CN114743398B - Congestion tolerant path guiding method, device, equipment and storage medium - Google Patents

Congestion tolerant path guiding method, device, equipment and storage medium Download PDF

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CN114743398B
CN114743398B CN202210256150.3A CN202210256150A CN114743398B CN 114743398 B CN114743398 B CN 114743398B CN 202210256150 A CN202210256150 A CN 202210256150A CN 114743398 B CN114743398 B CN 114743398B
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congestion
vehicle
road section
congested road
time
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CN114743398A (en
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朱威龙
朱春生
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Southern University of Science and Technology
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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route

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Abstract

The application discloses a congestion-tolerant path guiding method, a congestion-tolerant path guiding device, congestion-tolerant path guiding equipment and a 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 traffic is regular congestion, driving according to a preset track, if not, planning an alternative path and calculating additional 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 according to the number and the maximum bearing capacity of the vehicles in the congested road section; if yes, calculating the congestion time according to the congestion type of the congestion 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 congestion controllable, the method makes more reasonable decisions for the vehicle by balancing congestion time length and extra time, and the average passing time, average power consumption and carbon dioxide emission of the vehicle can be effectively reduced although the smoothness of vehicle running is sacrificed to a certain extent.

Description

拥塞可容忍的路径引导方法及装置、设备及存储介质Congestion-tolerant path guidance method and device, equipment and storage medium

技术领域Technical field

本发明涉及交通路线引导技术领域,尤其涉及一种拥塞可容忍的路径引导方法及装置、设备及存储介质。The present invention relates to the technical field of traffic route guidance, and in particular to a congestion-tolerant path guidance method and device, equipment and storage medium.

背景技术Background technique

目前,随着人们生活水平的不断提高,车辆的数量不断增长,随之而来的是越来越严重的交通拥塞。交通拥塞不仅会给用户带来较差的出行体验,而且还会大大降低交通效率。为了有效地缓解交通拥塞,提高交通系统的效率,智能交通系统被提出并不断发展。智能交通系统涉及的两个核心技术是拥塞感知和路径引导策略。当车辆在自己的预定路径上感知到交通拥塞时,最有效的缓解交通拥堵策略是避让优先的路径引导策略(简称:AP-RGS)。AP-RGS的基本思想:如果一个运行中的车辆在其预定轨迹上感知到拥塞存在,AP-RGS会首先选择去寻找一条无拥塞的替代路径来避免进入拥塞路段;如果不存在无拥塞的替代路径,AP-RGS才会选择进入拥塞路段进行等待。当交通系统中出现拥塞时,这种策略优先选择让车辆避开拥塞,可以防止拥塞恶化,有助于拥塞的解除。At present, with the continuous improvement of people's living standards, the number of vehicles continues to grow, followed by increasingly serious traffic congestion. Traffic congestion will not only bring poor travel experience to users, but also greatly reduce traffic efficiency. In order to effectively alleviate traffic congestion and improve the efficiency of the transportation system, intelligent transportation systems have been proposed and continuously developed. The two core technologies involved in intelligent transportation systems are congestion awareness and path guidance strategies. When a vehicle senses traffic congestion on its own predetermined path, the most effective strategy to alleviate traffic congestion is the avoidance-priority path guidance strategy (abbreviation: AP-RGS). The basic idea of AP-RGS: If a running vehicle senses the existence of congestion on its predetermined trajectory, AP-RGS will first choose to find a non-congestion alternative path to avoid entering the congested road section; if there is no congestion-free alternative Path, AP-RGS will choose to enter the congested road section and wait. When congestion occurs in the transportation system, this strategy gives priority to vehicles to avoid the congestion, which can prevent the congestion from worsening and help relieve the congestion.

然而在实际环境中,交通拥塞的情形多种多样,拥塞对车辆造成的影响程度也不尽相同。如果对待所有交通拥塞都采用避让优先的路径引导策略,会让车辆产生很多不必要的额外开销。例如情况一:在实际交通系统中,一条道路上所有等待红灯的车辆整体上会表现为“处在拥塞状态”,不考虑红绿灯状态的拥塞感知算法会将该现象视为交通拥塞。实际上这种由交通灯引起的规则性拥塞是一种假性拥塞,在现实生活中是一种正常现象,对这种交通拥塞采取避让策略会让车辆产生更多的开销。情况二:交通拥塞的持续时间各不相同,实际中大部分的交通拥塞都是小规模的拥塞,它们的拥塞持续时间相对较短。当交通拥塞对车辆造成的时间开销小于替代路径带来的时间开销时,车辆选择进入拥塞路段是一种更合理的选择。通常情况下我们更加注重通行时间和功耗的这两个指标,短时间的拥塞是可以接受的。However, in the actual environment, traffic congestion situations are diverse, and the impact of congestion on vehicles is also different. If an avoidance-priority path guidance strategy is used to treat all traffic congestion, the vehicle will incur a lot of unnecessary additional overhead. For example, situation 1: In an actual traffic system, all vehicles waiting for a red light on a road will appear to be "in a congestion state" as a whole. A congestion sensing algorithm that does not consider the traffic light status will regard this phenomenon as a traffic congestion. In fact, this kind of regular congestion caused by traffic lights is a kind of false congestion, which is a normal phenomenon in real life. Adopting avoidance strategies for this kind of traffic congestion will cause more overhead for vehicles. Scenario 2: The duration of traffic congestion varies. In reality, most traffic congestion is small-scale congestion, and their congestion duration is relatively short. When the time cost caused by traffic congestion to the vehicle is less than the time cost caused by the alternative route, it is a more reasonable choice for the vehicle to choose to enter the congested road section. Normally, we pay more attention to these two indicators of travel time and power consumption, and short-term congestion is acceptable.

有鉴于此,有必要提出对目前的拥塞可容忍的路径引导方法进行进一步的改进。In view of this, it is necessary to propose further improvements to current congestion-tolerant path guidance methods.

发明内容Contents of the invention

为此,本发明目的在于至少一定程度上解决现有技术中的不足,从而提出一种拥塞可容忍的路径引导方法及装置、设备及存储介质。To this end, the purpose of the present invention is to solve the deficiencies in the prior art at least to a certain extent, thereby proposing a congestion-tolerant path guidance method and device, equipment and storage medium.

第一方面,本发明提供了一种拥塞可容忍的路径引导方法,所述方法包括:In a first aspect, the present invention provides a congestion-tolerant path guidance method, which method includes:

判断车辆的预定轨迹中拥塞路段的拥塞类型,其中所述拥塞类型至少包括规则性拥塞;Determine the congestion type of the congested road section in the vehicle's predetermined trajectory, wherein the congestion type at least includes regular congestion;

若所述拥塞类型为所述规则性拥塞,则选择所述预定轨迹行驶,若否,则为所述车辆规划替代路径并计算所述替代路径的额外时间;If the congestion type is the regular congestion, select the predetermined trajectory to drive; if not, plan an alternative path for the vehicle and calculate the additional time for the alternative path;

计算所述拥塞路段中的所有车辆的数量以及最大承载能力,根据所述拥塞路段中的车辆数量以及最大承载能力判断所述车辆能否进入所述拥塞路段;Calculate the number of all vehicles in the congested road section and the maximum carrying capacity, and determine whether the vehicle can enter the congested road section based on the number of vehicles in the congested road section and the maximum carrying capacity;

若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,并对比所述拥塞时间与所述额外时间,得到对比结果,根据所述对比结果,为所述车辆选择合适路径。If the vehicle can enter the congested road section, the congestion time is calculated according to the congestion type of the congested road section, and the congestion time and the extra time are compared to obtain a comparison result. According to the comparison result, the vehicle Choose the appropriate path.

