CN2755697Y - Vehicle information device - Google Patents
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- CN2755697Y CN2755697Y CN 200420012186 CN200420012186U CN2755697Y CN 2755697 Y CN2755697 Y CN 2755697Y CN 200420012186 CN200420012186 CN 200420012186 CN 200420012186 U CN200420012186 U CN 200420012186U CN 2755697 Y CN2755697 Y CN 2755697Y
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Abstract
The utility model relates to a vehicle-mounted information device, which provides service, such as a geographic position of a vehicle, a real-time inducing route, real-time traffic information inquiry, geographic information inquiry, mobile communication, internet access, alarm, rescue request, logistics stream information, vehicle dispatching, etc., for a person walking out. The utility model comprises a hardware system and a software system, wherein the hardware system comprises a control module composed of PC 104 main boards, a communication module composed of an FM receiver and a GPRS DTU, a positioning module composed of a GPS receiver and a gyroscope, a display module composed of a display, an input and output module composed of a touch screen and a sound functional module composed of a loudspeaker; the software system comprises a positioning data receiving and processing module, a map matching module, a geographic information inquiry module, a map basic operation module, a determining module for start and end points, a biotope node selecting and extracting module, an optimal path algorithm module, a route guiding module and an analog functional module.
Description
Technical field
The utility model relates to the intelligentized electronic installation that loads on the vehicle, and particularly a kind of traveler that can be provides the residing geographic position of vehicle, the real-time car-mounted information apparatus of services such as introduction route, Real-time Traffic Information inquiry, geographical information query, mobile communication, online, warning, request rescue, logistics information, vehicle scheduling.
Background technology
At present, developed country pays much attention to the exploitation car-mounted information apparatus, has now obtained than the achievement in research of horn of plenty and has formed the situation of standing like the legs of a tripod in Japan and the United States, Europe.External total development trend is: car-mounted information apparatus has become the servicing unit of vehicle indispensability.
The traffic-information service joint-stock company that Japanese ITS road traffic system is played pioneer effect carries out since in February, 1994 beginning formal operation April nineteen ninety-five after the experimental information service that limits the area.At advanced traffic-information service (ATIS, Advanced Traffic Information service) in the system, after transport information user contracts with the traffic-information service joint-stock company that runs ATIS, can receive multimedia cartographic information and Word message on demand by the guider that loads on the car or the microcomputer of own home and office.On the car that Japan dispatches from the factory, the employing rate of car-mounted information apparatus has reached 100%, typical in being equipped in a car-mounted information apparatus in the Jiamei of Toyota (TOYOTA CRAMRY), it has the real-time GPS location and path inducing function of vehicle, and relevant transport services information can be provided.
The early 1990s, along with ADVANCE (Advanced Driver and Vehicle Advisory Navigation Concept: advanced driver and vehicle consultant navigation concepts) system and Orlando, Florida State city TRAVTEK (being a kind of route guidance system) systematic research, car-mounted information apparatus has just obtained successful application.At present, the OnStar system that generally adopts on the series of products of General Motors is a kind of inter-vehicle information system that integrates location, navigation, emergency relief, driver assistance, remote diagnosis and various information services, the car-mounted information apparatus of the U.S. and is also well used at aspects such as special vehicle, shipping, public transport not only on car.
China's intelligent transportation system (ITS) is although research and development are started late, owing to be subjected to the attention of governments at all levels, the speed of ITS area research and exploitation is very fast.Car-mounted information apparatus is to implement one of ITS project---the important terminal device of traffic flow inducible system, China is not having approved product to occur as yet aspect the research and development of car-mounted information apparatus at present, in recent years, there are enterprise of a few family and research unit once to develop in-vehicle navigation apparatus, but these devices just have the function of electronic chart basic operation, geographical information query, vehicle location, all do not possess the real-time information of utilization and finish functions such as real-time route planning, route guidance function and intelligent scheduling.
In sum, though obtaining certain achievement aspect the car-mounted information apparatus exploitation abroad, but the route planning speed of the product of these car-mounted information apparatuss is slow, do not have the real-time route inducing function, can not be fit to road conditions, transportation condition and the driving behavior feature of China; Domestic aspect the exploitation of car-mounted information apparatus or relatively backward, product just rests on the function of simple map operation, geographical information query and vehicle location.
