CN103065480B - The control method that particular vehicle is current and device - Google Patents
The control method that particular vehicle is current and device Download PDFInfo
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- CN103065480B CN103065480B CN201210544518.2A CN201210544518A CN103065480B CN 103065480 B CN103065480 B CN 103065480B CN 201210544518 A CN201210544518 A CN 201210544518A CN 103065480 B CN103065480 B CN 103065480B
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Abstract
The invention discloses the current control method of a kind of particular vehicle and device, wherein, the method comprises: the positional information obtaining particular vehicle i; Obtain the priority g that particular vehicle i is corresponding
i, wherein, the priority that dissimilar particular vehicle is corresponding different; According to the positional information of particular vehicle i obtained and priority g corresponding to particular vehicle i
i, determine control strategy, to control the current of particular vehicle i.The problem that the single particular vehicle that may cause of the intellectual traffic control method in prior art that present invention efficiently solves is incured loss through delay, reaches the effect of the delay reducing particular vehicle.
Description
Technical field
The present invention relates to intellectual traffic control field, particularly relate to the current control method of particular vehicle and device
Background technology
Along with the development of economic society, urban traffic pressure is increasing, although road conditions and traffic signals facility have had very large improvement, difficult problem of driving a vehicle remains the subject matter of urban highway traffic.Therefore when there is the particular vehicle needing priority pass, as: special duty's car etc. of fire truck, ambulance and execution special duty, is often stopped by the crossing blocked up, causes time delays.
For solving the problem, general to emergency vehicles granted priority right-of-way, it runs with very high speed and can ignore a lot of traffic rules, utilization Real-Time Control Strategy is the principal character of modern special-purpose vehicle signal priority system, specific implementation is, installs special detecting device at signalized intersections, after receiving the signal from the coding of emergency vehicles, start emergency vehicles signal priority system, the direction needed at emergency vehicles gives green light signals.
There is following defect in existing control mode:
First, existing control strategy is the simple principle adopting First come first served just, performs the conversion between normal signal and emergency parachute.This strategy is mainly for one direction particular vehicle generally, and in particular cases, e.g., when there is major disaster, the signal control problem that multi-direction particular vehicle arrives same signalized intersections is not specialized in.
Secondly, above-mentioned control mode is only just simple is divided into common vehicle and the particular vehicle relative to common vehicle by vehicle, the control mode between the particular vehicle (as ambulance and emergency materials car) of execution different work is identical.This mode does not consider the priority level between different particular vehicle, and the vehicle performing important hot job may be caused to incur loss through delay.
Single for intellectual traffic control method in correlation technique, the problem that the particular vehicle that may cause is incured loss through delay, not yet proposes effective solution at present.
Summary of the invention
The invention provides the current control method of particular vehicle and device, single to solve intellectual traffic control method in prior art, the problem that the particular vehicle that may cause is incured loss through delay.
According to the one side of invention, provide the control method that a kind of particular vehicle is current, the method comprises: the positional information obtaining particular vehicle i; Obtain the priority g that particular vehicle i is corresponding
i, wherein, the priority that dissimilar particular vehicle is corresponding different; According to the positional information of particular vehicle i obtained and priority g corresponding to particular vehicle i
i, determine control strategy, to control the current of particular vehicle i.
Preferably, according to the positional information of particular vehicle i obtained and priority g corresponding to particular vehicle i
i, determine that the step of control strategy comprises: according to the positional information of the particular vehicle i obtained, judge whether to need to determine control strategy; When judging not need to determine control strategy, continuing the positional information obtaining particular vehicle i, and judging, until judge to need to determine control strategy; When judging to need to determine control strategy, judge whether the phase position travelling phase conflicts at crossing k and particular vehicle i exists particular vehicle o, if do not exist, then according to the priority g of the particular vehicle i obtained
idetermine control strategy, if exist, then obtain priority g corresponding to particular vehicle o
o, by the priority g of the particular vehicle o of acquisition
owith the priority g of particular vehicle i
icompare, according to comparative result determination control strategy.
Preferably, according to the positional information of the particular vehicle i obtained, judge whether to need the step determining control strategy to comprise: according to the positional information of the particular vehicle i obtained, calculate the distance d between particular vehicle i and crossing k; To compare apart from d and predetermined distance threshold d ', and if d≤d ', then judge to need to determine control strategy, and if d > is d ', then judge not need to determine control strategy.
Preferably, by the priority g of the particular vehicle o of acquisition
owith the priority g of particular vehicle i
icompare, the step according to comparative result determination control strategy comprises: if comparative result is g
i≤ g
o, control particular vehicle i after particular vehicle o is current, pass through; If comparative result is g
i> g
o, control particular vehicle i priority pass, particular vehicle o, after particular vehicle i is current, passes through.
