CN115019503B - Information sharing-based space track distribution method under mixed traffic flow of aerocar - Google Patents
Information sharing-based space track distribution method under mixed traffic flow of aerocar Download PDFInfo
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- CN115019503B CN115019503B CN202210517769.5A CN202210517769A CN115019503B CN 115019503 B CN115019503 B CN 115019503B CN 202210517769 A CN202210517769 A CN 202210517769A CN 115019503 B CN115019503 B CN 115019503B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/60—Planning or developing urban green infrastructure
Abstract
The invention discloses a space track distribution method under a mixed traffic flow of a flying car based on information sharing, which comprises the following steps that S1, traffic participants with communication capability in a lane transmit own information to a management end, and the own information of the traffic participants without communication capability in the lane is actively perceived by a service end; s2, the management end obtains a mobile end information total set and a lane information total set according to the mobile end information and the lane information; s3, when the flying vehicle is about to enter the intersection and is located in the information transmission range of the server, the flying vehicle transmits own information and an entering request to the server, and the server forwards the entering request and the vehicle information to the management end; s4, the management end distributes ground or space lanes for the vehicles to pass through according to the vehicle information of the flying vehicles to enter the intersection. The method realizes the efficient allocation of lanes under the mixed traffic flow.
Description
Technical Field
The invention relates to the field of automobile traffic resource distribution, in particular to a space track distribution method under the mixed traffic flow of a flying automobile based on information sharing.
Background
With the improvement of living standard, the proportion of possession of private cars is rising year by year. The proliferation of the number of vehicles in metropolitan areas has also triggered a series of "metropolitan diseases". Traffic jam is a serious problem in large cities at present. The traffic lines can be jammed for a large area and a long time in rush hours or holidays, so that the schedule of people is delayed, and traffic accidents are easily caused. Therefore, how to solve or improve urban traffic congestion is a technical problem that needs to be considered at present and in the future.
In urban roads, traffic jams, traffic accidents and the like mostly occur in intersection areas, traffic signal lamps are important tools for enhancing road traffic management, reducing traffic accidents, improving road use efficiency and improving traffic conditions, and the traffic signal lamps are controlled by a road traffic signal controller to guide vehicles and pedestrians to pass through safely and orderly. Because the traffic time of the traffic signal lamp in each direction is fixed, the road use efficiency is not improved but is reduced in certain scenes.
The use of automobiles is greatly limited by land conditions, such as failure to travel on damaged, collapsed and plugged road sections, and failure to use in marshes, rivers and mountains. Providing the vehicle with a flight function will avoid the above-mentioned problems. The number of automobiles is continuously increased every year, the future travel traffic is more and more obvious, the travel is not limited by road conditions, the future travel is also a trend, and if the automobiles are in traffic jam during traveling or emergency needs to leave rapidly, the automobiles can be rapidly evacuated in a flying mode, so that the automobiles capable of flying are good choices of future vehicles.
Disclosure of Invention
The invention aims to provide a space track distribution method under mixed traffic flow of a flying car based on information sharing, which aims to solve the problem of resource distribution for vehicle traffic under the mixed traffic flow.
In order to solve the technical problems, the invention provides a technical scheme that:
an information sharing-based space track distribution method under the mixed traffic flow of a flying car comprises the following steps,
s1, transmitting self information to a management end by traffic participants with communication capability in a lane, wherein the self information of the traffic participants without communication capability in the lane is actively perceived by a service end;
s2, the management end obtains a mobile end information total set and a lane information total set according to the mobile end information and the lane information;
s3, when the flying vehicle is about to enter the intersection and is located in the information transmission range of the server, the flying vehicle transmits own information and an entering request to the server, and the server forwards the entering request and the vehicle information to the management end;
s4, the management end distributes the ground or space lanes for the vehicles to pass through according to the vehicle information of the flying vehicles to enter the intersection;
wherein, S2 is specifically as follows,
the total set of the running state information of the mobile terminal in the lane at the moment t is B (t), and the total set of the state information of each lane at the moment is D (t);
the information of each mobile terminal is b (m);
b(m)＝{m，g(m)，h(m)，P(m)}∈B(t)
wherein m is the number of the mobile terminal, g (m) is the position coordinate of the mobile terminal at the current time, h (m) is the future running track of the mobile terminal obtained through planning or prediction, and P (m) is the time period of running of the mobile terminal at the intersection;
the information of each lane is d (n),
d(n)＝{n，f(n)，T(n)}∈D(t)
wherein n is a lane number; f (n) is the lane occupation situation, and f (n) = {1,2,3}, respectively indicates that the lane is idle, unable to pass and reserved for occupation; t (n) is the time when the lane is expected to turn idle,
wherein T is 0 For calculating the time difference between the current time and the reservation occupancy, Δt is the inherent time error value of the system.
According to the above scheme, the transmission mode in S1 includes that the traffic participant with communication capability directly transmits the own information to the management end, and the traffic participant with communication capability firstly transmits the own information to the service end, and then the service end transmits the information to the management end.
