技术领域Technical field
本发明涉及智慧交通领域，尤其涉及一种枢纽疏散场景下乘客同乘的分配方法及系统。The present invention relates to the field of smart transportation, and in particular to a method and system for allocating passengers to ride together in a hub evacuation scenario.
背景技术Background technique
现有面向轨道、公交、道路交通多模式疏散主要是基于交通枢纽的历史到达客流数据，统计在给定时间段内需要疏散的客流数量，以及客流对不同出行模式的偏好比例。通过对历史到达客流的目的地进行聚类，得到多个疏散目的区域，以及各区域内定制巴士的停车点；根据交通枢纽周边可调度的出租车、网约车、定制巴士数量及相应的调度成本，建立疏散方法求见得到各个疏散目的区域所需的出租车、网约车与定制巴士数量。该方法主要从疏散供需角度考虑，未考虑个体乘客的疏散目的地，因轨道公交运营时间范围限制，难以实现全天24小时服务于应急疏散，该技术存在一定的适应性问题。The existing multi-mode evacuation for rail, bus, and road transportation is mainly based on the historical arrival passenger flow data of transportation hubs, counting the number of passengers who need to be evacuated in a given time period, and the proportion of passengers' preference for different travel modes. By clustering the destinations of historical passenger flows, multiple evacuation destination areas and parking points for customized buses in each area are obtained; based on the number of taxis, online ride-hailing, and customized buses that can be dispatched around the transportation hub and the corresponding dispatch Cost, establish an evacuation method to obtain the number of taxis, online ride-hailing and customized buses required for each evacuation destination area. This method is mainly considered from the perspective of evacuation supply and demand, without considering the evacuation destination of individual passengers. Due to the limited rail bus operation time range, it is difficult to serve emergency evacuation 24 hours a day. This technology has certain adaptability problems.
现有面向应急避难场所的疏散车辆路径规划主要针对枢纽的应急疏散，主要考虑通过周边设置的避难场所、大型开拓场所等固定疏散地点，通过收集待疏散需求和车辆供给信息；疏散距离、路段运行时间估算以及疏散需求划分；基于车场、避难所及枢纽待疏散节点信息，建立多车场、多行程及带时间窗限制的应急疏散车辆路径规划模型；基于该模型，利用行程划分、需求拆分得到符合模型约束限制的单点访问满载单车疏散路径及行程安排与多点访问应急车辆疏散路径生成。这类疏散技术可以简化为枢纽面向特定到达点疏散，一方面需要提前确认应急避难场所和开阔区域位置，应急疏散管理成本高适应性弱；另外一方面疏散到区域后乘客还需要二次出行，乘客疏散舒适度低。The existing evacuation vehicle route planning for emergency shelters is mainly aimed at emergency evacuation of hubs. It mainly considers fixed evacuation locations such as surrounding shelters and large development sites, and collects evacuation demand and vehicle supply information; evacuation distance, road section operation Time estimation and evacuation demand division; based on the information of parking lots, shelters and hubs to be evacuated, establish a multi-parking, multi-trip and emergency evacuation vehicle path planning model with time window restrictions; based on this model, use trip division and demand splitting to obtain Single-point visit full-load bicycle evacuation path and schedule and multi-point visit emergency vehicle evacuation path generation that comply with model constraints. This type of evacuation technology can be simplified to the evacuation of the hub towards a specific arrival point. On the one hand, it is necessary to confirm the location of emergency shelters and open areas in advance, and the emergency evacuation management cost is high and the adaptability is weak; on the other hand, after being evacuated to the area, passengers still need to travel again. Passenger evacuation comfort is low.
现有枢纽疏散人员路径规划主要针对枢纽内部疏散人群的疏散路径规划，通过交通枢纽结构以及其上的综合开发结构，交通枢纽结构包括多层，由下至上分别为地下一层、出站层以及站台层。通过构建枢纽内部数字化的疏散空间，对疏散人员在枢纽内部的疏散路径进行有效规划。这类疏散技术主要解决枢纽内部人群快速直通室外时人员疏散问题，无法将疏散人群快速疏散终点目的地，疏散人群会快速在枢纽周边区域形成聚集，容易引发安全事故。The existing hub evacuation path planning is mainly aimed at the evacuation path planning of the evacuated people inside the hub. Through the transportation hub structure and the comprehensive development structure above it, the transportation hub structure includes multiple layers, from bottom to top, they are the underground layer, the outbound layer and platform level. By constructing a digital evacuation space within the hub, the evacuation path of evacuees within the hub can be effectively planned. This type of evacuation technology mainly solves the problem of evacuation of people inside the hub when they quickly go to the outside. It cannot quickly evacuate the evacuated people to the final destination. The evacuated people will quickly gather in the area around the hub, which can easily cause safety accidents.
由以上介绍可知，现有的枢纽应急疏散主要的不足为：From the above introduction, it can be seen that the main shortcomings of existing hub emergency evacuation are:
（1）需要在轨道及公交运行时间范围内才可以启动应急疏散，对于运营时间范围外无法进行有效疏散，存在一定应用适应性。(1) Emergency evacuation can only be initiated within the operating time range of rail and bus operations. There is a certain application adaptability when effective evacuation cannot be carried out outside the operating time range.
（2）在面向周边应急避难场所和开阔区域的应急疏散，一方面需要提前确认应急避难场所和开阔区域位置，应急疏散管理协调成本高；另外一方面疏散到区域后乘客还需要二次出行，乘客疏散舒适度低。(2) For emergency evacuation to surrounding emergency shelters and open areas, on the one hand, the locations of emergency shelters and open areas need to be confirmed in advance, and emergency evacuation management coordination costs are high; on the other hand, passengers need to travel twice after being evacuated to the area. Passenger evacuation comfort is low.