第二方面,本发明提供了一种拥塞可容忍的路径引导装置,所述装置包括:In a second aspect, the present invention provides a congestion-tolerant path guidance device, which device includes:

判断模块:用于判断车辆的预定轨迹中拥塞路段的拥塞类型,其中所述拥塞类型至少包括规则性拥塞;Determination module: used to determine the congestion type of the congested road section in the predetermined trajectory of the vehicle, where the congestion type at least includes regular congestion;

选择模块:用于若所述拥塞类型为所述规则性拥塞,则选择所述预定轨迹行驶,若否,则为所述车辆规划替代路径并计算所述替代路径的额外时间;Selection module: used to select the predetermined trajectory to drive if the congestion type is the regular congestion, and if not, plan an alternative path for the vehicle and calculate the additional time for the alternative path;

计算模块:用于计算所述拥塞路段中的所有车辆的数量以及最大承载能力,根据所述拥塞路段中的车辆数量以及最大承载能力判断所述车辆能否进入所述拥塞路段;Calculation module: used to calculate the number of all vehicles in the congested road section and the maximum carrying capacity, and determine whether the vehicle can enter the congested road section based on the number of vehicles in the congested road section and the maximum carrying capacity;

决策模块:用于若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,并对比所述拥塞时间与所述额外时间,得到对比结果,根据所述对比结果,为所述车辆选择合适路径。Decision-making module: used to calculate the congestion time according to the congestion type of the congested road section if the vehicle can enter the congested road section, and compare the congestion time with the extra time to obtain a comparison result. According to the comparison result , select an appropriate path for the vehicle.

第三方面,本发明还提供了一种拥塞可容忍的路径引导设备,包括存储器、处理器、以及存储在所述存储器中并可在所述处理器上运行的计算机程序,所述处理器执行所述计算机程序时,实现如第一方面所述的拥塞可容忍的路径引导方法中的各个步骤。In a third aspect, the present invention also provides a congestion-tolerant path guidance device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes The computer program implements each step in the congestion-tolerant path guidance method described in the first aspect.

第四方面,本发明还提供了一种存储介质,其上存储有计算机程序,所述计算机程序被处理器执行时,实现如第一方面所述的拥塞可容忍的路径引导方法中各个步骤。In a fourth aspect, the present invention also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the various steps in the congestion-tolerant path guidance method as described in the first aspect are implemented.

本发明提供了一种拥塞可容忍的路径引导方法及装置、设备及存储介质,该方法包括:判断车辆的预定轨迹中拥塞路段的拥塞类型,其中所述拥塞类型至少包括规则性拥塞;若所述拥塞类型为所述规则性拥塞,则选择所述预定轨迹行驶,若否,则为所述车辆规划替代路径并计算所述替代路径的额外时间;计算所述拥塞路段中的所有车辆的数量以及最大承载能力,根据所述拥塞路段中的车辆数量以及最大承载能力判断所述车辆能否进入所述拥塞路段;若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,并对比所述拥塞时间与所述额外时间,得到对比结果,根据所述对比结果,为所述车辆选择合适路径。通过本发明提供的方法,将拥塞复杂的交通拥塞划分成四种基本的拥塞类型,这四种基本类型通过拥塞的连锁反应可以统一所有的拥塞情形,具有普遍适用性,且该方法在保持拥塞可控的基础上,通过权衡拥塞的持续时长和选择替代路径产生的额外时间开销,为车辆做出更加合理的决策,这种策略允许小规模拥塞的存在,虽然在一定程度上牺牲了车辆行驶的流畅性,但是可以有效降低交通系统中车辆的平均通行时间、平均功耗以及二氧化碳排放。The invention provides a congestion-tolerant path guidance method and device, equipment and storage medium. The method includes: determining the congestion type of the congested road section in the vehicle's predetermined trajectory, wherein the congestion type at least includes regular congestion; if If the congestion type is the regular congestion, then select the predetermined trajectory to drive; if not, plan an alternative path for the vehicle and calculate the additional time for the alternative path; calculate the number of all vehicles in the congested road section And the maximum carrying capacity, based on the number of vehicles in the congested road section and the maximum carrying capacity, it is judged whether the vehicle can enter the congested road section; if the vehicle can enter the congested road section, it is determined according to the congestion type of the congested road section Calculate the congestion time and compare the congestion time with the extra time to obtain a comparison result. Based on the comparison result, select an appropriate path for the vehicle. Through the method provided by the invention, complex traffic congestion is divided into four basic congestion types. These four basic types can unify all congestion situations through the chain reaction of congestion, and have universal applicability, and this method can maintain congestion On a controllable basis, the vehicle can make more reasonable decisions by weighing the duration of congestion and the additional time overhead caused by choosing alternative paths. This strategy allows the existence of small-scale congestion, although it sacrifices vehicle travel to a certain extent. smoothness, but can effectively reduce the average travel time, average power consumption and carbon dioxide emissions of vehicles in the transportation system.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图示出的结构获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without exerting creative efforts.

图1为本发明的拥塞可容忍的路径引导方法的流程示意图;Figure 1 is a schematic flow chart of the congestion-tolerant path guidance method of the present invention;

图2为本发明的拥塞可容忍的路径引导方法的子流程示意图;Figure 2 is a schematic sub-flow diagram of the congestion-tolerant path guidance method of the present invention;

图3为本发明的拥塞可容忍的路径引导方法的又一子流程示意图;Figure 3 is a schematic diagram of another sub-flow of the congestion-tolerant path guidance method of the present invention;

图4为本发明的拥塞可容忍的路径引导方法的另一子流程示意图;Figure 4 is another sub-flow schematic diagram of the congestion-tolerant path guidance method of the present invention;

图5为本发明的拥塞可容忍的路径引导方法的引导策略流程示意图;Figure 5 is a schematic flowchart of the guidance strategy of the congestion-tolerant path guidance method of the present invention;

图6为本发明的拥塞可容忍的路径引导装置的程序模块示意图。FIG. 6 is a schematic diagram of the program module of the congestion-tolerant path guidance device of the present invention.

具体实施方式Detailed ways

为使得本发明的发明目的、特征、优点能够更加的明显和易懂,下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而非全部实施例。基于本发明中的实施例,本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。In order to make the purpose, 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 in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the description The embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present invention.

请参照图1,图1是本申请实施例的拥塞可容忍的路径引导方法的流程示意图,在本实施例中,上述拥塞可容忍的路径引导方法包括:Please refer to Figure 1. Figure 1 is a schematic flowchart of a congestion-tolerant path guidance method according to an embodiment of the present application. In this embodiment, the above-mentioned congestion-tolerant path guidance method includes:

步骤101、判断车辆的预定轨迹中拥塞路段的拥塞类型,其中所述拥塞类型至少包括规则性拥塞。Step 101: Determine the congestion type of the congested road section in the vehicle's predetermined trajectory, where the congestion type at least includes regular congestion.

在本实施例中,车辆在行驶的过程中,判断车辆在预定轨迹上的拥塞路段中拥塞的类型,其中车辆在行程过程中遇到的拥塞类型至少包括规则性拥塞,规则性拥塞(TLI)为交通信号灯引起的拥塞,即车辆在行驶的过程中等待交通灯时而引起的拥塞。In this embodiment, while the vehicle is driving, the type of congestion in the congested road section on the predetermined trajectory is determined. The congestion types encountered by the vehicle during the journey include at least regular congestion, regular congestion (TLI). Congestion caused by traffic lights, that is, congestion caused by vehicles waiting for traffic lights while driving.

步骤102、若所述拥塞类型为所述规则性拥塞,则选择所述预定轨迹行驶,若否,则为所述车辆规划替代路径并计算所述替代路径的额外时间。Step 102: If the congestion type is the regular congestion, select the predetermined trajectory to drive; if not, plan an alternative path for the vehicle and calculate the additional time for the alternative path.

在本实施例中,若车辆在行程过程中,确定到预定轨迹中的拥塞类型为规则性拥塞的情况下,车辆将会将规则性拥塞视为交通系统的正常时间,会按照预定轨迹继续行驶;当车辆在行驶过程中,确定预定轨迹中的拥塞类型是事件性拥塞、车道减少拥塞以及道路汇聚拥塞中的一种时,则会会车辆规划另外一条没有拥塞的替代路径,并计算该替代路径所要花费的额外时间。In this embodiment, if the vehicle determines that the congestion type in the predetermined trajectory is regular congestion during the journey, the vehicle will regard the regular congestion as the normal time of the traffic system and continue driving according to the predetermined trajectory. ; When the vehicle is driving and determines that the congestion type in the predetermined trajectory is one of event congestion, lane reduction congestion, and road convergence congestion, the vehicle will plan another alternative path without congestion and calculate the alternative. The additional time the path will take.

