技术领域technical field
本发明涉及车载无线自组织网络技术领域，具体涉及车载自组网的实时交通信息的获取和实时路径规划方法。The invention relates to the technical field of vehicle-mounted wireless ad hoc networks, in particular to a method for acquiring real-time traffic information and real-time path planning of the vehicle-mounted ad hoc network.
背景技术Background technique
近年来，由于车辆数量的增长和交通设施建设的滞后，交通安全问题和拥堵问题日益突出。交通智能化，缓解拥堵问题，出行更具便捷性等愈加成为人们关注的焦点。在此背景下，车载无线自组织网络(Vehicular Ad hoc Network，VANET)作为智能交通的重要组成部分，愈发受到人们的关注。车载自组网创造性地将自组网技术应用于车辆间通信，使司机能够在超视距的范围内获得其他车辆的状况信息和实时路况信息，在事故预警、保障交通安全以及为用户提供舒适的驾驶环境等安全方面起到了巨大的作用。In recent years, due to the increase in the number of vehicles and the lag in the construction of transportation facilities, traffic safety issues and congestion problems have become increasingly prominent. Intelligent transportation, ease of congestion, and more convenient travel have become the focus of people's attention. In this context, as an important part of intelligent transportation, Vehicular Ad hoc Network (VANET) has attracted more and more attention. Vehicle ad hoc network creatively applies ad hoc network technology to inter-vehicle communication, enabling drivers to obtain status information of other vehicles and real-time road condition information within the range beyond the visual range, providing early warning of accidents, ensuring traffic safety and providing users with comfort. The driving environment and other safety aspects have played a huge role.
车载路径规划就是在电子地图的基础上，运用GPS(Global Positioning System)等定位技术进行车辆定位，确定最优行驶路线，为出行者提供静态的或实时的最优出行路线信息，并在出行过程中对驾驶员适时地做出路线指导。路径规划系统不仅极大地方便了出行者，使他们可以按照自己选定的最优目标获得最优路线信息，而且还会对优化交通流在整个路网的分配方面产生积极的影响。Vehicle route planning is based on the electronic map, using positioning technology such as GPS (Global Positioning System) to locate the vehicle, determine the optimal driving route, provide static or real-time optimal travel route information for travelers, and Provide timely route guidance to the driver. The route planning system not only greatly facilitates travelers, enabling them to obtain the optimal route information according to the optimal goal they choose, but also has a positive impact on optimizing the distribution of traffic flow in the entire road network.
发明内容Contents of the invention
本发明针对现有车载路径规划系统实时性差，准确度低的现象，提供了基于车载自组网的实时路径规划方法，提供用户应对不同程度的道路拥堵情况和不断变化的道路交通状态的更加便捷合理的出行路径，以提高用户的出行效率。Aiming at the poor real-time performance and low accuracy of the existing vehicle-mounted route planning system, the present invention provides a real-time route planning method based on the vehicle-mounted ad hoc network, which provides users with more convenience in coping with different degrees of road congestion and constantly changing road traffic conditions Reasonable travel routes to improve user travel efficiency.
本发明具体通过如下技术方案实现。The present invention is specifically realized through the following technical solutions.
基于车载自组网的实时路径规划方法，其包括如下步骤：A real-time path planning method based on a vehicular ad hoc network, which includes the following steps:
(1)获取地图数据并提取信息；(1) Obtain map data and extract information;
(2)运用车载自组网技术采集实时交通信息；(2) Use vehicle ad hoc network technology to collect real-time traffic information;
(3)设置基于实时交通信息的路段权值并进行寻路；(3) Set road section weights based on real-time traffic information and perform pathfinding;
(4)行车过程中更新实时交通信息并重新寻路。(4) Update real-time traffic information and re-find the way during driving.
