CN106530779B - 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, in particular to a kind of path planning side based on municipal traffic control signal lamp
Method and system.
Background technique
Path planning in city road network refers in urban road, according to the plan of travel of driver, mentions for driver
For one according to the path after the opposite optimization of certain condition.
Path planning algorithm refers to the algorithm that computer show that above-mentioned path uses.Common path planning algorithm includes A
Star algorithm, dijkstra's algorithm, Floyd algorithm and heuristic search algorithm.
Dijkstra's algorithm: dijkstra's algorithm is most classic Shortest Path Searching Algorithm, is also a kind of relatively time-consuming
Algorithm.It seeks shortest path by weight incremental order, has the characteristics that simple and clear, the resulting result of algorithm search also compare
Accurately.On the other hand, Dijkstra sparse graphs numerous for input number of nodes either calculate specified two o'clock or sky
Between any two points be all the shortest path for calculating entire sparse graph, have the shortcomings that low efficiency, occupied space are big.
Floyd algorithm: Floyd algorithm is also known as Freud's algorithm, is a kind of for finding given weight path topological network
Shortest path algorithm between vertex in network, the basic principle is that Dynamic Programming, path network is first converted into weight matrix, then existed by it
The shortest path of any two points is sought in weight matrix, it has very big improvement, dense graph effect compared to dijkstra's algorithm
Most preferably, the variation of starting point and terminal on algorithm influence less, it is simple and effective, efficiency be higher than dijkstra's algorithm, but there is also
Time complexity is high, is not suitable for the shortcomings that calculating mass data.
Heuristic search algorithm: heuristic search algorithm is the searching algorithm of the knowledge based on specific field, in search
In the process, algorithm not only considers the current cost of node, but also considers estimate cost required for extending the node, makes to search
Rope process is advanced towards most promising direction, and then accelerates entire calculating process.Enlightening information is mainly reflected in appraisal letter
On number, in search process the task of evaluation function be exactly estimate a possibility that node to be searched is on optimal path, thus
The bigger node of first search possibility, to achieve the purpose that improve search speed.The algorithm is dependent on heuristic function
Setting, the influence of the result of its algorithm of the Usefulness Pair of heuristic function are very big.
A star algorithm: being that a kind of relatively more extensive algorithm of current application can be in each step as a kind of didactic algorithm
Node selection in, guidance next node be directed toward destination node, so it can provide one in the case where reducing operation time
The relatively optimal path of item；Heuristic function is added on the basis of dijkstra's algorithm, each step is all estimated using heuristic function
The distance of next step is calculated, to avoid some nodes, accelerates calculating speed, reduces difficulty in computation.But its design conditions is excessively
Simply, it can only be one in the conditions such as operating range or running time, the result comprehensively considered cannot be provided.
Summary of the invention
The present invention provides a kind of paths planning method and system based on municipal traffic control signal lamp, consideration traffic control
Delay caused by signal lamp processed has certain real-time, to provide more preferable more reasonable road for the driver in city
Diameter planning, reduces running time, promotes driving experience.
City road network is different with common road network, because there is a large amount of traffic control lights in city road network, because
The presence of these traffic control lights, mesh can be reached using the relatively remoter path of some distances in advance instead by often having
Ground the case where occur.
A kind of paths planning method based on municipal traffic control signal lamp, comprising the following steps:
Step 1: using all nodes in road network as node set, setting path initial starting point, and initially risen with path
Point is used as present node；
Step 2: the adjacent node of present node is chosen from node set as the next to expanding node of path；
Step 3: calculating the evaluation function of needed expanding node selected by step 2, the appraisal letter to expanding node
Number includes path initial starting point to the current cost of the section of present node distance and to logical between expanding node and present node
Row cost；
Wherein, the passage cost between expanding node and present node include to expanding node and present node it
Between the current cost of section distance and pass through the passage generated to the traffic control light where expanding node from present node
Cost；
Step 4: the smallest path of evaluation function value of needed expanding node waits for that expanding node connection is worked as in selecting step 3
Front nodal point, planning path, and tied selected as present node if present node is destination node to expanding node
Beam path planning, otherwise, return step 2.
