CN104599488A - Commanding and dispatching method and system capable of accurately finishing multi-team guard duty - Google Patents
Commanding and dispatching method and system capable of accurately finishing multi-team guard duty Download PDFInfo
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- CN104599488A CN104599488A CN201410409116.0A CN201410409116A CN104599488A CN 104599488 A CN104599488 A CN 104599488A CN 201410409116 A CN201410409116 A CN 201410409116A CN 104599488 A CN104599488 A CN 104599488A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
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Abstract
The invention provides a commanding and dispatching method and system capable of accurately finishing a multi-team guard duty. In the entire guard duty process for simultaneously reaching a plurality of guard teams to a same destination, the time unit accurated to second is used as a basis for commanding and dispatching so as to realize that the commanded and dispatched guard teams can reach the destination in accuracy to second according to previously stipulated arrival time and interval. After the multiple guard teams depart according to the stipulated departure time and the required time interval for reaching the destination, a driver can be reminded of the driving speed to guarantee the consistency with the execution time table in the preset time when the current position of a leader vehicle is not overlapped with a reference position corresponding to the current time in an execution time table, namely when the leader vehicle lags or leads. After the position of the leader vehicle is overlapped with the reference position stipulated in the execution time table, the driver can also be reminded of continuously keeping the overlapping state in future and the driving speed.
Description
Technical field
The present invention relates to public safety traffic management technical field, specifically a kind of command scheduling method and system that precisely can complete many fleets guard duty.
Background technology
Along with the fast development of society, each big city, when undertaking large-scale international conference, large-scale activity, often runs into multiple guard fleet and never sets out with guard station, arrive the situation in same meeting-place simultaneously.How to ensure that each guard fleet can according to the time of regulation, predetermined time interval, arrives destination with being accurate to second, reduces the impact on normal traffic to greatest extent, is the target that public security traffic commanding pursues.
In order to address this problem, first inventor of the application has applied for a series of patent, existing patent documentation CN 103186981 A discloses the accurate command dispatching system of a kind of large-scale guard duty and method, the moment of destination is arrived according to prediction scheme information and fleet, the execution timetable obtained, moment value fleet being arrived each reference position is accurate to showing of second, and in the whole process of executing the task, using the time as the foundation of command scheduling, once fleet exceedes alarm threshold value at advanced or delayed time, system just can send command scheduling instruction, ensure that fleet can be accurate to the arrival destination of second.But also there is following technical matters in technique scheme:
1, current guide-car position is different from execution timetable reference position, namely during guide-car's lag or lead, can only point out driver's acceleration or deceleration, the value of driver's acceleration or deceleration can not be pointed out to be how many.
2, after the position of current guide-car overlaps with the reference position specified in execution timetable, driver can not be pointed out will to keep coincidence status future, be that maintenance present speed is constant, still want acceleration or deceleration, the value of its acceleration-deceleration is how many.
In above-mentioned two situations, driver can only drive according to the experience of oneself, still accurately can not ensure that front guide-car is accurate to each reference position of arrival of second.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of command scheduling method and system that precisely can complete many fleets guard duty.
For solving the problems of the technologies described above, the present invention is achieved by the following technical solutions:
The invention provides a kind of command scheduling method that precisely can complete many fleets guard duty, it is characterized in that, comprise the steps:
S1: for whole routes of guard duty are numbered, the guard duty route for each numbering all generates the schedule plan of a correspondence, specifically comprises the steps:
S11: before utilizing in advance, guide-car is along each guard duty route with speeds during actual executing the task, and in the process of moving, p.s. all records following running data: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
S12: generate schedule plan, for each schedule plan is numbered, the numbering of all corresponding guard duty route of each schedule plan numbering; The departure place of guard duty route, destination, junction of two streams is recorded in each schedule plan, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out;
S2: be guide-car's numbering before the fleet of execution guard duty, the numbering of all corresponding guard duty route of the numbering of guide-car before each; For guide-car before each numbering, generate the execution timetable of its correspondence, specifically comprise the steps:
S21: determine guard duty route number according to front guide-car's numbering, transfer the schedule plan corresponding with guard duty route number;
S22: the moment requirement arriving destination according to each guard fleet, obtain after reference time in each guard fleet schedule plan is adjusted to corresponding reference instant successively performing timetable, determine the set out moment and arrive the moment of destination, junction of two streams and other each reference positions of the front guide-car of each guard fleet in departure place successively, the moment wherein corresponding to departure place is for setting out the moment;
S3: current time equal in the execution timetable of arbitrary guard fleet set out the moment time, lead the front guide-car of this guard fleet to set out and according to the speeds that sets out recorded in this execution timetable;
S4: for guide-car before each numbering, all according to guide-car's process before the running data real-time judge recorded in the execution timetable corresponding with it, specifically comprise the steps:
S41: the front guide-car's latitude and longitude information (X reading current time T in real time
d, Y
d);
S42: by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d;
S43: compare the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Work as T=T
dtime, enter step S44;
As T ≠ T
dtime, enter step S45;
S44: before prompting, guide-car is according to T in execution timetable
dthe datum velocity corresponding to next reference instant travel, enter step S5 afterwards;
S45: before prompting, guide-car travels according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) as reference position benchmark mileage corresponding in execution timetable, enter step S5 afterwards;
According to the running data recorded in its corresponding execution timetable, S5: for guide-car before each numbering, all judges that whether front guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, if not identical, returns step S41, otherwise terminate.