Summary of the invention
The purpose of this utility model is to have map operation, geographical information query, vehicle GPS/DR integrated navigation, map match, path planning, real-time route guiding real-time and utilize multifunctional novel car-mounted information apparatus such as GPRS two-way communication at the existing above-mentioned defective exploitation of present car-mounted information apparatus is a kind of.
The utility model car-mounted information apparatus is realized as follows, hardware system comprises: the control module of being made up of the PC104 mainboard, the communication module of forming by FM receiver and GPRS DTU, the locating module of forming by GPS receiver and gyroscope, the display module of forming by display, the input/output module of forming by touch-screen, reach the audio function module of forming by loudspeaker, on the PC104 mainboard, connect GPS receiver and gyroscope by Serial Port Line respectively, GPRS DTU, the FM receiving trap, by connecting the TFT-LCD display at the plate video interface, by connecting the USB Audio Controller after the audio interface connection USB interface, connect the interface of touch-screen by the IO interface on the mainboard;
Software systems comprise: locator data reception and processing module, map-matching module, geographical information query module, map basic operation module, terminus determination module, sub-district node selection and extraction module, optimal path algoritic module, route guidance module, analog functional module.
The utility model provides the vehicle-mounted induction information device that is fit to Chinese road conditions, transportation condition and driving behavior feature, is used for the real-time positioning of static information service such as map inquiry and vehicle and navigation, path planning and route guidance, intelligent scheduling and various real-time dynamic information service real-time.The research and development of this device is important measures that solve urban transport problems from information of vehiclesization, intelligentized angle.The information terminal of being made up of GPS/GSM/FLEX/INTERNET provides real-time vehicle location information and traffic state information (to refer to traffic flow information to car-mounted information apparatus, traffic information, a kind of practical information that traffic accident information and other information obtain after data processing) and various real-time transport services information, after car-mounted information apparatus obtains current traffic state information and real-time positioning information, provide under the prerequisite of destination at traveler, car-mounted information apparatus induces/and navigation software is optimized traffic route, and selected traffic route is presented on the electronic chart.In driving, when traffic state information changed, the traffic route that shows on the electronic chart may change thereupon.In case the driver has departed from introduction route, this software can be fast path planning again, generate new introduction route.Provide direction arrow and voice suggestion two kinds of route guidance modes simultaneously, the guiding driver safety, comfortable, arrive the destination apace.
This massaging device is also finished functions such as information processing and storage, navigator fix, traffic information display and inquiry, travel condition of vehicle analysis by other modules of software such as real-time transport information processing module, locating module, information inquiry display module, communication module, monitoring module etc. respectively.
Description of drawings
Fig. 1 is a car-mounted information apparatus hardware system block diagram;
Fig. 2 is vehicle-mounted inducing/navigation software module data process flow diagram;
Fig. 3 is that locator data receives and the processing module process flow diagram;
Fig. 4 is a range query module process flow diagram;
Fig. 5 is a fuzzy query module process flow diagram;
Fig. 6 is a terminus determination module process flow diagram;
Fig. 7 is an optimal path algoritic module process flow diagram;
Fig. 8 is the route guidance module process flow diagram;
Fig. 9 is the map-matching module process flow diagram;
Figure 10 is that the sub-district node is selected and the extraction module process flow diagram;
Figure 11 is a map basic operation module process flow diagram;
Figure 12 is the analog functional module process flow diagram.
Embodiment
Car-mounted information apparatus by embedded system (comprising parts such as CPU, embedded OS, ROM, RAM and interface circuit), communication module and interface, locating module, display and car-mounted information apparatus induce/navigation software (being that real-time route is induced software, messaging software, Control Software and communication software etc.) forms.The information terminal of being made up of GPS/GSM/FLEX/INTERNET provides real-time vehicle location information and traffic state information (to refer to traffic flow information to car-mounted information apparatus, traffic information, a kind of practical information that traffic accident information and other information obtain after data processing) and various real-time transport services information, after car-mounted information apparatus obtains current traffic state information and real-time positioning information, provide under the prerequisite of destination at traveler, car-mounted information apparatus induces/and navigation software is optimized traffic route, and selected traffic route is presented on the electronic chart.In driving, when traffic state information changed, the traffic route that shows on the electronic chart may change thereupon.In case the driver has departed from introduction route, this software can be fast path planning again, generate new introduction route.Provide direction arrow and voice suggestion two kinds of guidance modes simultaneously, the guiding driver safety, comfortable, arrive the destination apace.This massaging device is also finished functions such as information processing and storage, navigator fix, traffic information display and inquiry, travel condition of vehicle analysis by other modules of software such as real-time transport information processing module, locating module, information inquiry display module, communication module, monitoring module etc. respectively.
