CN114743398A - Congestion tolerant path guiding method and apparatus, device and storage medium - Google Patents
Congestion tolerant path guiding method and apparatus, device and storage medium Download PDFInfo
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Abstract
The invention discloses a congestion-tolerable path guiding method, a congestion-tolerable path guiding device, congestion-tolerable path guiding equipment and a congestion-tolerable path guiding storage medium, wherein the method comprises the following steps: judging the congestion type of a congested road section in a preset track of a vehicle; if the congestion is regular congestion, driving according to a preset track, and if not, planning an alternative path and calculating extra time; calculating the number and the maximum bearing capacity of vehicles in the congested road section, and judging whether the vehicles can enter the congested road section or not according to the number and the maximum bearing capacity of the vehicles in the congested road section; and if so, calculating the congestion time according to the congestion type of the congested road section, comparing the congestion time with the extra time, and selecting a proper path according to the comparison result. The method has universal applicability, and on the basis of keeping controllable congestion, more reasonable decisions are made for the vehicle by balancing the congestion time and extra time, and although the smoothness of vehicle running is sacrificed to a certain extent, the average passing time, the average power consumption and the carbon dioxide emission of the vehicle can be effectively reduced.
Description
Technical Field
The present invention relates to the field of traffic route guidance technologies, and in particular, to a congestion-tolerant path guidance method, apparatus, device, and storage medium.
Background
At present, with the continuous improvement of living standard of people, the number of vehicles is continuously increased, and then, the traffic congestion is more and more serious. Traffic congestion not only can bring poorer traveling experience to users, but also can greatly reduce traffic efficiency. In order to effectively alleviate traffic congestion and improve the efficiency of traffic systems, intelligent traffic systems are proposed and developed continuously. Two core technologies involved in intelligent transportation systems are congestion awareness and path guidance strategies. When the vehicle senses traffic congestion on a preset path, the most effective strategy for relieving the traffic congestion is a route guidance strategy (AP-RGS for short) with avoidance priority. Basic idea of AP-RGS: if a running vehicle senses the existence of congestion on a predetermined track, the AP-RGS firstly selects to search an alternative path without congestion to avoid entering a congested road section; the AP-RGS chooses to go to the congested leg to wait if there is no alternative path without congestion. When congestion occurs in a traffic system, the strategy preferentially selects vehicles to avoid the congestion, can prevent the congestion from deteriorating, and is beneficial to relieving the congestion.
However, in actual environments, traffic congestion situations are various, and the degree of influence of the congestion on vehicles is different. If a route guidance strategy with avoidance priority is adopted for treating all traffic congestion, a lot of unnecessary extra expenses are generated for the vehicle. For example, case one: in an actual traffic system, all vehicles waiting for a red light on a road may appear to be "in a congested state" as a whole, and a congestion awareness algorithm that does not take into account the traffic light state may consider this phenomenon as traffic congestion. In fact, the regular congestion caused by the traffic light is a false congestion which is a normal phenomenon in real life, and the avoidance strategy adopted for the traffic congestion can cause more expenses to the vehicle. Case two: the duration of traffic congestion varies, and in practice most traffic congestion is of small scale and their congestion duration is relatively short. When the time overhead caused by traffic congestion on a vehicle is less than that brought by an alternative route, the selection of the vehicle to enter the congested road section is a more reasonable choice. Usually we focus more on these two metrics of transit time and power consumption, and congestion for a short time is acceptable.
In view of the above, there is a need to provide further improvements to the current congestion-tolerant path guiding method.
Disclosure of Invention
Therefore, the present invention is directed to solve the deficiencies in the prior art at least to some extent, and therefore a congestion-tolerant path guiding method and apparatus, device and storage medium are provided.