In described step S1, S4, latitude and longitude information, the running time of guide-car before adopting the GPS locating module be arranged on front guide-car to obtain; The distance travelled that before adopting the OBD module be arranged on front guide-car to obtain, guide-car is real-time and travel speed.
In described step S44, S45, the mode of the LCDs display word be arranged on front guide-car is adopted to point out front guide-car driver.
In described step S44, S45, the mode adopting the Audio Players be arranged on front guide-car to play voice is pointed out front guide-car driver.
The present invention also provides a kind of command dispatching system that precisely can complete many fleets guard duty, comprising:
Be arranged at the vehicle positioning module on front guide-car: for determining front guide-car's latitude and longitude information (X in real time
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i, described vehicle positioning module can carry out real-time Communication for Power with command scheduling processor;
Described command scheduling processor, is arranged at inside, command and control center, and for command scheduling, each performs guide-car before the fleet of guard duty; It comprises the schedule plan generation module of each bar guard duty further, each guard fleet performs timetable generation module, command output module of setting out, front guide-car's process judge module and judge module; Wherein:
Described schedule plan generation module, is numbered for the whole routes for guard duty, and the guard duty route for each numbering all generates the schedule plan of a correspondence, specifically comprises:
Running data acquiring unit, before prior utilization guide-car along each guard duty route with speeds during actual executing the task, in the process of moving, the running data that described vehicle positioning module all records p.s. is obtained: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
Schedule plan generation unit, for each schedule plan is numbered, the numbering of all corresponding guard duty route of each schedule plan numbering; The departure place of guard duty route, destination, junction of two streams is recorded in each schedule plan, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out;
Described execution timetable generation module is guide-car's numbering before the fleet of execution guard duty, the numbering of all corresponding guard duty route of the numbering of guide-car before each; For guide-car before each numbering, generate the execution timetable of its correspondence, specifically comprise:
Data extracting unit, determines guard duty route number according to front guide-car's numbering, transfers the schedule plan corresponding with guard duty route number;
Perform timetable generation unit, the moment requirement of destination is arrived according to each guard fleet, obtain after reference time in each guard fleet schedule plan is adjusted to corresponding reference instant successively performing timetable, determine the set out moment and arrive the moment of destination, junction of two streams and other each reference positions of the front guide-car of each guard fleet in departure place successively, the moment wherein corresponding to departure place is for setting out the moment;
Described command output module of setting out, current time equal in the execution timetable of arbitrary guard fleet set out the moment time, lead the front guide-car of this guard fleet to set out and according to the speeds that sets out recorded in this execution timetable;
Described front guide-car's process judge module, for guide-car before each numbering, all according to guide-car's process before the running data real-time judge recorded in the execution timetable corresponding with it, specifically comprises:
Data capture unit, guide-car's latitude and longitude information (X before Real-time Obtaining current time T from described vehicle positioning module
d, Y
d);
First comparing unit, by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d;
Second comparing unit, compares the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Information Tip element, at T=T
dtime prompting before guide-car according to execution timetable in T
dthe datum velocity corresponding to next reference instant travel; At T ≠ T
dtime prompting before guide-car travel according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) performing benchmark mileage corresponding in timetable as reference position;
Described judge module: for guide-car before each numbering, before equal basis and the running data recorded in its corresponding execution timetable judge, whether guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, terminates to dispatch when all front guide-car's latitude and longitude information are all identical with the latitude and longitude information of destination.