Take all factors into consideration the driver and drive factors such as task, operating environment, vehicle behavior, adopt object-oriented ground Design ﹠ Analysis of System methodology, analysis has designed the function and soft, the hardware configuration of car-mounted information apparatus, and has finished the exploitation of Embedded On-board Information Equipment on this basis.
With reference to Fig. 1, the car-mounted information apparatus hardware system comprises: the control module of being made up of the PC104 mainboard, the communication module of forming by FM receiver and GPRS DTU, the locating module of forming by GPS receiver and gyroscope, the display module of forming by display, the input/output module of forming by touch-screen, reach the audio function module of forming by loudspeaker, on the PC104 mainboard, connect GPS receiver and gyroscope by Serial Port Line respectively, GPRS DTU, the FM receiving trap, by connecting the TFT-LCD display at the plate video interface, by connecting the USB Audio Controller after the audio interface connection USB interface, connect the interface of touch-screen by the IO interface on the mainboard.
Adopt now practical magnificent built-in PC M3350 Series PC 104 mainboards that grind for the car-mounted information apparatus control module.This mainboard is functional, is applicable to that vehicle-carried mobile uses.
For communication module, may adopt different peripheral hardwares because of the difference of communication system.System design itself does not make to suppose communication mode, but should define the interface protocol of Content of Communication and control mode, specification hardware and the software interface that links with system.Can insert native system as long as satisfy any communications peripheral of interface specification agreement.
I/O mode also is so, and design can use input on PDA, the mobile phone to become the input mode of car-mounted information apparatus like this, and the demonstration of PDA, mobile phone becomes the figure way of output of car-mounted information apparatus.
Consider that domestic road surface is not very smooth, damage CDROM easily, and its cost is higher, adopt FLASH CARD (flash card) storage map, its outstanding advantage is to support the download in transit of electronic chart; At present, the up use of communication mode GSM/GPRS mode, descending use FM/FLEX mode.Communication terminal is mainly considered the use in having general circuit-switched communications system (GSM) environment now, in area with good conditionsi, for improving and improve the communication capacity of car-mounted information apparatus, can adopt based on gprs system (2.5 generation) terminal.Realize that with touch-screen user's input and information show; GPS and gyroscope are formed the combined vehicle positioning system.
Under this design, according to practical application function needs, product can be done the integration and the configuration of different demands very flexibly, by the stack combinations of functional module, makes product be subdivided into all size series.
Operating system adopts embedded OS Windows CE, uses the MapInfo ProServer of MapInfo company and domestic hypergraph Corporation's Super Map2000 system as development platform, and software systems adopt the integrated secondary development method for designing of assembly type.
With reference to Fig. 2, the car-mounted information apparatus software systems comprise: locator data reception and processing module, map-matching module, geographical information query module, map basic operation module, terminus determination module, sub-district node selection and extraction module, optimal path algoritic module, route guidance module, analog functional module.
Wherein the function of each module is as follows:
1) locator data receives and processing module
This module receives the locator data string from serial ports, utilizes NEMA 183 agreements, and the information such as latitude and longitude information, velocity information and course angle that solve send map-matching module to.
2) map-matching module
This module receives from the information such as longitude and latitude that locator data receives and processing module obtains, and utilizes the higher map calibration of precision then, obtains accurate vehicle position information (latitude and longitude information), and it is presented on the electronic chart.
3) geographical information query module
This module can be finished the range query and the fuzzy query function of geography information.
4) terminus determination module
In case this module is finished the user and imported the terminus that need induce, software is determined the latitude and longitude information of the position at its place automatically, and searches out from the nearest crossing of terminus.
5) optimal path algoritic module
The TC-B optimal path algorithm of this module by using seminar to create calculates the optimal path between the terminus.
6) route guidance module
This module calculates the distance from crossing, the place ahead, uses voice suggestion and arrow indication dual mode guiding user to finish from the guiding of origin-to-destination whole piece route.