In a first aspect, the present invention provides a congestion tolerant path guiding method, comprising:
judging the congestion type of a congested road section in a preset track of a vehicle, wherein the congestion type at least comprises regular congestion;
if the congestion type is the regular congestion, selecting the preset track to drive, and if not, planning an alternative path for the vehicle and calculating the extra time of the alternative path;
calculating the number and the maximum bearing capacity of all vehicles in the congested road section, and judging whether the vehicles can enter the congested road section according to the number and the maximum bearing capacity of the vehicles in the congested road section;
if the vehicle can enter the congested road section, calculating congestion time according to the congestion type of the congested road section, comparing the congestion time with the extra time to obtain a comparison result, and selecting a proper path for the vehicle according to the comparison result.
In a second aspect, the present invention provides a congestion tolerant path directing apparatus, the apparatus comprising:
a judging module: the congestion type judging method comprises the steps of judging the congestion type of a congested road section in a preset track of a vehicle, wherein the congestion type at least comprises regular congestion;
a selection module: if the congestion type is the regular congestion, selecting the preset track to run, and if not, planning an alternative path for the vehicle and calculating the extra time of the alternative path;
a calculation module: the system is used for calculating the number and the maximum bearing capacity of all vehicles in the congested road section and judging whether the vehicles can enter the congested road section according to the number and the maximum bearing capacity of the vehicles in the congested road section;
a decision module: and if the vehicle can enter the congested road section, calculating congestion time according to the congestion type of the congested road section, comparing the congestion time with the extra time to obtain a comparison result, and selecting a proper path for the vehicle according to the comparison result.
In a third aspect, the present invention also provides a congestion-tolerable path guidance device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements each step in the congestion-tolerable path guidance method according to the first aspect.
In a fourth aspect, the present invention also provides a storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of the congestion-tolerant path guiding method according to the first aspect.
The invention provides a congestion-tolerable path guiding method, a congestion-tolerable path guiding device, congestion-tolerable path guiding equipment and a congestion-tolerable path guiding storage medium, wherein the method comprises the following steps: judging the congestion type of a congested road section in a preset track of a vehicle, wherein the congestion type at least comprises regular congestion; if the congestion type is the regular congestion, selecting the preset track to drive, otherwise, planning an alternative path for the vehicle and calculating the extra time of the alternative path; calculating the number and the maximum bearing capacity of all vehicles in the congested road section, and judging whether the vehicles can enter the congested road section according to the number and the maximum bearing capacity of the vehicles in the congested road section; if the vehicle can enter the congested road section, calculating congestion time according to the congestion type of the congested road section, comparing the congestion time with the extra time to obtain a comparison result, and selecting a proper path for the vehicle according to the comparison result. The method provided by the invention divides the traffic congestion with complex congestion into four basic congestion types, the four basic congestion types can unify all congestion situations through chain reaction of the congestion, the method has universal applicability, and on the basis of keeping the congestion controllable, a more reasonable decision is made for the vehicle by balancing the duration of the congestion and the extra time overhead generated by selecting an alternative path, the strategy allows the existence of small-scale congestion, and although the smoothness of vehicle running is sacrificed to a certain extent, the average passing time, the average power consumption and the carbon dioxide emission of the vehicle in a traffic system can be effectively reduced.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a flow chart of a congestion tolerant path guiding method according to the present invention;
FIG. 2 is a sub-flow diagram of a congestion tolerant path steering method according to the present invention;
FIG. 3 is a schematic diagram of another sub-flow of the congestion tolerant path guiding method of the present invention;
FIG. 4 is another sub-flowchart of the congestion tolerant path guiding method of the present invention;
FIG. 5 is a flow chart illustrating a guiding strategy of a congestion tolerant path guiding method according to the present invention;
fig. 6 is a block diagram of a congestion tolerant path steering apparatus according to the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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, fig. 1 is a flowchart illustrating a congestion tolerable path guiding method according to an embodiment of the present application, where in the embodiment, the congestion tolerable path guiding method includes:
In the embodiment, during the running process of the vehicle, the type of congestion in the congested road section on the predetermined track is judged, wherein the congestion type encountered by the vehicle during the running process at least comprises regular congestion, and the regular congestion (TLI) is congestion caused by a traffic light, namely congestion caused when the vehicle waits for the traffic light during the running process.