According to the scheme, the lane allocation process of the management end in S4 is specifically that,
s401, the management end calculates and obtains a time point T when the flying vehicle arrives at the intersection according to the vehicle information b (m) of the flying vehicle to enter the intersection 1 Planning the passing time delta T at the intersection;
s402, screening whether the flying vehicle meets the requirement or not preferentiallyGround lanes for vehicle entry demand, if there is a ground lane satisfying T (n) =0 or T (n) =t 0 +Δt＜T 1 +Δt, pushing the lane number and the lane map data to the flying vehicle;
s403, screening whether a space lane meeting the entering requirement of the flying vehicle exists or not if the ground lane meeting the requirement does not exist, pushing lane numbers and lane map data to the flying vehicle if the space lane meeting the entering requirement of the flying vehicle exists, and temporarily planning a space lane according to the vehicle information b (m) of the flying vehicle if the space lane does not exist;
s404, after the flying vehicle passes through the space lane which is temporarily planned, releasing the space lane.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which processor, when executing the computer program, implements the steps of the information sharing based method for spatial track allocation under mixed traffic flow of a aerocar described above.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the above-described method for spatial track allocation under mixed traffic flow of a flying car based on information sharing.
The beneficial effects of the invention are as follows: the management end distributes lane resources in the intersection according to the information of the moving end in each lane, the information of each lane and the vehicle information of the vehicles to be passed, so that the passing requirement of the flying vehicles is met, and the passing efficiency of the intersection is improved.
Furthermore, the traffic participants with traffic capacity communicate with the management end directly and communicate with the management end indirectly through the forwarding of the service end, so that the fault tolerance of information interaction between the mobile end and the management end is improved.
Further, when the existing lane cannot meet the traffic requirement, a space lane is temporarily planned for the flying vehicle to pass through, so that the utilization rate of space resources is improved, the temporary lane is released in time after the vehicle passes through, and the extra calculation load on a management end is avoided.
Drawings
FIG. 1 is a schematic diagram of a space track distribution device under mixed traffic flow of a flight vehicle based on information sharing according to an embodiment of the invention;
FIG. 2 is a schematic diagram illustrating information transmission among a mobile terminal, a server terminal and a management terminal according to an embodiment of the present invention;
fig. 3 is a flow chart of a method for distributing space tracks under mixed traffic flow of a flying car based on information sharing according to an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without the need for inventive faculty, are within the scope of the present disclosure, based on the described embodiments of the present disclosure.
Referring to fig. 1, an information sharing-based space track distribution device under mixed traffic flow of a flying car comprises a mobile terminal, a management terminal and a service terminal; the mobile terminal comprises traffic participants with communication capability and traffic participants without communication capability, and the service terminal comprises road side intelligent equipment provided with a sensing device;
the traffic participants with communication capability communicate with the management end through a Uu port of the cellular network and communicate with the service end through a PC5 air port; the management end is connected with the service end through a cable; the server senses traffic participants without communication capability through the set sensing device.
Referring to fig. 2 and 3, a method for distributing a space track under a mixed traffic stream of an information sharing-based aerocar, which is implemented by using the above-mentioned device for distributing a space track under a mixed traffic stream of an information sharing-based aerocar, comprises the following steps,
s1, transmitting self information to a management end by traffic participants with communication capability in a lane, wherein the self information of the traffic participants without communication capability in the lane is actively perceived by a service end;
s2, the management end obtains a mobile end information total set and a lane information total set according to the mobile end information and the lane information;
s3, when the flying vehicle is about to enter the intersection and is located in the information transmission range of the server, the flying vehicle transmits own information and an entering request to the server, and the server forwards the entering request and the vehicle information to the management end;
s4, the management end distributes the ground or space lanes for the vehicles to pass through according to the vehicle information of the flying vehicles to enter the intersection;
the mobile terminal information comprises size parameters, position information, speed information, acceleration information and unique mark information of the vehicle. The mobile terminal without communication capability comprises a weak traffic participant, the mobile terminal transmits self information and running state information to the service terminal through the intelligent equipment carried by the mobile terminal, and meanwhile, the service terminal actively senses the mobile terminal without communication capability through the self-established radar and the camera.
Further, the transmission mode in S1 includes that the traffic participant with communication capability directly transmits the own information to the management end, and the traffic participant with communication capability firstly transmits the own information to the service end, and then the service end transmits the information to the management end.
Further, S2 is specifically,
the total set of the running state information of the mobile terminal in the lane at the moment t is B (t), and the total set of the state information of each lane at the moment is D (t);
the information of each mobile terminal is b (m);
b(m)＝{m,g(m),h(m),P(m)}∈B(t)
wherein m is the number of the mobile terminal, g (m) is the position coordinate of the mobile terminal at the current time, h (m) is the future running track of the mobile terminal obtained through planning or prediction, and P (m) is the time period of running of the mobile terminal at the intersection;
the information of each lane is d (n),
d(n)＝{n，f(n)，T(n)}∈D(t)
wherein n is a lane number; f (n) is the lane occupation situation, and f (n) = {1,2,3}, respectively indicates that the lane is idle, unable to pass and reserved for occupation; t (n) is the time when the lane is expected to turn idle,
wherein T is 0 For calculating the time difference between the current time and the reservation occupancy, Δt is the inherent time error value of the system.