Described vehicle positioning module comprises the GPS locating module of latitude and longitude information for obtaining front guide-car, running time; With the OBD module of the real-time distance travelled and travel speed for obtaining front guide-car.
Described information Tip element, comprises the LCDs be arranged on front guide-car, points out front guide-car driver in the mode showing word.
Described information Tip element, comprises the Audio Players be arranged on front guide-car, points out front guide-car driver in the mode playing voice.
Technique scheme of the present invention has the following advantages compared to existing technology:
The command scheduling method and system precisely completing many fleets guard duty of the present invention, according to schedule plan and require eachly to be arrived moment of destination by the fleet of guard, obtain the execution timetable of each guard fleet, set out moment and the moment value that arrives each reference position of guide-car before leading guard fleet are accurate to showing of second, and in the whole process of executing the task, are all the foundations using the time as command scheduling.Current guide-car position does not overlap with the reference position performed in timetable corresponding to current time, namely, before during guide-car's lag or lead, the reference position that driver can be pointed out which kind of speeds could to realize and perform guide-car before in timetable within the predetermined time with overlaps.And the position of current guide-car with perform in timetable after the reference position specified overlaps, driver also can be pointed out will to continue maintenance coincidence status future, need with which kind of speeds.Front guide-car really realizes being accurate to travelling according to the timetable preset of second to adopt the such scheme in the present invention to ensure, when requiring that the fleet of multiple execution guard duty is from different guard station, when arriving same meeting-place, adopting the scheme in the present invention just can realize each can both according to the due in specified and predetermined time interval precisely to the arrival destination of second by the fleet of guard.
Accompanying drawing explanation
In order to make content of the present invention be more likely to be clearly understood, below according to a particular embodiment of the invention and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein:
Fig. 1 is for precisely completing the command scheduling method flow diagram of many fleets guard duty described in one embodiment of the invention;
Fig. 2 is for precisely completing the theory diagram of the command dispatching system of many fleets guard duty described in one embodiment of the invention;
Fig. 3 is for travelling schematic diagram data under the advanced travel situations of guide-car front described in one embodiment of the invention;
Fig. 4 is for travelling schematic diagram data under the delayed travel situations of guide-car front described in one embodiment of the invention.
Embodiment
embodiment 1
The present embodiment provides a kind of command scheduling method that precisely can complete many fleets guard duty, as shown in Figure 1, comprises the steps:
S1: for whole routes of guard duty are numbered, the guard duty route for each numbering all generates the schedule plan of a correspondence, specifically comprises the steps:
S11: before utilizing in advance, guide-car is along each guard duty route with speeds during actual executing the task, and in the process of moving, p.s. all records following running data: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
S12: generate schedule plan, for each schedule plan is numbered, the numbering of all corresponding guard duty route of each schedule plan numbering; The departure place of guard duty route, destination, junction of two streams is recorded in each schedule plan, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out;
S2: be guide-car's numbering before the fleet of execution guard duty, the numbering of all corresponding guard duty route of the numbering of guide-car before each; For guide-car before each numbering, generate the execution timetable of its correspondence, specifically comprise the steps:
S21: determine guard duty route number according to front guide-car's numbering, transfer the schedule plan corresponding with guard duty route number.
S22: the moment requirement arriving destination according to each guard fleet, obtain after reference time in each guard fleet schedule plan is adjusted to corresponding reference instant successively performing timetable, determine the set out moment and arrive the moment of destination, junction of two streams and other each reference positions of the front guide-car of each guard fleet in departure place successively, the moment wherein corresponding to departure place is for setting out the moment.
S3: current time equal in the execution timetable of arbitrary guard fleet set out the moment time, lead the front guide-car of this guard fleet to set out and according to the speeds that sets out recorded in this execution timetable.
S4: for guide-car before each numbering, all according to guide-car's process before the running data real-time judge recorded in the execution timetable corresponding with it, specifically comprise the steps:
S41: the front guide-car's latitude and longitude information (X reading current time T in real time
d, Y
d).
S42: by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d.
S43: compare the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Work as T=T
dtime, enter step S44.
As T ≠ T
dtime, enter step S45.
S44: before prompting, guide-car is according to T in execution timetable
dthe datum velocity corresponding to next reference instant travel, enter step S5 afterwards.
S45: before prompting, guide-car travels according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) as reference position benchmark mileage corresponding in execution timetable, enter step S5 afterwards.
