WO2010056151A2

WO2010056151A2 - Method for determining the optimal route for a transportation means

Info

Publication number: WO2010056151A2
Application number: PCT/RU2009/000600
Authority: WO
Inventors: Андрей Валентинович САБАЙДАШ; Александр Владимирович ВАСИЛЕНКО; Андрей Александрович ГАЙСЕНОК; Алексей Борисович ПИРОЖНИКОВ; Константин Владимирович МАЙМЕСКУЛ; Андрей Геннадьевич ДМИТРИЕВ
Original assignee: Sabaydash Andrey Valentinovich; Vasilenko Aleksandr Vladimirov; Gaysenok Andrey Aleksandrovich; Pirozhnikov Aleksey Borisovich; Maymeskul Konstantin Vladimiro; Dmitriev Andrey Gennad Evich
Priority date: 2008-11-14
Filing date: 2009-11-03
Publication date: 2010-05-20
Also published as: RU2377658C1; WO2010056151A3

Abstract

The invention relates to a method for determining the optimal route for a vehicle through the road network of an urban area, which involves producing a road graph on an electronic, model speed map of the road network of said urban area, which map is memorized in a central station computer. The road graph data is updated on the basis of information about modified traffic signs. The current values of average speeds on at least one segment of the road graph are transmitted with a given frequency from computers in the users' vehicles to the central station computer via a radio communications channel. The average traffic speed is determined on the basis of these values, the deviations of the current average speed values from the model speeds on a segment of the road graph are calculated and "congestion" and "anti-congestion" files are generated on the basis thereof. Then, the electronic model speed map of the road network of the urban area is updated taking into account said files and the weight of right-hand and left-hand turns, and the recommended optimal route, which is communicated to the user from the central station, is determined taking into account the refined parameters of the map. The technical result consists in increasing the accuracy with which the optimal route, in terms of time, is determined for a vehicle.

Description

METHOD FOR DETERMINING THE OPTIMUM VEHICLE ROUTE OF THE VEHICLE

The invention relates to systems for regulating the movement of vehicles, mainly individual, and more specifically, to systems, including the transmission of navigation commands to a vehicle with a computer and a display that displays a map of the road network of the village.

BACKGROUND OF THE INVENTION There is a known method for displaying a vehicle’s location on an electronic map of the terrain in radio-based systems for supervising ground-based traffic (RF patent N ° 2207632, IPC G08G 1/13, published 06/27/2003), in which by using temporary reference points and determining them location and location of the vehicle in the reference coordinate system, which is selected as a flat rectangular Cartesian coordinate system, as well as the use of location reduction As a result, the vehicle on the transport graph provides the direct conversion of the radio navigation coordinates of the vehicle into display coordinates. The disadvantage of this method is that it cannot be applied to determine the optimal route of the vehicle.

There is a method that is implemented in a car navigation device having a memory for storing an electronic map of the area, an on-board computer, a display and a receiver of traffic information (Japanese patent Ns 08044997, published 02.16.1996). The method consists in determining the current coordinates of the vehicle, calculating the shortest route from the start to the end point and displaying it on the display. A radio message is received from outside the traffic information receiver with information about traffic jams and traffic difficulties. This information is displayed on the display by a change in the color of the road in places of traffic congestion and traffic difficulties, and the degree of color change corresponds to the degree of difficulty in moving vehicles.

The disadvantage of this method is that it cannot be applied to determine the optimal route of the vehicle. A known method (Japan patent Ne 07029098 from 01/31/1995), in accordance with which special vehicles equipped with a navigation device and a radio / transmitting device, they move along the roads of the city and transmit data on their coordinates and speed to the computer of the central station. The base station analyzes the information received, builds a map of traffic jams and determines the detour route. The base station transmits the traffic jam map and the recommended route for their detour through the radio channel to vehicle drivers.

The known method provides a relatively low accuracy of choosing the optimal route, since when it is selected, information about the values of the speeds of the vehicles of the subscribers themselves is not used.

