CN106530779A - Path planning method and system based on urban traffic control signal lamp - Google Patents
Path planning method and system based on urban traffic control signal lamp Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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Abstract
The invention discloses a path planning method and a system based on an urban traffic control signal lamp, wherein the method comprises the following steps: step 1: setting an initial starting point of a path by taking all nodes in a road network as a node set, and taking the initial starting point of the path as a current node; step 2: selecting a neighboring node of the current node from the node set as a next node to be expanded of the path; and step 3: calculating the valuation functions of all the nodes to be expanded selected in the step 2; and 4, step 4: and (3) selecting the path to be expanded node with the minimum evaluation function value of all the nodes to be expanded in the step (3) to be connected with the current node, taking the selected node to be expanded as the current node, finishing path planning if the current node is a target node, and otherwise, returning to the step (2). The method combines the delay caused by the traffic control signal lamp and the length of the path for calculation, is more excellent than the path selection of an algorithm which only considers the time and the distance, and does not increase too much calculation difficulty.
Description
Technical field
The invention belongs to path planning field, more particularly to a kind of path planning side based on municipal traffic control signal lamp
Method and system.
Background technology
Path planning in city road network is referred in urban road, according to the plan of travel of driver, is that driver carries
Path after optimizing according to certain condition is relative for Glycine tomentella.
Path planning algorithm refers to that computer draws the algorithm that above-mentioned path uses.Conventional path planning algorithm includes A
Star algorithm, dijkstra's algorithm, Floyd algorithms and heuristic search algorithm.
Dijkstra's algorithm：Dijkstra's algorithm is most classical Shortest Path Searching Algorithm, is also a kind of relatively time-consuming
Algorithm.It seeks shortest path by weights incremental order, and the characteristics of with simple and clear, the result obtained by algorithm search also compares
Accurately.On the other hand, Dijkstra various for input number of nodes sparse graph, either calculates and specifies or sky at 2 points
Between any two points be all the shortest path for calculating whole sparse graph, have the shortcomings that efficiency is low, it is big to take up room.
Floyd algorithms：Floyd algorithms, also known as Freud's algorithm, are that one kind is used for finding given weight path topological network
Shortest path algorithm between summit in network, its ultimate principle is dynamic programming, and it is first converted into weight matrix path network, then exists
The shortest path of any two points is sought in weight matrix, and it has very big improvement, dense graph effect compared to dijkstra's algorithm
Most preferably, the change of starting point and terminal affects little to algorithm, and simple effective, efficiency is higher than dijkstra's algorithm, but be there is also
Time complexity is high, is not suitable for calculating the shortcoming of mass data.
Heuristic search algorithm：Heuristic search algorithm is the searching algorithm of the knowledge based on specific field, in search
During, algorithm not only considers the current cost of node, and take into account and extend estimate cost required for the node, makes to search
Rope process is advanced towards most promising direction, and then accelerates whole calculating process.Enlightening information is mainly reflected in appraisal letter
On number, in search procedure, the task of evaluation function is exactly the probability for estimating node to be searched on optimal path, so as to
First search probability than larger node, so as to reach the purpose for improving search speed.The algorithm depends on heuristic function
Setting, the impact of the result of Usefulness Pair its algorithm of heuristic function are very big.
A star algorithms：It is a kind of relatively more extensive algorithm of application at present, as a kind of didactic algorithm, can be in each step
Node select in, guiding next node point to destination node, so it can reduce operation time in the case of provide one
The relatively optimum path of bar；Heuristic function is with the addition of on the basis of dijkstra's algorithm, and each step is all estimated using heuristic function
The distance of next step is calculated, so as to avoid some nodes, is accelerated calculating speed, is reduced difficulty in computation.But its design conditions is excessively
Simply, can only be in the conditions such as operating range or running time, it is impossible to the result that offer considers.
The content of the invention
The invention provides a kind of paths planning method and system based on municipal traffic control signal lamp, it is considered to traffic control
Time delay caused by signal lighties processed, with certain real-time, so that provide more preferable more reasonably road for the driver in city
Plan, reduce running time, lift driving experience in footpath.
