CN114743398B - Congestion tolerant path guiding method, device, equipment and storage medium - Google Patents
Congestion tolerant path guiding method, device, equipment and storage medium Download PDFInfo
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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
Technical Field
The present application 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 the living standard of people, the number of vehicles is continuously increased, and the traffic congestion is increasingly serious. Traffic congestion not only can bring poor travel 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 have been proposed and developed continuously. Two core technologies involved in intelligent traffic systems are congestion awareness and path guidance strategies. When a vehicle senses traffic congestion on its own predetermined path, the most effective traffic congestion mitigation strategy is a priority avoidance path guidance strategy (AP-RGS for short). Basic idea of AP-RGS: if an operating vehicle senses congestion on its intended trajectory, the AP-RGS will first choose to find an alternative route without congestion to avoid entering the congested road segment; the AP-RGS will choose to enter the congested road segment to wait if there is no alternative path without congestion. When congestion occurs in the traffic system, the policy preferably selects to avoid the congestion of the vehicle, so that congestion deterioration can be prevented, and congestion relief is facilitated.
However, in the actual environment, traffic congestion is various, and the degree of influence of congestion on vehicles is not the same. If a path guidance strategy with priority avoidance is adopted for all traffic congestion, a lot of unnecessary additional expenses are generated for the vehicle. For example, case one: in an actual traffic system, all vehicles waiting for red lights on one road are generally in a 'congestion state', and a congestion sensing algorithm which does not consider the traffic light state can treat the phenomenon as traffic congestion. In fact, the regular congestion caused by the traffic lights is a false congestion, which is a normal phenomenon in real life, and the adoption of an avoidance strategy for the traffic congestion causes more cost to vehicles. And a second case: the duration of traffic congestion varies, and in practice most traffic congestion is small-scale congestion, and their congestion duration is relatively short. When traffic congestion causes less time overhead to the vehicle than an alternate path, the vehicle's choice to enter a congested road segment is a more reasonable choice. Normally we pay more attention to both traffic time and power consumption, short periods of congestion are acceptable.
In view of this, there is a need for further improvements to current congestion-tolerant path steering methods.
Disclosure of Invention
The present application aims to solve the drawbacks of the prior art to at least a certain extent, and thus proposes a congestion-tolerant path guiding method and apparatus, device and storage medium.
In a first aspect, the present application provides a congestion-tolerant path guidance method, 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 run, if not, planning an alternative path for the vehicle and calculating the additional time of the alternative path;
calculating the number and the maximum bearing capacity of all vehicles in the congestion road section, and judging whether the vehicles can enter the congestion road section according to the number and the maximum bearing capacity of the vehicles in the congestion road section;
if the vehicle can enter the congestion road section, calculating congestion time according to the congestion type of the congestion 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 application provides a congestion tolerant path directing apparatus, the apparatus comprising:
and a judging module: the 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;
and a selection module: if the congestion type is the regular congestion, selecting the preset track to run, if not, planning an alternative path for the vehicle and calculating the additional time of the alternative path;
the calculation module: the method comprises the steps of calculating the number and the maximum bearing capacity of all vehicles in the congestion road section, and judging whether the vehicles can enter the congestion road section according to the number and the maximum bearing capacity of the vehicles in the congestion road section;
decision module: and if the vehicle can enter the congestion road section, calculating the congestion time according to the congestion type of the congestion 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 application also provides a congestion-tolerant path guidance device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps in the congestion-tolerant path guidance method according to the first aspect when executing the computer program.
In a fourth aspect, the present application also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the congestion tolerant path guidance method according to the first aspect.