进一步地，步骤(2)中，根据车载自组网网内车辆的经纬度、速度及行驶状态信息，一设定路段的实时行车速度由以下公式计算得到，va表示采集时间内行驶在这一路段上的车载自组网网内车辆的行驶速度，a＝1～n，n为车辆数，Further, in step (2), according to the latitude and longitude, speed and driving status information of the vehicle in the vehicle ad hoc network, the real-time driving speed of the road section is set Calculated by the following formula, va represents the speed of vehicles in the VANET network driving on this road section within the collection time, a=1~n, n is the number of vehicles,
进一步地，步骤(3)的交通网络中路段的权值的设置为基于实时交通信息的路段实时行车时间和交叉口延时的各路段的权值，公式为：Further, the setting of the weight value of the road section in the traffic network of step (3) is the weight value of each road section based on the road section real-time driving time of the real-time traffic information and the intersection delay, and the formula is:
其中，Wij表示节点i和节点j之间的路段的权值，Lij表示节点i和节点j之间路段的路程长度，Vij′表示车联网采集到的节点i和节点j之间路段的实时行车速度；表示节点i的路口行驶延时，表示节点j的路口行驶延时；允许通行表示节点i和节点j之间有实际的道路连接，禁止通行表示节点i和节点j之间无道路连接或连接的道路被禁止通行。Among them, Wij represents the weight of the road section between node i and node j, Lij represents the distance length of the road section between node i and node j, Vij ' represents the road section between node i and node j collected by the Internet of Vehicles real-time driving speed; Indicates the intersection travel delay of node i, Indicates the intersection travel delay of node j; allowing traffic means that there is an actual road connection between node i and node j, and prohibiting traffic means that there is no road connection between node i and node j or the connected road is prohibited.
与现有技术相比，本发明具有如下优点和技术效果：车载自组网是行驶在道路上的车辆自动连接，组成的通信网络，其网内车辆的位置信息和状态信息都可以在车载自组网内共享。我们获取车载自组网的实时交通信息，并将采集到的交通信息数据进行处理，从而得到交通路网各个路段的实时行车速度。实时路径规划系统应用采集到的实时道路交通状态，再利用地图数据中得到的节点和道路路段信息，设置实时的路段行驶时间为路段的权值。运用路径算法得到的最短路径就是基于道路实时交通状态的最短时间路径。在行车过程中不断更新实时道路交通信息，更加提升了路径规划的实时性和准确性，可以有效地保证最短时间路径搜索的最短时间这一性能。本发明能给用户提供应对不同程度的道路拥堵情况和不断变化的道路交通状态的更加便捷合理的出行路径，以提高用户的出行效率。Compared with the prior art, the present invention has the following advantages and technical effects: the vehicle-mounted ad hoc network is a communication network composed of vehicles that are automatically connected on the road, and the position information and status information of the vehicles in the network can be displayed on the vehicle-mounted ad hoc network. Shared within the network. We obtain the real-time traffic information of the vehicle ad hoc network, and process the collected traffic information data to obtain the real-time driving speed of each section of the traffic road network. The real-time path planning system uses the collected real-time road traffic status, and then uses the node and road section information obtained from the map data to set the real-time road section travel time as the weight of the road section. The shortest path obtained by using the path algorithm is the shortest time path based on the real-time traffic status of the road. The real-time road traffic information is constantly updated during the driving process, which further improves the real-time and accuracy of route planning, and can effectively guarantee the performance of the shortest time for the shortest time route search. The invention can provide users with a more convenient and reasonable travel path to cope with different degrees of road congestion and constantly changing road traffic conditions, so as to improve the travel efficiency of users.
附图说明Description of drawings
图1是本发明的基于车载自组网的实时路径规划系统中重新寻路的流程图Fig. 1 is the flowchart of re-routing in the real-time path planning system based on vehicle ad hoc network of the present invention
具体实施方案specific implementation plan
下面结合附图对本发明的具体实施过程作详细说明，但本发明的实施和保护不限于此，需指出的是，以下若有未特别详细说明之过程或参数，均是本领域技术人员可参照现有技术实现或理解的。The specific implementation process of the present invention will be described in detail below in conjunction with the accompanying drawings, but the implementation and protection of the present invention are not limited thereto. achieved or understood by prior art.
本实例的基于车载自组网的实时路径规划方法，有具体以下步骤。The real-time path planning method based on VANET in this example has the following specific steps.
1、获取地图数据并提取信息1. Obtain map data and extract information
地图数据是车载路径规划系统的基础。这里使用OSM地图数据实现基于车载自组网的实时路径规划系统。Map data is the basis of in-vehicle route planning systems. Here, the OSM map data is used to realize the real-time path planning system based on the vehicle ad hoc network.