And 102, if the congestion type is the regular congestion, selecting the preset track to run, and if not, planning an alternative path for the vehicle and calculating the extra time of the alternative path.
In this embodiment, if the vehicle determines that the congestion type in the predetermined trajectory is regular congestion in the course of the trip, the vehicle will regard the regular congestion as the normal time of the traffic system, and will continue to travel according to the predetermined trajectory; when the congestion type in the predetermined track is determined to be one of the event congestion, the lane reduction congestion and the road convergence congestion during the running process of the vehicle, the vehicle plans another alternative path without congestion, and calculates the extra time taken by the alternative path.
In this embodiment, in an actual traffic system, all vehicles waiting for a red light on a road may appear "in a congested state" as a whole, and a congestion sensing algorithm that does not consider the traffic light state may consider this phenomenon as traffic congestion. In fact, the regular congestion caused by the traffic light is a false congestion which is a normal phenomenon in real life, and the avoidance strategy adopted for the traffic congestion can cause more expenses to be generated for the vehicle. When the congestion type of the congested section is determined to be regular congestion, the predetermined track is still selected to continue driving.
In the embodiment, the number of all vehicles congested in the congested road section in the originally traveled predetermined track and the maximum load capacity in the congested road section are calculated, and whether the vehicles can still enter the congested road section is judged according to the relationship between the number of all vehicles in the congested road section in the predetermined track and the maximum load capacity of the congested road section. Because the carrying capacity of a road is limited in practical applications, the number of vehicles entering the congested road is usually controlled to ensure that the congestion of the road is within a controllable range.
And 104, if the vehicle can enter the congested road section, calculating congestion time according to the congestion type of the congested road section, comparing the congestion time with the extra time to obtain a comparison result, and selecting a proper path for the vehicle according to the comparison result.
In this embodiment, after the number of congested vehicles in the congested road segment and the maximum bearing capacity of the congested road segment are calculated, if a vehicle can enter the congested road segment, the duration of the current congestion is predicted by using a congestion duration prediction model, the obtained duration of the congestion is compared with the extra time for selecting an alternative route, and after a comparison result is obtained, a suitable route is selected for the vehicle according to the comparison result, so that the average travel time of the vehicle can be reduced as a whole, and the effect of improving the efficiency of a traffic system is achieved. The method can provide more reasonable dynamic path planning for the vehicle by dividing the congestion type and balancing the congestion duration and the extra time generated by re-planning the path.
The embodiment of the application provides a congestion-tolerant path guiding method, which comprises the following steps: judging the congestion type of a congested road section in a preset track of a vehicle, wherein the congestion type at least comprises regular congestion; if the congestion type is the regular congestion, selecting the preset track to drive, otherwise, planning an alternative path for the vehicle and calculating the extra time of the alternative path; calculating the number and the maximum bearing capacity of all vehicles in the congested road section, and judging whether the vehicles can enter the congested road section according to the number and the maximum bearing capacity of the vehicles in the congested road section; if the vehicle can enter the congested road section, calculating congestion time according to the congestion type of the congested road section, comparing the congestion time with the extra time to obtain a comparison result, and selecting a proper path for the vehicle according to the comparison result. The method provided by the invention divides the traffic congestion with complex congestion into four basic congestion types, the four basic congestion types can unify all congestion situations through chain reaction of the congestion, the method has universal applicability, and on the basis of keeping the congestion controllable, a more reasonable decision is made for the vehicle by balancing the duration of the congestion and the extra time overhead generated by selecting an alternative path, the strategy allows the existence of small-scale congestion, and although the smoothness of vehicle running is sacrificed to a certain extent, the average passing time, the average power consumption and the carbon dioxide emission of the vehicle in a traffic system can be effectively reduced.
