitting diode), can present a graphic mode of the overall road route outline to provide the road trend in front for a driver, and have the traffic guidance function;
the vehicle-mounted terminal: the special vehicle positioning system is installed on a special vehicle and used for providing special vehicle positioning information, receiving a special vehicle planned route, and initiating a request to re-plan a task route if the special vehicle deviates from the planned route.
Therefore, the invention has the following beneficial effects: 1. the cloud edge end distributed architecture is adopted, the large-data and cloud computing technology is fully utilized, the high availability and low delay requirements of large-scale application of urban special vehicle escort are supported, an edge terminal facility cloud collection, cloud computing and cloud control mode is established, and the key technical problems of cross-region and cross-system escort of special vehicles are solved; 2. a signal, lane and induction three-in-one cooperative priority strategy is adopted, a special vehicle path is dynamically planned, and full-time-space data is cooperated on line, so that social vehicles on the special vehicle path are emptied in advance, and safe and rapid preferential passing of the special vehicle under the actual traffic condition is guaranteed; 3. the technical innovation is carried out on the aspects of high-efficiency data access, driving path guarantee, intersection traffic safety and the like, and the functional modules of state monitoring, real-time monitoring, path calculation, cooperative instruction control, instant guidance, prediction and pre-control and the like are gathered, so that the safety and the rapid preferential traffic of special vehicles are guaranteed, the influence on social traffic is reduced to the greatest extent, and good social value is obtained.
Drawings
FIG. 1 is a schematic of an architecture of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention;
in the figure: 1. a cloud computing server; 2. an edge computing cell; 3. an intersection execution terminal; 4. an edge algorithm policy system; 5. a road condition studying and judging module; 6. a road network prediction module; 7. an application center system; 8. a real-time computing system; 9. a central real-time computing system; 10. an edge real-time computing system; 11. a central algorithm policy system; 12. a key navigation module; 13. a command scheduling module; 14. a video monitoring module; 15. a path planning module; 16. a collaborative priority module; 17. an intersection compensation module; 18. the length of the queue; 19. positioning the vehicle; 20. road network data; 21. a cooperative control system; 22. a signal lamp device; 23. a screen induction module; 24. a vehicle-mounted terminal; 25. a variable lane; 26. road flow; 27. the speed of operation.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
the embodiment is a one-key navigation special vehicle cooperative priority system, as shown in fig. 1, a framework of the system is a cloud (cloud computing server), edge (edge computing small stations) and end (intersection execution terminal) cooperative scheme, a central cloud computing server carries a plurality of edge computing small stations, and each edge computing small station also carries an intersection execution terminal. Cloud side end is cooperated to be used as a novel computing paradigm, the powerful resource capacity of cloud computing is combined with the ultralow time delay characteristic of edge computing, and the cooperative optimization target of edge supporting cloud side application and cloud side assisting edge localization requirements is achieved.
The cloud computing server 1 is responsible for collecting widely distributed edge node data, sensing the operation condition of a traffic system, analyzing regional traffic situation and realizing dynamic planning of a special vehicle route, and comprises an application center system 7 for planning and monitoring the special vehicle passing route, a real-time operation system 8 for receiving and processing basic data in the special vehicle working task process and a central algorithm strategy system 11 for planning the shortest path and realizing cooperative control of the special vehicle. The real-time computing system comprises a central real-time computing system 9 located in the cloud computing server and an edge real-time computing system 10 located in the edge computing small station.
The edge computing small stations 2 serve as edge end nodes and are distributed on a special vehicle passing path, edge computing is matched with cloud computing, computing loads of partial algorithm strategies are integrated to the edge side of the road, meanwhile, the edge nodes feed back states to a central cloud end to form closed-loop computing, and finally the global optimal special vehicle collaborative priority scheme is achieved. The edge calculation substation includes an edge algorithm policy system 4.
The intersection executing terminal 3 is responsible for executing a cooperative priority scheme, and includes a signal lamp device 22, an induction screen module 23, a vehicle-mounted terminal 24 and a variable lane 25.
As shown in fig. 2, the system of the present invention includes an application center system 7, a real-time operation system 8, an algorithm policy system and a cooperative control system 21, wherein the application center system is a scheduling center, the real-time operation system is a data assurance, the algorithm policy system includes an edge algorithm policy system 4 and a center algorithm policy system 11, which are preferred brains, and the cooperative control system is a control implementation. The application center system is respectively connected with the real-time operation system 8, the algorithm strategy system and the cooperative control system 21, and the real-time operation system 8, the algorithm strategy system and the cooperative control system 21 are sequentially connected.