在本实施例中,在实际交通系统中,一条道路上所有等待红灯的车辆整体上会表现为“处在拥塞状态”,不考虑红绿灯状态的拥塞感知算法会将该现象视为交通拥塞。实际上这种由交通灯引起的规则性拥塞是一种假性拥塞,在现实生活中是一种正常现象,对这种交通拥塞采取避让策略会让车辆产生更多的开销。所以当确定拥塞路段的拥塞类型为规则性拥塞时,仍然会选择预定轨迹继续行驶。In this embodiment, in an actual traffic system, all vehicles waiting for red lights on a road will appear to be "in a congestion state" as a whole. A congestion sensing algorithm that does not consider the traffic light status will regard this phenomenon as traffic congestion. In fact, this kind of regular congestion caused by traffic lights is a kind of false congestion, which is a normal phenomenon in real life. Adopting avoidance strategies for this kind of traffic congestion will cause more overhead for vehicles. Therefore, when the congestion type of the congested road section is determined to be regular congestion, the predetermined trajectory will still be selected to continue driving.

步骤103、计算所述拥塞路段中的所有车辆的数量以及最大承载能力,根据所述拥塞路段中的车辆数量以及最大承载能力判断所述车辆能否进入所述拥塞路段。Step 103: Calculate the number of all vehicles in the congested road section and the maximum carrying capacity, and determine whether the vehicle can enter the congested road section based on the number of vehicles in the congested road section and the maximum carrying capacity.

在本实施例中,计算原本所行使的预定轨迹中拥塞路段中所拥塞的所有车辆的数量以及该拥塞路段中的最大承载能力,根据预定轨迹中该段拥塞路段中的所有车辆的数量以及该段拥塞路段最大的承载能力之间的关系,判断车辆是否还能进入拥塞路段中。因为在实际应用的过程中,道路的承载能力是有限的,为了保证道路的拥塞在一个可控范围内,通常会对进入拥塞道路的车辆数目进行控制。In this embodiment, the number of all vehicles congested in the congested road section of the originally scheduled trajectory and the maximum carrying capacity of the congested road section are calculated. According to the number of all vehicles in the congested road section of the predetermined trajectory and the The relationship between the maximum carrying capacity of the congested road section and determining whether the vehicle can still enter the congested road section. Because in actual applications, the carrying capacity of roads is limited, in order to ensure that road congestion is within a controllable range, the number of vehicles entering congested roads is usually controlled.

步骤104、若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,并对比所述拥塞时间与所述额外时间,得到对比结果,根据所述对比结果,为所述车辆选择合适路径。Step 104. If the vehicle can enter the congested road section, calculate the congestion time according to the congestion type of the congested road section, and compare the congestion time with the extra time to obtain a comparison result. According to the comparison result, The vehicle chooses the appropriate path.

在本实施例中,当计算了拥塞路段中的拥塞的车辆数量以及拥塞路段的最大承受能力之后,车辆能进入该拥塞路段的情况下,则通过拥塞持续时间预测模型预测当前拥塞的持续时间,将得到的拥塞的持续时间与选择替代路径的额外时间进行比较,得到对比结果后,再根据对比结果为车辆选择合适的路径,从而可从整体上降低车辆的平均行驶时间,并起到提高交通系统的效率的作用。其中,通过对拥塞类型的划分以及对拥塞持续时间和重新规划路径产生的额外时间的权衡,该方法可以为车辆提供更加合理的动态路径规划。In this embodiment, after calculating the number of congested vehicles in the congested road section and the maximum endurance capacity of the congested road section, if the vehicle can enter the congested road section, the congestion duration prediction model is used to predict the duration of the current congestion, Compare the duration of the congestion with the additional time to select alternative routes. After obtaining the comparison results, select an appropriate route for the vehicle based on the comparison results, which can reduce the average driving time of the vehicle as a whole and improve traffic flow. The role of system efficiency. Among them, this method can provide more reasonable dynamic path planning for vehicles by dividing congestion types and weighing the duration of congestion and the extra time caused by re-planning paths.

本申请实施例提供了一种拥塞可容忍的路径引导方法,该方法包括:判断车辆的预定轨迹中拥塞路段的拥塞类型,其中所述拥塞类型至少包括规则性拥塞;若所述拥塞类型为所述规则性拥塞,则选择所述预定轨迹行驶,若否,则为所述车辆规划替代路径并计算所述替代路径的额外时间;计算所述拥塞路段中的所有车辆的数量以及最大承载能力,根据所述拥塞路段中的车辆数量以及最大承载能力判断所述车辆能否进入所述拥塞路段;若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,并对比所述拥塞时间与所述额外时间,得到对比结果,根据所述对比结果,为所述车辆选择合适路径。通过本发明提供的方法,将拥塞复杂的交通拥塞划分成四种基本的拥塞类型,这四种基本类型通过拥塞的连锁反应可以统一所有的拥塞情形,具有普遍适用性,且该方法在保持拥塞可控的基础上,通过权衡拥塞的持续时长和选择替代路径产生的额外时间开销,为车辆做出更加合理的决策,这种策略允许小规模拥塞的存在,虽然在一定程度上牺牲了车辆行驶的流畅性,但是可以有效降低交通系统中车辆的平均通行时间、平均功耗以及二氧化碳排放。The embodiment of the present application provides a congestion-tolerant path guidance method. The method includes: determining the congestion type of the congested road section in the vehicle's predetermined trajectory, where the congestion type at least includes regular congestion; if the congestion type is If there is regular congestion, select the predetermined trajectory to drive. If not, plan an alternative path for the vehicle and calculate the additional time for the alternative path; calculate the number of all vehicles in the congested road section and the maximum carrying capacity, Whether the vehicle can enter the congested road section is determined based on the number of vehicles in the congested road section and the maximum carrying capacity; if the vehicle can enter the congested road section, the congestion time is calculated based on the congestion type of the congested road section, and Compare the congestion time and the extra time to obtain a comparison result, and select an appropriate path for the vehicle based on the comparison result. Through the method provided by the invention, complex traffic congestion is divided into four basic congestion types. These four basic types can unify all congestion situations through the chain reaction of congestion, and have universal applicability, and this method can maintain congestion On a controllable basis, the vehicle can make more reasonable decisions by weighing the duration of congestion and the additional time overhead caused by choosing alternative paths. This strategy allows the existence of small-scale congestion, although it sacrifices vehicle travel to a certain extent. smoothness, but can effectively reduce the average travel time, average power consumption and carbon dioxide emissions of vehicles in the transportation system.

进一步地,请参照图2,图2为本申请实施例中的拥塞可容忍的路径引导方法的子流程示意图,所述若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,并对比所述拥塞时间与所述额外时间,得到对比结果,根据所述对比结果,为所述车辆选择合适路径,具体包括:Further, please refer to Figure 2. Figure 2 is a schematic sub-flow diagram of a congestion-tolerant path guidance method in an embodiment of the present application. If the vehicle can enter the congested road section, then according to the congestion of the congested road section Type calculates the congestion time, and compares the congestion time with the extra time to obtain a comparison result. Based on the comparison result, select an appropriate path for the vehicle, which specifically includes:

步骤201、若所述拥塞时间大于所述额外时间,则为所述车辆选择所述替代路径;Step 201: If the congestion time is greater than the additional time, select the alternative path for the vehicle;

步骤202、若所述拥塞时间小于所述额外时间,则为所述车辆选择所述预定轨迹。Step 202: If the congestion time is less than the additional time, select the predetermined trajectory for the vehicle.