发明内容Contents of the invention
本发明主要目的在于提供一种尽快将乘客点对点疏散到终点目的地而非应急避难场所，提高乘客的疏散效率与疏散舒适度，为城市交通人性化管理和应急救援提供有力支持的枢纽疏散场景下乘客同乘车辆的路径分配方法及系统。The main purpose of the present invention is to provide a point-to-point evacuation of passengers to the end destination as quickly as possible instead of an emergency shelter, improve the evacuation efficiency and evacuation comfort of passengers, and provide strong support for humanized management of urban traffic and emergency rescue in hub evacuation scenarios. Route allocation method and system for passenger vehicles traveling together.
本发明所采用的技术方案是：The technical solution adopted by the present invention is:
提供一种枢纽疏散场景下乘客同乘车辆的路径分配方法，包括以下步骤：Provide a route allocation method for passenger vehicles in a hub evacuation scenario, including the following steps:
S1、构建道路网络，具体根据路段方向创建正向、反向和双向道路，并进行标记；根据标记的道路生成连通的道路网络图，形成包括路段起点、路段终点、路段长度、道路运行速度，以及正向、反向或双向自由流速度的二维矩阵；S1. Construct a road network, specifically create forward, reverse and two-way roads according to the direction of the road section, and mark them; generate a connected road network diagram based on the marked roads, including the starting point of the road section, the end point of the road section, the length of the road section, and the road operating speed. and a two-dimensional matrix of forward, reverse, or bidirectional freestream velocities;
S2、通过移动端获取枢纽内待疏散人员信息，包括姓名、填报时间、疏散目的地经纬度；S2. Obtain the information of people to be evacuated in the hub through the mobile terminal, including name, filling time, and longitude and latitude of the evacuation destination;
S3、根据待疏散人员统计结果动态采集枢纽周边一定半径内空闲出租车网约车信息，动态获取每辆车位置、可载客车辆数、车辆位置经纬度、当前位置到枢纽的时间，其中半径radius大小将根据应急疏散强度确定；其中：，S3. Dynamically collect the online car-hailing information of idle taxis within a certain radius around the hub based on the statistical results of people to be evacuated, and dynamically obtain the location of each vehicle, the number of passenger vehicles, the longitude and latitude of the vehicle location, and the time from the current location to the hub. Theradius is Size will be based on emergency evacuation intensity OK; where: ,
为待疏散人员总数，/>为动态可疏散总座位数，/>为半径调整系数； is the total number of people to be evacuated,/> is the total number of dynamically evacuable seats,/> Adjustment factor for radius;
S4、根据待疏散人员填报时间的先后顺序计算待疏散人员出行路径的顺路度，根据顺路度匹配车辆与疏散人员；其中先根据道路网络中不同路段的二维矩阵计算出行路径的路段重叠率、疏散起点和目的地的最小距离，再根据路段重叠率和最小距离计算顺路度。S4. Calculate the smoothness of the travel path of the people to be evacuated according to the order of time when the people to be evacuated fill in the report, and match the vehicles and evacuees based on the smoothness; first, calculate the segment overlap rate of the travel path based on the two-dimensional matrix of different road segments in the road network. The minimum distance between the evacuation starting point and the destination is calculated, and then the smoothness is calculated based on the overlap rate of the road segment and the minimum distance.
接上述技术方案，根据填报时间依次计算疏散人群同乘车辆顺序，并根据填写的疏散人员信息统计当前枢纽区域内待疏散人员总数，如果乘客完成车辆同乘匹配，将其从待疏散人员信息表中删除。Continuing the above technical solution, calculate the order of the evacuated people riding in the same vehicle according to the filling time, and count the total number of people to be evacuated in the current hub area based on the filled in evacuated personnel information. If the passengers complete the matching of the vehicles riding together, they will be removed from the information table of the people to be evacuated. Delete in.
接上述技术方案，如果疏散车辆完成同乘匹配驶离枢纽，将其从疏散信息表中删除，并动态统计可疏散总座位数。Following the above technical solution, if the evacuation vehicle completes the same ride matching and leaves the hub, it will be deleted from the evacuation information table, and the total number of evacuable seats will be dynamically counted.
接上述技术方案，路段重叠率为两条路径中具有相同路段的比率，第i位乘客路径的路段序列集和第j位乘客路径的路段序列集/>的重合路段为/>，其路段重叠率/>计算如下：Following the above technical solution, the road segment overlap rate is the ratio of the same road segments in the two paths, and the road segment sequence set of thei -th passenger path and the road segment sequence set of thejth passenger’s path/> The overlapping road section is/> , its road segment overlap rate/> The calculation is as follows:
其中，代表集合的元素个数。in, Represents the number of elements in the collection.
接上述技术方案，最小距离计算过程如下：Following the above technical solution, the minimum distance The calculation process is as follows:
计算每一个在中的轨迹点point到第i位乘客的路径终点/>的距离，并取最小值/>：Count each in The path endpoint from the trajectory point in to thei -th passenger/> distance, and take the minimum value/> :
计算每一个在中的轨迹点point到第j位乘客的路径终点的距离，并取最小值/>：Count each in The distance from the trajectory point point in to the end of the path of the jth passenger, and take the minimum value/> :
。 .
接上述技术方案，顺路度计算过程如下：Continuing with the above technical solution, it is easy to The calculation process is as follows:
1）如果，且/>，则：1) if , and/> ,but:
； ;
2）如果，且/>，则：2) if , and/> ,but:
； ;
3）如果，且/>，则：3) if , and/> ,but:
； ;
式中，为最小距离度量阈值，/>为随单位距离降低的顺路度调节系数。In the formula, is the minimum distance metric threshold,/> is the smoothness adjustment coefficient that decreases with unit distance.
接上述技术方案，步骤S4中按照顺路度从大到小排序，取前p_num-1位乘客与车辆匹配，p_num为可载客空位数。Following the above technical solution, in step S4, the passengers are sorted from large to small according to the degree of convenience, and the firstp_num -1 passengers are matched with the vehicle, wherep_num is the number of passenger vacancies.
接上述技术方案，取值范围50~500，/>取值范围0.005~0.01。Following the above technical solution, The value range is 50~500,/> The value range is 0.005~0.01.