The application center system consists of three functional modules, namely a command scheduling module 13, a one-key navigation protection module 12 and a video monitoring module 14, wherein the command scheduling module is used for receiving and processing alarm events and initiating working tasks of special vehicles; the one-key navigation protection module is used for responding to a special vehicle task request, planning a special vehicle passing route and ensuring the safe and smooth passing of the special vehicle; the video monitoring module is used for automatically setting a video monitoring angle according to a special vehicle planned route and simultaneously supporting checking of the special vehicle passing condition in the task process.
The real-time computing system has the main function of receiving and processing basic data in the working task process of special vehicles by utilizing big data and cloud computing technology, wherein the related data comprises road flow 26, running speed 27, queuing length 18, vehicle positioning 19 and road network data 20.
The edge algorithm strategy system comprises a road condition studying and judging module 5 and a road network prediction module 6, wherein the road condition studying and judging module is used for comprehensively sensing the traffic conditions of each intersection and each road section, including traffic flow, running speed and queuing length; the road network prediction module can predict the running conditions of the road network in advance by combining road network information and utilizing a traffic prediction model on the basis of studying and judging road conditions, wherein the running conditions comprise future traffic flow, future running speed, congested intersection distribution and congested road section distribution.
The central algorithm strategy system comprises a path planning module 15, a collaborative priority module 16 and an intersection compensation module 17.
The route planning module is used for planning the shortest time route of the special vehicle to the destination address by utilizing road condition research and judgment and road network prediction information after receiving the starting address and the destination address of the special vehicle.
And the cooperative priority module is used for realizing the three-in-one cooperative priority of the special vehicle from three dimensions of a signal, a lane and an induction after receiving a priority scheduling instruction of the special vehicle. The concrete expression is as follows:
signal dimension: and automatically recombining the intersection signal lamp list mapped on the planned path to form a new coordination control signal list, improving the coordination control level, emptying the intersection in time for queuing according to the information such as the positioning information, the running speed and the like of the special vehicle provided by the real-time computing system, properly sacrificing the transverse traffic benefit, and ensuring the green light traffic of the special vehicle until the special vehicle passes through the task intersection.
Lane dimension: when the signal scheme cannot be continuously adjusted or the traffic jam occurs at the intersection, the intersection lane-variable scheme is adjusted in time, the traffic capacity of the special vehicle in the planned path direction is improved by matching the lane dimension with the signal lamp, the intersection is emptied in time to queue, and the special vehicle is guaranteed to rapidly pass through the task intersection.
Induction dimension: and during the task execution period of the special vehicle, the linkage induction screen timely releases the position and the planning path information of the special vehicle to remind the social vehicle of avoiding.
The intersection compensation module is used for executing a control compensation mechanism on the premise of effectively ensuring the safety and the fast passing of the special vehicle through the task intersection, reducing the influence on the traffic balance of the intersection from the three stages of in advance, in advance and after, quickly restoring the operation of the intersection to the original state and ensuring the overall optimal passing process of the special vehicle.
The cooperative control system consists of four modules, namely a signal lamp device 22, a lane-changeable module, an induction screen module 23 and a vehicle-mounted terminal 24 module, wherein the signal lamp module comprises a plurality of signal lamps and has the main function of receiving and executing a signal lamp scheme provided by one-key navigation protection application; the guidance screen module comprises a plurality of traffic guidance screens, and the traffic guidance screens have the main function of receiving and executing a signal lamp scheme provided by the one-key navigation application; the vehicle-mounted terminal is arranged on the special vehicle and used for providing positioning information of the special vehicle, receiving a planned route of the special vehicle and initiating a request to re-plan a task route if the special vehicle deviates from the planned route; the variable lane module includes a number of variable lanes 25 for receiving and executing a variable lane solution provided by the key navigation application.
The invention carries out technical innovation from the aspects of high-efficiency data access, driving path guarantee, intersection traffic safety and the like, and gathers functional modules of state monitoring, real-time monitoring, path calculation, cooperative instruction control, instant guidance, prediction and pre-control and the like, thereby ensuring safe and rapid prior traffic of special vehicles under the actual traffic condition, simultaneously reducing the influence on social traffic as much as possible and obtaining good social value.