在本实施例中,当拥塞路段拥塞所持续的拥塞时间大于替代路径所要花费的额外时间时,则控制该车辆选择替代路径,若拥塞路段所持续的时间小于替代路径所要花费的额外时间时,则控制该车辆选择预定轨迹,并驶入该拥塞路段中,等待拥塞解除后再通行。In this embodiment, when the congestion time of the congested road section is greater than the additional time required by the alternative path, the vehicle is controlled to select the alternative path. If the duration of the congested road section is less than the additional time required by the alternative path, Then the vehicle is controlled to select a predetermined trajectory and drive into the congested road section, waiting for the congestion to be relieved before passing.

进一步地,所述若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,还包括:Further, if the vehicle can enter the congested road section, calculating the congestion time according to the congestion type of the congested road section also includes:

若所述车辆不能进入所述拥塞路段,则选择所述替代路径。If the vehicle cannot enter the congested road section, the alternative route is selected.

在本实施例中,当计算拥塞路段中的所有车辆的数量以及拥塞路段最大的承载能力车辆之间的关系之后,该车辆不能进入拥塞路段的情况下,则控制该车辆选择替代路径。In this embodiment, after calculating the relationship between the number of all vehicles in the congested road section and the vehicle with the largest carrying capacity of the congested road section, if the vehicle cannot enter the congested road section, the vehicle is controlled to select an alternative route.

进一步地,请参阅图3,图3为本申请实施例中的拥塞可容忍的路径引导方法中的又一子流程示意图,所述计算所述拥塞路段中的所有车辆的数量以及最大承载能力,根据所述拥塞路段中的车辆数量以及最大承载能力判断所述车辆能否进入所述拥塞路段,具体包括:Further, please refer to Figure 3. Figure 3 is a schematic diagram of another sub-process in the congestion-tolerant path guidance method in the embodiment of the present application, which calculates the number of all vehicles in the congested road section and the maximum carrying capacity, Determining whether the vehicle can enter the congested road section based on the number of vehicles in the congested road section and the maximum carrying capacity includes:

步骤301、计算所述拥塞路段中的所有车辆的数量以及最大承载能力,若所述所有车辆的数量+1大于所述最大承载能力的百分之八十,所述车辆则不能进入所述拥塞路段;Step 301: Calculate the number of all vehicles and the maximum carrying capacity in the congested road section. If the number of all vehicles + 1 is greater than 80% of the maximum carrying capacity, the vehicle cannot enter the congestion. road section;

步骤302、若所述车辆的数量+1小于所述最大承载能力的百分之八十,所述车辆能进入所述拥塞路段。Step 302: If the number of vehicles + 1 is less than 80% of the maximum carrying capacity, the vehicle can enter the congested road section.

在本实施例中,通过计算拥塞路段中所有车辆的数量以及该拥塞路段的最大承载能力之间的关系,若拥塞路段中已经存在的车辆的数量再加上该车辆大于该拥塞路段的最大承载能力的百分之八十的情况下,即如果当前车辆进入拥塞路段,拥塞路段中的车辆会超过拥塞路段的最大承载能力的百分之八十,为了防止拥塞不可控,则该车辆不能进入该拥塞路段,控制该车辆选择无拥塞的替代路径。In this embodiment, by calculating the relationship between the number of all vehicles in the congested road section and the maximum carrying capacity of the congested road section, if the number of vehicles already existing in the congested road section plus the vehicle is greater than the maximum carrying capacity of the congested road section In the case of 80% of the capacity, that is, if the current vehicle enters the congested road section, the vehicles in the congested road section will exceed 80% of the maximum carrying capacity of the congested road section. In order to prevent uncontrollable congestion, the vehicle cannot enter In this congested road section, the vehicle is controlled to choose an alternative path without congestion.

在本实施例中,通过计算拥塞路段中所有车辆的数量以及该拥塞路段的最大承载能力之间的关系,若拥塞路段中已经存在的车辆的数量再加上该车辆小于该拥塞路段的最大承载能力的百分之八十的情况下,即如果当前车辆进入拥塞路段,拥塞路段中的车辆并不会超过拥塞路段的最大承载能力的百分之八十,此时拥塞路段允许当前车辆进入。In this embodiment, by calculating the relationship between the number of all vehicles in the congested road section and the maximum carrying capacity of the congested road section, if the number of vehicles already existing in the congested road section plus the vehicle is less than the maximum carrying capacity of the congested road section In the case of 80% of the capacity, that is, if the current vehicle enters the congested road section, the vehicles in the congested road section will not exceed 80% of the maximum carrying capacity of the congested road section. At this time, the congested road section allows the current vehicle to enter.

进一步地,请参阅图4,图4为本申请实施例中的拥塞可容忍的路径引导方法中的另一子流程示意图,所述判断车辆的预定轨迹中拥塞路段的拥塞类型,之前还包括:Further, please refer to Figure 4, which is a schematic diagram of another sub-flow in the congestion-tolerant path guidance method in the embodiment of the present application. The determination of the congestion type of the congested road section in the vehicle's predetermined trajectory also includes:

步骤401、基于所述车辆通过传统的道路拥塞感知算法判断所述预定轨迹是否存在拥塞;Step 401: Determine whether there is congestion on the predetermined trajectory based on the vehicle through a traditional road congestion sensing algorithm;

步骤402、若是,则判定所述预定轨迹中所述拥塞路段的拥塞类型,若否,则沿所述预定轨迹行驶。Step 402: If yes, determine the congestion type of the congested road section in the predetermined trajectory; if not, drive along the predetermined trajectory.

在本实施例中,车辆在预定轨迹行驶的过程中,利用传统的道路拥塞感知算法感知预定轨迹的前方道路是否存在拥塞,若感知到预定轨迹的前方道路中存在拥塞,则进一步判断预定轨迹中的拥塞路段的拥塞类型,若并未感知到预定轨迹的前方道路中存在拥塞,则沿预定轨迹继续行驶。In this embodiment, while the vehicle is driving on the predetermined trajectory, it uses the traditional road congestion sensing algorithm to sense whether there is congestion on the road ahead of the predetermined trajectory. If it senses that there is congestion on the road ahead of the predetermined trajectory, it further determines whether there is congestion on the road ahead of the predetermined trajectory. If no congestion is detected on the road ahead of the predetermined trajectory, the vehicle will continue driving along the predetermined trajectory.

进一步地,所述拥塞类型还包括事件性拥塞、车道减少拥塞和道路汇聚拥塞;所述规则性拥塞的判断公式为:Further, the congestion types also include incident congestion, lane reduction congestion and road convergence congestion; the judgment formula for regular congestion is:

其中,路径网络中的节点用N={N1,N2,N3,...,Nn}表示,表示两个节点之间的道路,每条道路的长度用表示,TLstate为所述预定轨迹前方的红绿灯状态,/>表示所述预定轨迹处于拥塞状态,为拥塞感知的结果;Among them, the nodes in the path network are represented by N={N 1 , N 2 , N 3 ,..., N n }, Represents the road between two nodes. The length of each road is expressed by Indicates that TL state is the traffic light state in front of the predetermined trajectory,/> Indicates that the predetermined trajectory is in a congestion state, which is the result of congestion sensing;

所述事件性拥塞的判断公式为:The judgment formula for event congestion is:

其中,路径网络中的节点用N={N1,N2,N3,...,Nn}表示,表示两个节点之间的道路,每条道路的长度用表示,TAstate为交通事故的状态变量,为True时表示出现了交通事故,为False时表示未出交通事故;Among them, the nodes in the path network are represented by N={N 1 , N 2 , N 3 ,..., N n }, Represents the road between two nodes. The length of each road is expressed by Indicates that TA state is the state variable of a traffic accident. When it is True, it means that a traffic accident occurred; when it is False, it means that there was no traffic accident;

所述车道减少拥塞的判断公式为:The judgment formula for reducing congestion in the lane is:

其中,和/>为节点直接相连的两条道路,/>和/>分别为/>的车道数,/>是与/>唯一相连的道路或/>中的车辆都要通过/> in, and/> are two roads directly connected to the node,/> and/> respectively/> and The number of lanes,/> Yes and/> The only connecting road or/> All vehicles in the vehicle must pass/>

所述道路汇聚拥塞的判断公式为:The formula for determining road convergence and congestion is:

其中,Nj为道路交汇节点,SUMRi是车辆驶入节点的道路总数,SUMRo为车辆驶出节点的道路总数。Among them, N j is the road intersection node, SUM Ri is the total number of roads for vehicles to enter the node, and SUM Ro is the total number of roads for vehicles to exit the node.