Preferably, the priority of particular vehicle is divided into N number of, is respectively 1 from low to high, 2, M, N, wherein, priority is greater than corresponding first operation of particular vehicle of M, priority is less than or equal to corresponding second operation of particular vehicle of M, M, N are positive integer, M < N, by the priority g of the particular vehicle o of acquisition
owith the priority g of particular vehicle i
icompare, the step according to comparative result determination control strategy comprises: if comparative result is g
i≤ g
o, after controlling the particular vehicle o execution operation corresponding with particular vehicle o, control particular vehicle i and perform the operation corresponding with particular vehicle i; If comparative result is g
i> M>=g
o, control particular vehicle i and perform first operation corresponding with particular vehicle i, after particular vehicle i executes the first corresponding operation, control particular vehicle o and perform second operation corresponding with particular vehicle o; If comparative result is g
i> g
o> M, after controlling particular vehicle o execution the first operation corresponding with particular vehicle o, controls particular vehicle i and performs first operation corresponding with particular vehicle i; If comparative result is M>=g
i> g
o, control particular vehicle i and perform second operation corresponding with particular vehicle i, after particular vehicle i executes the second corresponding operation, control particular vehicle o and perform second operation corresponding with particular vehicle o.
Preferably, the first operation comprises: directly pass through; Second operation comprises: judge whether to meet according to the priority of particular vehicle self and the transport information of current crossing k and preset current condition, if meet, then pass through, if do not meet, then wait for.
According to the another aspect of invention, provide the control device that a kind of particular vehicle is current, this device comprises: the first acquiring unit, for obtaining the positional information of particular vehicle i; Second acquisition unit, for obtaining priority g corresponding to particular vehicle i
i, wherein, the priority that dissimilar particular vehicle is corresponding different; Policy determining unit, for according to the positional information of particular vehicle i obtained and priority g corresponding to particular vehicle i
i, determine control strategy, to control the current of particular vehicle i.
Preferably, policy determining unit comprises: the first judge module, for the positional information of the particular vehicle i according to the first acquiring unit acquisition, judges whether to need to determine control strategy; Second judge module, during for judging to need to determine control strategy at the first judge module, judges whether the phase position travelling phase conflicts at crossing k and particular vehicle i exists particular vehicle o; First determination module, for when the judged result of the second judge module is not for existing, according to the priority g of the particular vehicle i obtained
idetermine control strategy; Comparison module, for when the judged result of the second judge module is for existing, obtains the priority g that particular vehicle o is corresponding
o, by the priority g of the particular vehicle o of acquisition
owith the priority g of particular vehicle i
icompare; Second determination module, for the comparative result determination control strategy according to comparison module.
Preferably, the second determination module comprises: first controls submodule, for being g at the comparative result of comparison module
i≤ g
otime, control particular vehicle i after particular vehicle o is current, pass through; Second controls submodule, for being g at the comparative result of comparison module
i> g
otime, control particular vehicle i priority pass, particular vehicle o, after particular vehicle i is current, passes through.
Preferably, the priority of particular vehicle is divided into N number of, is respectively 1 from low to high, 2, M ... N, wherein, priority is greater than corresponding first operation of particular vehicle of M, priority is less than or equal to corresponding second operation of particular vehicle of M, and M, N are positive integer, M < N, second determination module comprises: the 3rd controls submodule, for being g at the comparative result of comparison module
i≤ g
otime, after controlling the particular vehicle o execution operation corresponding with particular vehicle o, control particular vehicle i and perform the operation corresponding with particular vehicle i; 4th controls submodule, for being g at the comparative result of comparison module
i> M>=g
otime, control particular vehicle i and perform first operation corresponding with particular vehicle i, after particular vehicle i executes the first corresponding operation, control particular vehicle o and perform second operation corresponding with particular vehicle o; 5th controls submodule, for being g at the comparative result of comparison module
i> g
oduring > M, after controlling particular vehicle o execution the first operation corresponding with particular vehicle o, control particular vehicle i and perform first operation corresponding with particular vehicle i; 6th controls submodule, for being M>=g at the comparative result of comparison module
i> g
otime, control particular vehicle i and perform second operation corresponding with particular vehicle i, after particular vehicle i executes the second corresponding operation, control particular vehicle o and perform second operation corresponding with particular vehicle o.
Beneficial effect of the present invention is as follows:
In the present invention, for different particular vehicle divides corresponding priority, intelligent transportation system is when controlling particular vehicle current, obtain the positional information of particular vehicle and corresponding precedence information respectively, comprehensively analyze according to the positional information obtained and precedence information, this analytical approach had both considered the priority level between common vehicle and particular vehicle, also the priority level between different particular vehicle is considered, determine that corresponding control strategy is to control the current of particular vehicle by comprehensively analyzing, efficiently solve intellectual traffic control method in correlation technique single, the problem that the particular vehicle that may cause is incured loss through delay, reach the effect of the delay reducing particular vehicle.
Accompanying drawing explanation
Fig. 1 is the preferred process flow diagram of one of the control method that in the embodiment of the present invention, particular vehicle is passed through;
Fig. 2 is the preferred structured flowchart of one of the control device that in the embodiment of the present invention, particular vehicle is passed through;
Fig. 3 is the preferred structured flowchart of another kind of the control device that in the embodiment of the present invention, particular vehicle is passed through;
Fig. 4 is another the preferred structured flowchart of the control device that in the embodiment of the present invention, particular vehicle is passed through.