7) analog functional module
This module is simulated the running status of actual vehicle by the vehicle icon of different angles, and is presented on the electronic chart.
8) map basic operation module
This module finish map roaming, dwindle, enlarging function.
9) the sub-district node is selected and extraction module
This module extracts the numbering of all sub-districts between the terminus, is transferred to the optimal path algoritic module.
This on-vehicle information is induced/navigation software use Visual Basic programming language.Can on any PC with model, use.The data flow of each module of software is as follows.
1) locator data receives and processing module
As shown in Figure 3, the messaging parameter of the serial ports of setting device at first determines according to the NEMA0183 agreement whether locator data is true then, for the form according to longitude and latitude, speed very then is stored in the system database, is vacation, then gives up this data.
2) geographical information query module
This module comprises range query module and fuzzy query module.Wherein the range query module as shown in Figure 4, after the user starts this interface, user's input range, if with the current location be the center then according to determined scope, software is that center finding is searched object accordingly with the vehicle location; If not current location, then the user utilizes the touch-screen point to hit the center that needs query object, is searched object accordingly according to this center finding then, and is presented on the map.The fuzzy query module as shown in Figure 5, at first, the user imports the type that will search, software composes the type to findstring, finds to be checked accordingly by findstring to resemble and be presented on the map.
3) terminus determination module
As shown in Figure 6, the user is according to the actual conditions inputs starting point of oneself, be current location then the user then be the nearest crossing of center finding with the current location, if not current location then the user obtain starting point and terminal point by clicking.Software is that center search goes out the intersection node nearest from starting point and destination as terminus with this starting point, composes and gives ptsearch ().
4) optimal path algoritic module
As shown in Figure 7, this module judges at first whether place, the sub-district numbering of start, end is identical, and the identical Dijkstra method of then directly using searches out optimal path, and difference is then sought the main road sub-district and connected the terminus sub-district.Use the Dijkstra method to search out optimal path then, be added on and select in the set.
5) route guidance module
As shown in Figure 8, this module judges at first whether vehicle operates in and induces on the path, if induce the path just to extract the numbering of junction ahead and excite voice and direction shows; Finish the planning once more in path and generate path of navigation if not then calling the secondary path planning.Judge whether then to reach home, reaching home then stops this program, is not then to continue to move this program.
6) map-matching module
As shown in Figure 9, this module at first receives from location reception and processing module and receives locator data, and be the center of circle with current anchor point, with certain threshold value is that radius is sought the road in this scope, principle according to fuzzy logic, on nearest coupling road, the longitude and latitude after will mating then sends the guiding vehicles module to this anchor point coupling.Whether judge this point simultaneously also on current road, if just finish coupling, if not being that starting point continues above-mentioned matching process then with current point.
7) the sub-district node is selected and extraction module
As shown in figure 10, this module is made the cell number and the intersection node of terminus at first according to the definite terminus position of terminus determination module, selects the cell number of terminus minizone then.
8) map basic operation module
As shown in figure 11, this module has at first judged whether to use the roaming in the tool bar, has dwindled, the amplifieroperation button, in case these buttons are excited, then call the roaming function, dwindles function and magnification function.
9) analog functional module
As shown in figure 12, this module is at first judged according to the direction of introduction route and is chosen different vehicle icon, then these icons is presented on the map in real time, meanwhile calls the prompting of voice suggestion and direction arrow.
The utlity model has following positive technical functionality effect:
One, car-mounted information apparatus can be realized following function
1, electronic chart basic operational functions: amplify, dwindle, hawkeye figure is moved in roaming.
2, geographical information query function: comprise range query function and fuzzy query function.
3, vehicle location function: have and utilize GPS/DR to carry out in real time the accurately function of vehicle location.
4, map match function: can utilize map matching technology that vehicle icon is presented on the vehicle electronics map exactly.
5, path planning function: can cook up apart from optimal path and time optimal path for the driver;
6, route guidance function: can carry out route guidance to the driver by voice suggestion and direction arrow prompting dual mode.Have simultaneously and depart from the function that provides the chain induction route behind the route.
7, hand-write input function: the function that the handwriting input Chinese and English should be provided.
8, intelligent scheduling function: can utilize cordless communication networks such as GPRS, upload vehicle location information, receive the function of the dispatch command at monitoring and scheduling center simultaneously to the center.