在本实施例中,将交通拥塞分为了四个最基本的拥塞类型,分别为规则性拥塞、事件性拥塞、车道减少拥塞和道路汇聚拥塞。规则性拥塞(TLI)为交通信号灯引起的拥塞,事件性拥塞(TAI)为交通事故引起的,车道减少拥塞(LDI)为车道减少所引起的拥塞,道路汇聚拥塞(RCI)为道路汇聚至一起所引起的拥塞。In this embodiment, 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, incidental congestion (TAI) is caused by traffic accidents, lane reduction congestion (LDI) is congestion caused by lane reduction, and road convergence congestion (RCI) is congestion caused by roads converging together. the congestion caused.

在本实施例中,实际生活中,交通拥塞的规模差别是非常大的,但是任何交通拥塞都可以由这四种基本拥塞类型组合而成,我们称之为拥塞的连锁反应。比如情形1:在一个由四条道路(分别是R1,R2,R3,R4)连接的交通路口,车辆从其中的两条道路(R1,R2)驶入,从另外两条道路(R3,R4)驶出;当R3发生短时间无法解除的交通事故(产生TAI)时,车辆只能从另一条无拥塞的道路R4通行。当R1和R2的车流量大于R4的通行能力时,车辆会在交通路口以及R1和R2这两条道路上形成拥塞(产生RCI);如果R1和R2车道上持续有车辆进入,而且车辆在R4上的车流疏散能力小于进入R1和R2的车流量,拥塞会在R1和R2中持续恶化;当R1和R2都达到饱和之后,继而会影响到其他路段,形成区域性的拥塞。In this embodiment, in real life, the scale of traffic congestion varies greatly, but any traffic congestion can be composed of a combination of these four basic congestion types, which we call a chain reaction of congestion. For example, Scenario 1: At a traffic intersection connected by four roads (R1, R2, R3, R4), vehicles enter from two of the roads (R1, R2) and drive from the other two roads (R3, R4) Exit; when a traffic accident occurs in R3 that cannot be resolved within a short period of time (TAI occurs), the vehicle can only pass through another non-congested road R4. When the traffic flow of R1 and R2 is greater than the capacity of R4, vehicles will form congestion (RCI) at the traffic intersection and on the two roads R1 and R2; if vehicles continue to enter the R1 and R2 lanes, and vehicles enter the R4 lane The traffic evacuation capacity on the road is less than the traffic volume entering R1 and R2, and congestion will continue to worsen in R1 and R2; when both R1 and R2 reach saturation, it will then affect other road sections, forming regional congestion.

且对四个最基本的拥塞类型分别作出公式判断,上述分别有规则性拥塞的判断公式、事件性拥塞的判断公式、车道减少拥塞的判断公式以及道路汇聚拥塞的判断公式。And formula judgments are made for the four most basic congestion types. The above-mentioned judgment formulas include the judgment formula of regular congestion, the judgment formula of event congestion, the judgment formula of lane congestion reduction, and the judgment formula of road convergence congestion.

在本实施例中,当车辆在道路上行驶时,车辆通过传统的道路拥塞感知法感知前方道路是否存在拥塞,将前路道路以及车辆的各种参数分别代入至上述公式中,从而判断出是何种拥塞类型。In this embodiment, when the vehicle is driving on the road, the vehicle senses whether there is congestion on the road ahead through the traditional road congestion sensing method, and substitutes various parameters of the road ahead and the vehicle into the above formula to determine whether it is What type of congestion.

进一步地,所述事件性拥塞时的拥塞时间的预测公式为:Further, the prediction formula for the congestion time during event congestion is:

其中,{E1,E2,...,EM}是救援车辆的行驶路线,是路线中每个路口红灯的持续时间,Tprocess是事故的预计处理时间,/>是每条道路允许的最大通行速度;Among them, {E 1 ,E 2 ,..., EM } is the driving route of the rescue vehicle, is the duration of the red light at each intersection on the route, T process is the estimated processing time of the accident,/> is the maximum traffic speed allowed on each road;

所述车道减少拥塞时的拥塞时间的预测公式为:The prediction formula of the congestion time when the lane is reduced in congestion is:

其中,是车辆k距离节点Nj的距离,/>是车辆加速过程中的行驶距离,其中车辆到达节点都能加速到道路允许的最大速度/>则/> 是车辆的反应时间,KP为道路中/>中的车辆数,KQ为道路中/>中的车辆数,/>为对应道路的车道数;in, is the distance between vehicle k and node N j ,/> It is the driving distance of the vehicle during acceleration, in which the vehicle can accelerate to the maximum speed allowed by the road when it reaches the node/> then/> is the reaction time of the vehicle, and KP is the middle of the road/> The number of vehicles in the road, KQ is the number of vehicles in the road/> The number of vehicles in ,/> is the number of lanes of the corresponding road;

所述道路汇聚拥塞时的拥塞时间的预测公式为:The prediction formula of the congestion time when the roads are congested and congested is:

其中,SUMi是驶入交汇节点Nj的所有道路的车道总和,SUMo是驶出交汇节点Nj的所有车道总和。Among them, SUM i is the sum of lanes of all roads entering the intersection node N j , and SUM o is the sum of all lanes of the road exiting the intersection node N j .

在本实施例中,判断出拥塞的类型之后,再将车辆、道路的各种参数代入至各种拥塞类型判断公式的拥塞时间预测模型中,计算出拥塞将会持续的时间,上述分别与事件性拥塞、车道减少拥塞、道路汇聚拥塞的拥塞时间预测模型。其中,当发生的拥塞规则性拥塞时,车辆将会直接驶入发生规则性拥塞的拥塞路段中,并不需要对其预测拥塞时间。In this embodiment, after the type of congestion is determined, various parameters of vehicles and roads are then substituted into the congestion time prediction model of various congestion type judgment formulas to calculate the time that the congestion will last. The above are respectively related to the events. Congestion time prediction model for sexual congestion, lane congestion reduction, and road convergence congestion. Among them, when regular congestion occurs, vehicles will directly drive into the congested road section where regular congestion occurs, and there is no need to predict the congestion time.

进一步地,请参阅图5,图5为本申请实施例中的拥塞可容忍的路径引导方法的引导策略流程示意图,拥塞可容忍的路径引导方法的步骤分别为:Further, please refer to Figure 5. Figure 5 is a schematic flowchart of the guidance strategy of the congestion-tolerant path guidance method in the embodiment of the present application. The steps of the congestion-tolerant path guidance method are:

步骤1-1:车辆在行驶的过程中利用传统的道路拥塞感知算法感知拥塞的存在;Step 1-1: The vehicle uses the traditional road congestion sensing algorithm to sense the existence of congestion while driving;

步骤1-2:当感知到了存在拥塞之后,再判断拥塞的类型,其中,定义了四种基本的拥塞类型,分别为规则性拥塞、事件性拥塞、车道减少拥塞、道路汇聚拥塞,上述列出了四种拥塞的判断方法,分别通过上述四种拥塞类型的判断公式,判断出车辆在预定轨迹上的拥塞路段所拥塞的类型。Step 1-2: After sensing the existence of congestion, determine the type of congestion. Four basic congestion types are defined, namely regular congestion, event congestion, lane reduction congestion, and road convergence congestion, as listed above. Four congestion judgment methods are proposed, and the congestion type of the vehicle on the congested road section on the predetermined trajectory is determined through the judgment formulas of the above four congestion types.