Further, the lane allocation process of the management end in S4 is specifically,
s401, the management end calculates and obtains a time point T when the flying vehicle arrives at the intersection according to the vehicle information b (m) of the flying vehicle to enter the intersection 1 Planning the passing time delta T at the intersection;
s402, preferentially screening whether a ground lane meeting the entering requirement of the flying vehicle exists, if so, satisfying T (n) =0 or T (n) =T 0 +Δt＜T 1 +Δt, pushing the lane number and the lane map data to the flying vehicle;
s403, screening whether a space lane meeting the entering requirement of the flying vehicle exists or not if the ground lane meeting the requirement does not exist, pushing lane numbers and lane map data to the flying vehicle if the space lane does exist, and temporarily planning a space lane according to the vehicle information b (m) of the flying vehicle if the space lane does not exist.
S404, after the flying vehicle passes through the space lane which is temporarily planned, releasing the space lane.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which processor, when executing the computer program, implements the steps of the information sharing based method for spatial track allocation under mixed traffic flow of a aerocar described above.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the above-described method for spatial track allocation under mixed traffic flow of a flying car based on information sharing.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (5)
1. A space track distribution method under the mixed traffic flow of a flying car based on information sharing is characterized in that: comprises the steps of,
s1, transmitting self information to a management end by traffic participants with communication capability in a lane, wherein the self information of the traffic participants without communication capability in the lane is actively perceived by a service end;
s2, the management end obtains a mobile end information total set and a lane information total set according to the mobile end information and the lane information;
s3, when the flying vehicle is about to enter the intersection and is located in the information transmission range of the server, the flying vehicle transmits own information and an entering request to the server, and the server forwards the entering request and the vehicle information to the management end;
s4, the management end distributes the ground or space lanes for the vehicles to pass through according to the vehicle information of the flying vehicles to enter the intersection;
wherein, S2 is specifically as follows,
the total set of the running state information of the mobile terminal in the lane at the moment t is B (t), and the total set of the state information of each lane at the moment is D (t);
the information of each mobile terminal is b (m);
b(m)＝{m,g(m),h(m),P(m)}∈B(t)
wherein m is the number of the mobile terminal, g (m) is the position coordinate of the mobile terminal at the current time, h (m) is the future running track of the mobile terminal obtained through planning or prediction, and P (m) is the time period of running of the mobile terminal at the intersection;
the information of each lane is d (n),
d(n)＝{n,f(n),T(n)}∈D(t)
wherein n is a lane number; f (n) is the lane occupation situation, and f (n) = {1,2,3}, respectively indicates that the lane is idle, unable to pass and reserved for occupation; t (n) is the time when the lane is expected to turn idle,
wherein T is 0 For calculating the time difference between the current time and the reservation occupancy, Δt is the inherent time error value of the system.
2. The information sharing-based space track allocation method under mixed traffic flow of a flying car according to claim 1, wherein: the transmission mode in S1 includes that the traffic participant with communication capability directly transmits the own information to the management end, and the traffic participant with communication capability firstly transmits the own information to the service end, and then the service end transmits the information to the management end.
3. The information sharing-based method for allocating space tracks under mixed traffic flow of a flying car according to claim 2, wherein the method comprises the following steps: the lane allocation procedure of the management end in S4 is specifically,
s401, the management end calculates and obtains a time point T when the flying vehicle arrives at the intersection according to the vehicle information b (m) of the flying vehicle to enter the intersection 1 Planning the passing time delta T at the intersection;
s402, preferentially screening whether a ground lane meeting the entering requirement of the flying vehicle exists, if so, satisfying T (n) =0 or T (n) =T 0 +Δt＜T 1 +Δt, pushing the lane number and the lane map data to the flying vehicle;
s403, screening whether a space lane meeting the entering requirement of the flying vehicle exists or not if the ground lane meeting the requirement does not exist, pushing lane numbers and lane map data to the flying vehicle if the space lane meeting the entering requirement of the flying vehicle exists, and temporarily planning a space lane according to the vehicle information b (m) of the flying vehicle if the space lane does not exist;
s404, after the flying vehicle passes through the space lane which is temporarily planned, releasing the space lane.
4. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized by: the processor, when executing the computer program, implements the steps of the method for allocating space tracks under mixed traffic flow of a flying car based on information sharing according to any one of claims 1 to 3.
5. A computer-readable storage medium having stored thereon a computer program, characterized by: the computer program, when executed by a processor, implements the steps of the information sharing based method for spatial orbit allocation under mixed traffic flow of a flight vehicle according to any one of claims 1-3.
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