The application provides 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, wherein the congestion type at least comprises regular congestion; if the congestion type is the regular congestion, selecting the preset track to run, if not, planning an alternative path for the vehicle and calculating the additional time of the alternative path; calculating the number and the maximum bearing capacity of all vehicles in the congestion road section, and judging whether the vehicles can enter the congestion road section according to the number and the maximum bearing capacity of the vehicles in the congestion road section; if the vehicle can enter the congestion road section, calculating congestion time according to the congestion type of the congestion 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. By the method provided by the application, the traffic congestion with complex congestion is divided into four basic congestion types, all congestion situations can be unified by the four basic types through the congestion chain reaction, the method has universal applicability, and on the basis of keeping congestion controllable, more reasonable decisions are made for vehicles by weighing the duration of the congestion and the additional time expenditure generated by selecting an alternative path, and the strategy allows the existence of small-scale congestion, and can effectively reduce the average transit time, the average power consumption and the carbon dioxide emission of the vehicles in a traffic system although the smoothness of vehicle running is sacrificed to a certain extent.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a congestion tolerant path steering method of the present application;
FIG. 2 is a schematic flow chart illustrating a congestion tolerant path steering method according to the present application;
FIG. 3 is a schematic diagram of another sub-flow of the congestion tolerant path steering method of the present application;
FIG. 4 is a schematic diagram of another sub-flow of the congestion tolerant path steering method of the present application;
FIG. 5 is a schematic flow chart of a congestion tolerant path steering method according to the present application;
fig. 6 is a schematic diagram of a program module of the congestion tolerant path guiding apparatus according to the present application.
Detailed Description
In order to make the objects, features and advantages of the present application more comprehensible, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a flow chart of a congestion-tolerant path guiding method according to an embodiment of the application, where the congestion-tolerant path guiding method includes:
and step 101, judging the congestion type of the congested road section in the preset track of the vehicle, wherein the congestion type at least comprises regular congestion.
In this embodiment, the type of congestion in a congested road section on a predetermined track of a vehicle is determined during the running of the vehicle, where the type of congestion encountered during the running of the vehicle includes at least regular congestion, and the regular congestion (TLI) is congestion caused by traffic lights, that is, congestion caused when the vehicle waits for a traffic light during the running of the vehicle.
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 additional time of the alternative path.
In this embodiment, if the vehicle determines that the congestion type in the predetermined track is regular congestion during the course of the vehicle, the vehicle will consider the regular congestion as the normal time of the traffic system and will continue to travel according to the predetermined track; 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 is then involved in planning another alternative route without congestion and calculating the additional time spent on the alternative route.
In the present embodiment, in an actual traffic system, all vehicles waiting for red lights on one road are generally represented as "in a congestion state", and the congestion sensing algorithm not considering the traffic light state regards the phenomenon as traffic congestion. In fact, the regular congestion caused by the traffic lights is a false congestion, which is a normal phenomenon in real life, and the adoption of an avoidance strategy for the traffic congestion causes more cost to vehicles. When the congestion type of the congested road section is determined to be regular congestion, the predetermined trajectory is still selected to continue traveling.
And 103, 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.
In this embodiment, the number of all the vehicles that are congested in the congested road section in the predetermined track that is originally traveled and the maximum bearing capacity in the congested road section are calculated, and whether the vehicles can still enter the congested road section is determined according to the relationship between the number of all the vehicles in the congested road section in the predetermined track and the maximum bearing capacity in the congested road section. Because the load-bearing capacity of a road is limited during practical application, the number of vehicles entering the congested road is generally controlled in order to ensure that the congestion of the road is within a controllable range.
104, if the vehicle can enter the congestion road section, calculating congestion time according to the congestion type of the congestion 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, when the number of congested vehicles in a congested road section and the maximum bearing capacity of the congested road section are calculated, and then the vehicle can enter the congested road section, the duration of current congestion is predicted by the congestion duration prediction model, the obtained duration of congestion is compared with the additional time for selecting an alternative path, and after a comparison result is obtained, a suitable path is selected for the vehicle according to the comparison result, so that the average running time of the vehicle as a whole can be reduced, and the effect of improving the efficiency of a traffic system is played. Among other things, the method may provide a more rational dynamic path planning for vehicles by a trade-off of congestion type and additional time generated for congestion duration and re-planning paths.