City road network is different with common road network, because there are a large amount of traffic control lights in city road network, because
The presence of these traffic control lights, is often had and can be advanceed to up to mesh using the relatively more remote path of some distances on the contrary
Ground situation occur.
A kind of paths planning method based on municipal traffic control signal lamp, comprises the following steps：
Step 1：Using all nodes in road network as node set, set path initial starting point, and initially risen with path
Point is used as present node；
Step 2：From node set, the adjacent node of selection present node treats expanding node as the next one in path；
Step 3：The evaluation function of the needed expanding node selected by calculation procedure 2, the appraisal letter for treating expanding node
Number includes the current cost of section distance of path initial starting point to present node and treats logical between expanding node and present node
Row cost；
Wherein, the current cost treated between expanding node and present node include treating expanding node and present node it
Between the current cost of section distance and from present node by treating that it is current that traffic control light that expanding node is located is produced
Cost；
Step 4：In selecting step 3, the minimum path of the evaluation function value of needed expanding node treats that expanding node connection is worked as
Front nodal point, path planning, and selected is treated into expanding node as present node, if present node is destination node, tie
Beam path planning, otherwise, return to step 2.
Further, the traffic control light generation for treating expanding node place from present node by path is logical
Row cost computing formula is：S '=v*tw；
Wherein, v represents the assignment speed of Current vehicle, the assignment speed by the region all vehicles it is real-time
Speed carries out calculating acquisition, real-time speed Normal Distribution in the same area of city road network, obtains from real-time road network；
twFor vehicle crossing waiting time.
Speed information in road network is provided by traffic department or other mechanisms in real time, and current Beijing Communication committee is
Jing has in the real-time speed information in collection Beijing incity and issues on website, updates once per 5 minutes.The accuracy of the value and
Uniqueness is by the mechanism's guarantee for providing the value from now on, the real-time speed not among the consideration of this algorithm, in road network is obtained
Afterwards, one is built according to the data obey X～N (μ, σ2) normal distribution model (represent speed X obey average be μ, variance
For the normal distribution of σ 2), it is v assignment by the model.
Further, the current cost of the section distance refers to the manhatton distance between two nodes.
Further, waiting time of the vehicle at crossing is calculated using below equation and is obtained：
Wherein, T=t1+t2+t3+t4The time of+4h, T for whole cycle, h is yellow time；tiFor crossroad traffic signal lamp
The green time of phase directional i, the value of i is 1-4, tiFrom traffic signal, administration section obtains；
Vehicle need to be current along traffic light phase directional i, in tiThe event for reaching crossing in time is event A, not in ti
The event for reaching crossing in time is event B, then pi AFor event A occur probability, For the general of event B generation
Rate,
A kind of path planning system based on municipal traffic control signal lamp, including：
Node set unit, for collecting the node in road network, generates node set, and using path start node as working as
Front nodal point；
Point spread unit, for from node set unit select present node adjacent node as the next of path
It is individual to treat expanding node；
The evaluation function computing unit of expanding node is treated, for calculating the evaluation function of needed expanding node, the road
Treat that the evaluation function of expanding node includes that the current cost of section distance of path initial starting point to present node and path wait to expand in footpath
Current cost between exhibition node and present node；
Wherein, the path treats that the current cost between expanding node and present node includes that path is treated expanding node and worked as
The traffic control signal at expanding node place is treated apart from current cost and from present node by path in section between front nodal point
The current cost that lamp is produced；
Path connecting unit, the node connection present node minimum for choosing the evaluation function for currently treating expanding node,
Path is formed, and selected is treated into expanding node as present node, until present node is destination node.