Further, it is described from present node passage path wait for expanding node where traffic control light generate it is logical
Row cost calculation formula are as follows: s '=v*tw；
Wherein, v indicate current vehicle assignment speed, the assignment speed by the region all vehicles it is real-time
Speed carries out calculating acquisition, and real-time speed Normal Distribution in the same area of city road network is obtained from real-time road network；
twWaiting time for vehicle at crossing.
Vehicle speed information in real-time road network is provided by traffic department or other mechanisms, and the Beijing Communication committee has been at present
Had in the real-time vehicle speed information collected in Beijing and issued on website, is updated within every 5 minutes primary.The accuracy of the value and
Uniqueness guarantees by the mechanism for providing the value from now on, not this algorithm the considerations of among, obtaining the real-time speed in road network
Later, obedience X~N (μ, a σ are constructed according to the data2) normal distribution model (indicate speed X obey mean value be μ, variance
For the normal distribution of σ 2), it is v assignment by the model.
Further, the current cost of section distance refers to the manhatton distance between two nodes.
Further, waiting time of the vehicle at crossing is calculated using the following equation acquisition:
Wherein, T=t1+t2+t3+t4+ 4h, T are the time of whole cycle, and h is yellow time；tiFor crossroad traffic signal lamp
The green time of phase directional i, the value of i are 1-4, tiFrom traffic signals, administrative department is obtained；
Vehicle need to be current along traffic lights phase directional i, in tiThe event that crossing is reached in time is event A, not in ti
The event that crossing is reached in time is event B, then pi AFor the probability that event A occurs, occur for event B general
Rate,
A kind of path planning system based on municipal traffic control signal lamp, comprising:
Node set unit generates node set for collecting the node in road network, and using path start node as working as
Front nodal point；
Point spread unit, for selecting the adjacent node of present node as the next of path from node set unit
It is a to expanding node；
To the evaluation function computing unit of expanding node, for calculating the evaluation function of needed expanding node, the road
Diameter waits for that the evaluation function of expanding node includes that path initial starting point to the current cost of the section of present node distance and path waits expanding
Open up the passage cost between node and present node；
Wherein, the path waits for that the passage cost between expanding node and present node includes that path is waited for expanding node and worked as
Traffic control signal of the section apart from current cost and where waiting for expanding node from present node passage path between front nodal point
The passage cost that lamp generates；
Path connecting unit currently connects present node to the smallest node of the evaluation function of expanding node for choosing,
Formed path, and using it is selected to expanding node be used as present node, until present node be destination node.
Beneficial effect
The present invention provides a kind of paths planning method and system based on municipal traffic control signal lamp, this method include
Following steps: step 1: using all nodes in road network as node set, setting path initial starting point, and initially risen with path
Point is used as present node；Step 2: the adjacent node of present node is chosen from node set as the next wait extend of path
Node；Step 3: calculating the evaluation function of needed expanding node selected by step 2；Step 4: needing to be expanded in selecting step 3
Wait for expanding node connection present node, planning path, and by selected wait expand in the smallest path of evaluation function value of exhibition node
Node, which is opened up, as present node terminates path planning if present node is destination node, otherwise, return step 2.This method
The length in delay and path as caused by traffic control light is combined into calculating, the time is considered compared to simple and examines merely
The Path selection for considering the algorithm of distance is more excellent, and not will increase too many difficulty in computation.
Detailed description of the invention
Fig. 1 is the specific implementation flow diagram of the method for the invention；
Fig. 2 is the time cycle schematic diagram at a four phase traffic signalization crossings；
The flow chart of Fig. 3 conversion module；
Fig. 4 is to simplify 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, comprising the following steps:
Step 1: using all nodes in road network as node set, setting path initial starting point, and initially risen with path
Point is used as present node；
Step 2: the adjacent node of present node is chosen from node set as the next to expanding node of path；
Step 3: calculating the evaluation function of needed expanding node selected by step 2, the appraisal letter to expanding node
Number includes path initial starting point to the current cost of the section of present node distance and to logical between expanding node and present node
Row cost；
Wherein, the passage cost between expanding node and present node include to expanding node and present node it
Between the current cost of section distance and pass through the passage generated to the traffic control light where expanding node from present node
Cost；
Step 4: the smallest path of evaluation function value of needed expanding node waits for that expanding node connection is worked as in selecting step 3
Front nodal point, planning path, and tied selected as present node if present node is destination node to expanding node
Beam path planning, otherwise, return step 2.