According to the running data recorded in its corresponding execution timetable, S5: for guide-car before each numbering, all judges that whether front guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, if not identical, returns step S41, otherwise terminate.
In the present embodiment, arabic numeral are adopted to be that guard duty route and the front guide-car of fleet performing guard duty and schedule plan are numbered, these three numberings all have corresponding relation, as long as determine one of them numbering, just can number to two other by associative search.These three numberings can select identical arabic numeral, such as, before corresponding No. n of n guard duty route guide-car's corresponding n schedule plan simultaneously.Also can select different arabic numeral between these three numberings, only need to ensure corresponding relation each other.Be identical arabic numeral for three numberings in the present embodiment to be described.Be depicted as guide-car before No. n arrive the schedule plan of the Great Hall of the People from Friendship Hotel and m fleet arrives the schedule plan of the Great Hall of the People from Jingxi Hotel as shown 1-1 and table 1-2, wherein m and n is arabic numeral, and m and n is unequal.As previously mentioned, these two schedule plans utilize front guide-car in advance along guard duty route with speeds during actual executing the task, in the process of moving, and the data recorded p.s..
Table 1-1 n schedule plan
Departure place: Friendship Hotel destination: the Great Hall of the People
Table 1-2 m schedule plan
Departure place: Jingxi Hotel destination: the Great Hall of the People
As shown the schedule plan shown in 1-1 and table 1-2, the latitude and longitude information of front guide-car, running time, distance travelled and travel speed are all adopt the GPS locating module that is arranged on front guide-car and OBD module to obtain.The latitude and longitude information of n schedule plan and m schedule plan compared, before can observing No. n intuitively, before guide-car and No. m, guide-car is at interflow, " Fuxingmennei Dajie recovery bridge " place, and traffic route is afterwards overlapping.
Each guard fleet arrives the time interval that will keep between moment of destination and each guard fleet and obtains performing timetable as requested.Such as, before requiring No. n, guide-car arrives the moment of destination is 14:30:00, before No. m, guide-car arrives the moment of destination is 14:30:30, then can obtain execution timetable corresponding to guide-car before guide-car before No. n and No. m according to table 1-1 and table 1-2, directly the time arriving destination is adjusted to 14:30:00 and 14:30:30, then as benchmark, is carried out adjustment reference time before respectively and obtain reference instant.As shown shown in 2-1 and table 2-2;
Table No. n, 2-1 performs timetable
Departure place: Friendship Hotel destination: the Great Hall of the People
Table No. m, 2-2 performs timetable
Departure place: Jingxi Hotel destination: the Great Hall of the People
After obtaining performing timetable 2-1 and table 2-2, lead two by guide-car before guard fleet, just travel according to the reference instant described in table 2-1 and table 2-2, reference position and datum velocity respectively at traveling process.Once deviate from the reference position that in table 2-1 and table 2-2, current time should arrive in the leading car traveling process of two numberings, driver then can be pointed out immediately to need to adjust the speed of front guide-car, and driver can be pointed out according to great speeds, just can make in official hour each by the current location of guide-car before guard fleet respectively with table 2-1 and the reference position shown in 2-2 corresponding to current time overlap.
Be described for guide-car before No. n:
Being set in current time T is 14:09:58, now detects that front guide-car's latitude and longitude information is for (X
n, Y
n), after this latitude and longitude information and the reference position information in table 2-1 are carried out comparison one by one, find and (X
n, Y
n) identical reference position information be longitude is X
n, latitude value is Y
n, obtain T reference time that this position is corresponding
dfor 14:10:00.Then T ≠ T
d, now need the current location making front guide-car's reality, coincide with the position performed in timetable corresponding to current time in official hour.Official hour described herein is the time adjustment threshold value T described in the present embodiment
h.Choose according to actual conditions, such as, can be chosen as 3S, 5S etc.The traveling-position will considering to ensure front guide-car when selecting this time to adjust threshold value as early as possible with perform the position specified in timetable and overlap, but the size of present deviation value will be considered simultaneously, when deviate is larger, this time adjustment threshold value can select larger value, also suitably the time can be adjusted threshold value when deviation is less to reduce, consider that the travel speed after front guide-car adjustment can not exceed the speed limit in this section simultaneously again.
In order to make the above-mentioned situation described in the present embodiment more clear, composition graphs 3 and Fig. 4 are described, and in Fig. 3 and Fig. 4, rightmost side arrow represents travel direction.