Further, referring to fig. 2, fig. 2 is a schematic sub-flow chart of a route guidance method for tolerating congestion in an embodiment of the present application, where if the vehicle can enter the congested road segment, a congestion time is calculated according to a congestion type of the congested road segment, the congestion time is compared with the extra time to obtain a comparison result, and according to the comparison result, a suitable route is selected for the vehicle, specifically including:
In this embodiment, when the congestion time of the congested road segment is longer than the extra time spent on the alternative route, the vehicle is controlled to select the alternative route, and if the duration time of the congested road segment is shorter than the extra time spent on the alternative route, the vehicle is controlled to select the predetermined trajectory, and the vehicle enters the congested road segment, waits for the traffic after the congestion is relieved.
Further, if the vehicle can enter the congested road section, calculating congestion time according to a congestion type of the congested road section, further comprising:
selecting the alternative route if the vehicle cannot enter the congested road segment.
In the present embodiment, in a case where the vehicle cannot enter the congested section after the number of all vehicles in the congested section and the relationship between the vehicles having the largest load-bearing capacity in the congested section are calculated, the vehicle is controlled to select an alternative route.
Further, referring to fig. 3, fig. 3 is a schematic view of another sub-flow of the congestion-tolerant path guiding method in the embodiment of the present application, where the calculating the number and the maximum carrying capacity of all vehicles in the congested road segment, and determining whether the vehicle can enter the congested road segment according to the number and the maximum carrying capacity of the vehicles in the congested road segment specifically includes:
In this embodiment, by calculating the relationship between the number of all vehicles in the congested road segment and the maximum load-bearing capacity of the congested road segment, if the number of vehicles already existing in the congested road segment plus the number of vehicles greater than eighty percent of the maximum load-bearing capacity of the congested road segment, that is, if the current vehicle enters the congested road segment, the number of vehicles in the congested road segment will exceed eighty percent of the maximum load-bearing capacity of the congested road segment, and in order to prevent congestion from being uncontrollable, the vehicle cannot enter the congested road segment, and the vehicle is controlled to select an alternative path without congestion.
In this embodiment, by calculating the relationship between the number of all vehicles in the congested road segment and the maximum load-bearing capacity of the congested road segment, if the number of vehicles already existing in the congested road segment plus the number of vehicles is less than eighty percent of the maximum load-bearing capacity of the congested road segment, that is, if the current vehicle enters the congested road segment, the vehicle in the congested road segment does not exceed eighty percent of the maximum load-bearing capacity of the congested road segment, and the current vehicle is allowed to enter the congested road segment at this time.
Further, referring to fig. 4, fig. 4 is another sub-flow diagram of the route guidance method with tolerable congestion in the embodiment of the present application, where the determining the congestion type of the congested road segment in the predetermined track of the vehicle further includes:
In this embodiment, in the process of traveling along the predetermined track, the vehicle senses whether congestion exists on the road ahead of the predetermined track by using a conventional road congestion sensing algorithm, further determines the congestion type of the congested road segment in the predetermined track if the congestion is sensed to exist on the road ahead of the predetermined track, and continues traveling along the predetermined track if the congestion is not sensed to exist on the road ahead of the predetermined track.
Further, the congestion types further include event congestion, lane reduction congestion, and road convergence congestion; the judgment formula of the regular congestion is as follows:
wherein, the node in the path network uses N ═ { N ═ N1,N2,N3,...,NnThe expression indicates that the expression of the expression,
representing roads between two nodes, each road having a length
Is represented by TLstateThe traffic light state in front of the predetermined trajectory,
indicating that the predetermined trajectory is in a congestion state, and indicating that the predetermined trajectory is a result of congestion sensing;
the judgment formula of the event congestion is as follows:
wherein, the nodes in the path network use N ═ { N ═ N1,N2,N3,...,NnThe expression indicates that the expression of the expression,
representing roads between two nodes, each road having a length
Denotes, TAstateThe state variable of the traffic accident indicates that the traffic accident occurs when the state variable is True and indicates that the traffic accident does not occur when the state variable is False;
the judgment formula for reducing the congestion of the lane is as follows:
wherein ,
and
two roads are directly connected by the node,
and
are respectively as
And
the number of lanes of the vehicle (a),
is and
the roads being connected only or
All vehicles in the middle pass
The judgment formula of the road convergence congestion is as follows:
wherein ,NjAs road junction nodes, SUMRiIs the total number of roads, SUM, that the vehicle drives into the nodeRoThe total number of roads that the vehicle exits the node.