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 run, if not, planning an alternative path for the vehicle and calculating the additional time of the alternative path; calculating the number and the maximum bearing capacity of all vehicles in the congestion road section, and judging whether the vehicles can enter the congestion road section according to the number and the maximum bearing capacity of the vehicles in the congestion road section; if the vehicle can enter the congestion road section, calculating congestion time according to the congestion type of the congestion 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. By the method provided by the application, the traffic congestion with complex congestion is divided into four basic congestion types, all congestion situations can be unified by the four basic types through the congestion chain reaction, the method has universal applicability, and on the basis of keeping congestion controllable, more reasonable decisions are made for vehicles by weighing the duration of the congestion and the additional time expenditure generated by selecting an alternative path, and the strategy allows the existence of small-scale congestion, and can effectively reduce the average transit time, the average power consumption and the carbon dioxide emission of the vehicles in a traffic system although the smoothness of vehicle running is sacrificed to a certain extent.
Further, referring to fig. 2, fig. 2 is a schematic flow chart of a congestion-tolerant path guiding method according to an embodiment of the present application, wherein if the vehicle can enter the congestion road section, calculating a congestion time according to a congestion type of the congestion road section, and comparing the congestion time with the additional time to obtain a comparison result, and selecting a suitable path for the vehicle according to the comparison result, the method specifically includes:
step 201, if the congestion time is greater than the extra time, selecting the alternative path for the vehicle;
step 202, if the congestion time is less than the extra time, selecting the predetermined track for the vehicle.
In this embodiment, when the congestion time of the congested road section is longer than the additional time spent on the alternative path, the vehicle is controlled to select the alternative path, and if the congestion time of the congested road section is shorter than the additional time spent on the alternative path, the vehicle is controlled to select the predetermined track and drive into the congested road section, and the vehicle is controlled to pass after the congestion is released.
Further, if the vehicle can enter the congestion road section, calculating the congestion time according to the congestion type of the congestion road section, and further including:
and if the vehicle cannot enter the congestion road section, selecting the alternative path.
In the present embodiment, after calculating the relationship between the number of all vehicles in a congested road section and the vehicle with the largest bearing capacity in the congested road section, in the case where the vehicle cannot enter the congested road section, the vehicle is controlled to select an alternate path.
Further, referring to fig. 3, fig. 3 is a schematic diagram of another sub-flow in the congestion-tolerant path guiding method according to the embodiment of the present application, wherein the calculating the number and the maximum bearing capacity of all vehicles in the congested road section, and judging whether the vehicle can enter the congested road section according to the number and the maximum bearing capacity of the vehicles in the congested road section, specifically includes:
step 301, calculating the number of all vehicles in the congestion road section and the maximum bearing capacity, if the number+1 of all vehicles is greater than eighty percent of the maximum bearing capacity, the vehicles cannot enter the congestion road section;
step 302, if the number of vehicles +1 is less than eighty percent of the maximum bearing capacity, the vehicle can enter the congested road section.
In this embodiment, by calculating the relationship between the number of all vehicles in a congested road segment and the maximum bearing capacity of the congested road segment, if the number of vehicles already existing in the congested road segment plus eighty percent of the maximum bearing capacity of the congested road segment, i.e. if the current vehicle enters the congested road segment, the vehicles in the congested road segment will exceed eighty percent of the maximum bearing capacity of the congested road segment, in order to prevent congestion from being uncontrollable, the vehicles cannot enter the congested road segment, and the vehicles are controlled to select an alternative route without congestion.
In this embodiment, by calculating the relationship between the number of all vehicles in the congested road section and the maximum bearing capacity of the congested road section, if the number of vehicles already existing in the congested road section plus the number of vehicles less than eighty percent of the maximum bearing capacity of the congested road section, i.e., if the current vehicle enters the congested road section, the number of vehicles in the congested road section does not exceed eighty percent of the maximum bearing capacity of the congested road section, at this time the congested road section allows the current vehicle to enter.