Beneficial effect
The invention provides a kind of paths planning method and system based on municipal traffic control signal lamp, the method includes
Following steps：Step 1：Using all nodes in road network as node set, set path initial starting point, and initially risen with path
Point is used as present node；Step 2：From node set, the adjacent node of selection present node is waited to extend as the next one in path
Node；Step 3：The evaluation function of the needed expanding node selected by calculation procedure 2；Step 4：It is needed in selecting step 3 to expand
Expanding node connection present node is treated in the minimum path of the evaluation function value of exhibition node, path planning, and waits to expand by selected
Exhibition node terminates path planning as present node if present node is destination node, otherwise, return to step 2.The method
The length of the delay caused by traffic control light and path is combined into calculating, the simple consideration time is compared and is examined merely
The Path selection for considering the algorithm of distance is more excellent, and will not increase too many difficulty in computation.
Description of the drawings
Fig. 1 is embodied as schematic flow sheet for the method for the invention；
Fig. 2 is the time cycle schematic diagram at four phase place traffic signalization crossings；
The flow chart of Fig. 3 modular converters；
Fig. 4 is simplified road-net node map.
Specific embodiment
The present invention is described further below in conjunction with drawings and Examples.
A kind of paths planning method based on municipal traffic control signal lamp, comprises the following steps：
Step 1：Using all nodes in road network as node set, set path initial starting point, and initially risen with path
Point is used as present node；
Step 2：From node set, the adjacent node of selection present node treats expanding node as the next one in path；
Step 3：The evaluation function of the needed expanding node selected by calculation procedure 2, the appraisal letter for treating expanding node
Number includes the current cost of section distance of path initial starting point to present node and treats logical between expanding node and present node
Row cost；
Wherein, the current cost treated between expanding node and present node include treating expanding node and present node it
Between the current cost of section distance and from present node by treating that it is current that traffic control light that expanding node is located is produced
Cost；
Step 4：In selecting step 3, the minimum path of the evaluation function value of needed expanding node treats that expanding node connection is worked as
Front nodal point, path planning, and selected is treated into expanding node as present node, if present node is destination node, tie
Beam path planning, otherwise, return to step 2.
Waiting time of the vehicle at crossing is calculated using below equation and is obtained：
As shown in Fig. 2 for the time cycle schematic diagram at four phase place traffic signalization crossings, wherein, T=t1+t2+
t3+t4The time of+4h, T for whole cycle, h is yellow time；tiFor the green time of crossroad traffic signal lamp phase directional i, i
Value be 1-4 (can be adjusted according to the phase condition at crossing), tiFrom traffic signal, administration section obtains；
Vehicle need to be current along traffic light phase directional i, in tiThe event for reaching crossing in time is event A, not in ti
The event for reaching crossing in time is event B, thenFor event A occur probability, For the general of event B generation
Rate,The method of the invention is embodied as schematic flow sheet as shown in figure 1, detailed process is as follows：
Step 1, the open for generating sky, close tables are put into start node in open tables；
Step 2, judge open tables be whether it is empty, it is if open tables are sky, then it represents that do not find path, unsuccessfully exit, no
Then, execution step 3；
Step 3, head node is found out as present node from open tables, and which is removed from open tables, be stored in close
In table；
Step 4, judge whether the node is destination node, if it is, head node is terminal, judge which whether there is
Father node；The father node of the node if there is father node, is found in close tables, travels through close tables until start node,
Optimal path is found, algorithm terminates；If there is no father node, algorithm terminates；Perform if the node is not destination node
Step 5；
Step 5, judge whether the head node is extended node, if then carrying out step 6, if not then return to step 2；
Step 6, the head node is extended, finds its extended node, all of extended node constitutes set V；
Extended node in step 7, traversal set V, if extended node is neither in open tables, and does not exist
In close tables, the extended node is added in open tables, and calculate the evaluation function of the extended node, this will be expanded
The head node of a little extended nodes is defined as the father node of its extended node；
If step 8, extended node are in open tables, the extended node has had one in open tables originally
Individual evaluation function and a father node, in comparing the evaluation function and open tables of the extended node, original evaluation function is big
It is little, if the evaluation function of extended node just updates the extended node and exists less than original evaluation function in open tables
Evaluation function and father node in open tables, does not operate if being not less than；If extended node is not done in close tables
Process, continuation judges other extended nodes；
Step 9, according to evaluation function value be incremented by order, to open tables in all nodes be ranked up, return to step
3。
Further, first head node in described step 3 in open tables is start node, later each cephalomere
Point is the minimum node of evaluation function value in open tables.