Closest to the claimed invention is the method of determining the optimal route of the vehicle in the locality selected as a prototype (RF patent Ns 2153194, IPC G08G 1/096, published July 20, 2000), since it has an inherent set of features that is closest to the set essential features of the claimed invention. The method for determining the optimal route of the vehicle along the road network of the settlement according to the prototype is that a database of the electronic map of the road network of the settlement is entered into the computer memory of the central station, on the basis of this electronic map and the previously obtained traffic parameters, the average statistical speed mode for each road, create a model electronic high-speed map of the settlement’s road network, which is entered into the computer’s memory the central station and broadcast to subscribers via the radio channel, the central station receives messages on the speeds of vehicles in motion via the radio channel, after which the data on the speeds of vehicles on the roads are updated in the computer memory of the central station and, if necessary, the model electronic speed map is corrected the road network of the settlement by entering the specified speed values on each road, information about uto is transmitted via the radio channel nennyh model parameters electronic speed maps road network locality subscribers in the local computer memory enter data about the destination, the preferred route is determined taking into account the refined model parameters electronic speed maps road network locality received from the central station subscriber with the ability to visualize on the screen the subscriber’s display of these routes on the model electronic speed map of the settlement’s road network with the indication on it of information messages about the values of speeds on the roads of the settlement and the current position of the vehicle in the process of driving along the chosen route in case of changing the parameters of the model electronic speed map of the settlement’s road network points make the correction of optimal routes to the destination.

The disadvantage of this method is the low accuracy of choosing the optimal route, since the current speed values taken into account for determining and identifying average statistical parameters, as well as correcting a model electronic speed map of a populated road network, may be random in nature due to the sharp unevenness of the vehicle due to difficult traffic conditions , especially in the metropolis. Disclosure of invention

The objective of the invention is the creation of such a method for determining the optimal route of a vehicle along the road network of a settlement, which would provide increased accuracy in determining the optimal time route of a vehicle’s movement due to a new method for determining motion parameters, a method for generating “background information * and methods for accounting for calculating the optimal route of movement, increasing the efficiency of using the road network of a settlement and reducing the time for moving vehicles to the destination. The task is achieved by the fact that in the claimed method of determining the optimal route of the vehicle along the road network of the settlement, a model electronic speed map of the road network of the village is formed, which reflects the average statistical speed mode of movement on each road, which is entered into the computer memory of the central station and broadcast to transport computers subscriber’s funds over the radio channel, at the central station receive messages about the speed and location of schihsya in the movement of vehicles, and then adjust the model speed electronic map of the road network of the village by introducing improved values of speeds on each road, the transmitting information specifying parameters of the model e speed map of the settlement’s road network, based on the location of the subscriber’s vehicle and destination, determine the recommended optimal route taking into account the updated parameters of the model electronic speed map of the settlement’s road network, received by the subscriber from the central station with the possibility of visualizing these routes on the subscriber’s display screen on a model electronic high-speed map of the road network of a settlement with an indication on it of information messages about the value x speeds on the roads of the village and the current position of the vehicle, in the process of moving along the selected route, if the parameters of the model electronic speed map of the road network of the village are changed, the optimal travel routes to the destination, according to the invention, are corrected on the model electronic speed map of the road network of a settlement create a road graph, including segments of lines enclosed between nodes of the graph, adjust the data of the road graph and on the basis of information about the changed traffic signs, from the computers of the subscribers' vehicles, they transmit the current values of their own average speeds on at least one segment of the road graph to the computer of the central station with a specified frequency, and the average speed mode of movement is determined from them, calculate the deviation between the actual values of the average and model speeds on the segment of the road graph, and from these deviations form the files "sample" and "anti-sample", s Then, taking into account these files and the weight of the right and left turns, they correct the model electronic speed map of the road network of the settlement.

Since the travel time of one segment of the road graph can significantly depend on which next segment of the road graph the movement is carried out, for a more accurate determination of the route, the average travel time of two adjacent segments of the road graph is taken as a motion parameter. To do this, using the computers of the vehicles of the subscribers, the associated actual values of the two average speeds for a pair of connected segments of the road graph are determined, and, depending on which next segment of the road graph the movement is carried out, sets of mean values are created using the computer of the central station speeds for a pair of connected segments of the road graph, and according to their deviations from the model speeds generate the “samples” and “anti-samples” files.

To find the optimal route, taking into account changes in the dynamics of traffic congestion of the road network along the route, information on the planned routes of subscribers is transmitted via the radio channel to the computer of the central station and additionally generate “traffic” and “anti-traffic” files for those segments of the traffic graph for which to pass the planned route.