Embodiment
Single in order to solve prior art intellectual traffic control method, the problem that the particular vehicle that may cause is incured loss through delay, the invention provides the current control method of particular vehicle and device, below in conjunction with accompanying drawing and embodiment, is further elaborated to the present invention.Should be appreciated that specific embodiment described herein only in order to explain the present invention, do not limit the present invention.
Embodiment 1
The preferred embodiment of the invention provides the current control method of a kind of particular vehicle, and Fig. 1 illustrates the preferred process flow diagram of the one of the method, and as shown in Figure 1, the method comprises the steps S102 to S106:
S102, obtains the positional information of particular vehicle i.
Preferably, the satnav longitude and latitude of vehicle i is obtained by positioning chip, such as, GPS positioning chip or the Big Dipper positioning system positioning chip is selected to obtain, determine the positional information of particular vehicle i in conjunction with urban GIS (Geographic Information System, Geographic Information System) according to the latitude and longitude information obtained.Preferably, above-mentioned positional information carries out Real-time Obtaining.
S104, obtains the priority g that particular vehicle i is corresponding
i, wherein, the priority that dissimilar particular vehicle is corresponding different.
Different types of particular vehicle is divided different priority, the kind of particular vehicle comprises: ambulance, fire truck, breakdown lorry, police car, enjoy the officer's car of special right of access, evacuating personnel car, emergency materials car, enjoy the vehicle etc. of certain authority, preferably, particular vehicle is divided into 9 grades according to the significance level of executing the task, be respectively from the 9th grade to the 1st grade: ambulance, fire truck, breakdown lorry, police car, enjoy the officer's car of special right of access, evacuating personnel car, emergency materials car, enjoy the vehicle of one-level authority, enjoy the vehicle of secondary authority, significance level reduces successively.
S106, according to the positional information of particular vehicle i obtained and priority g corresponding to particular vehicle i
i, determine control strategy, to control the current of particular vehicle i.
Preferably, wireless communication module can be set in particular vehicle, for communicating with control center, particular vehicle passes back the control center such as the latitude and longitude information of acquisition, traveling phase information, vehicle identification information, precedence information by this wireless communication module, control center analyzes, to determine control strategy.The current of particular vehicle is controlled according to the control strategy determined.Preferably, the control strategy determined realizes the current control to particular vehicle by control stop-light.
Above-mentioned preferred embodiment in, for different particular vehicle divides corresponding priority, intelligent transportation system is when controlling particular vehicle current, obtain the positional information of particular vehicle and corresponding precedence information respectively, comprehensively analyze according to the positional information obtained and precedence information, this analytical approach had both considered the priority level between common vehicle and particular vehicle, also the priority level between different particular vehicle is considered, determine that corresponding control strategy is to control the current of particular vehicle by comprehensively analyzing, efficiently solve intellectual traffic control method in correlation technique single, the problem that the particular vehicle that may cause is incured loss through delay, reach the effect of the delay reducing particular vehicle.
Of the present invention one preferred embodiment in, also said method is optimized, particularly, according to the positional information of particular vehicle i obtained and priority g corresponding to particular vehicle i
i, determine that the step of control strategy comprises: according to the positional information of the particular vehicle i obtained, judge whether to need to determine control strategy; When judging not need to determine control strategy, continuing the positional information obtaining particular vehicle i, and judging, needing to determine control strategy until determine; Determine need to determine control strategy time, judge whether the phase position travelling phase conflicts at crossing k and particular vehicle i exists particular vehicle o, if do not exist, then according to the priority g of particular vehicle i obtained
idetermine control strategy, if exist, then obtain priority g corresponding to particular vehicle o
o, by the priority g of the particular vehicle o of acquisition
owith the priority g of particular vehicle i
icompare, according to comparative result determination control strategy.
The enforcement of above-mentioned preferred technical scheme, makes, when providing preference strategy for particular vehicle, to consider the situation that there is multiple particular vehicle, when there is multiple particular vehicle, comprehensively analyze, formulate the strategy optimized, ensure the priority job of important urgent particular vehicle.
Of the present invention one preferred embodiment in, the positional information additionally providing a kind of particular vehicle i according to obtaining judges whether to need to determine the preferred scheme of control strategy, specifically, comprise the steps:, according to the positional information of the particular vehicle i obtained, to calculate the distance d between particular vehicle i and crossing k; To compare apart from d and predetermined distance threshold d ', preferably, above-mentioned predetermined distance threshold d ' can be that between 100 meters to 250m, the present invention is not limited to this.If d≤d ', then judge to need to determine control strategy, if d > is d ', then judge not need to determine control strategy.
The enforcement of above-mentioned preferred scheme, provides a kind of trigger condition for particular vehicle formulation corresponding strategy, when not meeting trigger condition, not carrying out the determination of corresponding strategy, ensureing the normal traveling of other common vehicle.