本发明还提供一种枢纽疏散场景下乘客同乘车辆的路径分配系统，包括：The present invention also provides a route allocation system for passenger vehicles in a hub evacuation scenario, which includes:
道路网络构建模块，用于根据路段方向创建正向、反向和双向道路，并进行标记；根据标记的道路生成连通的道路网络图，形成包括路段起点、路段终点、路段长度、道路运行速度，以及正向、反向或双向自由流速度的二维矩阵；The road network building module is used to create forward, reverse and two-way roads according to the direction of the road section and mark them; generate a connected road network diagram based on the marked roads, including the starting point of the road section, the end point of the road section, the length of the road section, and the road operating speed. and a two-dimensional matrix of forward, reverse, or bidirectional freestream velocities;
疏散人员信息获取模块，用于通过移动端获取枢纽内待疏散人员信息，包括姓名、填报时间、疏散目的地经纬度；The evacuation personnel information acquisition module is used to obtain the information of personnel to be evacuated in the hub through the mobile terminal, including name, filling time, and longitude and latitude of the evacuation destination;
车辆信息统计模块，用于根据待疏散人员统计结果动态采集枢纽周边一定半径内空闲出租车网约车信息，动态获取每辆车位置、可载客车辆数、车辆位置经纬度、当前位置到枢纽的时间，其中半径radius大小将根据应急疏散强度确定；其中：，The vehicle information statistics module is used to dynamically collect online car-hailing information of idle taxis within a certain radius around the hub based on the statistical results of people to be evacuated, and dynamically obtain the location of each vehicle, the number of passenger vehicles, the longitude and latitude of the vehicle location, and the distance from the current location to the hub. time, where the radiusradius size will be based on the emergency evacuation intensity OK; where: ,
为待疏散人员总数，/>为动态可疏散总座位数，/>为半径调整系数； is the total number of people to be evacuated,/> is the total number of dynamically evacuable seats,/> Adjustment factor for radius;
顺路匹配模块，用于根据待疏散人员填报时间的先后顺序计算待疏散人员出行路径的顺路度，根据顺路度匹配车辆与疏散人员；其中先根据道路网络中不同路段的二维矩阵计算出行路径的路段重叠率、疏散起点和目的地的最小距离，再根据路段重叠率和最小距离计算顺路度。The route matching module is used to calculate the route degree of the travel path of the people to be evacuated according to the order in which the people to be evacuated fill in the time, and to match the vehicles and the evacuated people according to the route degree; in which the travel path is first calculated based on the two-dimensional matrix of different road sections in the road network. The road segment overlap rate and the minimum distance between the evacuation starting point and the destination are used to calculate the smoothness based on the road segment overlap rate and the minimum distance.
本发明还提供一种计算机存储介质，其内存储有可被处理器执行的计算机程序，该计算机程序执行上述技术方案所述的枢纽疏散场景下乘客同乘车辆的路径分配方法。The present invention also provides a computer storage medium in which a computer program executable by a processor is stored. The computer program executes the path allocation method for passenger co-riding vehicles in a hub evacuation scenario described in the above technical solution.
本发明产生的有益效果是：本发明通过动态获取枢纽范围内可调度车辆信息，疏散人群及疏散目的地位置，通过建立面向疏散效率优先的乘客同乘车辆路径匹配方法，将乘客点对点疏散到终点目的地而非应急避难场所，提高了乘客的疏散效率与疏散舒适度，且为城市交通人性化管理和应急救援提供了有力支持。The beneficial effects produced by the present invention are: by dynamically acquiring dispatchable vehicle information, evacuated crowds and evacuation destination locations within the hub, and by establishing a passenger vehicle path matching method that prioritizes evacuation efficiency, the present invention evacuates passengers point-to-point to the end point. destination instead of emergency shelter, which improves the evacuation efficiency and comfort of passengers, and provides strong support for humanized management of urban traffic and emergency rescue.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.
图1是本发明实施例枢纽疏散场景下乘客同乘车辆的路径分配方法的流程图；Figure 1 is a flowchart of the route allocation method for passenger vehicles in a hub evacuation scenario according to the embodiment of the present invention;
图2是本发明另一实施例枢纽疏散场景下乘客同乘车辆的路径分配方法的流程图；Figure 2 is a flow chart of a route allocation method for passenger vehicles traveling together in a hub evacuation scenario according to another embodiment of the present invention;
图3是本发明实施例Dijkstra算法原理图；Figure 3 is a schematic diagram of the Dijkstra algorithm according to an embodiment of the present invention;
图4是路段重合示意图；Figure 4 is a schematic diagram of overlapping road sections;
图5是终点距离较近但是路段重合率较低的场景示意图；Figure 5 is a schematic diagram of a scenario where the end point is close but the overlap rate of road sections is low;
图6是本发明实施例枢纽疏散场景下乘客同乘车辆的路径分配系统流程图。Figure 6 is a flow chart of the route allocation system for passenger vehicles traveling together in a hub evacuation scenario according to the embodiment of the present invention.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.
本发明的缩略语和关键术语：Abbreviations and key terms of the present invention:
（1）枢纽(1) Hub
枢纽一般指交通枢纽，是在交通运输网络中，连接不同交通线路、方便换乘和转运的重要设施或地点。交通枢纽是交通运输网络中重要的节点，起到连接和协调各种交通方式的作用，提供高效便捷的换乘和转运服务，促进城市和区域交通的发展与交流。一个交通枢纽通常会集聚多种交通方式，例如公路、铁路、航空和水上交通等。在城市中，交通枢纽通常位于交通密集区域，包括火车站、机场、汽车客运站、港口等。A hub generally refers to a transportation hub, which is an important facility or location in the transportation network that connects different transportation lines and facilitates transfer and transfer. Transportation hubs are important nodes in the transportation network. They play a role in connecting and coordinating various transportation modes, providing efficient and convenient transfer and transfer services, and promoting the development and exchange of urban and regional transportation. A transportation hub usually gathers multiple modes of transportation, such as road, rail, air and water transportation. In cities, transportation hubs are usually located in traffic-dense areas, including train stations, airports, bus terminals, ports, etc.