Further, referring to fig. 4, fig. 4 is another schematic flow chart of a congestion-tolerant path guiding method according to an embodiment of the present application, where determining a congestion type of a congested road section in a predetermined track of a vehicle further includes:
step 401, judging whether congestion exists in the preset track or not through a traditional road congestion sensing algorithm based on the vehicle;
and step 402, if yes, judging the congestion type of the congested road section in the preset track, and if not, driving along the preset track.
In this embodiment, during the running of the vehicle on the predetermined track, the conventional road congestion sensing algorithm is used to sense whether congestion exists on the road ahead of the predetermined track, if congestion exists on the road ahead of the predetermined track, the congestion type of the congested road section in the predetermined track is further determined, and if congestion does not exist on the road ahead of the predetermined track, the running is continued along the predetermined track.
Further, the congestion types further include event congestion, lane reduction congestion, and road convergence congestion; the judging formula of the regular congestion is as follows:
wherein, the node in the path network uses N= { N 1 ,N 2 ,N 3 ,...,N n The expression "is used to indicate that,representing a road between two nodes, each road having a length ofTL represents state For the traffic light state in front of the predetermined trajectory, and (2)>Indicating that the predetermined track is in a congestion state, and the predetermined track is a congestion sensing result;
the judgment formula of the event congestion is as follows:
wherein, the node in the path network uses N= { N 1 ,N 2 ,N 3 ,...,N n The expression "is used to indicate that,representing a road between two nodes, each road having a length ofRepresentation, TA state The state variables of the traffic accidents are True, the traffic accidents are indicated to occur, and the False state variables are False, the traffic accidents are not indicated to occur;
the judging formula of the lane reduction congestion is as follows:
wherein , and />Two roads directly connected to the node +.> and />Respectively->Andlane number of (4),>is in combination with->Road or->The vehicles in (a) are all passing->
The judging formula of the road convergence congestion is as follows:
wherein ,Nj SUM as road junction Ri Is the total number of roads of the vehicle driving into the node and SUM Ro The total number of roads for which the vehicle exits the node.
In this embodiment, traffic congestion is classified into four most basic congestion types, which are regular congestion, incident congestion, lane reduction congestion, and road convergence congestion, respectively. The regular congestion (TLI) is the congestion caused by traffic lights, the incident congestion (TAI) is the congestion caused by traffic accidents, the lane reduction congestion (LDI) is the congestion caused by lane reduction, and the road convergence congestion (RCI) is the congestion caused by the convergence of roads together.
In this embodiment, the scale of traffic congestion is very different in real life, but any traffic congestion can be composed of a combination of these four basic congestion types, which we call congestion chain reaction. For example, in case 1, at a traffic intersection connected by four roads (R1, R2, R3, R4, respectively), a vehicle is driven in from two roads (R1, R2) and is driven out from the other two roads (R3, R4); when a traffic accident (TAI generation) which cannot be resolved for a short time occurs in R3, the vehicle can only pass through another road R4 without congestion. When the traffic flows of R1 and R2 are greater than the traffic capacity of R4, the vehicles can form congestion (RCI is generated) on the traffic intersection and the two roads of R1 and R2; if there is a continued vehicle ingress on the R1 and R2 lanes and the vehicle's ability to evacuate traffic on R4 is less than the traffic entering R1 and R2, congestion will continue to worsen in R1 and R2; after both R1 and R2 reach saturation, other road segments are then affected, forming regional congestion.
And the four most basic congestion types are respectively judged by formulas, and the judging formulas of regular congestion, event congestion, lane congestion reduction and road convergence congestion are respectively arranged.
In this embodiment, when the vehicle is traveling on the road, the vehicle senses whether the front road is congested through a conventional road congestion sensing method, and various parameters of the front road and the vehicle are respectively substituted into the above formula, so as to determine what congestion type is.