Two, creatively propose the technology TC-B of path optimization algorithm, greatly improved the route searching speed of Embedded On-board Information Equipment based on traveler trip characteristic.Main contents comprise:
1, TC-B basic idea
According to traffic study and analysis expert, city road network is divided into two ranks promptly: the road that the driver is used to walk is as main roads, form strategic road network, by strategic road network city road network is divided into Pork-pieces zonule, a series of secondary road net of the route combination in each zone.When carrying out route optimization, by the driver go on a journey, two the secondary road nets and the strategic road network at settled some place form real route optimization network, simplifies the purpose that the search road network improves search speed thereby reach.
Specific practice is that highway section and node are numbered, and highway section that then will the number of finishing and node division are numbered the sub-district among different sub-districts at last.Concrete TC-B algorithm flow is as follows:
Statement: the node set note of i sub-district is made PS (i), and the node set note of strategic road network is made P0.D (P) generates the roadlock matrix of being made up of each node automatically according to node among the set P.
The starting point ID1 and the destination ID2 of system identification user input determine affiliated subdistrict k, l respectively
Generate the roadlock matrix W:
If k=l ≠ strategic road network index then P=PS (k)
else
Call in strategic road network
P＝PW
Generate optimal path and alternative path search road network
If k ≠ strategic road network index incorporates k sub-district road network node into
P＝P∪PS(k)
end?if
If l ≠ strategic road network index incorporates l sub-district road network node into
P＝P∪PS(l)
end?if
end?if
P＝P∪{id1，id2}
W＝d(P)
W=W*C C-right of way matrix of coefficients
Call Dirkstra algorithm search optimal path R
To a ∈ R, P=P-{a}, W=d (P)
Call Dirkstra algorithm search alternative path RS (i)
Obtain minimum value RS, its corresponding path is as alternative path
In electronic chart, show optimal path and alternative path path
2, created and induced special-purpose Vector Electronic Map
By the Vector Electronic Map data structure is furtherd investigate, created map layer based on the TC-B algorithm, for realize efficiently, route searching provides good map data structure fast.Simultaneously in data structure, increase control traffic message, solved a difficult problem of inducing path and actual road grid traffic control information (restriction turning, one-way road, rotary island) to be difficult to conform to.Specific practice is to add corresponding regulatory traffic sign and control roadlock according to the control information in the actual road network on existing Vector Electronic Map.
3, proposed route guidance technology, and realized that vehicle departs from and carried out the quadratic programming path after inducing the path based on the TC-B algorithm.
4, according to the distance of traveler trip distance, propose the search road network and incorporated principle automatically into, realized inducing the hierarchical search technology in path, guaranteed the opening of TC-B algorithm.
Three, adopt object-oriented Design ﹠ Analysis of System methodology, carried out the Design ﹠ Analysis of System of Embedded On-board Information Equipment first, provided the solution of Embedded On-board Information Equipment, for the exploitation of Embedded On-board Information Equipment provides the technological guidance.
Four, at having Used in Dynamic Traffic Assignment theoretical model assumed condition harshness both at home and abroad, in actual road network, can't obtain corresponding information or obtain costing dearly of information; It is big even can't find the solution to find the solution difficulty, and the optimization time is long, is not suitable for use in real time on large-scale road network; Pursue the Analytical Expression of the exquisiteness of model, thereby cause the dynamic evolutionary process that model can not fine description traffic system; Emphasize accurate system optimal or user's optimum allocation result, cause inducing in the process holding time oversize in traffic flow, and cause the hypersusceptible shortcoming in path sometimes, the utility model proposes and proposed " the optimum Used in Dynamic Traffic Assignment in mutatis mutandis family " theory, its principal feature is: (1) do not consider derivative vehicle each other the unit expect cost whether equate; (2) having changed traditional is the pattern that path optimization is carried out on the basis with OD, and the transport information that proposes the highway section of the no terminus feature that obtained by detecting device first is the foundation of path optimization.This theory is the basic theory of dynamic traffic guidance, and " real-time dynamic information (magnitude of traffic flow and journey time) prediction and processing " is the prerequisite that " the optimum Used in Dynamic Traffic Assignment theory in mutatis mutandis family " realizes, at traditional based on mathematical statistics method, with existing traffic flow data set up single model to the future transportation flow carry out Forecasting Methodology exist poor to the accident reaction capacity, precision is low, a series of shortcomings such as poor fault tolerance, the utility model created based on flow simulation the detecting device model of traffic flux forecast is arranged and based on the sensorless model of traffic flux forecast of cluster analysis and discriminatory analysis, for the journey time prediction provides the foundation.Seminar uses Shenzhen and the checking of Changchun real data respectively, prediction average relative error difference 3.29% and 12.3%.