步骤1-3:如果通过公式判断出的拥塞类型是规则性拥塞(TLI),则车辆选择按预定轨迹行驶。Step 1-3: If the congestion type determined by the formula is regular congestion (TLI), the vehicle chooses to travel according to the predetermined trajectory.

步骤1-4:如果拥塞类型不是规则性拥塞(TLI),而是事件性拥塞、车道减少拥塞、道路汇聚拥塞中的其中一种,则为车辆规划一条无拥塞的替代路径并计算该路径产生的额外时间Tr。Step 1-4: If the congestion type is not regular congestion (TLI), but one of event congestion, lane reduction congestion, and road convergence congestion, plan a congestion-free alternative path for the vehicle and calculate the path generated The additional time Tr.

步骤1-5:计算当前拥塞路段中所有车辆的数量Nc以及拥塞路段的最大承载能力Nm。Step 1-5: Calculate the number Nc of all vehicles in the current congested road section and the maximum carrying capacity Nm of the congested road section.

步骤1-6:判断Nc+1和Nm的关系。Step 1-6: Determine the relationship between Nc+1 and Nm.

步骤1-7:如果Nc+1达到Nm的百分之八十,即如果当前车辆进入拥塞路段,拥塞路段中的车辆数会超过道路承载能力的百分之八十,为了防止拥塞不可控,车辆不能再进入拥塞路段,选择无拥塞的替代路径行驶。Step 1-7: If Nc+1 reaches 80% of Nm, that is, if the current vehicle enters the congested road section, the number of vehicles in the congested road section will exceed 80% of the road carrying capacity. In order to prevent uncontrollable congestion, Vehicles can no longer enter congested road sections and choose alternative routes without congestion.

步骤1-8:如果Nc+1小于Nm的百分之八十,此时拥塞路段允许车辆进入。Step 1-8: If Nc+1 is less than 80% of Nm, vehicles are allowed to enter the congested road section.

步骤1-9:在拥塞路段允许进入的前提下对拥塞持续时间通过拥塞持续预测模型进行预测,上述列出了事件性拥塞、车道减少拥塞、道路汇聚拥塞三种拥塞类型的拥塞持续时间预测模型,并通过上述三种拥塞时间持续预测模型得到拥塞时间。Step 1-9: Predict the congestion duration through the congestion persistence prediction model on the premise that entry into the congested road section is allowed. The above lists the congestion duration prediction models for three types of congestion: incident congestion, lane reduction congestion, and road convergence congestion. , and obtain the congestion time through the above three congestion time continuous prediction models.

步骤1-10:通过上述拥塞时间预测模型算出的拥塞时间若小于额外时间,则控制车辆进入拥塞路段进行等待,即控制该车辆选择预定轨迹行驶;若拥塞时间大于额外时间,则控制车辆选择无拥塞的替代路径行驶。Step 1-10: If the congestion time calculated by the above congestion time prediction model is less than the extra time, the vehicle is controlled to enter the congested road section and wait, that is, the vehicle is controlled to choose a predetermined trajectory to drive; if the congestion time is greater than the extra time, the vehicle is controlled to choose none. Traveling on alternative routes to congestion.

进一步地,为了提高交通系统的效率,本发明提出了一种拥塞可容忍的路径引导策略(简称:CT-RGS)。该策略不是采用传统的拥塞避让优先的交通引导策略,而是通过权衡拥塞对车辆造成的额外开销(注:额外开销包括行驶时间和功耗,通常行驶时间和功耗存在正相关的关系,模型中着重考虑行驶时间这一指标)和重新规划路径给车辆带来的额外开销,实现动态环境下车辆的智能决策,从而降低交通系统中车辆的平均运行时间,平均能耗以及平均二氧化碳排放量。Furthermore, in order to improve the efficiency of the traffic system, the present invention proposes a congestion-tolerant path guidance strategy (CT-RGS for short). This strategy does not adopt the traditional congestion avoidance priority traffic guidance strategy, but weighs the additional cost caused by congestion to the vehicle (note: the additional cost includes travel time and power consumption, and there is usually a positive correlation between travel time and power consumption. The model It focuses on taking into account the indicator of driving time) and the additional overhead caused by re-planning the route to the vehicle, to achieve intelligent decision-making of vehicles in a dynamic environment, thereby reducing the average running time, average energy consumption and average carbon dioxide emissions of vehicles in the transportation system.

拥塞可容忍的路径引导方法(CT-RGS)首先根据拥塞的形成机制为每种拥塞类型提供了拥塞持续时间预测模型,当一辆运行中的车辆在其轨迹上感知到拥塞之后,车辆会首先确定当前拥塞的类型。情况1:当前的拥塞是规则性拥塞(TLI),车辆将该类拥塞视为交通系统的正常事件,继续按照预定轨迹运行。情况2:当前的拥塞是其他类型的,车辆会通过拥塞持续时间预测模型预测当前拥塞的持续时间Tc,然后再估计选择一条无拥塞的替代路径产生的额外时间开销Tr。如果Tc>Tr,CT-RGS会控制车辆选择无拥塞的替代路径;如果Tc<Tr,CT-RGS会控制车辆进入拥塞路段,等待拥塞解除后再通行。实际应用的过程中,由于道路的承载能力是有限的,为了保证道路的拥塞在一个可控范围,通常会对进入拥塞道路的车辆数目进行控制。The congestion-tolerant path guidance method (CT-RGS) first provides a congestion duration prediction model for each congestion type based on the congestion formation mechanism. When a running vehicle senses congestion on its trajectory, the vehicle will first Determine the type of current congestion. Scenario 1: The current congestion is regular congestion (TLI). The vehicle regards this type of congestion as a normal event of the traffic system and continues to operate according to the predetermined trajectory. Case 2: The current congestion is of other types. The vehicle will predict the duration Tc of the current congestion through the congestion duration prediction model, and then estimate the additional time overhead Tr incurred by selecting an alternative path without congestion. If Tc>Tr, CT-RGS will control the vehicle to choose an alternative path without congestion; if Tc<Tr, CT-RGS will control the vehicle to enter the congested road section and wait for the congestion to be relieved before passing. In actual application, since the carrying capacity of roads is limited, in order to ensure that road congestion is within a controllable range, the number of vehicles entering congested roads is usually controlled.

进一步地,本申请实施例还提供了一种拥塞可容忍的路径引导装置500,图6为本申请实施例中拥塞可容忍的路径引导装置的程序模块示意图,在本实施例中,上述拥塞可容忍的路径引导装置500包括:Furthermore, this embodiment of the present application also provides a congestion-tolerant path guidance device 500. Figure 6 is a schematic diagram of a program module of the congestion-tolerant path guidance device in this embodiment of the present application. In this embodiment, the above congestion-tolerant path guidance device The tolerant path guidance device 500 includes:

判断模块501:用于判断车辆的预定轨迹中拥塞路段的拥塞类型,其中所述拥塞类型至少包括规则性拥塞;Determination module 501: used to determine the congestion type of the congested road section in the predetermined trajectory of the vehicle, where the congestion type at least includes regular congestion;

选择模块502:用于若所述拥塞类型为所述规则性拥塞,则选择所述预定轨迹行驶,若否,则为所述车辆规划替代路径并计算所述替代路径的额外时间;Selection module 502: used to select the predetermined trajectory to drive if the congestion type is the regular congestion; if not, plan an alternative path for the vehicle and calculate the additional time for the alternative path;

计算模块503:用于计算所述拥塞路段中的所有车辆的数量以及最大承载能力,根据所述拥塞路段中的车辆数量以及最大承载能力判断所述车辆能否进入所述拥塞路段;Calculation module 503: used to calculate the number of all vehicles in the congested road section and the maximum carrying capacity, and determine whether the vehicle can enter the congested road section based on the number of vehicles in the congested road section and the maximum carrying capacity;

决策模块504:用于若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,并对比所述拥塞时间与所述额外时间,得到对比结果,根据所述对比结果,为所述车辆选择合适路径。Decision-making module 504: used to calculate the congestion time according to the congestion type of the congested road section if the vehicle can enter the congested road section, and compare the congestion time with the extra time to obtain a comparison result. According to the comparison As a result, a suitable path is selected for the vehicle.