In addition, present invention also offers a kind of priority g of particular vehicle o that will obtain
owith the priority g of particular vehicle i
icompare the scheme determining control strategy, specifically, if comprise the steps:, comparative result is g
i≤ g
o, control particular vehicle i after particular vehicle o is current, pass through; If comparative result is g
i> g
o, control particular vehicle i priority pass, particular vehicle o, after particular vehicle i is current, passes through.
The enforcement of technique scheme, providing a kind of when there is multiple particular vehicle, determining the method for control strategy, ensure the particular vehicle of high priority preferably by, ensure further the promptness of the particular vehicle of high priority.
Of the present invention one preferred embodiment in, additionally provide the another kind of priority g of particular vehicle o that will obtain
owith the priority g of particular vehicle i
icompare the scheme determining control strategy, specifically, comprise the steps: that the priority of particular vehicle is divided into N number of, be respectively 1 from low to high, 2 ... .M ... .N, wherein, priority is greater than corresponding first operation of particular vehicle of M, and priority is less than or equal to corresponding second operation of particular vehicle of M, and M, N are positive integer, M < N, by the priority g of the particular vehicle o of acquisition
owith the priority g of particular vehicle i
icompare, the step according to comparative result determination control strategy comprises: if comparative result is g
i≤ g
o, after controlling the particular vehicle o execution operation corresponding with particular vehicle o, control particular vehicle i and perform the operation corresponding with particular vehicle i, wherein, if priority is greater than M, what particular vehicle was corresponding is operating as the first operation, if priority is less than or equal to M, what particular vehicle was corresponding is operating as the second operation; If comparative result is g
i> M>=g
o, control particular vehicle i and perform first operation corresponding with particular vehicle i, after particular vehicle i executes the first corresponding operation, control particular vehicle o and perform second operation corresponding with particular vehicle o; If comparative result is g
i> g
o> M, after controlling particular vehicle o execution the first operation corresponding with particular vehicle o, controls particular vehicle i and performs first operation corresponding with particular vehicle i; If comparative result is M>=g
i> g
o, control particular vehicle i and perform second operation corresponding with particular vehicle i, after particular vehicle i executes the second corresponding operation, control particular vehicle o and perform second operation corresponding with particular vehicle o.
Preferably, above-mentioned first operation comprises: directly pass through; Second operation comprises: judge whether to meet according to the priority of particular vehicle self and the transport information of current crossing k and preset current condition, if meet, then pass through, if do not meet, then wait for.
Be specifically described below in conjunction with example:
Particular vehicle is divided into 9 grades according to significance level, be respectively from the 9th grade to the 1st grade: ambulance, fire truck, breakdown lorry, police car, enjoy the officer's car of special right of access, evacuating personnel car, emergency materials car, enjoy the vehicle of one-level authority, enjoy the vehicle of secondary authority, significance level reduces successively, wherein, the particular vehicle of priority 1 to 5 grade is set as green light passes unimpeded class, namely, corresponding being operating as is directly current, by priority be 6 to 9 particular vehicle be set as weighting first class, corresponding is operating as: judge whether to meet according to the priority of particular vehicle self and the transport information of current crossing k and preset current condition, if meet, then pass through, if do not meet, then wait for.
In tactful deterministic process, comprise the steps:
1) first control center accepts the data that particular vehicle i passes back, and preferably, these data comprise: latitude and longitude information, traveling phase information, vehicle identification information, precedence information.
2) after receiving information, latitude and longitude information GIS map is carried out the matching analysis by control center, obtains particular vehicle i place road, and calculates the distance d of particular vehicle i and travel direction junction ahead k, for follow-up priority processing makes data encasement.
3) will compare apart from d and predetermined distance threshold d ', predetermined distance threshold d ' can rule of thumb obtain, preferably, and 100m < d ' < 250m.If d≤d ', perform step 4), otherwise, continue the information that reception particular vehicle transmits, perform step 2).
4) check in the state storage space of crossing k, whether exist with the phase place of conflicting of Current vehicle i and performing preferential particular vehicle or applying for preferential particular vehicle o, if exist, then perform step 5), if do not exist, perform step 6).
5) the priority g of particular vehicle i is read
i, by g
iwith the priority g of particular vehicle o
ocompare:
If g
o>=g
i>=5, then after waiting for that particular vehicle o priority pass terminates, perform step 7);
If g
i> g
o>=5, then after waiting for that vehicle o performs current end, perform step 7);
If g
i>=5 > g
o, then interrupt the execution of particular vehicle o, perform step 7);
If g
o≤ g
i< 5, then particular vehicle o suspends execution preferentially, performs step 8) to vehicle i;
If g
i< g
o< 5, then after waiting for that vehicle o is complete, vehicle i performs step 8);
6) the priority g of vehicle i is read
iif, g
i>=5, then perform step 7), otherwise perform step 8);
7) performing green passes unimpeded preferentially, and front signal lamp is unconditionally set to green light, performs after preferentially completing, performs step 9);
8) perform weighted signal preferential, the signal weighting mode of priority here only considers that green light extends and green light shifts to an earlier date, and specifically, performs weighted signal preferential by following steps:
A. grade height is pressed successively maximum green light ratio P
gredefbe set as 0.30,0.25,0.20,0.15;
Wherein, maximum green light ratio refers to the ratio expanding preferential maximum time and green time, preferential for expanding, arranging this parameter object is ensure public vehicles normal pass by expanding preferential restriction to vehicle, and parameter size affects the delay of crossing entirety according to green light expansion, signal period T
periodthe split P of size and this phase place
greensize sets, and generally gets between 0.1-0.4.