1) formula that carries out traffic flow forecasting based on flow simulation is:
PV(t+Δt)＝[1+c(t)/M
*(t)]M
*(t+Δt)
PV (t+ Δ t)---t+ Δ t is predicted flow rate constantly
C (t)---exponential smoothing function
M
*(t)---t reference function constantly
M
*(t+ Δ t)---t+ Δ t reference function constantly
2) regression formula that carries out concrete experimental data after cluster and the discriminatory analysis is:
Q
y＝41.5782+0.7274Q
x
Q
y---the prediction magnitude of traffic flow of sensorless
Q
x---there is the detecting device crossing to detect the magnitude of traffic flow
Created simultaneously based on the journey time indirect predictions model of theory of random service system with based on the stroke indirect predictions model of flow simulation, realized dynamic route planning for car-mounted information apparatus and provide fundamental basis.Seminar uses the factual survey run-length data in Liberation Road, Changchun City and street, Changchun to verify respectively, and precision of prediction is all greater than 90%, and mean absolute relative error is respectively 8.9% and 7%.
3) theory of random service system model prediction journey time formula is:
T
j(t)-constantly t is by the journey time of some highway section j
T
j (r)(t)-vehicle in this highway section with the average running time of travel speed operation
T
j (q)(t)-at the queue waiting time of crossing, downstream
T
j (c)(t)-pass through the time of this crossing
T
j (e)(t)-constantly the journey time correction function of t highway section j
4) the predicted travel time formula based on the journey time indirect predictions model of flow simulation is:
L-highway section distance
V
sThe interval average speed in-highway section
T
dThe delay of-crossing
The support of above theory has been arranged, for satisfying the real-time requirement that vehicle-mounted induction information device is induced, greatly improve car-mounted information apparatus ground route searching speed, designed two kinds of optimal path fast search algorithms: TC-B algorithm and based on the routing resource of fluid neural network and genetic algorithm.Wherein the TC-B algorithm above elaborated, the following routing resource that will introduce in detail based on fluid neural network and genetic algorithm.
Traditional routing algorithm adopts graph theory and mathematic programming methods to carry out the serial optimizing usually, because of computing time long, calculated amount is big, committed memory is big, is difficult to be applicable to the real-time needs of present large-scale complex road network.At above problem, on the basis of the application of having scrutinized existing optimal route selection algorithm and current situation and relative merits thereof, break through traditional algorithm, first the fluid neural network model is applied to transportation network, has opened up of the another brand-new application of this artificial intelligence approach that has a high potential of neural network at field of traffic.
At the characteristics of transportation network, at first in the fluid neural network algorithm, add time search procedure, the function that this has not only improved the probability that searches out optimal path but also has realized seeking the K shortest path.Test findings shows that the fluid neural network optimal route selection algorithm after the improvement has the superperformance that is linear growth along with the increase of road network node number computing time, obviously is better than the double balayage method of graph theory.Though the fluid neural network has solved the optimal route selection problem to a certain extent well, but because it has limited its use by force again to a great extent to the dependence of model parameter, we are again with overall adaptable search technology one genetic algorithm 4 the Parameter Optimization algorithms of fluid neural network model that have been basic engineering.By parameter optimization, the convergence and the speed of convergence of fluid neural network improve greatly, for its application in dynamic traffic inducing system lays the first stone, have also created condition for the application of widening the fluid neural network.
The improved fluid neural network optimal route selection algorithm (MFNN) that is used for transportation network is described below:
(1) the FNN original state is set.Get t=0, S
1(0)=...=S
N(0)=S
0, u
1(0)=...=U
N(0).For the travel destination D (D ∈ N) of traveler input and the vehicle current location O (if O on the highway section, moves on to it on the nearest node in the place ahead) that determines by positioning system, when O=D, illustrate that traveler has arrived the destination: when O ≠ D, commentaries on classics (2).