A comparison of the proposed solutions with other technical solutions shows that the set of distinctive features affecting the technical result contains new and well-known features, and in this combination for solving this problem is unknown. From the prior art it is not known about the effect on the specified technical result of the fact that the average values of own speeds are transmitted from the computers of the vehicles of the subscribers to the computer of the central station. The influence of determining the average statistical speed mode by determining average speeds on one segment of a road graph or more, for example, on two connected segments of a road graph, the formation of “samples” and “Anti-traffic” and registration of these files in the model electronic high-speed map of the road network of the settlement.

Embodiments of the invention

The method is implemented in a system that includes a space-based navigation system connected by a radio communication channel, a central station computer at which information about the current state of the city stream is received and processed, subscriber vehicles equipped with a navigation device and a radio receiver / transmitter. The implementation of the invention is as follows. Enter into the memory of a computer equipped with a display screen and located at the central station, an electronic map of roads, streets or territories, consisting of digitized map data.

A road graph is created on the electronic map, including line segments enclosed between the nodes of the graph. A road graph segment is a linear section between two nodes, usually between intersections. The street segments are linked with street information, dear. Initially, on the basis of a survey of experienced drivers and experts in road traffic, the average speeds in segments of the road network are determined by expert methods. Based on these data, the average statistical high-speed mode of movement on each road is determined, a model electronic high-speed map of the settlement’s road network is created, which is entered into the computer memory of the central station, and the specified map with the road graph is transmitted to subscribers via a radio communication channel. Similar models can be formed for different times of the day, holidays and weekends and stored separately with the parameters of the road graph. The data of the road graph is adjusted based on information about the changed traffic signs.

From vehicle computers via a radio channel with a given frequency, subscribers transmit to the central station computer the actual values of their own average speeds, at least on one segment of the road graph, and on their basis determine the average statistical speed mode of movement. Actual values of intrinsic average speeds are calculated by fixing the moments of entry and exit from the segment and its transit time. These “samples” and “anti-samples” are determined as follows. The difference between the average and model speed values on the segment is calculated. If the current value of speed on a segment received from a subscriber is less than the model value by a predetermined value, then an “error” is generated for this segment, i.e. set the speed value equal to that received from the subscriber. If the current value of the speed is more than the average, then an “antiprobka” is formed according to a similar principle. For “samples” and “anti-samples”, the time of their creation is also recorded.

The calculation of the optimal route is carried out in the following order. In the subscriber’s computer, the road graph is supplemented with data on the location of the vehicle and destination, providing the conversion of the radio navigation coordinates of the vehicle into display coordinates. The computer of the subscriber’s vehicle systematically polls and receives from the computer of the central station the “sample” and “anti-sample” files. At the same time, the average speeds on the segments of the road network are replaced by the values of “traffic” and “anti-traffic” in the event that the time from their creation does not exceed the specified value. Similarly carry out the correction of road signs. Updated this way The road graph is used to find the optimal route. At the same time, the weight of right and left turns is taken into account as additional information.

To more accurately determine the route, the average travel time of two adjacent segments is taken as a motion parameter. To do this, using the user's vehicles computer, they determine the related actual values of two average speeds for a pair of connected segments of the road graph, and, depending on which next segment they are moving to, creates sets of average speeds for a pair of connected segments using the computer of the central station , and according to their deviations from the model speeds, the “sample” and “anti-sample” files are generated. The increase in the accuracy of determining the route is due to the fact that the travel time of one segment in urban conditions is not sufficiently informative and may significantly depend on which next segment is moving. Turning to the left can take a much longer time than turning to the right, and it is not always possible to find empirically the values of the right and left weights. According to the claimed method, each segment of the road graph is assigned not one value of the average speed, but a set of values, depending on which next segment is moving.

With a sufficient number of subscribers, you can search for a route, taking into account changes in the dynamics of congestion in the road network as you progress along the route. To this end, subscribers, together with data on average speeds and their own location, also transmit data on all current planned routes to the computer of the central station. Next, determine the number of vehicles that will appear on this segment of the road graph at future points in time. This segment characteristic is taken into account when searching for the optimal route. The larger the number of vehicles that appear on the same segment with the desired one during its intended passage, the less attractive this segment is for the desired route. The optimal route calculations are carried out using the computer of the central station. The search for the first route is carried out as described above. Moreover, in addition to the named files “traffic” and “anti-traffic”, files “traffic” and “anti-traffic” are generated for those segments along which the planned route will pass. The calculation is based on empirically established formulas, taking into account that finding one car in a given time interval is equivalent to a proportional decrease in speed in the segment. Route calculation can also be carried out on the subscriber’s computer with the transfer of his parameters to the computer of the central station for subsequent calculation and distribution of additional traffic information calculated on the basis of the planned time spent on the segments of the road network.