本申请还提供了一种拥塞可容忍的路径引导装置500,可以实现:判断车辆的预定轨迹中拥塞路段的拥塞类型,其中所述拥塞类型至少包括规则性拥塞;若所述拥塞类型为所述规则性拥塞,则选择所述预定轨迹行驶,若否,则为所述车辆规划替代路径并计算所述替代路径的额外时间;计算所述拥塞路段中的所有车辆的数量以及最大承载能力,根据所述拥塞路段中的车辆数量以及最大承载能力判断所述车辆能否进入所述拥塞路段;若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,并对比所述拥塞时间与所述额外时间,得到对比结果,根据所述对比结果,为所述车辆选择合适路径。通过本发明提供的方法,将拥塞复杂的交通拥塞划分成四种基本的拥塞类型,这四种基本类型通过拥塞的连锁反应可以统一所有的拥塞情形,具有普遍适用性,且该方法在保持拥塞可控的基础上,通过权衡拥塞的持续时长和选择替代路径产生的额外时间开销,为车辆做出更加合理的决策,这种策略允许小规模拥塞的存在,虽然在一定程度上牺牲了车辆行驶的流畅性,但是可以有效降低交通系统中车辆的平均通行时间、平均功耗以及二氧化碳排放。This application also provides a congestion-tolerant path guidance device 500 that can: determine the congestion type of the congested road section in the vehicle's predetermined trajectory, where the congestion type at least includes regular congestion; if the congestion type is the If there is regular congestion, select the predetermined trajectory to drive. If not, plan an alternative path for the vehicle and calculate the additional time for the alternative path; calculate the number of all vehicles in the congested road section and the maximum carrying capacity, according to The number of vehicles in the congested road section and the maximum carrying capacity determine whether the vehicle can enter the congested road section; if the vehicle can enter the congested road section, the congestion time is calculated according to the congestion type of the congested road section, and compared A comparison result is obtained between the congestion time and the extra time, and an appropriate path is selected for the vehicle based on the comparison result. Through the method provided by the invention, complex traffic congestion is divided into four basic congestion types. These four basic types can unify all congestion situations through the chain reaction of congestion, and have universal applicability, and this method can maintain congestion On a controllable basis, the vehicle can make more reasonable decisions by weighing the duration of congestion and the additional time overhead caused by choosing alternative paths. This strategy allows the existence of small-scale congestion, although it sacrifices vehicle travel to a certain extent. smoothness, but can effectively reduce the average travel time, average power consumption and carbon dioxide emissions of vehicles in the transportation system.

进一步地,本申请还提供了一种拥塞可容忍的路径引导设备,包括存储器、处理器、以及存储在所述存储器中并可在所述处理器上运行的计算机程序,所述处理器执行所述计算机程序时,实现如上述的拥塞可容忍的路径引导方法中的各个步骤。Further, the present application also provides a congestion-tolerant path guidance device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the When the computer program is described, each step in the above-mentioned congestion-tolerant path guidance method is implemented.

进一步地,本申请还提供了一种存储介质,其上存储有计算机程序,所述计算机程序被处理器执行时,实现如上述的处理拥塞可容忍的路径引导方法中的各个步骤。Furthermore, the present application also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned steps in the congestion-tolerant path guidance method are implemented.

在本发明各个实施例中的各功能模块可以集成在一个处理模块中,也可以是各个模块单独物理存在,也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现,也可以采用软件功能模块的形式实现。集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。Each functional module in various embodiments of the present invention can be integrated into one processing module, or each module can exist physically alone, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software function modules. Integrated modules can be stored in a computer-readable storage medium if they are implemented in the form of software function modules and sold or used as independent products.

基于这样的理解,本发明的说明书技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。Based on this understanding, the technical solution described in the present invention is essentially or contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .

需要说明的是,对于前述的各方法实施例,为了简便描述,故将其都表述为一系列的动作组合,但是本领域技术人员应该知悉,本发明并不受所描述的动作顺序的限制,因为依据本发明,某些步骤可以采用其它顺序或者同时进行。其次,本领域技术人员也应该知悉,说明书中所描述的实施例均属于优选实施例,所涉及的动作和模块并不一定都是本发明所必须的。在上述实施例中,对各个实施例的描述都各有侧重,某个实施例中没有详述的部分,可以参见其它实施例的相关描述。It should be noted that for the convenience of description, the foregoing method embodiments are expressed as a series of action combinations. However, those skilled in the art should know that the present invention is not limited by the described action sequence. Because in accordance with the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily necessary for the present invention. In the above embodiments, each embodiment is described with its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

对于本领域的技术人员,依据本申请实施例的思想,在具体实施方式及应用范围上均会有改变之处,综上,本说明书内容不应理解为对本发明的限制。For those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the embodiments of the present application. In summary, the content of this description should not be understood as a limitation of the present invention.

Claims (10)