Further, the prediction formula of the congestion time in the event of congestion is as follows:
wherein ,{E1 ,E 2 ,...,E M Is the travel route of the rescue vehicle,is the duration of the red light at each intersection in the route, T process Is the predicted handling time of the accident, < >>Is the maximum passing speed allowed by each road;
the prediction formula of the congestion time when the traffic lane is congested is as follows:
wherein ,is the vehicle k-distance node N j Distance of->Is the distance travelled during acceleration of the vehicle, wherein the arrival of the vehicle at the node is accelerated to the maximum speed allowed by the road +.>Then-> Is the reaction time of the vehicle, KP is +.>KQ is the number of vehicles in the road +.>Number of vehicles in>The number of lanes is the number of lanes corresponding to the road;
the prediction formula of the congestion time when the roads are converged and congested is as follows:
wherein ,SUMi Is driven into junction N j SUM of lanes of all roads of (a) o Is driven out of junction N j Is a lane sum of all lanes of the road.
In this embodiment, after determining the type of congestion, various parameters of the vehicle and the road are substituted into the congestion time prediction model of various congestion type determination formulas, and the time during which the congestion will last is calculated, which are the congestion time prediction models of the event congestion, the lane reduction congestion, and the road convergence congestion, respectively. Wherein, when the regular congestion occurs, the vehicle will directly drive into the congested road section with the regular congestion, and the congestion time is not needed to be predicted.
Further, referring to fig. 5, fig. 5 is a schematic flow chart of a guiding policy of a congestion-tolerant path guiding method according to an embodiment of the present application, where the congestion-tolerant path guiding method includes the following steps:
step 1-1: the vehicle senses congestion existence by using a traditional road congestion sensing algorithm in the running process;
step 1-2: and judging the types of the congestion after the existence of the congestion is perceived, wherein four basic congestion types are defined, namely regular congestion, event congestion, lane reduction congestion and road convergence congestion, the four congestion judging methods are listed, and the types of congestion of the congestion road section of the vehicle on the preset track are judged through the four congestion type judging formulas.
Step 1-3: if the congestion type determined by the formula is regular congestion (TLI), the vehicle selects to travel on a predetermined trajectory.
Step 1-4: if the congestion type is not regular congestion (TLI), but is one of event congestion, lane reduction congestion, road convergence congestion, an alternative path without congestion is planned for the vehicle and the additional time Tr created by the path is calculated.
Step 1-5: and calculating the number Nc of all vehicles in the current congestion road section and the maximum bearing capacity Nm of the congestion road section.
Step 1-6: and judging the relation between Nc+1 and Nm.
Step 1-7: if nc+1 reaches eighty percent of Nm, i.e. if the current vehicle enters a congested road segment, the number of vehicles in the congested road segment may exceed eighty percent of the road carrying capacity, and in order to prevent congestion from being uncontrollable, the vehicle cannot enter the congested road segment any more, and an alternative path without congestion is selected for driving.
Step 1-8: if Nc+1 is less than eighty percent of Nm, then the congested road segment allows vehicle ingress.
Step 1-9: and predicting the congestion duration through a congestion duration prediction model on the premise that the congestion road section is allowed to enter, wherein the congestion duration prediction model comprises three congestion types of event congestion, lane reduction congestion and road convergence congestion, and the congestion time is obtained through the three congestion duration prediction models.
Step 1-10: if the congestion time calculated by the congestion time prediction model is smaller than the extra time, controlling the vehicle to enter a congestion 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 path without congestion to run.
Further, in order to improve the efficiency of the traffic system, the application proposes a congestion-tolerant path guidance strategy (CT-RGS for short). The traffic guidance strategy is not a traditional traffic guidance strategy with congestion avoidance priority, but the overhead caused by congestion to the vehicle (note: the overhead comprises running time and power consumption, normally the running time and the power consumption have a positive correlation, and the running time is considered as an index in a model in an important way) and the overhead caused by rescheduling a path to the vehicle are weighed, so that the intelligent decision of the vehicle in a dynamic environment is realized, and the average running time, the average energy consumption and the average carbon dioxide emission of the vehicle in a traffic system are reduced.