In this embodiment, the traffic congestion is divided into four most basic congestion types, namely regular congestion, event congestion, lane reduction congestion, and road convergence congestion. Regular congestion (TLI) is congestion caused by traffic lights, incident congestion (TAI) is caused by traffic accidents, lane reduction congestion (LDI) is caused by lane reduction, and road convergence congestion (RCI) is caused by roads converging together.
In this embodiment, in real life, the traffic congestion has very different scales, but any traffic congestion can be formed by combining the four basic congestion types, which is called as a chain reaction of congestion. For example, in a traffic intersection connected by four roads (R1, R2, R3, R4, respectively), vehicles enter from two of the roads (R1, R2) and exit from the other two roads (R3, R4); when a traffic accident occurs in R3, which cannot be resolved for a short time (TAI occurs), the vehicle can only pass through from another road R4 without congestion. When the traffic flow of R1 and R2 is greater than the traffic capacity of R4, the vehicle may form congestion (generate RCI) at the traffic intersection and on both the roads R1 and R2; if vehicles continue to enter the R1 and R2 lanes and the vehicle's traffic evacuation capacity at R4 is less than the traffic entering R1 and R2, congestion continues to deteriorate in R1 and R2; when R1 and R2 both reach saturation, they will then affect other road segments, creating regional congestion.
And formula judgment is respectively made for the four most basic congestion types, namely a judgment formula for regular congestion, a judgment formula for event congestion, a judgment formula for lane congestion reduction and a judgment formula for road convergence congestion.
In this embodiment, when the vehicle is running on a road, the vehicle senses whether congestion exists on the road ahead by a conventional road congestion sensing method, and substitutes various parameters of the road ahead and the vehicle into the above formula respectively, so as to determine what congestion type is.
Further, the prediction formula of the congestion time when the event is congested is as follows:
wherein ,{E1,E2,...,EMIs the driving route of the rescue vehicle,
is the duration of the red light at each intersection in the route, TprocessIs the expected handling time of the accident,
is the maximum traffic speed allowed for each road;
the prediction formula of the congestion time when the congestion of the lane is reduced is as follows:
wherein ,
is the vehicle k distance node NjThe distance of (a) to (b),
is the distance traveled during acceleration of the vehicle, wherein the vehicle can accelerate to the maximum speed allowed on the road when reaching the node
Then
Is the reaction time of the vehicle, KP is in the road
Number of vehicles in, KQ is in road
The number of vehicles in (2) is,
the number of lanes corresponding to the road;
the prediction formula of the congestion time when the road is converged and congested is as follows:
wherein ,SUMiIs driven into the junction node NjSUM of lanes of all roads, SUMoIs a running-out junction node NjIs added to all lanes.
In this embodiment, after the type of congestion is determined, various parameters of the vehicle and the road are substituted into congestion time prediction models of various congestion type determination formulas to calculate the time for which the congestion will last, which are respectively related to the congestion time prediction models of the event type, the lane reduction congestion, and the road convergence congestion. When the congestion occurs in a regular congestion manner, the vehicle directly enters the congestion section with the regular congestion, and the congestion time does not need to be predicted.
Further, referring to fig. 5, fig. 5 is a schematic guiding policy flow diagram of a congestion-tolerable path guiding method in the embodiment of the present application, where the steps of the congestion-tolerable path guiding method are respectively:
step 1-1: the method comprises the following steps that a vehicle senses the existence of congestion by utilizing a traditional road congestion sensing algorithm in the running process;
step 1-2: and judging the congestion type after the congestion is sensed, wherein four basic congestion types are defined, namely regular congestion, event congestion, lane congestion reduction and road convergence congestion.