Waiting time of the vehicle at crossing is calculated using the following equation acquisition:
As shown in Fig. 2, being the time cycle schematic diagram at a four phase traffic signalization crossings, wherein T=t1+t2+
t3+t4+ 4h, T are the time of whole cycle, and 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 signals, administrative department is obtained；
Vehicle need to be current along traffic lights phase directional i, in tiThe event that crossing is reached in time is event A, not in ti
The event that crossing is reached in time is event B, thenFor event A occur probability, Occur for event B general
Rate,The specific implementation flow diagram of the method for the invention is as shown in Figure 1, detailed process is as follows:
Step 1 generates empty open, and start node is put into open table by close table；
Step 2 judges whether open table is empty, if open table is sky, then it represents that path is not found, is unsuccessfully exited, it is no
Then, step 3 is executed；
Step 3 finds out head node from open table as present node, and it is removed from open table, is stored in close
In table；
Step 4 judges whether this node is destination node, if it is, head node is terminal, judges that it whether there is
Father node；Father node if it exists, then find the father node of the node in close table, traversal close table until start node,
Optimal path is found, algorithm terminates；Father node if it does not exist, then algorithm terminates；It is executed if this node is not destination node
Step 5；
Step 5 judges whether the head node is extended node, if then carrying out step 6, if not then return step 2；
The head node is extended by step 6, finds its extended node, and all extended nodes constitute set V；
Extended node in step 7, traversal set V, if extended node neither exists in open table, and not
In close table, which is added in open table, 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, in open table, which has existed one in open table originally
A evaluation function and a father node, it is big to compare original evaluation function in the evaluation function and open table of the extended node
It is small, if the evaluation function of extended node is less than original evaluation function in open table, just updates the extended node and exist
Evaluation function and father node in open table do not operate if being not less than；If extended node is not done in close table
Processing, continues to judge other extended nodes；
Step 9, the sequence being incremented by according to evaluation function value, are ranked up all nodes in open table, return step
3。
Further, first head node in the step 3 in open table is start node, each later cephalomere
Point is the smallest node of evaluation function value in open table.
Embodiment one:
1, 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 average speed in the region etc..Node coordinate with i (x, y) indicate, by the coordinate calculate 2 nodes between Manhattan away from
From.
2, such as Fig. 4, interior joint 4 are start node, and node 10 is destination node, and in node 4, node 4 expands
Opening up node is node 3 and node 5, then node 3 and node 5 is all added in open table, and calculates the evaluation function f (x) of the two,
It is worth size to sort from small to large in open table according to it.
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 calculates: assuming that all nodes are all in region, the vehicle speed condition in region every 5 minutes
(time can adjust as the case may be) updates once, calculates us according to vehicle speed information and needs mean μ, variances sigma22
A parameter carrys out speed of the simulating vehicle by the crossing when (assuming that the road according to the normal distribution model that this 2 parameters construct
Mouth does not have traffic signalization lamp, the speed that the vehicle may possess in the reasonable scope), the flow chart of conversion module such as Fig. 3 institute
Show.
Length of the table 1 between map interior joint, table 2 are the delay t when node is passed through in the pathw。
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 | It turns to | Be delayed tw(s) |
| N5 | It turns right | 0 |
| N6 | Straight trip | 30 |
| N7 | Turn left | 22 |
| N12 | It turns right | 0 |
| N11 | Straight trip | 18 |
It is waited if 3, turning right without red light, the value of the estimation function of node 5 can be less than node 3 at this time, then node 5
It is put into close table, the extended node of node 5 only has node 6, then node 6 is put into close table again, wherein putting every time
Enter the node in close table and all there is father and son's pointer relationship, prepares to eventually form the node sequence of shortest path.
4, 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 into close table.