OpenStreetMap开放街道地图数据库，简称OSM，是依靠全球用户的共同参与而形成的公共地图数据服务网站。OSM的地图数据和地图服务完全免费获取，获取方式便捷，使用简单方便，且更新速度快。OSM地图数据是开源的，下载的OSM地图数据可以保存为基于可扩展标记语言(eXtensible Markup Language，XML)的.osm格式，或直接保存为.xml文件。OpenStreetMap open street map database, referred to as OSM, is a public map data service website formed by the joint participation of global users. OSM's map data and map services are completely free to obtain, easy to obtain, easy to use, and fast to update. The OSM map data is open source, and the downloaded OSM map data can be saved in the .osm format based on eXtensible Markup Language (XML), or directly in the .xml file.
OSM的地图数据有以下几种下载方式：OSM map data can be downloaded in the following ways:
(1)通过JOSM下载(1) Download via JOSM
(2)通过HTTP请求下载(2) Download via HTTP request
(3)通过OSM官网下载(3) Download through OSM official website
(4)通过第三方OSM服务商网站下载(4) Download through the third-party OSM service provider website
获取OSM地图数据后，筛选出包含道路和节点信息的，标识为“highway”的数据。通过遍历“highway”图层的数据并进行处理，我们将节点信息和路段信息存入数据库中。遍历xml文件的方法有Pull解析、Sax解析和Dom解析等。After obtaining the OSM map data, filter out the data identified as "highway" that contains road and node information. By traversing the data of the "highway" layer and processing it, we store the node information and road section information in the database. The methods of traversing xml files include Pull analysis, Sax analysis and Dom analysis.
2、运用车载自组网技术采集实时交通信息2. Use VANET technology to collect real-time traffic information
车载自组网是行驶在道路上的车辆自动连接，组成的通信网络，可以提高驾驶员的行车安全性和便利性，提高交通效率。建立通信网络后，网内车辆相互获取车辆的经纬度、速度及行驶状态等信息，具体信息如表1和表2所示，表1是本发明的车载自组网采集的网内车辆的信息，表2是表1中的网内车辆信息的状态位信息。Vehicle ad hoc network is a communication network formed by automatic connection of vehicles driving on the road, which can improve the driving safety and convenience of drivers and improve traffic efficiency. After the communication network is established, the vehicles in the network obtain information such as latitude and longitude, speed and driving state of the vehicle mutually, and the specific information is as shown in Table 1 and Table 2, and Table 1 is the information of the vehicles in the network collected by the vehicular ad hoc network of the present invention. Table 2 is the status bit information of the vehicle information in the network in Table 1.
表1Table 1
表2Table 2
本实例在车载无线自组织网络中，通过802.11p协议实现车与车通信，使用3G网络实现车与控制中心通信。构建车载自组网后，控制中心和车载终端上，都可以自动获取到车载自组网网内车辆的交通数据。采集的数据中的经纬度信息、行驶方向信息，可以定位出车辆当前处于哪条路段。将某一路段上行驶的多台车辆的速度信息求平均数，可以大致反映当前时刻这一路段的实时行车速度。大量网内数据的处理后，我们可以得到当前路网每个路段的实时行车速度。In this example, in the vehicle-mounted wireless ad hoc network, the vehicle-to-vehicle communication is realized through the 802.11p protocol, and the vehicle-to-control center communication is realized by using the 3G network. After building the VANET, both the control center and the vehicle terminal can automatically obtain the traffic data of the vehicles in the VANET. The longitude and latitude information and driving direction information in the collected data can locate which road section the vehicle is currently on. The average of the speed information of multiple vehicles driving on a certain road section can roughly reflect the real-time driving speed of this road section at the current moment. After processing a large amount of data in the network, we can get the real-time driving speed of each road section of the current road network.
某一路段的实时行车速度由以下公式计算得到，v1，v2，v3，…，vn表示采集时间内行驶在这一路段上的车载自组网网内车辆的行驶速度。Real-time driving speed of a certain section of road Calculated by the following formula, v1 , v2 , v3 ,..., vn represent the speed of vehicles in the VANET network driving on this road section within the collection time.
a＝1～n，n为车辆数， a=1～n, n is the number of vehicles,
采集交通数据后对数据进行预处理，以便获得更加精确的实时交通数据。数据预处理包括过滤负值数据、识别及过滤异常数据和运用道路状态预测修复缺失数据等。After the traffic data is collected, the data is preprocessed in order to obtain more accurate real-time traffic data. Data preprocessing includes filtering negative value data, identifying and filtering abnormal data, and using road state prediction to repair missing data, etc.