(2) beginning iteration.I neuron (i=1,2 ..., first equation in state following formula N) develops.For convenience of calculation is rewritten as difference form with this state equation:
When Δ t=1, have:
Wherein
(3) when
The time, it is stable that FNN reaches, and changes (4).Otherwise make t=t+1, change (2).
(4) note T
Ij(S
j-S
i)=X
Ij,, carry out main search from O.Note B
1First node on article one short path between OD must have
Again from B
1Set out, find second Node B on article one short path between OD by identical method
2, so repeatedly up to j
0Till=the D, find article one short path, be designated as R
1
(5) carry out order search from O.The node that the second largest flow that selection is sent by O arrives is designated as C
1, have
。Again from C
1Set out, find C according to maximum flow principle (with 4)
2, till D, obtain second short path R so repeatedly
2In like manner, can obtain other short path from O, the intersection shape that the number of short path and O point are corresponding is relevant.Because node O is the root starting point in all paths between OD, therefore, can be only to carrying out time search with the highway section that O directly links to each other.For complicated especially large-scale road network, inferior hunting zone can be expanded all to from the node that one step of O arrives, and promptly carries out the search of second order or three orders.Inferior search can obtain the short path R between OD after finishing
LBar.
(6) calculate the travel cost cost of all short paths
i, and get
Corresponding path is optimal path R between OD
0
(7) outgoing route R
0
The utility model car-mounted information apparatus is a car-mounted terminal equipment of realizing that urban traffic flow is induced, it is under the prerequisite that the Used in Dynamic Traffic Assignment theory is studied, adopt advanced traffic information collection and treatment technology, the communication technology, computer technology, vehicle positioning technology, electronic cartography technology etc. provide traffic guidance information by vehicle-mounted induction information device for traveler.The enforcement of this product can solve the urban traffic congestion effectively, reduces the residence time of vehicle on road, finally realize magnitude of traffic flow reasonable distribution in road network, thereby it is unimpeded to reach road network.Realize the reasonable distribution of road grid traffic flow by road grid traffic information and two key links of optimal route selection.This application of model has 3 big advantage: A, the net state that can satisfy the need to carry out in real time, dynamically, comprehensively describe; B, solve by two committed steps, well arranged, be easy to find the solution; C, not strict pursuit user optimum are considered mutatis mutandis family optimum when routing, be easy to realize.
Claims (2)
1. car-mounted information apparatus, it is characterized in that hardware system comprises: the control module of forming by the PC104 mainboard, the communication module of forming by FM receiver and GPRS DTU, the locating module of forming by GPS receiver and gyroscope, the display module of forming by display, the input/output module of forming by touch-screen, reach the audio function module of forming by loudspeaker, on the PC104 mainboard, connect GPS receiver and gyroscope by Serial Port Line respectively, GPRS DTU, the FM receiving trap, connect the TFT-LCD display by the mainboard video interface, by connecting the USB Audio Controller after the audio interface connection USB interface, connect the interface of touch-screen by the IO interface on the mainboard;
Software systems comprise: locator data reception and processing module, map-matching module, geographical information query module, map basic operation module, terminus determination module, sub-district node selection and extraction module, optimal path algoritic module, route guidance module, analog functional module.
2. car-mounted information apparatus according to claim 1, it is characterized in that described locator data receives and processing module receives the locator data string from serial ports, utilize NEMA 183 agreements, the information such as latitude and longitude information, velocity information and course angle that solve send map-matching module to;
Described map-matching module receives from the information such as longitude and latitude that locator data receives and processing module obtains, and utilizes the higher map calibration of precision then, obtains accurate vehicle position information, and it is presented on the electronic chart;
Described geographical information query module can be finished the range query and the fuzzy query function of geography information;
In case described terminus determination module is finished the user and imported the terminus that need induce, software is determined the latitude and longitude information of the position at its place automatically, and searches out from the nearest crossing of terminus;
The TC-B optimal path algorithm of described optimal path algoritic module by using seminar to create calculates the optimal path between the terminus;
Described route guidance module calculates the distance from crossing, the place ahead, uses voice suggestion and arrow indication dual mode guiding user to finish from the guiding of origin-to-destination whole piece route;
Described analog functional module passes through the running status of the vehicle icon simulation actual vehicle of different angles, and it is presented on the electronic chart;
Described map basic operation module finish map roaming, dwindle, enlarging function;
Node selection of described sub-district and extraction module extract the numbering of all sub-districts between the terminus, are transferred to the optimal path algoritic module.