B. according to g
isize, the maximum green light ratio of current phase place is set;
C. maximum green light expansion time T is calculated
gredef=T
periodp
greenp
gredef;
D. predict and calculate the time T that vehicle i arrives crossing k
i_k, obtain current phase place green light or red light T excess time
rest_k;
If e. crossing k is when in the traveling phase place of vehicle i, current state is green light:
If T
i_k< T
rest_k-σ, then do not adjust signal, and wherein, σ is prediction redundancy value, ensures that vehicle can pass through smoothly, generally gets 1-2 second;
If T
rest_k-σ≤T
i_k≤ T
rest_k+ T
gredef-σ, then extend T to the green light phase of this phase signal lamp
i_k-T
rest_k+ σ;
If T
i_k> T
rest_k+ T
gredef-σ, then do not adjust signal lamp, performs step 10);
If f. crossing k is when in the traveling phase place of vehicle i, current state is red light:
If T
i_k> T
rest_k+ σ, then do not adjust signal, and when vehicle arrives crossing, red light terminates, and can pass through smoothly;
If T
rest_k-T
gredef+ σ≤T
i_k≤ T
rest_k+ σ, then terminate in advance to the red light of this phase signal lamp, and pre-set time is T
rest_k-T
i_k+ σ;
If T
i_k< T
rest_k-T
gredef+ σ, then do not adjust signal lamp, performs step 10);
G. executive signal priority acccess control, performs after preferentially completing, performs step 9);
Step 9) vehicle i, by after the k of crossing, carries out signal priority recovery, performs step 10);
Step 10) vehicle i terminates at the signal priority of crossing k.
The enforcement of above-mentioned preferred version, classifies the particular vehicle of different priorities, formulates different strategies, ensures the vehicle preferred process performing comparatively urgent operation in particular vehicle, perfect further intelligent transportation system.
Embodiment 2
Based on the control method that the particular vehicle in above-described embodiment 1 is current, this preferred embodiment provides the current control device of a kind of particular vehicle, and Fig. 2 illustrates the preferred structured flowchart of the one of said apparatus, and as shown in Figure 2, this device comprises:
First acquiring unit 202, for obtaining the positional information of particular vehicle i; Preferably, the satnav longitude and latitude of vehicle i is obtained by positioning chip, such as, GPS positioning chip or the Big Dipper positioning system positioning chip is selected to obtain, determine the positional information of particular vehicle i in conjunction with urban GIS (GeographicInformation System, Geographic Information System) according to the latitude and longitude information obtained.Preferably, above-mentioned positional information carries out Real-time Obtaining.
Second acquisition unit 204, for obtaining priority g corresponding to particular vehicle i
i, wherein, the priority that dissimilar particular vehicle is corresponding different, different types of particular vehicle is divided different priority, the kind of particular vehicle comprises: ambulance, fire truck, breakdown lorry, police car, enjoy the officer's car of special right of access, evacuating personnel car, emergency materials car, enjoy the vehicle etc. of certain authority, preferably, particular vehicle is divided into 9 grades according to the significance level of executing the task, be respectively from the 9th grade to the 1st grade: ambulance, fire truck, breakdown lorry, police car, enjoy the officer's car of special right of access, evacuating personnel car, emergency materials car, enjoy the vehicle of one-level authority, enjoy the vehicle of secondary authority, significance level reduces successively.
Policy determining unit 206, is connected with the first acquiring unit 202 and second acquisition unit 204 respectively, for according to the positional information of particular vehicle i obtained and priority g corresponding to particular vehicle i
i, determine control strategy, to control the current of particular vehicle i.Preferably, wireless communication module can be set in particular vehicle, for communicating with control center, particular vehicle passes back the control center such as the latitude and longitude information of acquisition, traveling phase information, vehicle identification information, precedence information by this wireless communication module, control center analyzes, to determine control strategy.The current of particular vehicle is controlled according to the control strategy determined.Preferably, the control strategy determined realizes the current control to particular vehicle by control stop-light.
Above-mentioned preferred embodiment in, for different particular vehicle divides corresponding priority, intelligent transportation system is when controlling particular vehicle current, obtain the positional information of particular vehicle and corresponding precedence information respectively, comprehensively analyze according to the positional information obtained and precedence information, this analytical approach had both considered the priority level between common vehicle and particular vehicle, also the priority level between different particular vehicle is considered, determine that corresponding control strategy is to control the current of particular vehicle by comprehensively analyzing, efficiently solve intellectual traffic control method in correlation technique single, the problem that the particular vehicle that may cause is incured loss through delay, reach the effect of the delay reducing particular vehicle.