The embodiments described above are merely two preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the scope of the claims.
Claims (8)
1. A one-key navigation special vehicle cooperative priority system is characterized by comprising:
the cloud computing server (1) is used for carrying a plurality of edge computing small stations, collecting edge node data, sensing the running condition of a traffic system, analyzing the regional traffic situation and realizing dynamic planning of a special vehicle route;
the edge computing small stations (2) are distributed on the special vehicle passing path, are matched with the cloud computing server, carry intersection execution terminals and realize a global optimal special vehicle cooperative priority scheme;
and the intersection execution terminal (3) executes a global optimal special vehicle cooperative priority scheme.
2. The cooperative priority system for one-key convoy special vehicle according to claim 1,
the edge computing small station (2) comprises an edge algorithm strategy system (4), and the edge algorithm strategy system comprises:
the road condition studying and judging module (5) is used for comprehensively sensing the traffic conditions of each intersection and each road section, including the traffic flow, the running speed and the queuing length;
and the road network prediction module (6) is used for predicting the running condition of the road network in advance by combining the information of the road condition studying and judging module and utilizing a traffic prediction model.
3. The coordinated priority system for a key maintenance special vehicle according to claim 2, wherein the cloud computing server (1) comprises:
the application center system (7) is used for scheduling a central pivot and planning and monitoring a special vehicle passing route;
the real-time computing system (8) comprises a central real-time computing system (9) and an edge real-time computing system (10) arranged at an edge computing small station and is used for receiving and processing basic data in the working task process of the special vehicle;
and the central algorithm strategy system (11) plans the shortest path and realizes the cooperative control of the special vehicles.
4. A coordinated prioritization system for a key maintenance special vehicle according to claim 3, characterised in that the application centre system (7) comprises:
the one-key navigation protection module (12) responds to the special vehicle task request, plans a special vehicle passing route and ensures that the special vehicle passes safely and smoothly;
the command scheduling module (13) is used for receiving and processing the alarm event and initiating a special vehicle work task;
and the video monitoring module (14) is used for automatically setting a video monitoring angle according to the planned route of the special vehicle and monitoring the passing condition of the special vehicle.
5. A special vehicle cooperative priority system as claimed in claim 3 or 4, wherein the basic data in the real-time computing system (8) comprises: road traffic (26), operating speed (27), queue length (28), vehicle positioning (29), and road network data (30).
6. A coordinated prioritization system for a key-propelled special vehicle according to claim 3 or 4, characterised in that the central algorithm strategy system (11) comprises:
the path planning module (15) is used for planning the shortest time path of the special vehicle to the destination address by utilizing the information of the road condition studying and judging module and the road network predicting module;
the cooperative priority module (16) receives a priority scheduling instruction of the special vehicle and realizes three-in-one cooperative priority of the special vehicle from three dimensions;
and the intersection compensation module (17) executes a control compensation mechanism, so that the intersection operation is quickly restored to the original state, and the overall optimal passing process of special vehicles is ensured.
7. The key navigation special vehicle cooperative priority system according to claim 6, wherein the three dimensions comprise:
the signal dimension module is used for automatically recombining the intersection signal lamp list mapped on the planned path to form a new coordination control signal list;
the lane dimension module is matched with the signal lamp to improve the traffic capacity of the special vehicle in the planned path direction, and timely clears the intersection for queuing so as to ensure that the special vehicle can quickly pass through the task intersection;
and the guidance dimension module is linked with the guidance screen to release the position and the planning path information of the special vehicle.
8. The coordinated priority system for special one-key convoy vehicles according to claim 1, wherein said intersection execution terminal (3) comprises a coordinated control system (21), said coordinated control system comprises:
signal light device (22): the system comprises a plurality of signal lamps, a signal lamp control module and a signal lamp control module, wherein the signal lamps receive and execute a signal lamp scheme provided by a one-key navigation module;
a variable lane module: the system comprises a plurality of variable lanes 25, a plurality of sensors and a controller, wherein the variable lane schemes provided by the one-key navigation application are received and executed;
an induced screen module (23): the system comprises a plurality of traffic guidance screens, a plurality of navigation guidance screens and a plurality of navigation guidance screens, wherein the traffic guidance screens receive and execute a guidance screen scheme provided by a one-key navigation module;
vehicle-mounted terminal (24): the system is installed on the special vehicle, provides positioning information of the special vehicle and receives a planned route of the special vehicle.
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