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| CN 200420012186 CN2755697Y (en) | 2004-07-06 | 2004-07-06 | Vehicle information device |
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| CN 200420012186 CN2755697Y (en) | 2004-07-06 | 2004-07-06 | Vehicle information device |
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| CN2755697Y true CN2755697Y (en) | 2006-02-01 |
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| CN 200420012186 Expired - Fee Related CN2755697Y (en) | 2004-07-06 | 2004-07-06 | Vehicle information device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101968643A (en) * | 2010-08-23 | 2011-02-09 | 中国矿业大学(北京) | PC/104-Plus multifunctional data acquisition card |
| CN102088636A (en) * | 2010-11-23 | 2011-06-08 | Tcl集团股份有限公司 | Network television and real-time road condition information query method by using same |
| CN103236180A (en) * | 2013-01-21 | 2013-08-07 | 杭州路享科技有限公司 | Vehicular information interactive interface method |
| CN103247186A (en) * | 2013-04-26 | 2013-08-14 | 广州通易科技有限公司 | Scene-based driver assistant system realizing method |
| CN104504921A (en) * | 2014-12-29 | 2015-04-08 | 贵州博大智能终端科技有限公司 | Intelligent vehicle-mounted terminal control system |
| CN104684112A (en) * | 2015-02-14 | 2015-06-03 | 河北亿程交通科技有限公司 | Vehicle-mounted terminal for Internet of things |
| CN104698470A (en) * | 2015-02-14 | 2015-06-10 | 广州亿程交通信息有限公司 | Vehicle-mounted Beidou terminal |
| CN104750097A (en) * | 2015-02-06 | 2015-07-01 | 长春精钰电子科技股份有限公司 | USB based automobile CAN bus part comprehensive simulation detection system |
| CN110281949A (en) * | 2019-06-28 | 2019-09-27 | 清华大学 | A kind of automatic Pilot unifies hierarchical decision making method |
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2004
- 2004-07-06 CN CN 200420012186 patent/CN2755697Y/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101968643A (en) * | 2010-08-23 | 2011-02-09 | 中国矿业大学(北京) | PC/104-Plus multifunctional data acquisition card |
| CN101968643B (en) * | 2010-08-23 | 2012-02-15 | 中国矿业大学(北京) | PC/104-Plus multifunctional data acquisition card |
| CN102088636A (en) * | 2010-11-23 | 2011-06-08 | Tcl集团股份有限公司 | Network television and real-time road condition information query method by using same |
| CN103236180B (en) * | 2013-01-21 | 2015-10-28 | 杭州路享科技有限公司 | A kind of Vehicular information interactive interface method |
| CN103236180A (en) * | 2013-01-21 | 2013-08-07 | 杭州路享科技有限公司 | Vehicular information interactive interface method |
| CN103247186A (en) * | 2013-04-26 | 2013-08-14 | 广州通易科技有限公司 | Scene-based driver assistant system realizing method |
| CN104504921A (en) * | 2014-12-29 | 2015-04-08 | 贵州博大智能终端科技有限公司 | Intelligent vehicle-mounted terminal control system |
| CN104750097A (en) * | 2015-02-06 | 2015-07-01 | 长春精钰电子科技股份有限公司 | USB based automobile CAN bus part comprehensive simulation detection system |
| CN104750097B (en) * | 2015-02-06 | 2018-05-18 | 长春精钰电子科技股份有限公司 | A kind of automobile CAN-bus parts comprehensive simulation detecting system based on USB |
| CN104684112A (en) * | 2015-02-14 | 2015-06-03 | 河北亿程交通科技有限公司 | Vehicle-mounted terminal for Internet of things |
| CN104698470A (en) * | 2015-02-14 | 2015-06-10 | 广州亿程交通信息有限公司 | Vehicle-mounted Beidou terminal |
| CN104698470B (en) * | 2015-02-14 | 2018-03-13 | 广州亿程交通信息有限公司 | A kind of Big Dipper car-mounted terminal |
| CN110281949A (en) * | 2019-06-28 | 2019-09-27 | 清华大学 | A kind of automatic Pilot unifies hierarchical decision making method |
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Granted publication date: 20060201 |