Embodiment one：
1st, city road network data are obtained by GPS or information server first.
The city road network data include road name, node coordinate, the node with the presence or absence of traffic control light with
And the average speed in the region etc..Node coordinate represented with i (x, y), by the coordinate calculate between 2 nodes Manhattan away from
From.
2nd, such as Fig. 4, its interior joint 4 are start node, and node 10 is destination node, and when in node 4, node 4 expands
Exhibition node is node 3 and node 5, then all add node 3 and node 5 in open tables, and calculate evaluation function f (x) of the two,
Sorted in open tables from small to large according to its worth size.
Ls=L4,5+s’(N5)+L5,6+s’(N6)+L6,7+s’(N7)+L7,12+s’(N12)+L11,12+s’(N11)+L10,11
The estimation function in path is calculated：All nodes are assumed all in region, the vehicle speed condition in its region was per 5 minutes
(time can adjust as the case may be) updates once, and calculating us according to speed information needs mean μ, variances sigma22
Individual parameter, according to the normal distribution model that this 2 parameters build, carrys out speed of the simulating vehicle when crossing and (assumes the road
Mouth does not have traffic signalization lamp, the speed that the car may possess in the reasonable scope), flow chart such as Fig. 3 institutes of modular converter
Show.
Table 1 is the length between map interior joint, and table 2 is time delay t of the path when nodew。
Table 1
| Section | Length | Section | Length |
| L1,2 | 1.6km | L2,3 | 0.72km |
| L3,4 | 1km | L1,9 | 2.2km |
| L2,7 | 1.5km | L3,6 | 1.3km |
| L4,5 | 0.7km | L8,9 | 0.77km |
| L7,8 | 1.1km | L6,7 | 0.78km |
| L5,6 | 1.1km | L9,10 | 1km |
| L8,11 | 0.97km | L7,12 | 1.5km |
| L10,11 | 1.97km | L11,12 | 0.7km |
Table 2
| Node | Turn to | Time delay tw(s) |
| N5 | Turn right | 0 |
| N6 | Straight trip | 30 |
| N7 | Turn left | 22 |
| N12 | Turn right | 0 |
| N11 | Straight trip | 18 |
If the 3, turn right waiting without the need for red light, now the value of the estimation function of node 5 can be less than node 3, then node 5
It is put in close tables, the extended node of node 5 only has node 6, then again node 6 is put in close tables, is wherein put every time
Enter the node in close tables and all there is father and son's pointer relationship, the node sequence for eventually forming shortest path is prepared.
4th, the extended node of node 6 is node 3 and node 7, it is known that the manhatton distance of node 3 is significantly greater than node 7
, therefore the value of the evaluation function of node 7 is less than node 3, then node 7 is put in close tables.
5th, by that analogy, in the map of the simplification shown in Fig. 4, obtained sequentially be successively：Node 4,5,6,7,12,
11st, 10 shortest path, this paths have just considered the collective effect of the distance in amount of space and time quantum, i.e. path
Length and real-time traffic control light produce time delay in road network vehicle traveling impact.
Scheme accurate and effective of the present invention is shown by above example, is easy to implement, is greatly improved user
Driving impression.
The above is the preferred embodiment of the present invention, can not limit certainly the right model of the present invention with this
Enclose, it is noted that for those skilled in the art, under the premise without departing from the principles of the invention, may be used also
To make some improvement and variation, these improve and variation is also considered as protection scope of the present invention.