As shown in Figure 3, each point represents a reference position, and the reference position that current time T is corresponding is set as (X
i, Y
i), corresponding benchmark mileage is S
i; The reference position that front guide-car's latitude and longitude information of the reality under current time T is corresponding is (X
d, Y
d), corresponding benchmark mileage is S
d; Current time T adds time adjustment threshold value T
hcorresponding reference position is set as (X
h, Y
h), corresponding benchmark mileage is S
h.Obviously, when as shown in Figure 3, the reference position that the reference position before current time T corresponding to guide-car's physical location and benchmark mileage should be corresponding than current time in timetable and benchmark mileage advanced.Suppose that before requiring, guide-car ensures that after 6S its traveling-position overlaps with the traveling-position in execution timetable, then need front guide-car at time T
hinterior from reference position (X
d, Y
d) travel to reference position (X
h, Y
h), namely its mileage travelled is S
h-S
d.Therefore, the travel speed required for front guide-car is V
t=(S
h-S
d)/T
h.
Shown in Fig. 4, shown in situation with Fig. 3, situation is contrary, is the situation of the delayed traveling of front guide-car.But as can be seen from the figure, if guide-car overlaps with execution timetable after time adjustment threshold value before wanting, the travel speed required for it is still V
t=(S
h-S
d)/T
h.
And once the traveling-position of front guide-car can overlap to performing the corresponding traveling-position recorded in timetable, then before can pointing out order, guide-car travels according to the datum velocity corresponding to next reference instant.
As the optional scheme of one, in described step S1, S4, adopt the latitude and longitude information of the front guide-car of GPS locating module acquisition be arranged on front guide-car, running time, distance travelled and travel speed.
Preferably, in described step S44, S45, the mode of the LCDs display word be arranged on front guide-car is adopted to point out front guide-car driver.As directly passed through text importing " please with the speeds of 35Km/ hour ".
Further preferably, in described step S44, S45, the mode adopting the Audio Players be arranged on front guide-car to play voice is pointed out front guide-car driver.As play-overed the voice messaging of " please with the speeds of 35Km/ hour ".
embodiment 2
The present embodiment provides a kind of command dispatching system that precisely can complete many fleets guard duty, as shown in Figure 2, comprising:
Be arranged at the vehicle positioning module on front guide-car: for determining front guide-car's latitude and longitude information (X in real time
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i, described vehicle positioning module can carry out real-time Communication for Power with command scheduling processor;
Described command scheduling processor, is arranged at inside, command and control center, and for command scheduling, each performs guide-car before the fleet of guard duty; It comprises the schedule plan generation module of each bar guard duty further, each guard fleet performs timetable generation module, command output module of setting out, front guide-car's process judge module and judge module; Wherein:
Described schedule plan generation module, is numbered for the whole routes for guard duty, and the guard duty route for each numbering all generates the schedule plan of a correspondence, specifically comprises:
Running data acquiring unit, before prior utilization guide-car along each guard duty route with speeds during actual executing the task, in the process of moving, the running data that described vehicle positioning module all records p.s. is obtained: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
Schedule plan generation unit, for the schedule plan of each guard's route is numbered; The departure place of guard duty route, destination, junction of two streams is recorded in the schedule plan of each guard duty, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out;
Described execution timetable generation module is guide-car's numbering before execution Mei Tiao guard duty fleet, the numbering of all corresponding guard duty route of the numbering of guide-car before each; For guide-car before each numbering, generate the execution timetable of its correspondence, specifically comprise:
Data extracting unit, determines guard duty route number according to front guide-car's numbering, transfers the schedule plan corresponding with guard duty route number;
Perform timetable generation unit, the moment requirement of destination is arrived according to each guard fleet, obtain after reference time in each guard fleet schedule plan is adjusted to corresponding reference instant successively performing timetable, determine the set out moment and arrive the moment of destination, junction of two streams and other each reference positions of the front guide-car of each guard fleet in departure place successively, the moment wherein corresponding to departure place is for setting out the moment;
Described command output module of setting out, current time equal in the execution timetable of arbitrary guard fleet set out the moment time, lead the front guide-car of this guard fleet to set out and according to the speeds that sets out recorded in this execution timetable;
Described front guide-car's process judge module, for guide-car before each numbering, all according to guide-car's process before the running data real-time judge recorded in the execution timetable corresponding with it, specifically comprises:
Data capture unit, guide-car's latitude and longitude information (X before Real-time Obtaining current time T from described vehicle positioning module
d, Y
d);
First comparing unit, by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d;
Second comparing unit, compares the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Information Tip element, at T=T
dtime prompting before guide-car according to execution timetable in T
dthe datum velocity corresponding to next reference instant travel; At T ≠ T
dtime prompting before guide-car travel according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) performing benchmark mileage corresponding in timetable as reference position;
Described judge module: for guide-car before each numbering, before equal basis and the running data recorded in its corresponding execution timetable judge, whether guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, terminates to dispatch when all front guide-car's latitude and longitude information are all identical with the latitude and longitude information of destination.