（2）应急疏散(2) Emergency evacuation
应急疏散是一种在紧急情况下组织和引导人员有序离开危险区域的行动，它是应对灾害、事故或其他紧急事件的重要措施之一。根据紧急事件的性质和现场情况，制定合理的疏散路线和目标地点，并在关键位置设置标志和指示牌，以便人员快速、安全地离开危险区域。Emergency evacuation is an action that organizes and guides people to leave dangerous areas in an orderly manner in an emergency. It is one of the important measures to respond to disasters, accidents or other emergencies. Based on the nature of the emergency and on-site conditions, develop reasonable evacuation routes and target locations, and set up signs and instructions at key locations to allow personnel to leave the dangerous area quickly and safely.
（3）路径匹配(3) Path matching
根据出行的起终点位置，在道路网络上找到最短的出行路径，基于Dijkstra最短路径搜索算法，快速对大量乘客的出行路径进行匹配计算，其路径搜索速度快并且效果稳定。According to the starting and ending points of the trip, the shortest travel path is found on the road network. Based on the Dijkstra shortest path search algorithm, the travel paths of a large number of passengers are quickly matched and calculated. The path search speed is fast and the effect is stable.
（4）同乘(4) Ride together
同乘是指在交通出行中，两个或多个乘客选择共享同一辆车辆前往相同或相邻目的地的行为。同乘模式能够促进交通资源的优化利用，提升出行效率，以及减少单人驾车造成的交通压力和能源消耗。Ride sharing refers to the behavior of two or more passengers choosing to share the same vehicle to the same or adjacent destination during transportation. The co-riding mode can promote the optimal use of transportation resources, improve travel efficiency, and reduce traffic pressure and energy consumption caused by single-person driving.
实施例1Example 1
如图1所示，该实施例的枢纽疏散场景下乘客同乘车辆的路径分配方法主要包括以下步骤：As shown in Figure 1, the route allocation method for passenger vehicles in the hub evacuation scenario of this embodiment mainly includes the following steps:
S1、构建道路网络，具体根据路段方向创建正向、反向和双向道路，并进行标记；根据标记的道路生成连通的道路网络图，形成包括路段起点、路段终点、路段长度、道路运行速度，以及正向、反向或双向自由流速度的二维矩阵；S1. Construct a road network, specifically create forward, reverse and two-way roads according to the direction of the road section, and mark them; generate a connected road network diagram based on the marked roads, including the starting point of the road section, the end point of the road section, the length of the road section, and the road operating speed. and a two-dimensional matrix of forward, reverse, or bidirectional freestream velocities;
S2、通过移动端获取枢纽内待疏散人员信息，包括姓名、填报时间、疏散目的地经纬度；S2. Obtain the information of people to be evacuated in the hub through the mobile terminal, including name, filling time, and longitude and latitude of the evacuation destination;
S3、根据待疏散人员统计结果动态采集枢纽周边一定半径内空闲出租车网约车信息，动态获取每辆车位置、可载客车辆数、车辆位置经纬度、当前位置到枢纽的时间，其中半径radius大小将根据应急疏散强度确定；其中：，S3. Dynamically collect the online car-hailing information of idle taxis within a certain radius around the hub based on the statistical results of people to be evacuated, and dynamically obtain the location of each vehicle, the number of passenger vehicles, the longitude and latitude of the vehicle location, and the time from the current location to the hub. Theradius is Size will be based on emergency evacuation intensity OK; where: ,
,/>为待疏散人员总数，/>为动态可疏散总座位数，/>为半径调整系数； ,/> is the total number of people to be evacuated,/> is the total number of dynamically evacuable seats,/> Adjustment factor for radius;
S4、根据待疏散人员填报时间的先后顺序计算待疏散人员出行路径的顺路度，根据顺路度匹配车辆与疏散人员；其中，先根据道路网络中不同路段的二维矩阵计算出行路径的路段重叠率、疏散起点和目的地的最小距离，再根据路段重叠率和最小距离计算顺路度。S4. Calculate the smoothness of the travel path of the people to be evacuated according to the order of time when the people to be evacuated fill in the report, and match the vehicles and evacuated people based on the smoothness; among them, first calculate the segment overlap rate of the travel path based on the two-dimensional matrix of different road segments in the road network , the minimum distance between the evacuation starting point and the destination, and then calculate the smoothness based on the road segment overlap rate and the minimum distance.
该实施例在考虑疏散效率优先的条件下，通过合理规划出租车和网约车的路径，降低车辆驶离枢纽时的空位率，并最大程度利用运力。该方法实现了乘客直接同乘到达个体目的地，避免了二次中转，充分利用可用车辆资源，并通过实时监控和反馈机制来快速调整和疏散策略。这种方法支持枢纽疏散，提高了疏散效率，使乘客的疏散体验更舒适，缩短了点对点疏散时间，并具备良好的适应性。This embodiment prioritizes evacuation efficiency and rationally plans the paths of taxis and online ride-hailing services to reduce the vacancy rate when vehicles leave the hub and maximize the utilization of transportation capacity. This method enables passengers to ride directly together to reach individual destinations, avoiding secondary transfers, making full use of available vehicle resources, and quickly adjusting and evacuation strategies through real-time monitoring and feedback mechanisms. This method supports hub evacuation, improves evacuation efficiency, makes passengers' evacuation experience more comfortable, shortens point-to-point evacuation time, and has good adaptability.
实施例2Example 2
该实施例基于实施例1，同样实现了枢纽疏散场景下乘客点对点出行的同乘车辆路径匹配，主要区别在于步骤构建道路网络的过程。This embodiment is based on Embodiment 1, and also realizes co-passenger vehicle path matching for point-to-point travel in hub evacuation scenarios. The main difference lies in the process of building a road network.