Of the present invention one preferred embodiment in, be also optimized said apparatus, particularly, as shown in Figure 3, policy determining unit 206 comprises:
First judge module 302, for the positional information of the particular vehicle i according to the first acquiring unit acquisition, judges whether to need to determine control strategy;
Second judge module 304, is connected with the first judge module 302, for when the first judge module 302 is judged to need to determine control strategy, judges whether the phase position travelling phase conflicts at crossing k and particular vehicle i exists particular vehicle o;
First determination module 306, is connected with the second judge module 304, for when the judged result of the second judge module 304 is not for existing, according to the priority g of the particular vehicle i obtained
idetermine control strategy;
Comparison module 308, is connected with the second judge module 304, for when the judged result of the second judge module 304 is for existing, obtains the priority g that particular vehicle o is corresponding
o, by the priority g of the particular vehicle o of acquisition
owith the priority g of particular vehicle i
icompare;
Second determination module 310, is connected with comparison module 308, for the comparative result determination control strategy according to comparison module 308.
The enforcement of above-mentioned preferred technical scheme, makes, when providing preference strategy for particular vehicle, to consider the situation that there is multiple particular vehicle, when there is multiple particular vehicle, comprehensively analyze, formulate the strategy optimized, ensure the priority job of important urgent particular vehicle.
Preferably, the first judge module 302 comprises: calculating sub module, for the positional information according to the particular vehicle i obtained, calculates the distance d between particular vehicle i and crossing k; Comparison sub-module, for comparing apart from d and predetermined distance threshold d '; Preferably, above-mentioned predetermined distance threshold d ' can be that between 100 meters to 250m, the present invention is not limited to this.Judge submodule, for when d≤d ', judge to need to determine control strategy, when d > d ', judge not need to determine control strategy.
The enforcement of above-mentioned preferred scheme, provides a kind of trigger condition for particular vehicle formulation corresponding strategy, when not meeting trigger condition, not carrying out the determination of corresponding strategy, ensureing the normal traveling of other common vehicle.
The present invention has also carried out optimizing further to such scheme, and specifically, as shown in Figure 4, the second determination module 310 comprises: first controls submodule 402, for being g at the comparative result of comparison module 308
i≤ g
otime, control particular vehicle i after particular vehicle o is current, pass through; Second controls submodule 404, for being g at the comparative result of comparison module 308
i> g
otime, control particular vehicle i priority pass, particular vehicle o, after particular vehicle i is current, passes through.
The enforcement of technique scheme, providing a kind of when there is multiple particular vehicle, determining the method for control strategy, ensure the particular vehicle of high priority preferably by, ensure further the promptness of the particular vehicle of high priority.
In one embodiment of the invention, also further optimization has been carried out to such scheme, specifically, the priority of particular vehicle is divided into N number of, is respectively 1 from low to high, 2, M ... N, wherein, priority is greater than corresponding first operation of particular vehicle of M, priority is less than or equal to corresponding second operation of particular vehicle of M, and M, N are positive integer, M < N, second determination module 310 comprises: the 3rd controls submodule, for being g at the comparative result of comparison module 308
i≤ g
otime, after controlling the particular vehicle o execution operation corresponding with particular vehicle o, control particular vehicle i and perform the operation corresponding with particular vehicle i, wherein, if priority is greater than M, what particular vehicle was corresponding is operating as the first operation, if priority is less than or equal to M, what particular vehicle was corresponding is operating as the second operation;
4th controls submodule, for being g at the comparative result of comparison module 308
i> M>=g
otime, control particular vehicle i and perform first operation corresponding with particular vehicle i, after particular vehicle i executes the first corresponding operation, control particular vehicle o and perform second operation corresponding with particular vehicle o;
5th controls submodule, for being g at the comparative result of comparison module 308
i> g
oduring > M, after controlling particular vehicle o execution the first operation corresponding with particular vehicle o, control particular vehicle i and perform first operation corresponding with particular vehicle i;
6th controls submodule, for being M>=g at the comparative result of comparison module 308
i> g
otime, control particular vehicle i and perform second operation corresponding with particular vehicle i, after particular vehicle i executes the second corresponding operation, control particular vehicle o and perform second operation corresponding with particular vehicle o.
Preferably, above-mentioned first operation comprises: directly pass through; Second operation comprises: judge whether to meet according to the priority of particular vehicle self and the transport information of current crossing k and preset current condition, if meet, then pass through, if do not meet, then wait for.
Be specifically described below in conjunction with example:
Particular vehicle is divided into 9 grades according to significance level, be respectively from the 9th grade to the 1st grade: ambulance, fire truck, breakdown lorry, police car, enjoy the officer's car of special right of access, evacuating personnel car, emergency materials car, enjoy the vehicle of one-level authority, enjoy the vehicle of secondary authority, significance level reduces successively, wherein, the particular vehicle of priority 1 to 5 grade is set as green light passes unimpeded class, namely, corresponding being operating as is directly current, by priority be 6 to 9 particular vehicle be set as weighting first class, corresponding is operating as: judge whether to meet according to the priority of particular vehicle self and the transport information of current crossing k and preset current condition, if meet, then pass through, if do not meet, then wait for.