Industrial applicability As the practice of implementing the project under development has shown, (http://84.52.97.213/Forums/forum_posts.asp?TID=172), open sources of information available on the Internet and on the air ensure the reliability of “sample” data no more than 50%. In practice, this led to the fact that the choice of the optimal route of movement in only half of the cases was really preferable, but in the other 50% the choice of the optimal route was wrong. Messages to the central station by telephone of information about traffic jams and erroneously set signs of restricted traffic made it possible to improve the quality in some way and increase the reliability of “trial” information to 60%. In the practice of the project according to the claimed method involved more than 3000 subscribers. When using the proposed method, an increase in the accuracy of determining the optimal time route to 90 - 95% is achieved. This increase in accuracy, increase in the efficiency of the use of the road network of the settlement and reduction of the time of movement of vehicles to the destination is achieved due to the new method for determining traffic parameters on the road graph, the method of generating “traffic” information, the use of data on planned routes and methods of accounting for calculation optimal driving route. Calculations of optimal routes can be carried out both on the computer of the central station and on the computer of the subscriber. To implement the invention, navigation devices of the CH series can be used, which operate as signals from the navigation satellites of the Russian navigation system GLONASS and (or) the GPS system of the USA, which provides a more accurate and stable determination of the coordinates of the vehicle in difficult conditions of a modern city; radio communications can be selected on the basis of existing channels and (or) communication systems (autonomous, trunking, cellular, satellite); as electronic computer technology, a computer can be selected based on the requirements of the efficiency of processing incoming information; as a means of the driver interface, a liquid crystal display and a touchpad for cursor control can be used. The experimental application of the method showed that the claimed technical solution allows to solve the problem of increasing the accuracy of determining the route, which cannot be achieved using the previously developed methods, especially in a megalopolis.

Claims

CLAIM

1. The method of determining the optimal route of the vehicle along the road network of the village, which consists in the fact that they form a model electronic speed map of the road network of the village, which reflects the average speed mode of movement on each road, which is entered into the computer memory of the central station and broadcast to computers subscriber’s vehicles over the radio channel at the central station receive messages about the speeds and location of vehicles in motion means of merchandise, after which the model electronic speed map of the settlement’s road network is adjusted by entering updated speeds on each road, information about the updated parameters of the settlement’s electronic speed map of the settlement’s road network is transmitted to subscribers, based on the location of the subscriber’s vehicle and destination, Recommended optimal route, taking into account the updated parameters of the electronic high-speed map of the settlement’s road network, accepted by a subscriber from the central station with the ability to visualize on the subscriber’s display screen these routes on a model electronic speed map of the settlement’s road network with information messages on the values of the speeds on the settlement’s roads and displaying the current position of the vehicle during movement along the selected route in the case of changes in the parameters of the electronic high-speed map of the road network of the settlement correct the optimal routes to the destination values, while creating a road graph on the model electronic speed map of the settlement’s road network, including line segments between the nodes of the graph and corresponding to the edges of the graph, adjust the data of the road graph based on information about the changed traffic signs from the computers of the subscribers’ vehicles the radio channel with the specified frequency transmit to the central station computer the actual values of the own average speeds, at least on one segment of the road fa, and from them determine the average statistical speed mode of movement, calculate the deviations between the actual values of the average and model speeds on the segment, and from these deviations generate the files “samples” and “anti-samples”, then Considering these files and the weight of the right and left turns, they correct the model electronic speed map of the settlement’s road network.

2. The method according to claim 1, characterized in that using the computers of the vehicles of the subscribers determine the related actual values of two average speeds for a pair of connected segments of the road graph, and, depending on which next segment is being moved, using a central computer the stations create sets of mean speed values for a pair of connected segments of the road graph, and by their deviations from the model velocities generate “sample” and “anti-sample” files.

3. The method according to claim 1 or 2, characterized in that information on the planned routes of subscribers is transmitted to the central station computer via a radio communication channel and additionally generate “traffic” and “anti-traffic” files for those segments of the road graph along which the planned route will go .