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

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

Congestion-tolerant path guidance method and device, equipment and storage medium

Technical field

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.

Background technique

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.

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.

In view of this, it is necessary to propose further improvements to current congestion-tolerant path guidance methods.

Contents of the invention

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.

In a first aspect, the present invention provides a congestion-tolerant path guidance method, which method includes:

Determine the congestion type of the congested road section in the vehicle's predetermined trajectory, wherein the congestion type at least includes regular congestion;

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;

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;

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.

In a second aspect, the present invention provides a congestion-tolerant path guidance device, which device includes:

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;

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;

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;

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.

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.

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.

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.

Description of drawings

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.

Figure 1 is a schematic flow chart of the congestion-tolerant path guidance method of the present invention;

Figure 2 is a schematic sub-flow diagram of the congestion-tolerant path guidance method of the present invention;

Figure 3 is a schematic diagram of another sub-flow of the congestion-tolerant path guidance method of the present invention;

Figure 4 is another sub-flow schematic diagram of the congestion-tolerant path guidance method of the present invention;

Figure 5 is a schematic flowchart of the guidance strategy of the congestion-tolerant path guidance method of the present invention;

FIG. 6 is a schematic diagram of the program module of the congestion-tolerant path guidance device of the present invention.

Detailed ways

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.

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:

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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:

Step 201: If the congestion time is greater than the additional time, select the alternative path for the vehicle;

Step 202: If the congestion time is less than the additional time, select the predetermined trajectory for the vehicle.

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.

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:

If the vehicle cannot enter the congested road section, the alternative route is selected.

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.

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:

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;

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.

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.

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.

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:

Step 401: Determine whether there is congestion on the predetermined trajectory based on the vehicle through a traditional road congestion sensing algorithm;

Step 402: If yes, determine the congestion type of the congested road section in the predetermined trajectory; if not, drive along the predetermined trajectory.

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.

Further, the congestion types also include incident congestion, lane reduction congestion and road convergence congestion; the judgment formula for regular congestion is:

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;

The judgment formula for event congestion is:

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;

The judgment formula for reducing congestion in the lane is:

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/>

The formula for determining road convergence and congestion is:

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.

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.

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.

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.

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.

Further, the prediction formula for the congestion time during event congestion is:

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;

The prediction formula of the congestion time when the lane is reduced in congestion is:

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;

The prediction formula of the congestion time when the roads are congested and congested is:

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 .

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.

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:

Step 1-1: The vehicle uses the traditional road congestion sensing algorithm to sense the existence of congestion while driving;

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.

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.

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.

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.

Step 1-6: Determine the relationship between Nc+1 and Nm.

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.

Step 1-8: If Nc+1 is less than 80% of Nm, vehicles are allowed to enter the congested road section.

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.

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.

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.

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.

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:

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;

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;

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;

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.

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.

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.

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.

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.

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. .

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.

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. A congestion-tolerant path guidance method, characterized in that the method includes: 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; 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; 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; 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. 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: If the congestion time is greater than the additional time, select the alternative path for the vehicle; If the congestion time is less than the additional time, the predetermined trajectory is selected for the vehicle. 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: If the vehicle cannot enter the congested road section, the alternative route is selected. 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: 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; 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. 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: Based on the vehicle, determine whether there is congestion on the predetermined trajectory through a traditional road congestion sensing algorithm; If yes, determine the congestion type of the congested road section in the predetermined trajectory; if not, drive along the predetermined trajectory. 6. The method according to claim 1, wherein the congestion type further includes incident congestion, lane reduction congestion and road convergence congestion; The judgment formula for regular congestion is: 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; The judgment formula for event congestion is: 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; The formula for determining the lane's congestion reduction is: 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/> ; The formula for determining road convergence and congestion is: 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. The method according to claim 6, characterized in that the prediction formula of the congestion time during event congestion is: 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; The prediction formula of the congestion time when the lane is reduced in congestion is: 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; The prediction formula of the congestion time when the roads are congested and congested is: in, Entering the interchange node/> The sum of the lanes of all roads,/> Exit the interchange node/> The sum of all lanes. 8. A congestion-tolerant path guidance device, characterized in that the device includes: 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; 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; 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; 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. 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. 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.