In tactful deterministic process, comprise the steps:
1) first control center accepts the data that particular vehicle i passes back, and preferably, these data comprise: latitude and longitude information, traveling phase information, vehicle identification information, precedence information.
2) after receiving information, latitude and longitude information GIS map is carried out the matching analysis by control center, obtains particular vehicle i place road, and calculates the distance d of particular vehicle i and travel direction junction ahead k, for follow-up priority processing makes data encasement.
3) will compare apart from d and predetermined distance threshold d ', predetermined distance threshold d ' can rule of thumb obtain, preferably, and 100m < d ' < 250m.If d≤d ', perform step 4), otherwise, continue the information that reception particular vehicle transmits, perform step 2).
4) check in the state storage space of crossing k, whether exist with the phase place of conflicting of Current vehicle i and performing preferential particular vehicle or applying for preferential particular vehicle o, if exist, then perform step 5), if do not exist, perform step 6).
5) the priority g of particular vehicle i is read
i, by g
iwith the priority g of particular vehicle o
ocompare:
If g
o>=g
i>=5, then after waiting for that particular vehicle o priority pass terminates, perform step 7);
If g
i> g
o>=5, then after waiting for that vehicle o performs current end, perform step 7);
If g
i>=5 > g
o, then interrupt the execution of particular vehicle o, perform step 7);
If g
o≤ g
i< 5, then particular vehicle o suspends execution preferentially, performs step 8) to vehicle i;
If g
i< g
o< 5, then after waiting for that vehicle o is complete, vehicle i performs step 8);
6) the priority g of vehicle i is read
iif, g
i>=5, then perform step 7), otherwise perform step 8);
7) performing green passes unimpeded preferentially, and front signal lamp is unconditionally set to green light, performs after preferentially completing, performs step 9);
8) perform weighted signal preferential, the signal weighting mode of priority here only considers that green light extends and green light shifts to an earlier date, and concrete steps, as the content recorded in embodiment 1, repeat no more herein.
Step 9) vehicle i, by after the k of crossing, carries out signal priority recovery, performs step 10);
Step 10) vehicle i terminates at the signal priority of crossing k.
The enforcement of above-mentioned preferred version, classifies the particular vehicle of different priorities, formulates different strategies, ensures the vehicle preferred process performing comparatively urgent operation in particular vehicle, perfect further intelligent transportation system.
Can find out from the above description, embodiments of the invention are that different particular vehicle divides corresponding priority, intelligent transportation system is when controlling particular vehicle current, obtain the positional information of particular vehicle and corresponding precedence information respectively, comprehensively analyze according to the positional information obtained and precedence information, this analytical approach had both considered the priority level between common vehicle and particular vehicle, also the priority level between different particular vehicle is considered, determine that corresponding control strategy is to control the current of particular vehicle by comprehensively analyzing, efficiently solve intellectual traffic control method in correlation technique single, the problem that the particular vehicle that may cause is incured loss through delay, reach the effect of the delay reducing particular vehicle.
Although be example object, disclose the preferred embodiments of the present invention, it is also possible for those skilled in the art will recognize various improvement, increase and replacement, and therefore, scope of the present invention should be not limited to above-described embodiment.
Claims (6)
1. the control method that particular vehicle is current, is characterized in that, comprise the steps:
Obtain the positional information of particular vehicle i;
Obtain the priority g that described particular vehicle i is corresponding
i, wherein, the priority that dissimilar particular vehicle is corresponding different;
According to the positional information of described particular vehicle i obtained and priority g corresponding to described particular vehicle i
i, determine control strategy, to control the current of described particular vehicle i;
The described positional information of described particular vehicle i according to obtaining and priority g corresponding to described particular vehicle i
i, determine that the step of control strategy comprises:
According to the positional information of the described particular vehicle i obtained, judge whether to need to determine described control strategy;
When judging not need to determine described control strategy, continuing the positional information obtaining described particular vehicle i, and judging, needing to determine described control strategy until determine;
Determine need to determine described control strategy time, judge whether the phase position travelling phase conflicts at crossing k and described particular vehicle i exists particular vehicle o, if do not exist, then according to the priority g of described particular vehicle i obtained
idetermine described control strategy, if exist, then obtain the priority g that described particular vehicle o is corresponding
o, more described g
owith described g
i, determine described control strategy according to comparative result;
Wherein, the priority of described particular vehicle is divided into N number of, is respectively 1 from low to high, 2, M, N, wherein, priority is greater than corresponding first operation of described particular vehicle of M, priority is less than or equal to corresponding second operation of described particular vehicle of M, M, N are positive integer, M < N, more described g
owith described g
i, determine that the step of described control strategy comprises according to comparative result:
If comparative result is g
i≤ g
o, after controlling the described particular vehicle o execution operation corresponding with described particular vehicle o, control described particular vehicle i and perform the operation corresponding with described particular vehicle i;
If comparative result is g
i> M>=g
o, control described particular vehicle i and perform corresponding with described particular vehicle i first and operate, described particular vehicle i execute corresponding first operate after, control second operate corresponding with described particular vehicle o of described particular vehicle o execution;
If comparative result is g
i> g
o> M, control described particular vehicle i perform corresponding with described particular vehicle i first operate after, control first operate corresponding with described particular vehicle o of described particular vehicle o execution;
If comparative result is M>=g
i> g
o, control described particular vehicle i and perform corresponding with described particular vehicle i second and operate, described particular vehicle i execute corresponding second operate after, control second operate corresponding with described particular vehicle o of described particular vehicle o execution.