Step 1-3: if the congestion type judged by the formula is regular congestion (TLI), the vehicle chooses to travel on a predetermined trajectory.
Step 1-4: if the congestion type is not regular congestion (TLI) but one of event congestion, lane reduction congestion, and road convergence congestion, an alternative route without congestion is planned for the vehicle and the extra time Tr generated by the route is calculated.
Step 1-5: and calculating the number Nc of all vehicles in the current congested road section and the maximum bearing capacity Nm of the congested road section.
Step 1-6: the relationship between Nc +1 and Nm is judged.
Step 1-7: if Nc +1 reaches eighty percent of Nm, namely if the current vehicle enters the congested road section, the number of vehicles in the congested road section can exceed eighty percent of the road bearing capacity, and in order to prevent the congestion from being uncontrollable, the vehicle can not enter the congested road section any more, and an alternative route without the congestion is selected for driving.
Step 1-8: if Nc +1 is less than eighty percent of Nm, then the congested stretch allows vehicles to enter.
Step 1-9: and predicting the congestion duration time through a congestion duration prediction model on the premise that the congested road section allows entry, listing congestion duration time prediction models of three congestion types, namely event congestion, lane congestion reduction and road congestion convergence, and obtaining the congestion time through the three congestion duration time prediction models.
Step 1-10: if the congestion time calculated by the congestion time prediction model is less than the extra time, controlling the vehicle to enter a congested road section for waiting, namely controlling the vehicle to select a preset track to run; and if the congestion time is greater than the extra time, controlling the vehicle to select an alternative route without congestion to travel.
Furthermore, in order to improve the efficiency of the traffic system, the invention provides a path guidance strategy (CT-RGS for short) with tolerable congestion. The strategy is not a traditional traffic guidance strategy with congestion avoidance priority, but the intelligent decision of the vehicle in a dynamic environment is realized by balancing the extra overhead caused by the congestion on the vehicle (note that the extra overhead comprises the driving time and the power consumption, the driving time and the power consumption are in a positive correlation usually, and the driving time is taken into consideration in a model) and the extra overhead brought to the vehicle by replanning a path, so that the average running time, the average energy consumption and the average carbon dioxide emission of the vehicle in a traffic system are reduced.
The congestion tolerant path guidance method (CT-RGS) first provides a congestion duration prediction model for each congestion type according to the congestion formation mechanism, and when a running vehicle senses congestion on its trajectory, the vehicle first determines the type of current congestion. Case 1: the current congestion is a regular congestion (TLI), and the vehicles regard the congestion as a normal event of the traffic system and continue to run according to a predetermined trajectory. Case 2: the current congestion is of other types, and the vehicle can predict the duration Tc of the current congestion through a congestion duration prediction model and then estimate the additional time cost Tr generated by selecting an alternative path without congestion. If Tc > Tr, CT-RGS will control the vehicle to select an alternative path without congestion; if Tc is less than Tr, the CT-RGS controls the vehicle to enter the congested road section and waits for the vehicle to pass after the congestion is relieved. In practical applications, because the bearing capacity of a road is limited, in order to ensure that the congestion of the road is within a controllable range, the number of vehicles entering the congested road is generally controlled.
Further, an embodiment of the present invention provides a congestion-tolerant path guiding apparatus 500, and fig. 6 is a schematic diagram of program modules of the congestion-tolerant path guiding apparatus in the embodiment of the present invention, in which the congestion-tolerant path guiding apparatus 500 includes:
the judging module 501: the congestion type judging method comprises the steps of judging the congestion type of a congested road section in a preset track of a vehicle, wherein the congestion type at least comprises regular congestion;
the selection module 502: the route planning unit is used for selecting the preset track to run if the congestion type is the regular congestion, and planning an alternative route for the vehicle and calculating the extra time of the alternative route if the congestion type is the regular congestion;
the calculation module 503: the system is used for calculating the number and the maximum bearing capacity of all vehicles in the congested road section and judging whether the vehicles can enter the congested road section according to the number and the maximum bearing capacity of the vehicles in the congested road section;
the decision module 504: and if the vehicle can enter the congested road section, calculating congestion time according to the congestion type of the congested road section, comparing the congestion time with the extra time to obtain a comparison result, and selecting a proper path for the vehicle according to the comparison result.