Claims (5)
1. a kind of paths planning method based on municipal traffic control signal lamp, it is characterised in that comprise the following steps：
Step 1：Using all nodes in road network as node set, set path initial starting point, and made with path initial starting point
For present node；
Step 2：From node set, the adjacent node of selection present node treats expanding node as the next one in path；
Step 3：The evaluation function of the needed expanding node selected by calculation procedure 2, the evaluation function bag for treating expanding node
Include the current cost of section distance of path initial starting point to present node and treat the current generation between expanding node and present node
Valency；
Wherein, the current cost treated between expanding node and present node includes treating between expanding node and present node
The current cost of section distance and from present node by treating current cost that the traffic control light that expanding node is located is produced；
Step 4：In selecting step 3, the minimum path of the evaluation function value of needed expanding node treats that prosthomere is worked as in expanding node connection
Point, path planning, and selected is treated into expanding node as present node, if present node is destination node, terminate road
Footpath planning, otherwise, return to step 2.
2. method according to claim 1, it is characterised in that described to treat that expanding node is located from present node by path
Traffic control light produce current cost computing formula be：S '=v*tw；
Wherein, v represents the assignment speed of Current vehicle, and the assignment speed is by the real-time speed to all vehicles in the region
Carry out calculating acquisition, real-time speed Normal Distribution in the same area of city road network is obtained from real-time road network；twFor
Waiting time of the vehicle at crossing.
3. method according to claim 2, it is characterised in that the current cost of the section distance is referred between two nodes
Manhatton distance.
4. method according to claim 3, it is characterised in that waiting time of the vehicle at crossing adopts below equation
Calculate and obtain：
Wherein, T=t1+t2+t3+t4The time of+4h, T for whole cycle, h is yellow time；tiFor crossroad traffic signal lamp phase place
The green time of direction i, the value of i is 1-4, tiFrom traffic signal, administration section obtains；
Vehicle need to be current along traffic light phase directional i, in tiThe event for reaching crossing in time is event A, not in tiTime
The event at interior arrival crossing is event B, thenFor event A occur probability, For event B occur probability,
5. a kind of path planning system based on municipal traffic control signal lamp, it is characterised in that include：
Node set unit, for collecting the node in road network, generates node set, and using path start node as working as prosthomere
Point；
Point spread unit, the adjacent node for selecting present node from node set unit are treated as the next one in path
Expanding node；
The evaluation function computing unit of expanding node is treated, for calculating the evaluation function of needed expanding node, the path is treated
The evaluation function of expanding node includes that extension section is treated in the current cost of section distance of path initial starting point to present node and path
Current cost between point and present node；
Wherein, the path treats that the current cost between expanding node and present node includes that path is treated expanding node and works as prosthomere
Treat that the traffic control light that expanding node is located is produced apart from current cost and from present node by path in section between point
Raw current cost；
Path connecting unit, the node connection present node minimum for choosing the evaluation function for currently treating expanding node, forms
Path, and selected is treated into expanding node as present node, until present node is destination node.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107680391A (en) * | 2017-09-28 | 2018-02-09 | 长沙理工大学 | Two pattern fuzzy control methods of crossroad access stream |
| CN113052350A (en) * | 2019-12-26 | 2021-06-29 | 浙江吉利汽车研究院有限公司 | Path planning method and device, electronic equipment and storage medium |
| CN111798675A (en) * | 2020-07-02 | 2020-10-20 | 南京华捷艾米软件科技有限公司 | Signal lamp control method and system |
| CN112289062A (en) * | 2020-10-26 | 2021-01-29 | 公安部交通管理科学研究所 | Vehicle driving path dynamic navigation method based on green light moment diagram |
| CN113494926A (en) * | 2021-09-06 | 2021-10-12 | 深圳慧拓无限科技有限公司 | Path finding method, device and equipment |
| CN115713856A (en) * | 2022-10-19 | 2023-02-24 | 东南大学 | Vehicle path planning method based on traffic flow prediction and actual road conditions |
| CN115713856B (en) * | 2022-10-19 | 2023-09-22 | 东南大学 | Vehicle path planning method based on traffic flow prediction and actual road conditions |
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