5, and so on, in the map of simplification shown in Fig. 4, obtained successively sequence are as follows: node 4,5,6,7,12,
11,10 shortest path, this paths have just comprehensively considered the collective effect of distance and time quantum in amount of space, i.e. path
Length and influence of the delay to vehicle driving in road network that generates of real-time traffic control light.
Show scheme accurate and effective of the present invention by above example, is easy to implement, greatly improves user
Driving impression.
The above is a preferred embodiment of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, it is noted that for those skilled in the art, without departing from the principle of the present invention, may be used also
To make several improvement and variation, these, which improve and change, is also considered as protection scope of the present invention.
Claims (4)
1. a kind of paths planning method based on municipal traffic control signal lamp, which comprises the following steps:
Step 1: using all nodes in road network as node set, setting path initial starting point, and with path initial starting point work
For present node；
Step 2: the adjacent node of present node is chosen from node set as the next to expanding node of path；
Step 3: calculating the evaluation function of needed expanding node selected by step 2, the evaluation function packet to expanding node
Path initial starting point is included to the current cost of the section of present node distance and to the passage generation between expanding node and present node
Valence；
Wherein, the passage cost between expanding node and present node includes between expanding node and present node
Section is apart from current cost and passes through the passage cost generated to the traffic control light where expanding node from present node；
Step 4: the smallest path of evaluation function value of needed expanding node waits for that prosthomere is worked as in expanding node connection in selecting step 3
Point, planning path, and terminate road if present node is destination node as present node to expanding node for selected
Diameter planning, otherwise, return step 2；
It is described from present node passage path wait for expanding node where the passage cost that generates of traffic control light calculate it is public
Formula are as follows: s '=v*tw；
Wherein, v indicates that the assignment speed of current vehicle, the assignment speed pass through the real-time speed to all vehicles in the region
Calculating acquisition is carried out, 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.
2. the method according to claim 1, wherein distance current cost in the section refers between two nodes
Manhatton distance.
3. according to the method described in claim 2, it is characterized in that, the vehicle crossing waiting time use following formula
It calculates and obtains:
Wherein, T=t1+t2+t3+t4+ 4h, T are the time of whole cycle, and h is yellow time；tiFor crossroad traffic signal lamp phase
The green time of direction i, the value of i are 1-4, tiFrom traffic signals, administrative department is obtained；
Vehicle need to be current along traffic lights phase directional i, in tiThe event that crossing is reached in time is event A, not in tiTime
The interior event for reaching crossing is event B, thenFor event A occur probability, For event B occur probability,
4. a kind of path planning system based on municipal traffic control signal lamp characterized by comprising
Node set unit generates node set for collecting the node in road network, and using path start node as working as prosthomere
Point；
Point spread unit, for selected from node set unit the adjacent node of present node as path it is next to
Expanding node；
To the evaluation function computing unit of expanding node, for calculating the evaluation function of needed expanding node, the path is waited for
The evaluation function of expanding node includes that path initial starting point to the current cost of the section of present node distance and path waits extending section
Passage cost between point and present node；
Wherein, the path waits for that the passage cost between expanding node and present node includes that path waits for expanding node and works as prosthomere
The current cost of section distance between point and from present node passage path wait for expanding node where traffic control light produce
Raw passage cost；
It is described from present node passage path wait for expanding node where the passage cost that generates of traffic control light calculate it is public
Formula are as follows: s '=v*tw；
Wherein, v indicates that the assignment speed of current vehicle, the assignment speed pass through the real-time speed to all vehicles in the region
Calculating acquisition is carried out, 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；
Path connecting unit is formed for choosing currently to the smallest node connection present node of the evaluation function of expanding node
Path, and using it is selected to expanding node as present node, until present node is destination node.
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| 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 |
| CN111798675B (en) * | 2020-07-02 | 2022-09-13 | 南京华捷艾米软件科技有限公司 | Signal lamp control method and system |
| CN112289062B (en) * | 2020-10-26 | 2021-10-08 | 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 |
| 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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| CN104318794A (en) * | 2014-10-24 | 2015-01-28 | 浙江大学 | Practical routing selection method based on consideration of city intersection time delay |
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