A 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 after a running vehicle senses congestion on its trajectory, the vehicle first determines the current congestion type. Case 1: the current congestion is regular congestion (TLI), which the vehicle regards as a normal event of the traffic system, continuing to follow a predetermined trajectory. Case 2: the current congestion is of another type, and the vehicle predicts the duration Tc of the current congestion by means of a congestion duration prediction model, and then estimates the overhead Tr of time resulting from selecting an alternative route without congestion. If Tc > Tr, the CT-RGS will control the vehicle to select an alternative path without congestion; if Tc < Tr, CT-RGS controls the vehicle to enter the congested road section, and the vehicle is controlled to pass after the congestion is relieved. In practical applications, since the bearing capacity of a road is limited, in order to ensure that congestion of the road is within a controllable range, the number of vehicles entering the congested road is generally controlled.
Further, the embodiment of the present application further provides a congestion-tolerant path guiding device 500, and fig. 6 is a schematic program module diagram of the congestion-tolerant path guiding device in the embodiment of the present application, where in the embodiment, the congestion-tolerant path guiding device 500 includes:
the judging module 501: the 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: if the congestion type is the regular congestion, selecting the preset track to run, if not, planning an alternative path for the vehicle and calculating the additional time of the alternative path;
calculation module 503: the method comprises the steps of calculating the number and the maximum bearing capacity of all vehicles in the congestion road section, and judging whether the vehicles can enter the congestion road section according to the number and the maximum bearing capacity of the vehicles in the congestion road section;
decision module 504: and if the vehicle can enter the congestion road section, calculating the congestion time according to the congestion type of the congestion 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 application also provides a congestion-tolerant path guiding device 500, which can realize: 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 run, if not, planning an alternative path for the vehicle and calculating the additional time of the alternative path; calculating the number and the maximum bearing capacity of all vehicles in the congestion road section, and judging whether the vehicles can enter the congestion road section according to the number and the maximum bearing capacity of the vehicles in the congestion road section; if the vehicle can enter the congestion road section, calculating congestion time according to the congestion type of the congestion 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. By the method provided by the application, the traffic congestion with complex congestion is divided into four basic congestion types, all congestion situations can be unified by the four basic types through the congestion chain reaction, the method has universal applicability, and on the basis of keeping congestion controllable, more reasonable decisions are made for vehicles by weighing the duration of the congestion and the additional time expenditure generated by selecting an alternative path, and the strategy allows the existence of small-scale congestion, and can effectively reduce the average transit time, the average power consumption and the carbon dioxide emission of the vehicles in a traffic system although the smoothness of vehicle running is sacrificed to a certain extent.
Further, the application also provides a congestion-tolerant path guiding device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes each step in the congestion-tolerant path guiding method when executing the computer program.
Further, the present application also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the congestion tolerant path guidance method as described above.
The functional modules in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium.
Based on such understanding, the technical solution of the present application may be essentially or part of the present application or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the present application. In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
Those skilled in the art will appreciate that the conception, upon which this disclosure is based, may readily be utilized as a basis for the designing of other structures for carrying out the several purposes of the present application.
Claims (10)
1. A congestion-tolerant path steering method, 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, and the regular congestion is caused when the vehicle waits for a traffic light in the running process;
if the congestion type is the regular congestion, selecting the preset track to run, if not, planning an alternative path for the vehicle and calculating the additional time of the alternative path;
calculating the number and the maximum bearing capacity of all vehicles in the congestion road section, and judging whether the vehicles can enter the congestion road section according to the number and the maximum bearing capacity of the vehicles in the congestion road section;
if the vehicle can enter the congestion road section, calculating congestion time according to the congestion type of the congestion 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 road section, calculating a congestion time according to a congestion type of the congested road section, and comparing the congestion time with the additional time to obtain a comparison result, and selecting an appropriate path for the vehicle according to the comparison result, specifically including:
if the congestion time is greater than the additional time, selecting the alternative path for the vehicle;
and if the congestion time is less than the extra time, selecting the preset track for the vehicle.