如图2所示，该实施例中枢纽疏散场景下乘客同乘车辆的路径分配方法主要包括步骤：As shown in Figure 2, in this embodiment, the route allocation method for passenger vehicles traveling together in a hub evacuation scenario mainly includes the following steps:
S01、构建道路网络；S01. Build a road network;
S02、动态采集枢纽内待疏散人员信息；S02. Dynamically collect information on people to be evacuated in the hub;
S03、动态采集更新枢纽周边的出租车网约车信息；S03. Dynamically collect and update online taxi hailing information around the hub;
S04、根据待疏散人员信息和周边车辆信息计算枢纽应急疏散强度；S04. Calculate the emergency evacuation intensity of the hub based on the information of people to be evacuated and the information of surrounding vehicles. ;
S05、根据疏散强度计算枢纽调度周边空余车位半径radius；S05. Calculatethe radius of vacant parking spaces around the hub dispatch based on the evacuation intensity;
S06、顺位获取疏散人员与疏散车辆；S06. Acquire evacuees and evacuation vehicles in sequence;
S07、根据待疏散人员信息计算疏散人员出行路径顺路度；S07. Calculate the smoothness of the travel path of the evacuated persons based on the information of the persons to be evacuated;
S08、根据顺路度与疏散强度匹配疏散车辆；S08. Match evacuation vehicles based on route convenience and evacuation intensity;
S09、完成同乘匹配离开枢纽。S09. Complete the ride matching and leave the hub.
步骤S01中，道路网络是同乘车辆运行的载体，道路网络数据是通过对显示道路路网的数学抽象和规范化描述的可以被计算机识别的道路网络。路网文件描述路网的几何信息和语义信息，带旅行时间权重的路网是路径搜索中最基础的输入数据。In step S01, the road network is a carrier for the operation of co-passenger vehicles, and the road network data is a road network that can be recognized by the computer through a mathematical abstraction and standardized description of the displayed road network. The road network file describes the geometric information and semantic information of the road network. The road network with travel time weight is the most basic input data in path search.
路网数据存储着几何对象和属性信息，其中不同的字段有着不同的含义。道路网数据中常见的字段如表1、表2所示，道路网中的起终点编号必须包含在道路网文件点层字段表中。Road network data stores geometric objects and attribute information, and different fields have different meanings. Common fields in road network data are shown in Table 1 and Table 2. The start and end points numbers in the road network must be included in the point layer field table of the road network file.
表1 道路网文件线层字段表Table 1 Road network file line layer field table
表2 道路网文件点层字段表Table 2 Road network file point layer field table
构建道路网络时，分为以下2个步骤：When building a road network, it is divided into the following 2 steps:
a)根据路段方向direction创建正向、反向和双向道路：因道路网络存在方向，一般定义正、反向为ab/ba，通过direction标记道路为正向（1）/反向（-1）/双向（0）可连通状态，对direction为-1的道路需要反转from_node_id和to_node_id，取属性表中下标为ba的属性，对direction为0的道路需新增一条反转from_node_id和to_node_id的道路，取属性表中下标为ba的属性。a) Create forward, reverse and two-way roads based on thedirection of the road segment: Because there are directions in the road network, the forward and reverse directions are generally defined asab/ba , and the road is marked as forward (1)/reverse (-1) throughdirection . / Two-way (0) connectable state. For roads withdirection of -1, it is necessary to reversefrom_node_id andto_node_id . Take the attribute with the subscriptba in the attribute table. For roads withdirection of 0, it is necessary to add a new inversion offrom_node_id andto_node_id . For roads, take the attribute whose subscript isba in the attribute table.
b)生成连通的道路网络图，形成以from_node_id、to_node_id、length、speed、fft的二维矩阵表格。b) Generate a connected road network diagram and form a two-dimensional matrix table withfrom_node_id, to_node_id ,length ,speed andfft .
该实施例通过标记路段的方向，可以更好地进行后续路径的规划，并可以更有效地计算不同疏散人员的路段重叠率，以计算路径相似度，从而为路径规划匹配做准备。This embodiment can better plan subsequent paths by marking the directions of road sections, and can more effectively calculate the overlap rate of road sections for different evacuees to calculate the path similarity, thereby preparing for path planning matching.
实施例3Example 3
该实施例基于实施例1，区别在于给出了步骤S2中如何具体动态采集枢纽内待疏散人员信息的实例。This embodiment is based on Embodiment 1. The difference lies in that an example of how to dynamically collect information on people to be evacuated in the hub in step S2 is provided.
该实施例主要通过移动端填报采集获取枢纽内待疏散人员信息，待疏散人员信息见下表3。This embodiment mainly obtains the information of the people to be evacuated in the hub through filling in and collecting information on the mobile terminal. The information of the people to be evacuated is shown in Table 3 below.
表3 待疏散人员信息表Table 3 Information table of persons to be evacuated
该实施例动态采集待疏散人员信息处理过程包含：The process of dynamically collecting information about persons to be evacuated in this embodiment includes:
a)枢纽内所有待疏散人群填写表3内容，完成填写时间fill_time将作为依据依次计算疏散人群同乘车辆顺序。a) All people to be evacuated in the hub fill in the contents of Table 3, and the completion timefill_time will be used as a basis to calculate the order of vehicles for the evacuated people to ride together.
b)统计当前枢纽区域内待疏散人员总数total_person_num。b) Count the total number of people to be evacuated in the current hub areatotal_person_num .
c)如果乘客完成车辆同乘匹配，将从待疏散人员信息表中删除。c) If the passenger completes the vehicle ride-sharing matching, he will be deleted from the information table of persons to be evacuated.
该实施例通过动态采集待疏散人员信息并及时更新已经疏散的人员信息，可以及时统计和更新未疏散人员，以进行后续疏散。This embodiment dynamically collects the information of persons to be evacuated and updates the information of persons who have been evacuated in a timely manner, so that the persons who have not been evacuated can be counted and updated in a timely manner for subsequent evacuation.
实施例4Example 4
该实施例基于实施例1，区别在于给出了步骤S3中如何具体动态采集枢纽周边的出租车网约车信息的实例。This embodiment is based on Embodiment 1, and the difference lies in that an example of how to dynamically collect online taxi hailing information around the hub in step S3 is given.