2. the method for claim 1, is characterized in that, the positional information of the described described particular vehicle i according to obtaining, judges whether to need to determine that the step of described control strategy comprises:
According to the positional information of the described particular vehicle i obtained, calculate the distance d between described particular vehicle i and described crossing k;
Described distance d and predetermined distance threshold d ' is compared, if d≤d ', then judges to need to determine described control strategy, if d > is d ', then judge not need to determine described control strategy.
3. method as claimed in claim 1 or 2, is characterized in that, more described g
owith described g
i, determine that the step of described control strategy comprises according to comparative result:
If comparative result is g
i≤ g
o, control described particular vehicle i after described particular vehicle o is current, pass through;
If comparative result is g
i> g
o, control particular vehicle i priority pass, described particular vehicle o, after described particular vehicle i is current, passes through.
4. the method for claim 1, is characterized in that,
Described first operation comprises: directly pass through;
Described second operation comprises: judge whether to meet according to the priority of described particular vehicle self and the transport information of current crossing k and preset current condition, if meet, then pass through, if do not meet, then wait for.
5. the control device that particular vehicle is current, is characterized in that, comprising:
First acquiring unit, for obtaining the positional information of particular vehicle i;
Second acquisition unit, for obtaining priority g corresponding to described particular vehicle i
i, wherein, the priority that dissimilar particular vehicle is corresponding different;
Policy determining unit, for according to the positional information of described particular vehicle i obtained and priority g corresponding to described particular vehicle i
i, determine control strategy, to control the current of described particular vehicle i;
Described policy determining unit comprises:
First judge module, for the positional information of the described particular vehicle i according to described first acquiring unit acquisition, judges whether to need to determine described control strategy;
Second judge module, for when described first judge module is judged to need to determine described control strategy, judges whether the phase position travelling phase conflicts at crossing k and described particular vehicle i exists particular vehicle o;
First determination module, for when the judged result of described second judge module is not for existing, according to the priority g of the described particular vehicle i obtained
idetermine described control strategy;
Comparison module, for when the judged result of described second judge module is for existing, obtains the priority g that described particular vehicle o is corresponding
o, more described g
owith described g
i;
Second determination module, for determining described control strategy according to the comparative result of described comparison module;
Wherein, the priority of described particular vehicle is divided into N number of, is respectively 1 from low to high, 2, M, N, wherein, priority is greater than corresponding first operation of described particular vehicle of M, priority is less than or equal to corresponding second operation of described particular vehicle of M, M, N are positive integer, M < N, and described second determination module comprises:
3rd controls submodule, for being g at the comparative result of described comparison module
i≤ g
otime, after controlling the described particular vehicle o execution operation corresponding with described particular vehicle o, control described particular vehicle i and perform the operation corresponding with described particular vehicle i;
4th controls submodule, for being g at the comparative result of described comparison module
i> M>=g
otime, control described particular vehicle i and perform corresponding with described particular vehicle i first and operate, described particular vehicle i execute corresponding first operate after, control second operate corresponding with described particular vehicle o of described particular vehicle o execution;
5th controls submodule, for being g at the comparative result of described comparison module
i> g
oduring > M, control described particular vehicle i perform corresponding with described particular vehicle i first operate after, control first operate corresponding with described particular vehicle o of described particular vehicle o execution;
6th controls submodule, for being M>=g at the comparative result of described comparison module
i> g
otime, control described particular vehicle i and perform corresponding with described particular vehicle i second and operate, described particular vehicle i execute corresponding second operate after, control second operate corresponding with described particular vehicle o of described particular vehicle o execution.
6. device as claimed in claim 5, it is characterized in that, described second determination module comprises:
First controls submodule, for being g at the comparative result of described comparison module
i≤ g
otime, control described particular vehicle i after described particular vehicle o is current, pass through;
Second controls submodule, for being g at the comparative result of described comparison module
i> g
otime, control particular vehicle i priority pass, described particular vehicle o, after described particular vehicle i is current, passes through.
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| CN201210544518.2A CN103065480B (en) | 2012-12-14 | 2012-12-14 | The control method that particular vehicle is current and device |
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|---|---|---|---|
| CN201210544518.2A CN103065480B (en) | 2012-12-14 | 2012-12-14 | The control method that particular vehicle is current and device |
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| CN103065480B true CN103065480B (en) | 2015-08-05 |
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