Preferably, described vehicle positioning module adopts GPS locating module and OBD module, guide-car's latitude and longitude information and running time before described GPS locating module reads, and described OBD module reads travel speed and the distance travelled of front guide-car.Described information Tip element, comprises the LCDs be arranged on front guide-car, points out front guide-car driver in the mode showing word.Described information Tip element, comprises the Audio Players be arranged on front guide-car, points out front guide-car driver in the mode playing voice.
The command scheduling method and system precisely completing many fleets guard duty described in above-described embodiment, the moment of destination is arrived according to guide-car before schedule plan and requirement, the execution timetable obtained, the moment value front guide-car being arrived each reference position is accurate to showing of second, and in the whole process of executing the task, are all the foundations using the time as command scheduling.Current guide-car position does not overlap with the reference position performed in timetable corresponding to current time, namely during guide-car's lag or lead, driver can be pointed out with which kind of speeds could to ensure within the predetermined time and perform timetable to be consistent.And the position of current guide-car with perform in timetable after the reference position specified overlaps, driver also can be pointed out will to continue maintenance coincidence status future, need with which kind of speeds.When adopting the such scheme in the present invention can ensure that the fleet of multiple execution guard duty arrives same meeting-place from different guard station, each can both according to the time of regulation and predetermined time interval precisely to the arrival destination of second by the guard fleet of command scheduling.
Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.
Claims (8)
1. precisely can complete a command scheduling method for many fleets guard duty, it is characterized in that, comprise the steps:
S1: for whole routes of guard duty are numbered, the guard duty route for each numbering all generates the schedule plan of a correspondence, specifically comprises the steps:
S11: before utilizing in advance, guide-car is along each guard duty route with speeds during actual executing the task, and in the process of moving, p.s. all records following running data: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
S12: generate schedule plan, for each schedule plan is numbered, the numbering of all corresponding guard duty route of each schedule plan numbering; The departure place of guard duty route, destination, junction of two streams is recorded in each schedule plan, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out;
S2: be guide-car's numbering before the fleet of execution guard duty, the numbering of all corresponding guard duty route of the numbering of guide-car before each; For guide-car before each numbering, generate the execution timetable of its correspondence, specifically comprise the steps:
S21: determine guard duty route number according to front guide-car's numbering, transfer the schedule plan corresponding with guard duty route number;
S22: the moment requirement arriving destination according to each guard fleet, obtain after reference time in each guard fleet schedule plan is adjusted to corresponding reference instant successively performing timetable, determine the set out moment and arrive the moment of destination, junction of two streams and other each reference positions of the front guide-car of each guard fleet in departure place successively, the moment wherein corresponding to departure place is for setting out the moment;
S3: current time equal in the execution timetable of arbitrary guard fleet set out the moment time, lead the front guide-car of this guard fleet to set out and according to the speeds that sets out recorded in this execution timetable;
S4: for guide-car before each numbering, all according to guide-car's process before the running data real-time judge recorded in the execution timetable corresponding with it, specifically comprise the steps:
S41: the front guide-car's latitude and longitude information (X reading current time T in real time
d, Y
d);
S42: by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d;
S43: compare the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Work as T=T
dtime, enter step S44;
As T ≠ T
dtime, enter step S45;
S44: before prompting, guide-car is according to T in execution timetable
dthe datum velocity corresponding to next reference instant travel, enter step S5 afterwards;
S45: before prompting, guide-car travels according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) as reference position benchmark mileage corresponding in execution timetable, enter step S5 afterwards;
According to the running data recorded in its corresponding execution timetable, S5: for guide-car before each numbering, all judges that whether front guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, if not identical, returns step S41, otherwise terminate.