该实施例根据枢纽内停车等待乘客，动态调度枢纽周边半径radius范围内空余车辆，动态获取每辆车位置、可载客车辆数，出租车网约车等疏散车辆信息见表4，其中radius大小将根据应急疏散强度确定。This embodiment dynamically schedules the available vehicles within theradius around the hub based on parking and waiting for passengers in the hub, and dynamically obtains the location of each vehicle and the number of passenger vehicles. Information on evacuation vehicles such as online taxi hailing services is shown in Table 4, wherethe radius size Will be determined based on emergency evacuation intensity.
表4 待疏散人员信息表Table 4 Information table of persons to be evacuated
该实施例中，动态采集疏散车辆信息过程包含：In this embodiment, the process of dynamically collecting evacuation vehicle information includes:
a)到达枢纽并在枢纽内排队车辆left_time为0；a) Arriving at the hub and queuing vehicles in the hub,left_time is 0;
b)枢纽周边疏散车辆的根据车辆位置的经纬度坐标调用最短路径Dijkstra算法计算当前位置到枢纽的left_time，其计算原理如下：b) For evacuation vehicles around the hub, the shortest path Dijkstra algorithm is called based on the longitude and latitude coordinates of the vehicle location to calculatethe left_time from the current position to the hub. The calculation principle is as follows:
1)创建所有图中节点的集合，并初始化距离值。起始节点的距离值设置为0，其他节点的距离值设置为无穷大。1) Create a collection of all nodes in the graph and initialize the distance value. The distance value of the starting node is set to 0, and the distance value of other nodes is set to infinity.
2)将起始节点标记为“当前节点”。2) Mark the starting node as "current node".
3)对于当前节点的每个相邻节点，计算从起始节点到该相邻节点的距离。如果计算得到的距离小于该相邻节点的当前距离值，则更新该相邻节点的距离值。3) For each adjacent node of the current node, calculate the distance from the starting node to the adjacent node. If the calculated distance is less than the current distance value of the adjacent node, the distance value of the adjacent node is updated.
4)将当前节点标记为“已访问”。4) Mark the current node as "visited".
5)从未访问的节点中选择一个距离值最小的节点作为下一个“当前节点”，并重复步骤3）和4），直到所有节点都被标记为“已访问”或没有可达节点。5) Select a node with the smallest distance value from the unvisited nodes as the next "current node" and repeat steps 3) and 4) until all nodes are marked as "visited" or there are no reachable nodes.
6)根据更新后的距离值，得到从起始节点到其他节点的最短路径。6) Based on the updated distance value, obtain the shortest path from the starting node to other nodes.
c)如果疏散车辆完成同乘匹配驶离枢纽，将从疏散信息表中删除；c) If the evacuation vehicle completes the ride matching and leaves the hub, it will be deleted from the evacuation information table;
d)动态统计总可疏散座位数total_seat_num。d) Dynamic statistics of the total number of evacuable seatstotal_seat_num.
计算枢纽应急疏散强度的具体过程为：Calculate hub emergency evacuation intensity The specific process is:
枢纽疏散时存在大量的滞留旅客，为尽快将乘客疏散到目的地，应通过动态评估总疏散人数和枢纽周边空余车位可提供的空余座位数供需计算应急疏散强度，计算公式如下：There are a large number of stranded passengers during hub evacuation. In order to evacuate passengers to their destinations as soon as possible, the emergency evacuation intensity should be calculated by dynamically assessing the total number of evacuees and the number of vacant seats available in the vacant parking spaces around the hub. The calculation formula is as follows:
（1） (1)
应急疏散强度值越大，代表疏散压力越大，应急疏散强度大于等于1，代表每辆疏散车辆离开枢纽时满座没有空位。emergency evacuation intensity The larger the value, the greater the evacuation pressure, and the emergency evacuation intensity is greater than or equal to 1, which means that each evacuation vehicle is full and has no vacancies when it leaves the hub.
计算枢纽调度周边空余车位半径radius的具体过程为：The specific process of calculatingthe radius of vacant parking spaces around the hub dispatch is as follows:
疏散人群总数越大，应尽可能调度枢纽周边更大范围内的空余车辆前往枢纽，根据疏散强度计算车辆调度半径大小radius，计算公式如下。The larger the total number of evacuated people, the more spare vehicles around the hub should be dispatched to the hub as much as possible. The vehicle dispatch radiusradius should be calculated based on the evacuation intensity. The calculation formula is as follows.
（2） (2)
为半径调整系数，该实施例中取值范围3~5，表示疏散搜索枢纽范围内基础半径为3~5km。当应急疏散强度大于1时，应尽可能调度更远范围内的空余车辆，当应急疏散强度小于时，调度范围可减小，采用平方计算关系可最大程度反映供需匹配强度和调度空间范围关系。 is the radius adjustment coefficient. In this embodiment, the value range is 3~5, which means that the basic radius within the evacuation search hub is 3~5km. When the emergency evacuation intensity is greater than 1, spare vehicles in a farther range should be dispatched as much as possible. When the emergency evacuation intensity is less than 1, the dispatch range can be reduced. The square calculation relationship can reflect the relationship between the supply and demand matching intensity and the dispatch space range to the greatest extent.
该实施例根据应急疏散强度可实现动态对枢纽周边空间范围内车辆的调度，加快疏散运力供给。This embodiment can realize dynamic dispatching of vehicles within the space surrounding the hub according to the intensity of emergency evacuation, and accelerate the supply of evacuation transportation capacity.
实施例5Example 5
该实施例基于实施例1，区别在于给出了步骤S4中如何具体根据顺路度匹配车辆与疏散人员的实例。This embodiment is based on Embodiment 1, and the difference lies in that an example of how to specifically match vehicles and evacuees according to the degree of convenience in step S4 is given.
该实施例中，主要根据待疏散人员填报时间fill_time先后顺序以此计算人员疏散出行路径相似度，按照先进先出的原则获取当前疏散接待车辆的空位数，根据疏散强度匹配计算接待车辆上疏散乘客及出行路径，主要分为以下几步：In this embodiment, the similarity of the evacuation travel paths is mainly calculated based onthe fill_time order of the people to be evacuated, the number of vacancies in the current evacuation reception vehicles is obtained according to the first-in, first-out principle, and the evacuated passengers on the reception vehicles are calculated based on the evacuation intensity matching and travel routes, which are mainly divided into the following steps:
a)计算当前顺位fill_time疏散人员的出行路径。a) Calculate the travel path of the evacuated persons in the current orderfill_time .