The present application further provides a congestion-tolerant path guiding apparatus 500, which can implement: judging the congestion type of a congested road section in a preset track of a vehicle, wherein the congestion type at least comprises regular congestion; if the congestion type is the regular congestion, selecting the preset track to drive, otherwise, planning an alternative path for the vehicle and calculating the extra time of the alternative path; calculating the number and the maximum bearing capacity of all vehicles in the congested road section, and judging whether the vehicles can enter the congested road section according to the number and the maximum bearing capacity of the vehicles in the congested road section; if the vehicle can enter the congested road section, calculating congestion time according to the congestion type of the congested road section, comparing the congestion time with the extra time to obtain a comparison result, and selecting a proper path for the vehicle according to the comparison result. The method provided by the invention divides the traffic congestion with complex congestion into four basic congestion types, the four basic congestion types can unify all congestion situations through chain reaction of the congestion, the method has universal applicability, and on the basis of keeping the congestion controllable, a more reasonable decision is made for the vehicle by balancing the duration of the congestion and the extra time overhead generated by selecting an alternative path, the strategy allows the existence of small-scale congestion, and although the smoothness of vehicle running is sacrificed to a certain extent, the average passing time, the average power consumption and the carbon dioxide emission of the vehicle in a traffic system can be effectively reduced.
Further, the present application also provides a congestion-tolerant path guiding device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the steps in the congestion-tolerant path guiding method as described above.
Further, the present application also provides a storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of the method for processing congestion-tolerant path guidance as described above.
Each functional module in the embodiments of the present invention may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium.
Based on such understanding, the technical solution of the present invention, which is described in the specification or contributes to the prior art in essence, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention. Further, those skilled in the art will appreciate that the embodiments described in this specification are presently considered to be preferred embodiments and that no single act or module is essential to the invention. In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
For those skilled in the art, according to the idea of the embodiments of the present application, there may be variations in the specific implementation and application scope, and in summary, the content of the present description should not be construed as a limitation to the present invention.
Claims (10)
1. A method of congestion tolerant path steering, the method comprising:
judging the congestion type of a congested road section in a preset track of a vehicle, wherein the congestion type at least comprises regular congestion;
if the congestion type is the regular congestion, selecting the preset track to drive, otherwise, planning an alternative path for the vehicle and calculating the extra time of the alternative path;
calculating the number and the maximum bearing capacity of all vehicles in the congested road section, and judging whether the vehicles can enter the congested road section according to the number and the maximum bearing capacity of the vehicles in the congested road section;
if the vehicle can enter the congested road section, calculating congestion time according to the congestion type of the congested road section, comparing the congestion time with the extra time to obtain a comparison result, and selecting a proper path for the vehicle according to the comparison result.
2. The method according to claim 1, wherein if the vehicle can enter the congested section, calculating a congestion time according to a congestion type of the congested section, comparing the congestion time with the extra time to obtain a comparison result, and selecting an appropriate path for the vehicle according to the comparison result, specifically comprising:
if the congestion time is greater than the additional time, selecting the alternative path for the vehicle;
selecting the predetermined trajectory for the vehicle if the congestion time is less than the additional time.
3. The method according to claim 1, wherein if the vehicle can enter the congested section, calculating a congestion time according to a congestion type of the predetermined trajectory, further comprising:
selecting the alternative route if the vehicle cannot enter the congested road segment.