1.一种拥塞可容忍的路径引导方法,其特征在于,所述方法包括:1. A congestion-tolerant path guidance method, characterized in that the method includes: 判断车辆的预定轨迹中拥塞路段的拥塞类型,其中所述拥塞类型至少包括规则性拥塞,所述规则性拥塞为车辆在行驶的过程中等待交通灯时而引起的拥塞;Determine the congestion type of the congested road section in the vehicle's predetermined trajectory, where the congestion type at least includes regular congestion, and the regular congestion is congestion caused by vehicles waiting for traffic lights while driving; 若所述拥塞类型为所述规则性拥塞,则选择所述预定轨迹行驶,若否,则为所述车辆规划替代路径并计算所述替代路径的额外时间;If the congestion type is the regular congestion, select the predetermined trajectory to drive; if not, plan an alternative path for the vehicle and calculate the additional time for the alternative path; 计算所述拥塞路段中的所有车辆的数量以及最大承载能力,根据所述拥塞路段中的车辆数量以及最大承载能力判断所述车辆能否进入所述拥塞路段;Calculate the number of all vehicles in the congested road section and the maximum carrying capacity, and determine whether the vehicle can enter the congested road section based on the number of vehicles in the congested road section and the maximum carrying capacity; 若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,并对比所述拥塞时间与所述额外时间,得到对比结果,根据所述对比结果,为所述车辆选择合适路径。If the vehicle can enter the congested road section, the congestion time is calculated according to the congestion type of the congested road section, and the congestion time and the extra time are compared to obtain a comparison result. According to the comparison result, the vehicle Choose the appropriate path. 2.根据权利要求1所述的方法,其特征在于,所述若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,并对比所述拥塞时间与所述额外时间,得到对比结果,根据所述对比结果,为所述车辆选择合适路径,具体包括:2. The method according to claim 1, characterized in that if the vehicle can enter the congested road section, the congestion time is calculated according to the congestion type of the congested road section, and the congestion time is compared with the congestion time. In extra time, the comparison results are obtained, and based on the comparison results, an appropriate path is selected for the vehicle, specifically including: 若所述拥塞时间大于所述额外时间,则为所述车辆选择所述替代路径;If the congestion time is greater than the additional time, select the alternative path for the vehicle; 若所述拥塞时间小于所述额外时间,则为所述车辆选择所述预定轨迹。If the congestion time is less than the additional time, the predetermined trajectory is selected for the vehicle. 3.根据权利要求1所述的方法,其特征在于,所述若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,还包括:3. The method according to claim 1, wherein if the vehicle can enter the congested road section, calculating the congestion time according to the congestion type of the congested road section further includes: 若所述车辆不能进入所述拥塞路段,则选择所述替代路径。If the vehicle cannot enter the congested road section, the alternative route is selected. 4.根据权利要求1所述的方法,其特征在于,所述计算所述拥塞路段中的所有车辆的数量以及最大承载能力,根据所述拥塞路段中的车辆数量以及最大承载能力判断所述车辆能否进入所述拥塞路段,具体包括:4. The method according to claim 1, characterized in that: calculating the number of all vehicles in the congested road section and the maximum carrying capacity, and judging the vehicle according to the number of vehicles in the congested road section and the maximum carrying capacity. Whether you can enter the congested road section, including: 计算所述拥塞路段中的所有车辆的数量以及最大承载能力,若所述所有车辆的数量+1大于所述最大承载能力的百分之八十,所述车辆则不能进入所述拥塞路段;Calculate the number of all vehicles and the maximum carrying capacity in the congested road section. If the number of all vehicles + 1 is greater than 80% of the maximum carrying capacity, the vehicle cannot enter the congested road section; 若所述所有车辆的数量+1小于所述最大承载能力的百分之八十,所述车辆能进入所述拥塞路段。If the number of all vehicles + 1 is less than 80% of the maximum carrying capacity, the vehicle can enter the congested road section. 5.根据权利要求1所述的方法,其特征在于,所述判断车辆的预定轨迹中拥塞路段的拥塞类型,之前还包括:5. The method according to claim 1, characterized in that determining the congestion type of the congested road section in the predetermined trajectory of the vehicle further includes: 基于所述车辆通过传统的道路拥塞感知算法判断所述预定轨迹是否存在拥塞;Based on the vehicle, determine whether there is congestion on the predetermined trajectory through a traditional road congestion sensing algorithm; 若是,则判定所述预定轨迹中所述拥塞路段的拥塞类型,若否,则沿所述预定轨迹行驶。If yes, determine the congestion type of the congested road section in the predetermined trajectory; if not, drive along the predetermined trajectory. 6.根据权利要求1所述的方法,其特征在于,所述拥塞类型还包括事件性拥塞、车道减少拥塞和道路汇聚拥塞;6. The method according to claim 1, wherein the congestion type further includes incident congestion, lane reduction congestion and road convergence congestion; 所述规则性拥塞的判断公式为:The judgment formula for regular congestion is: 其中,路径网络中的节点用表示,/>表示两个节点之间的道路,每条道路的长度用/>表示,/>为所述预定轨迹前方的红绿灯状态,/>表示所述预定轨迹处于拥塞状态,为拥塞感知的结果;Among them, the nodes in the path network are represented by means,/> Represents the road between two nodes, the length of each road is expressed as /> means,/> is the traffic light status ahead of the predetermined trajectory,/> Indicates that the predetermined trajectory is in a congestion state, which is the result of congestion sensing; 所述事件性拥塞的判断公式为:The judgment formula for event congestion is: 其中,路径网络中的节点用表示,/>表示两个节点之间的道路,每条道路的长度用/>表示,/>为交通事故的状态变量,为1时表示出现了交通事故,为0时表示未出交通事故;Among them, the nodes in the path network are represented by means,/> Represents the road between two nodes, the length of each road is expressed as /> means,/> It is the state variable of a traffic accident. When it is 1, it means that a traffic accident occurred, and when it is 0, it means that there was no traffic accident; 所述车道减少拥塞的判断公式为:The formula for determining the lane's congestion reduction is: 其中,和/>为节点直接相连的两条道路,/>和/>分别为/>的车道数,/>是与/>唯一相连的道路或/>中的车辆都要通过/>in, and/> are two roads directly connected to the node,/> and/> respectively/> and The number of lanes,/> Yes and/> The only connecting road or/> All vehicles in the vehicle must pass/> ; 所述道路汇聚拥塞的判断公式为:The formula for determining road convergence and congestion is: 其中,为道路交汇节点,/>是车辆驶入节点的道路总数,/>为车辆驶出节点的道路总数。in, is a road intersection node,/> is the total number of roads on which vehicles enter the node,/> The total number of roads for vehicles to exit the node. 7.根据权利要求6所述的方法,其特征在于,所述事件性拥塞时的拥塞时间的预测公式为:7. The method according to claim 6, characterized in that the prediction formula of the congestion time during event congestion is: 其中,是救援车辆的行驶路线,/>是路线中每个路口红灯的持续时间,/>是事故的预计处理时间,/>是每条道路允许的最大通行速度;in, It is the driving route of the rescue vehicle,/> is the duration of the red light at each intersection in the route,/> is the estimated handling time of the incident,/> is the maximum traffic speed allowed on each road; 所述车道减少拥塞时的拥塞时间的预测公式为:The prediction formula of the congestion time when the lane is reduced in congestion is: 其中,是车辆k距离节点/>的距离,/>是车辆加速过程中的行驶距离,其中车辆到达节点都能加速到道路允许的最大速度/>,则/>;/>是车辆的反应时间,KP为道路/>中的车辆数,KQ为道路/>中的车辆数,/>为对应道路的车道数;in, is the vehicle k distance node/> distance,/> It is the driving distance of the vehicle during acceleration, in which the vehicle can accelerate to the maximum speed allowed by the road when it reaches the node/> , then/> ;/> is the reaction time of the vehicle, KP is the road/> The number of vehicles in , KQ is the road/> The number of vehicles in ,/> is the number of lanes of the corresponding road; 所述道路汇聚拥塞时的拥塞时间的预测公式为:The prediction formula of the congestion time when the roads are congested and congested is: 其中,是驶入交汇节点/>的所有道路的车道总和,/>是驶出交汇节点/>的所有车道总和。in, Entering the interchange node/> The sum of the lanes of all roads,/> Exit the interchange node/> The sum of all lanes. 8.一种拥塞可容忍的路径引导装置,其特征在于,所述装置包括:8. A congestion-tolerant path guidance device, characterized in that the device includes: 判断模块:用于判断车辆的预定轨迹中拥塞路段的拥塞类型,其中所述拥塞类型至少包括规则性拥塞,所述规则性拥塞为车辆在行驶的过程中等待交通灯时而引起的拥塞;Determination module: used to determine the congestion type of the congested road section in the predetermined trajectory of the vehicle, where the congestion type at least includes regular congestion, and the regular congestion is the congestion caused by the vehicle waiting for traffic lights while driving; 选择模块:用于若所述拥塞类型为所述规则性拥塞,则选择所述预定轨迹行驶,若否,则为所述车辆规划替代路径并计算所述替代路径的额外时间;Selection module: used to select the predetermined trajectory to drive if the congestion type is the regular congestion, and if not, plan an alternative path for the vehicle and calculate the additional time for the alternative path; 计算模块:用于计算所述拥塞路段中的所有车辆的数量以及最大承载能力,根据所述拥塞路段中的车辆数量以及最大承载能力判断所述车辆能否进入所述拥塞路段;Calculation module: used to calculate the number of all vehicles in the congested road section and the maximum carrying capacity, and determine whether the vehicle can enter the congested road section based on the number of vehicles in the congested road section and the maximum carrying capacity; 决策模块:用于若所述车辆能进入所述拥塞路段,则根据所述拥塞路段的拥塞类型计算拥塞时间,并对比所述拥塞时间与所述额外时间,得到对比结果,根据所述对比结果,为所述车辆选择合适路径。Decision-making module: used to calculate the congestion time according to the congestion type of the congested road section if the vehicle can enter the congested road section, and compare the congestion time with the extra time to obtain a comparison result. According to the comparison result , select an appropriate path for the vehicle. 9.一种拥塞可容忍的路径引导设备,包括存储器,处理器、以及存储在所述存储器中并可在所述处理器上运行的计算机程序,其特征在于,所述处理器执行所述计算机程序时,实现如权利要求1-7任一项所述的拥塞可容忍的路径引导方法中的各个步骤。9. A congestion-tolerant path guidance device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program When executing the program, each step in the congestion-tolerant path guidance method according to any one of claims 1 to 7 is implemented. 10.一种存储介质,其上存储有计算机程序,其特征在于,所述计算机程序被处理器执行时,实现如权利要求1-7任一项所述的拥塞可容忍的路径引导方法中的各个步骤。10. A storage medium with a computer program stored thereon, characterized in that, when the computer program is executed by a processor, the congestion-tolerant path guidance method according to any one of claims 1-7 is implemented. various steps.
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