根据Dijkstra算法得到当前顺位疏散人员疏散出行路径集path，第i=1位乘客的路径的路段序列集、坐标序列集（每个路段由有序的坐标序列组成，按照路段序列即可依次写出路径的坐标序列集）为：According to the Dijkstra algorithm, the current evacuation travel path set path for sequential evacuees is obtained, and the section sequence set and coordinate sequence set of the i=1th passenger's path (each section is composed of an ordered coordinate sequence, which can be written sequentially according to the section sequence) The coordinate sequence set of the path) is:
其中：in:
表示第i位乘客的路径中，第x条路段的路段ID； Represents the segment ID of thex- th segment in the route of thei -th passenger;
代表第i位乘客的路径中，第x条路段； Represents thex- th section of the route for thei -th passenger;
表示第i位乘客的路径坐标点； Represents the route coordinate point of thei -th passenger;
代表第i位乘客的路径中，总的时间开销； Represents the total time cost in the path of thei -th passenger;
代表第i位乘客路径第x条路段的长度； Represents the length of the x-th section of the i-th passenger’s path;
代表第i位乘客路径第x条路段的速度； Represents the speed of the x-th section of the i-th passenger’s path;
表示第i位乘客的路径中的路段总数； Represents the total number of road segments in the route of thei -th passenger;
表示第i位乘客的路径中的坐标点总数； Represents the total number of coordinate points in the path of thei -th passenger;
b)计算疏散接待车辆的可载客空位数p_numb) Calculate the number of passenger spacesp_num for evacuation reception vehicles
疏散接待车辆的可载客空位数p_num根据可载客空位数与疏散强度确定，采用如下公式：The number of passenger vacanciesp_num of the evacuation reception vehicle is determined based on the number of passenger vacancies and evacuation intensity, using the following formula:
（3） (3)
疏散强度大于1时取值为1，与车辆剩余载客数相乘得到当前车辆可载客空位数。When the evacuation intensity is greater than 1, the value is 1, which is the same as the number of remaining passengers in the vehicle. Multiply to get the number of available passenger spaces in the current vehicle.
c)计算后续顺位疏散人员疏散出行路径与/>路径顺路度c) Calculate the subsequent evacuation travel paths of evacuated personnel with/> path smoothness
本发明所描述的路径，起点都是一致的（均为枢纽），路径的顺路度计算考虑两个指标：路段重叠率和最小距离度量。The starting points of the paths described in this invention are all the same (all are hubs), and the calculation of the smoothness of the path considers two indicators: the road segment overlap rate and the minimum distance metric.
路段重叠率SCR，即两条路径中具有相同路段的比率。一般来说，顺路的两条路径，其路段重合率是较高的（如图4所示）。对于第i位乘客的路径和第j位乘客的路径，其路段重叠率SCR计算公式如下，num(S)代表集合S的元素个数：The road segment overlap rateSCR is the ratio of identical road segments in two paths. Generally speaking, the overlap rate of the two paths along the road is relatively high (as shown in Figure 4). For the path of the i-th passenger and the path of the j-th passenger, the road segment overlap rateSCR is calculated as follows,num (S ) represents the number of elements of the set S:
（4） (4)
最小距离度量DPM，由于城市路网较为复杂，两个相同的起终点之间可能有多条路径，为了避免漏判断“终点距离较近但是路段重合率较低”的场景，如图5所示。Minimum distance metricDPM . Since the urban road network is relatively complex, there may be multiple paths between two identical starting points and end points. In order to avoid missing the judgment of the scenario where "the end point is close but the road segment overlap rate is low", as shown in Figure 5 .
对于第i位乘客的路径和第j位乘客的路径，其计算公式如下：For the path of the i-th passenger and the path of the j-th passenger, the Calculated as follows:
计算每一个在中的轨迹点point到第i位乘客的路径终点的距离，并取最小值：Count each in The distance from the trajectory point in to the end of the path of the i-th passenger, and take the minimum value:
（5） (5)
计算每一个在中的轨迹点point到第j位乘客的路径终点的距离，并取最小值：Count each in The distance from the trajectory point point in to the end of the path of the j-th passenger, and take the minimum value:
（6） (6)
顺路度计算公式如下：Smoothness Calculated as follows:
该实施例中，式中最小距离度量阈值（取值范围50~500），敏感度/>（即随单位距离降低的顺路度调节系数，取值范围是0.005~0.01）。In this embodiment, the minimum distance metric threshold in the formula (Value range 50~500), sensitivity/> (That is, the smoothness adjustment coefficient decreases with unit distance, and the value range is 0.005~0.01).
d)根据顺路度匹配疏散接待车辆与疏散人员d) Match evacuation reception vehicles and evacuated people based on route convenience
按照顺路度从大到小排序，取前p_num-1位乘客与接待车辆匹配，完成当前疏散接待车辆的疏散人员匹配，疏散接待车辆离开枢纽。Sort according to the degree of convenience from large to small, match the firstp_num -1 passengers with the reception vehicles, complete the matching of evacuees of the current evacuation reception vehicles, and the evacuation reception vehicles leave the hub.
该实施例的顺路度计算考虑了终点不重合带来的顺路度降低的程度大小，通过乘客点对点疏散路径顺路度与同乘车辆匹配的计算，使得疏散同乘算法更加精准。The smoothness calculation in this embodiment takes into account the degree of reduced smoothness caused by the end points not coinciding. By calculating the smoothness of passengers' point-to-point evacuation paths and matching the smoothness with co-passenger vehicles, the evacuation co-ride algorithm is made more accurate.