4. The method according to claim 1, wherein the calculating the number of all vehicles and the maximum load capacity in the congested road segment and the determining whether the vehicle can enter the congested road segment according to the number of vehicles and the maximum load capacity in the congested road segment specifically includes:
calculating the number of all vehicles in the congested road section and the maximum bearing capacity, wherein if the number of all vehicles plus 1 is greater than eighty percent of the maximum bearing capacity, the vehicles cannot enter the congested road section;
if the number of vehicles +1 is less than eighty percent of the maximum load capacity, the vehicle can enter the congested section.
5. The method according to claim 1, wherein the determining of the congestion type of the congested road segment in the predetermined trajectory of the vehicle further comprises:
judging whether the preset track has congestion or not through a traditional road congestion perception algorithm based on the vehicle;
if yes, judging the congestion type of the congested road section in the preset track, and if not, driving along the preset track.
6. The method of claim 1, wherein the congestion types further include event congestion, lane reduction congestion, and road convergence congestion;
the formula for judging the regular congestion is as follows:
wherein, the nodes in the path network use N ═ { N ═ N1,N2,N3,...,NnThe expression indicates that the expression of the expression,
representing roads between two nodes, each road having a length
Is represented by TLstateThe traffic light state in front of the predetermined trajectory,
indicating that the predetermined track is in a congestion state, and indicating that the predetermined track is in a congestion state; the judgment formula of the event congestion is as follows:
wherein, the nodes in the path network use N ═ { N ═ N1,N2,N3,...,NnThe expression indicates that the expression of the expression,
representing roads between two nodes, each road having a length
Denotes, TAstateThe state variable of the traffic accident indicates that the traffic accident occurs when the state variable is True and indicates that the traffic accident does not occur when the state variable is False;
the judgment formula for reducing the congestion of the lane is as follows:
wherein ,
and
two roads are directly connected by the node,
and
are respectively as
And
the number of lanes of the vehicle is,
is and
the only connected road or
All of the vehicles in the tunnel pass through
The judgment formula of the road convergence congestion is as follows:
wherein ,NjAs road junction nodes, SUMsRiIs the total number of roads that the vehicle drives into the node, SUMRoThe total number of roads that the vehicle exits the node.
7. The method of claim 6, wherein the formula for predicting the congestion time when the event is congested is as follows:
wherein ,{E1,E2,...,EMIs the driving route of the rescue vehicle,
is the duration of the red light at each intersection in the route, TprocessIs the expected handling time of the accident,
is the maximum traffic speed allowed for each road;
the prediction formula of the congestion time when the congestion of the lane is reduced is as follows:
wherein ,
is the vehicle k distance node NjThe distance of (a) to (b),
is the distance traveled during acceleration of the vehicle, wherein the vehicle can accelerate to the maximum speed allowed by the road when reaching the node
Then
Is the reaction time of the vehicle, KP is in the road
Number of vehicles in, KQ is in road
The number of the vehicles in (1),
the number of lanes of the corresponding road;
the prediction formula of the congestion time when the road is converged and congested is as follows:
wherein ,SUMiIs driven into the junction node NjSUM of lanes of all roads, SUMoIs a running-out junction node NjIs added to all lanes.
8. A congestion tolerant path steering apparatus, the apparatus comprising:
a judging module: the congestion type judging method comprises the steps of judging the congestion type of a congested road section in a preset track of a vehicle, wherein the congestion type at least comprises regular congestion;
a selection module: if the congestion type is the regular congestion, selecting the preset track to run, and if not, planning an alternative path for the vehicle and calculating the extra time of the alternative path;
a calculation module: the system is used for calculating the number and the maximum bearing capacity of all vehicles in the congested road section and judging whether the vehicles can enter the congested road section or not according to the number and the maximum bearing capacity of the vehicles in the congested road section;
a decision module: and the traffic congestion control unit is used for calculating congestion time according to the congestion type of the congested road section if the vehicle can enter the congested road section, comparing the congestion time with the extra time to obtain a comparison result, and selecting a proper path for the vehicle according to the comparison result.
9. A congestion tolerant path guiding apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the congestion tolerant path guiding method according to any one of claims 1 to 7 when executing the computer program.
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the congestion tolerant path steering method according to any of claims 1-7.
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