2. the command scheduling method that precisely can complete many fleets guard duty according to claim 1, is characterized in that:
In described step S1, S4, latitude and longitude information, the running time of guide-car before adopting the GPS locating module be arranged on front guide-car to obtain; The distance travelled that before adopting the OBD module be arranged on front guide-car to obtain, guide-car is real-time and travel speed.
3. the command scheduling method that precisely can complete many fleets guard duty according to claim 1 and 2, is characterized in that:
In described step S44, S45, the mode of the LCDs display word be arranged on front guide-car is adopted to point out front guide-car driver.
4., according to the arbitrary described command scheduling method that precisely can complete many fleets guard duty of claim 1-3, it is characterized in that:
In described step S44, S45, the mode adopting the Audio Players be arranged on front guide-car to play voice is pointed out front guide-car driver.
5. precisely can complete a command dispatching system for many fleets guard duty, it is characterized in that, comprising:
Be arranged at the vehicle positioning module on front guide-car: for determining front guide-car's latitude and longitude information (X in real time
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i, described vehicle positioning module can carry out real-time Communication for Power with command scheduling processor;
Described command scheduling processor, is arranged at inside, command and control center, and for command scheduling, each performs guide-car before the fleet of guard duty; It comprises the schedule plan generation module of each bar guard duty further, each guard fleet performs timetable generation module, command output module of setting out, front guide-car's process judge module and judge module; Wherein:
Described schedule plan generation module, is numbered for the whole routes for guard duty, and the guard duty route for each numbering all generates the schedule plan of a correspondence, specifically comprises:
Running data acquiring unit, before prior utilization guide-car along each guard duty route with speeds during actual executing the task, in the process of moving, the running data that described vehicle positioning module all records p.s. is obtained: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
Schedule plan generation unit, for each schedule plan is numbered, the numbering of all corresponding guard duty route of each schedule plan numbering; The departure place of guard duty route, destination, junction of two streams is recorded in each schedule plan, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out;
Described execution timetable generation module is guide-car's numbering before the fleet of execution guard duty, the numbering of all corresponding guard duty route of the numbering of guide-car before each; For guide-car before each numbering, generate the execution timetable of its correspondence, specifically comprise:
Data extracting unit, determines guard duty route number according to front guide-car's numbering, transfers the schedule plan corresponding with guard duty route number;
Perform timetable generation unit, the moment requirement of destination is arrived according to each guard fleet, obtain after reference time in each guard fleet schedule plan is adjusted to corresponding reference instant successively performing timetable, determine the set out moment and arrive the moment of destination, junction of two streams and other each reference positions of the front guide-car of each guard fleet in departure place successively, the moment wherein corresponding to departure place is for setting out the moment;
Described command output module of setting out, current time equal in the execution timetable of arbitrary guard fleet set out the moment time, lead the front guide-car of this guard fleet to set out and according to the speeds that sets out recorded in this execution timetable;
Described front guide-car's process judge module, for guide-car before each numbering, all according to guide-car's process before the running data real-time judge recorded in the execution timetable corresponding with it, specifically comprises:
Data capture unit, guide-car's latitude and longitude information (X before Real-time Obtaining current time T from described vehicle positioning module
d, Y
d);
First comparing unit, by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d;
Second comparing unit, compares the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Information Tip element, at T=T
dtime prompting before guide-car according to execution timetable in T
dthe datum velocity corresponding to next reference instant travel; At T ≠ T
dtime prompting before guide-car travel according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) performing benchmark mileage corresponding in timetable as reference position;
Described judge module: for guide-car before each numbering, before equal basis and the running data recorded in its corresponding execution timetable judge, whether guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, terminates to dispatch when all front guide-car's latitude and longitude information are all identical with the latitude and longitude information of destination.
6. the command dispatching system that precisely can complete many fleets guard duty according to claim 5, is characterized in that:
Described vehicle positioning module comprises the GPS locating module of latitude and longitude information for obtaining front guide-car, running time; With the OBD module of the real-time distance travelled and travel speed for obtaining front guide-car.
7. the command dispatching system that precisely can complete many fleets guard duty according to claim 5 or 6, is characterized in that:
Described information Tip element, comprises the LCDs be arranged on front guide-car, points out front guide-car driver in the mode showing word.
8., according to the arbitrary described command dispatching system that precisely can complete many fleets guard duty of claim 5-7, it is characterized in that:
Described information Tip element, comprises the Audio Players be arranged on front guide-car, points out front guide-car driver in the mode playing voice.
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