实施例5Example 5
该实施例枢纽疏散场景下乘客同乘车辆的路径分配系统主要用于实现上述方法实施例，如图6所示，该系统包括：In this embodiment, the route allocation system of passenger vehicles in the hub evacuation scenario is mainly used to implement the above method embodiment. As shown in Figure 6, the system includes:
道路网络构建模块，用于根据路段方向创建正向、反向和双向道路，并进行标记；根据标记的道路生成连通的道路网络图，形成包括路段起点、路段终点、路段长度、道路运行速度，以及正向、反向或双向自由流速度的二维矩阵；The road network building module is used to create forward, reverse and two-way roads according to the direction of the road section and mark them; generate a connected road network diagram based on the marked roads, including the starting point of the road section, the end point of the road section, the length of the road section, and the road operating speed. and a two-dimensional matrix of forward, reverse, or bidirectional freestream velocities;
疏散人员信息获取模块，用于通过移动端获取枢纽内待疏散人员信息，包括姓名、填报时间、疏散目的地经纬度；The evacuation personnel information acquisition module is used to obtain the information of personnel to be evacuated in the hub through the mobile terminal, including name, filling time, and longitude and latitude of the evacuation destination;
车辆信息统计模块，用于根据待疏散人员统计结果动态采集枢纽周边一定半径内空闲出租车网约车信息，动态获取每辆车位置、可载客车辆数、车辆位置经纬度、当前位置到枢纽的时间，其中半径radius大小将根据应急疏散强度确定；其中：The vehicle information statistics module is used to dynamically collect online car-hailing information of idle taxis within a certain radius around the hub based on the statistical results of people to be evacuated, and dynamically obtain the location of each vehicle, the number of passenger vehicles, the longitude and latitude of the vehicle location, and the distance from the current location to the hub. time, where the radiusradius size will be based on the emergency evacuation intensity OK; where:
， ,
，/>为待疏散人员总数，/>为动态可疏散总座位数，/>为半径调整系数； ,/> is the total number of people to be evacuated,/> is the total number of dynamically evacuable seats,/> Adjustment factor for radius;
顺路匹配模块，用于根据待疏散人员填报时间的先后顺序计算待疏散人员出行路径的顺路度，根据顺路度匹配车辆与疏散人员；其中先根据道路网络中不同路段的二维矩阵计算出行路径的路段重叠率、疏散起点和目的地的最小距离，再根据路段重叠率和最小距离计算顺路度。The route matching module is used to calculate the route degree of the travel path of the people to be evacuated according to the order in which the people to be evacuated fill in the time, and to match the vehicles and the evacuated people according to the route degree; in which the travel path is first calculated based on the two-dimensional matrix of different road sections in the road network. The road segment overlap rate and the minimum distance between the evacuation starting point and the destination are used to calculate the smoothness based on the road segment overlap rate and the minimum distance.
各个模块主要用于实现上述方法实施例的各个步骤，在此不赘述。Each module is mainly used to implement each step of the above method embodiment, which will not be described again here.
实施例6Example 6
本申请还提供一种计算机可读存储介质，如闪存、硬盘、多媒体卡、卡型存储器（例如，SD或DX存储器等）、随机访问存储器（RAM）、静态随机访问存储器（SRAM）、只读存储器（ROM）、电可擦除可编程只读存储器（EEPROM）、可编程只读存储器（PROM）、磁性存储器、磁盘、光盘、服务器、App应用商城等等，其上存储有计算机程序，程序被处理器执行时实现相应功能。本实施例的计算机可读存储介质被处理器执行时实现方法实施例的枢纽疏散场景下乘客同乘车辆的路径分配方法。This application also provides a computer-readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory Memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disks, optical disks, servers, App application malls, etc., on which computer programs and programs are stored The corresponding function is implemented when executed by the processor. When the computer-readable storage medium of this embodiment is executed by the processor, the method for allocating paths of passengers sharing vehicles in a hub evacuation scenario according to the method embodiment is implemented.
综上，本发明提供了时间适应性更强的枢纽应急疏散车辆调度和路径规划方法，可不依赖轨道公交停运后的枢纽应急疏散。采用乘客点对点疏散方式，最大效率提升出租车网约车的载客率，兼顾疏散效率与乘客疏散舒适度，缩短乘客平均疏散到达目的地时间。根据应急疏散强度，可实现动态对枢纽周边空间范围内车辆的调度，加快疏散运力供给。此外，所需数据明确，参数含义明确，支持标准化部署到实际应用场景。In summary, the present invention provides a hub emergency evacuation vehicle dispatching and path planning method with stronger time adaptability, which does not rely on the hub emergency evacuation after the rail bus is out of service. The point-to-point passenger evacuation method is adopted to maximize the efficiency of online taxi hailing services, taking into account evacuation efficiency and passenger evacuation comfort, and shortening the average evacuation time for passengers to reach their destination. According to the intensity of emergency evacuation, dynamic dispatch of vehicles within the space surrounding the hub can be achieved to speed up the supply of evacuation transportation capacity. In addition, the required data is clear and the parameters have clear meanings, supporting standardized deployment to actual application scenarios.
需要指出，根据实施的需要，可将本申请中描述的各个步骤/部件拆分为更多步骤/部件，也可将两个或多个步骤/部件或者步骤/部件的部分操作组合成新的步骤/部件，以实现本发明的目的。It should be pointed out that according to the needs of implementation, each step/component described in this application can be split into more steps/components, or two or more steps/components or partial operations of steps/components can be combined into new ones. steps/components to achieve the objectives of the invention.
上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。The sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.
应当理解的是，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本发明所附权利要求的保护范围。It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the protection scope of the appended claims of the present invention.
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| CN202311493663.7ACN117236473B (en) | 2023-11-10 | 2023-11-10 | Path allocation method and system for passenger vehicles in a hub evacuation scenario |
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| CN202311493663.7ACN117236473B (en) | 2023-11-10 | 2023-11-10 | Path allocation method and system for passenger vehicles in a hub evacuation scenario |
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| CN202311493663.7AActiveCN117236473B (en) | 2023-11-10 | 2023-11-10 | Path allocation method and system for passenger vehicles in a hub evacuation scenario |
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