3、设置基于实时交通信息的路段权值并进行寻路3. Set the road section weight based on real-time traffic information and find the way
本发明利用车载自组网技术采集实时交通信息，得到各个路段的实时行车速度后，利用这些数据，设置了基于实时交通信息的路段实时行车时间和交叉口延时的各路段的权值，构建最优标准为最短行车时间的实时路径规划系统。The present invention utilizes vehicular ad hoc network technology to collect real-time traffic information, and after obtaining the real-time driving speed of each road section, uses these data to set the real-time driving time of the road section based on real-time traffic information and the weight value of each road section for intersection delay, and constructs The optimal criterion is the real-time route planning system with the shortest travel time.
其中，Wij表示节点i和节点j之间的路段的权值，Lij表示节点i和节点j之间路段的路程长度，Vij′表示车载自组网采集到的节点i和节点j之间路段的实时行车速度。表示节点i的路口行驶延时，表示节点j的路口行驶延时。允许通行表示节点i和节点j之间有实际的道路连接，禁止通行表示节点i和节点j之间无道路连接或连接的道路被禁止通行。Among them, Wij represents the weight of the link between node i and node j, Lij represents the distance length of the link between node i and node j, Vij ′ represents the distance between node i and node j collected by the VANET The real-time driving speed of the road sections in between. Indicates the intersection travel delay of node i, Indicates the intersection travel delay of node j. Allowing traffic means that there is an actual road connection between node i and node j, and prohibiting traffic means that there is no road connection between node i and node j or the connected road is prohibited.
路口延时主要是指当车辆经过交叉口节点时产生的交叉口延时。交叉口延时是一个统计学的概念，交叉口延时的数值也是一个统计数值。The intersection delay mainly refers to the intersection delay generated when the vehicle passes through the intersection node. Intersection delay is a statistical concept, and the value of intersection delay is also a statistical value.
在节点i至节点j路段，节点i和节点j的延误时间分别设为和车辆经过节点i至节点j路段时，先经过节点i路口，节点i的路口延时，可以近似看成平分给节点i两端的路段了，其中的一半分给节点i至节点j路段。同理，车辆经过节点j路口。则这一路段总的路口延时为On the section from node i to node j, the delay times of node i and node j are respectively set to with When the vehicle passes through the road section from node i to node j, it first passes through the intersection of node i, and the delay at the intersection of node i can be approximately regarded as the road section divided equally between the two ends of node i, half of which is allocated to the road section from node i to node j. Similarly, the vehicle passes through the intersection of node j. Then the total intersection delay of this section is
在实时路径规划系统中，设置实时的路段行驶时间的权值后，输入源节点恶化目标节点后，运用路径搜索算法，搜索出总行车时间最短的路径。In the real-time path planning system, after setting the weight of the real-time road section travel time, after inputting the source node deterioration target node, the path search algorithm is used to search for the path with the shortest total travel time.
4、行车过程中更新实时交通信息并重新寻路4. Update real-time traffic information and re-find the way during driving
以上步骤得出的路径是基于出发时刻的道路交通状态规划出的行驶路径。而在车辆的行驶过程中，交通网络行驶状况不断发生变化，可能之前规划出的路径的某一段发生了拥堵。因此，车辆行驶过程中，实时交通信息不断变化，我们需要每隔一段时间采集和更新各路段的行车速度，计算出各路段的实时行车时间的权值。The route obtained by the above steps is the driving route planned based on the road traffic state at the departure time. During the driving process of the vehicle, the driving conditions of the traffic network are constantly changing, and a certain section of the previously planned route may be congested. Therefore, the real-time traffic information is constantly changing during the driving process of the vehicle. We need to collect and update the driving speed of each road section at regular intervals, and calculate the weight of the real-time driving time of each road section.
在行车过程中，可以根据不断更新的各路段实时行车时间，重新进行路径规划。During the driving process, the route planning can be re-planned according to the constantly updated real-time driving time of each road section.
行车过程中进行重新寻路的流程图如图1所示。从图1中可以看到，只有当到达下一节点位置，且实时交通信息有更新时，才会进行重新寻路，以当前节点为起点，重新规划路径。重新寻路的过程会在车辆行驶过程中持续，直到到达目的地。The flow chart of re-pathfinding during driving is shown in Figure 1. It can be seen from Figure 1 that only when the next node is reached and the real-time traffic information is updated, the path will be re-finded, and the path will be re-planned with the current node as the starting point. The process of re-routing will continue while the vehicle is moving until it reaches the destination.
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