3. The method of claim 1, wherein if the vehicle is able to enter the congested road segment, calculating a congestion time based on a congestion type of the congested road segment, further comprising:
and if the vehicle cannot enter the congestion road section, selecting the alternative path.
4. The method according to claim 1, wherein the calculating the number of all vehicles and the maximum bearing 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 bearing 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 +1 is more than eighty percent of the maximum bearing capacity, the vehicles cannot enter the congested road section;
if the number of all vehicles +1 is less than eighty percent of the maximum load capacity, the vehicle can enter the congested road segment.
5. The method of claim 1, wherein said determining the congestion type of the congested road segment in the predetermined trajectory of the vehicle further comprises:
judging whether congestion exists in the preset track or not through a traditional road congestion sensing algorithm based on the vehicle;
if yes, judging the congestion type of the congestion 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 comprise an incident congestion, a lane reduction congestion, and a road pooling congestion;
the judging formula of the regular congestion is as follows:
wherein, for nodes in the path networkIndicating (I)>Representing a road between two nodes, the length of each road being +.>Indicating (I)>For the traffic light state in front of the predetermined trajectory, and (2)>Indicating that the predetermined track is in a congestion state, and the predetermined track is a congestion sensing result;
the judgment formula of the event congestion is as follows:
wherein, for nodes in the path networkIndicating (I)>Representing a road between two nodes, the length of each road being +.>Indicating (I)>The state variable is a state variable of the traffic accident, when the state variable is 1, the traffic accident occurs, and when the state variable is 0, the traffic accident does not occur;
the judging formula of the lane reduction congestion is as follows:
wherein , and />Two roads directly connected to the node +.> and />Respectively->Andlane number of (4),>is in combination with->Road or->The vehicles in (a) are all passing->；
The judging formula of the road convergence congestion is as follows:
wherein ,is a road junction, and is->Is the total number of roads of the vehicle driving into the node, < +.>The total number of roads for which the vehicle exits the node.
7. The method of claim 6, wherein the predictive formula for congestion time at the time of the event congestion is:
wherein ,is the driving route of the rescue vehicle, < > for>Is the duration of the red light at each intersection in the route,/-for each intersection in the route>Is the predicted handling time of the accident, < >>Is the maximum passing speed allowed by each road;
the prediction formula of the congestion time when the traffic lane is congested is as follows:
wherein ,is vehicle k distance node>Distance of->Is the distance travelled during acceleration of the vehicle, wherein the arrival of the vehicle at the node is accelerated to the maximum speed allowed by the road +.>Then->；/>Is the reaction time of the vehicle, KP is the road +.>KQ is road +.>Number of vehicles in>The number of lanes is the number of lanes corresponding to the road;
the prediction formula of the congestion time when the roads are converged and congested is as follows:
wherein ,is driven into junction +.>Lane sum of all roads of +.>Is a junction of exit->Is a lane sum of all lanes of the road.
8. A congestion-tolerant path directing apparatus, the apparatus comprising:
and a judging module: the 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, and the regular congestion is caused when the vehicle waits for a traffic light in the driving process;
and a selection module: if the congestion type is the regular congestion, selecting the preset track to run, if not, planning an alternative path for the vehicle and calculating the additional time of the alternative path;
the calculation module: the method comprises the steps of calculating the number and the maximum bearing capacity of all vehicles in the congestion road section, and judging whether the vehicles can enter the congestion road section according to the number and the maximum bearing capacity of the vehicles in the congestion road section;
decision module: and if the vehicle can enter the congestion road section, calculating the congestion time according to the congestion type of the congestion 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 directing apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the congestion-tolerant path directing method as claimed in any one of claims 1 to 7.
10. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a congestion tolerant path guidance method as claimed in any one of claims 1 to 7.
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